id	sid	tid	token	lemma	pos
fcis-25918	1	1	frontiers	frontier	NOUN
fcis-25918	1	2	in	in	ADP
fcis-25918	1	3	computing	computing	NOUN
fcis-25918	1	4	and	and	CCONJ
fcis-25918	1	5	intelligent	intelligent	ADJ
fcis-25918	1	6	systems	system	NOUN
fcis-25918	1	7	issn	issn	VERB
fcis-25918	1	8	:	:	PUNCT
fcis-25918	1	9	2832	2832	NUM
fcis-25918	1	10	-	-	SYM
fcis-25918	1	11	6024	6024	NUM
fcis-25918	1	12	|	|	NOUN
fcis-25918	1	13	vol	vol	NOUN
fcis-25918	1	14	.	.	PROPN
fcis-25918	2	1	9	9	NUM
fcis-25918	2	2	,	,	PUNCT
fcis-25918	2	3	no	no	INTJ
fcis-25918	2	4	.	.	NOUN
fcis-25918	2	5	3	3	NUM
fcis-25918	2	6	,	,	PUNCT
fcis-25918	2	7	2024	2024	NUM
fcis-25918	2	8	49	49	NUM
fcis-25918	2	9	research	research	NOUN
fcis-25918	2	10	on	on	ADP
fcis-25918	2	11	indoor	indoor	ADJ
fcis-25918	2	12	automatic	automatic	ADJ
fcis-25918	2	13	path	path	NOUN
fcis-25918	2	14	planning	planning	NOUN
fcis-25918	2	15	algorithm	algorithm	NOUN
fcis-25918	2	16	for	for	ADP
fcis-25918	2	17	robots	robot	NOUN
fcis-25918	2	18	rui	rui	PROPN
fcis-25918	2	19	chen	chen	PROPN
fcis-25918	2	20	*	*	PUNCT
fcis-25918	2	21	beijing	beijing	PROPN
fcis-25918	2	22	national	national	PROPN
fcis-25918	2	23	day	day	PROPN
fcis-25918	2	24	school	school	NOUN
fcis-25918	2	25	,	,	PUNCT
fcis-25918	2	26	beijing	beijing	PROPN
fcis-25918	2	27	,	,	PUNCT
fcis-25918	2	28	china	china	PROPN
fcis-25918	2	29	*	*	PUNCT
fcis-25918	2	30	corresponding	correspond	VERB
fcis-25918	2	31	author	author	NOUN
fcis-25918	2	32	email	email	NOUN
fcis-25918	2	33	:	:	PUNCT
fcis-25918	2	34	102953329@qq.com	102953329@qq.com	NUM
fcis-25918	2	35	abstract	abstract	NOUN
fcis-25918	2	36	:	:	PUNCT
fcis-25918	2	37	the	the	DET
fcis-25918	2	38	field	field	NOUN
fcis-25918	2	39	of	of	ADP
fcis-25918	2	40	robotics	robotic	NOUN
fcis-25918	2	41	has	have	AUX
fcis-25918	2	42	significantly	significantly	ADV
fcis-25918	2	43	advanced	advanced	ADJ
fcis-25918	2	44	,	,	PUNCT
fcis-25918	2	45	especially	especially	ADV
fcis-25918	2	46	in	in	ADP
fcis-25918	2	47	indoor	indoor	ADJ
fcis-25918	2	48	autonomous	autonomous	ADJ
fcis-25918	2	49	navigation	navigation	NOUN
fcis-25918	2	50	,	,	PUNCT
fcis-25918	2	51	with	with	ADP
fcis-25918	2	52	applications	application	NOUN
fcis-25918	2	53	in	in	ADP
fcis-25918	2	54	households	household	NOUN
fcis-25918	2	55	,	,	PUNCT
fcis-25918	2	56	offices	office	NOUN
fcis-25918	2	57	,	,	PUNCT
fcis-25918	2	58	factories	factory	NOUN
fcis-25918	2	59	,	,	PUNCT
fcis-25918	2	60	and	and	CCONJ
fcis-25918	2	61	tourism	tourism	NOUN
fcis-25918	2	62	.	.	PUNCT
fcis-25918	3	1	this	this	DET
fcis-25918	3	2	research	research	NOUN
fcis-25918	3	3	focuses	focus	VERB
fcis-25918	3	4	on	on	ADP
fcis-25918	3	5	developing	develop	VERB
fcis-25918	3	6	and	and	CCONJ
fcis-25918	3	7	optimizing	optimize	VERB
fcis-25918	3	8	algorithms	algorithm	NOUN
fcis-25918	3	9	for	for	ADP
fcis-25918	3	10	indoor	indoor	ADJ
fcis-25918	3	11	autonomous	autonomous	ADJ
fcis-25918	3	12	path	path	NOUN
fcis-25918	3	13	planning	planning	NOUN
fcis-25918	3	14	,	,	PUNCT
fcis-25918	3	15	aiming	aim	VERB
fcis-25918	3	16	to	to	PART
fcis-25918	3	17	enhance	enhance	VERB
fcis-25918	3	18	robots	robot	NOUN
fcis-25918	3	19	'	'	PART
fcis-25918	3	20	ability	ability	NOUN
fcis-25918	3	21	to	to	PART
fcis-25918	3	22	navigate	navigate	VERB
fcis-25918	3	23	efficiently	efficiently	ADV
fcis-25918	3	24	and	and	CCONJ
fcis-25918	3	25	safely	safely	ADV
fcis-25918	3	26	in	in	ADP
fcis-25918	3	27	various	various	ADJ
fcis-25918	3	28	indoor	indoor	ADJ
fcis-25918	3	29	environments	environment	NOUN
fcis-25918	3	30	.	.	PUNCT
fcis-25918	4	1	the	the	DET
fcis-25918	4	2	research	research	NOUN
fcis-25918	4	3	adopts	adopt	VERB
fcis-25918	4	4	a	a	DET
fcis-25918	4	5	comprehensive	comprehensive	ADJ
fcis-25918	4	6	methodological	methodological	ADJ
fcis-25918	4	7	approach	approach	NOUN
fcis-25918	4	8	,	,	PUNCT
fcis-25918	4	9	beginning	begin	VERB
fcis-25918	4	10	with	with	ADP
fcis-25918	4	11	a	a	DET
fcis-25918	4	12	literature	literature	NOUN
fcis-25918	4	13	review	review	NOUN
fcis-25918	4	14	to	to	PART
fcis-25918	4	15	understand	understand	VERB
fcis-25918	4	16	current	current	ADJ
fcis-25918	4	17	stateof	stateof	ADJ
fcis-25918	4	18	-	-	PUNCT
fcis-25918	4	19	the	the	DET
fcis-25918	4	20	-	-	PUNCT
fcis-25918	4	21	art	art	NOUN
fcis-25918	4	22	techniques	technique	NOUN
fcis-25918	4	23	in	in	ADP
fcis-25918	4	24	path	path	NOUN
fcis-25918	4	25	planning	planning	NOUN
fcis-25918	4	26	and	and	CCONJ
fcis-25918	4	27	obstacle	obstacle	VERB
fcis-25918	4	28	avoidance	avoidance	NOUN
fcis-25918	4	29	.	.	PUNCT
fcis-25918	5	1	novel	novel	ADJ
fcis-25918	5	2	algorithms	algorithm	NOUN
fcis-25918	5	3	were	be	AUX
fcis-25918	5	4	designed	design	VERB
fcis-25918	5	5	and	and	CCONJ
fcis-25918	5	6	implemented	implement	VERB
fcis-25918	5	7	,	,	PUNCT
fcis-25918	5	8	focusing	focus	VERB
fcis-25918	5	9	on	on	ADP
fcis-25918	5	10	efficiency	efficiency	NOUN
fcis-25918	5	11	and	and	CCONJ
fcis-25918	5	12	real	real	ADJ
fcis-25918	5	13	-	-	PUNCT
fcis-25918	5	14	time	time	NOUN
fcis-25918	5	15	performance	performance	NOUN
fcis-25918	5	16	.	.	PUNCT
fcis-25918	6	1	these	these	DET
fcis-25918	6	2	algorithms	algorithm	NOUN
fcis-25918	6	3	were	be	AUX
fcis-25918	6	4	tested	test	VERB
fcis-25918	6	5	in	in	ADP
fcis-25918	6	6	simulation	simulation	NOUN
fcis-25918	6	7	environments	environment	NOUN
fcis-25918	6	8	and	and	CCONJ
fcis-25918	6	9	validated	validate	VERB
fcis-25918	6	10	on	on	ADP
fcis-25918	6	11	actual	actual	ADJ
fcis-25918	6	12	robotic	robotic	ADJ
fcis-25918	6	13	platforms	platform	NOUN
fcis-25918	6	14	.	.	PUNCT
fcis-25918	7	1	performance	performance	NOUN
fcis-25918	7	2	metrics	metric	NOUN
fcis-25918	7	3	such	such	ADJ
fcis-25918	7	4	as	as	ADP
fcis-25918	7	5	path	path	NOUN
fcis-25918	7	6	efficiency	efficiency	NOUN
fcis-25918	7	7	,	,	PUNCT
fcis-25918	7	8	computational	computational	ADJ
fcis-25918	7	9	time	time	NOUN
fcis-25918	7	10	,	,	PUNCT
fcis-25918	7	11	and	and	CCONJ
fcis-25918	7	12	obstacle	obstacle	NOUN
fcis-25918	7	13	avoidance	avoidance	NOUN
fcis-25918	7	14	success	success	NOUN
fcis-25918	7	15	rates	rate	NOUN
fcis-25918	7	16	were	be	AUX
fcis-25918	7	17	used	use	VERB
fcis-25918	7	18	to	to	PART
fcis-25918	7	19	assess	assess	VERB
fcis-25918	7	20	the	the	DET
fcis-25918	7	21	algorithms	algorithm	NOUN
fcis-25918	7	22	.	.	PUNCT
fcis-25918	8	1	the	the	DET
fcis-25918	8	2	study	study	NOUN
fcis-25918	8	3	evaluated	evaluate	VERB
fcis-25918	8	4	global	global	ADJ
fcis-25918	8	5	path	path	NOUN
fcis-25918	8	6	planning	planning	NOUN
fcis-25918	8	7	algorithms	algorithm	NOUN
fcis-25918	8	8	like	like	ADP
fcis-25918	8	9	a	a	PRON
fcis-25918	8	10	*	*	X
fcis-25918	8	11	and	and	CCONJ
fcis-25918	8	12	dijkstra	dijkstra	PROPN
fcis-25918	8	13	’s	’s	NOUN
fcis-25918	8	14	,	,	PUNCT
fcis-25918	8	15	and	and	CCONJ
fcis-25918	8	16	local	local	ADJ
fcis-25918	8	17	path	path	NOUN
fcis-25918	8	18	planning	planning	NOUN
fcis-25918	8	19	algorithms	algorithm	NOUN
fcis-25918	8	20	such	such	ADJ
fcis-25918	8	21	as	as	ADP
fcis-25918	8	22	rapidly	rapidly	ADV
fcis-25918	8	23	-	-	PUNCT
fcis-25918	8	24	exploring	explore	VERB
fcis-25918	8	25	random	random	ADJ
fcis-25918	8	26	trees	tree	NOUN
fcis-25918	8	27	(	(	PUNCT
fcis-25918	8	28	rrt	rrt	NOUN
fcis-25918	8	29	)	)	PUNCT
fcis-25918	8	30	and	and	CCONJ
fcis-25918	8	31	dynamic	dynamic	ADJ
fcis-25918	8	32	window	window	NOUN
fcis-25918	8	33	approach	approach	NOUN
fcis-25918	8	34	(	(	PUNCT
fcis-25918	8	35	dwa	dwa	PROPN
fcis-25918	8	36	)	)	PUNCT
fcis-25918	8	37	.	.	PUNCT
fcis-25918	9	1	a	a	PRON
fcis-25918	9	2	*	*	PUNCT
fcis-25918	9	3	and	and	CCONJ
fcis-25918	9	4	dijkstra	dijkstra	PROPN
fcis-25918	9	5	's	's	PART
fcis-25918	9	6	algorithms	algorithm	NOUN
fcis-25918	9	7	proved	prove	VERB
fcis-25918	9	8	effective	effective	ADJ
fcis-25918	9	9	for	for	ADP
fcis-25918	9	10	global	global	ADJ
fcis-25918	9	11	planning	planning	NOUN
fcis-25918	9	12	but	but	CCONJ
fcis-25918	9	13	required	require	VERB
fcis-25918	9	14	optimization	optimization	NOUN
fcis-25918	9	15	for	for	ADP
fcis-25918	9	16	real	real	ADJ
fcis-25918	9	17	-	-	PUNCT
fcis-25918	9	18	time	time	NOUN
fcis-25918	9	19	applications	application	NOUN
fcis-25918	9	20	.	.	PUNCT
fcis-25918	10	1	rrt	rrt	NOUN
fcis-25918	10	2	excelled	excel	VERB
fcis-25918	10	3	in	in	ADP
fcis-25918	10	4	complex	complex	ADJ
fcis-25918	10	5	environments	environment	NOUN
fcis-25918	10	6	but	but	CCONJ
fcis-25918	10	7	needed	need	VERB
fcis-25918	10	8	improvements	improvement	NOUN
fcis-25918	10	9	for	for	ADP
fcis-25918	10	10	path	path	NOUN
fcis-25918	10	11	optimality	optimality	NOUN
fcis-25918	10	12	.	.	PUNCT
fcis-25918	11	1	dwa	dwa	AUX
fcis-25918	11	2	provided	provide	VERB
fcis-25918	11	3	robust	robust	ADJ
fcis-25918	11	4	real	real	ADJ
fcis-25918	11	5	-	-	PUNCT
fcis-25918	11	6	time	time	NOUN
fcis-25918	11	7	obstacle	obstacle	NOUN
fcis-25918	11	8	avoidance	avoidance	NOUN
fcis-25918	11	9	.	.	PUNCT
fcis-25918	12	1	hybrid	hybrid	ADJ
fcis-25918	12	2	approaches	approach	NOUN
fcis-25918	12	3	combining	combine	VERB
fcis-25918	12	4	these	these	DET
fcis-25918	12	5	algorithms	algorithm	NOUN
fcis-25918	12	6	showed	show	VERB
fcis-25918	12	7	enhanced	enhanced	ADJ
fcis-25918	12	8	performance	performance	NOUN
fcis-25918	12	9	,	,	PUNCT
fcis-25918	12	10	balancing	balance	VERB
fcis-25918	12	11	global	global	ADJ
fcis-25918	12	12	and	and	CCONJ
fcis-25918	12	13	local	local	ADJ
fcis-25918	12	14	planning	planning	NOUN
fcis-25918	12	15	strengths	strength	NOUN
fcis-25918	12	16	.	.	PUNCT
fcis-25918	13	1	machine	machine	NOUN
fcis-25918	13	2	learning	learn	VERB
fcis-25918	13	3	techniques	technique	NOUN
fcis-25918	13	4	further	far	ADV
fcis-25918	13	5	improved	improve	VERB
fcis-25918	13	6	adaptability	adaptability	NOUN
fcis-25918	13	7	and	and	CCONJ
fcis-25918	13	8	efficiency	efficiency	NOUN
fcis-25918	13	9	.	.	PUNCT
fcis-25918	14	1	the	the	DET
fcis-25918	14	2	integration	integration	NOUN
fcis-25918	14	3	of	of	ADP
fcis-25918	14	4	advanced	advanced	ADJ
fcis-25918	14	5	sensor	sensor	NOUN
fcis-25918	14	6	technologies	technology	NOUN
fcis-25918	14	7	and	and	CCONJ
fcis-25918	14	8	accurate	accurate	ADJ
fcis-25918	14	9	map	map	NOUN
fcis-25918	14	10	construction	construction	NOUN
fcis-25918	14	11	methods	method	NOUN
fcis-25918	14	12	is	be	AUX
fcis-25918	14	13	crucial	crucial	ADJ
fcis-25918	14	14	for	for	ADP
fcis-25918	14	15	effective	effective	ADJ
fcis-25918	14	16	indoor	indoor	ADJ
fcis-25918	14	17	navigation	navigation	NOUN
fcis-25918	14	18	.	.	PUNCT
fcis-25918	15	1	lidar	lidar	NOUN
fcis-25918	15	2	,	,	PUNCT
fcis-25918	15	3	ultrasonic	ultrasonic	ADJ
fcis-25918	15	4	sensors	sensor	NOUN
fcis-25918	15	5	,	,	PUNCT
fcis-25918	15	6	and	and	CCONJ
fcis-25918	15	7	depth	depth	NOUN
fcis-25918	15	8	cameras	camera	NOUN
fcis-25918	15	9	were	be	AUX
fcis-25918	15	10	key	key	ADJ
fcis-25918	15	11	in	in	ADP
fcis-25918	15	12	providing	provide	VERB
fcis-25918	15	13	precise	precise	ADJ
fcis-25918	15	14	environmental	environmental	ADJ
fcis-25918	15	15	perception	perception	NOUN
fcis-25918	15	16	.	.	PUNCT
fcis-25918	16	1	hybrid	hybrid	ADJ
fcis-25918	16	2	maps	map	NOUN
fcis-25918	16	3	combining	combine	VERB
fcis-25918	16	4	grid	grid	NOUN
fcis-25918	16	5	and	and	CCONJ
fcis-25918	16	6	topological	topological	ADJ
fcis-25918	16	7	approaches	approach	NOUN
fcis-25918	16	8	offered	offer	VERB
fcis-25918	16	9	detailed	detailed	ADJ
fcis-25918	16	10	local	local	ADJ
fcis-25918	16	11	information	information	NOUN
fcis-25918	16	12	and	and	CCONJ
fcis-25918	16	13	efficient	efficient	ADJ
fcis-25918	16	14	long	long	ADJ
fcis-25918	16	15	-	-	PUNCT
fcis-25918	16	16	distance	distance	NOUN
fcis-25918	16	17	planning	planning	NOUN
fcis-25918	16	18	.	.	PUNCT
fcis-25918	17	1	optimization	optimization	NOUN
fcis-25918	17	2	techniques	technique	NOUN
fcis-25918	17	3	like	like	ADP
fcis-25918	17	4	parameter	parameter	NOUN
fcis-25918	17	5	tuning	tuning	NOUN
fcis-25918	17	6	and	and	CCONJ
fcis-25918	17	7	algorithm	algorithm	NOUN
fcis-25918	17	8	fusion	fusion	NOUN
fcis-25918	17	9	,	,	PUNCT
fcis-25918	17	10	along	along	ADP
fcis-25918	17	11	with	with	ADP
fcis-25918	17	12	machine	machine	NOUN
fcis-25918	17	13	learning	learning	NOUN
fcis-25918	17	14	,	,	PUNCT
fcis-25918	17	15	significantly	significantly	ADV
fcis-25918	17	16	enhanced	enhance	VERB
fcis-25918	17	17	algorithm	algorithm	NOUN
fcis-25918	17	18	performance	performance	NOUN
fcis-25918	17	19	.	.	PUNCT
fcis-25918	18	1	future	future	ADJ
fcis-25918	18	2	research	research	NOUN
fcis-25918	18	3	should	should	AUX
fcis-25918	18	4	explore	explore	VERB
fcis-25918	18	5	intelligent	intelligent	ADJ
fcis-25918	18	6	algorithms	algorithm	NOUN
fcis-25918	18	7	,	,	PUNCT
fcis-25918	18	8	multi	multi	ADJ
fcis-25918	18	9	-	-	ADJ
fcis-25918	18	10	robot	robot	ADJ
fcis-25918	18	11	collaboration	collaboration	NOUN
fcis-25918	18	12	,	,	PUNCT
fcis-25918	18	13	and	and	CCONJ
fcis-25918	18	14	human	human	ADJ
fcis-25918	18	15	-	-	PUNCT
fcis-25918	18	16	robot	robot	NOUN
fcis-25918	18	17	interaction	interaction	NOUN
fcis-25918	18	18	to	to	PART
fcis-25918	18	19	further	far	ADV
fcis-25918	18	20	advance	advance	VERB
fcis-25918	18	21	the	the	DET
fcis-25918	18	22	field	field	NOUN
fcis-25918	18	23	.	.	PUNCT
fcis-25918	19	1	keywords	keyword	NOUN
fcis-25918	19	2	:	:	PUNCT
fcis-25918	19	3	indoor	indoor	ADJ
fcis-25918	19	4	autonomous	autonomous	ADJ
fcis-25918	19	5	navigation	navigation	NOUN
fcis-25918	19	6	;	;	PUNCT
fcis-25918	19	7	path	path	NOUN
fcis-25918	19	8	planning	planning	NOUN
fcis-25918	19	9	algorithms	algorithm	NOUN
fcis-25918	19	10	;	;	PUNCT
fcis-25918	19	11	obstacle	obstacle	NOUN
fcis-25918	19	12	avoidance	avoidance	NOUN
fcis-25918	19	13	.	.	PUNCT
fcis-25918	20	1	1	1	X
fcis-25918	20	2	.	.	X
fcis-25918	20	3	introduction	introduction	NOUN
fcis-25918	20	4	the	the	DET
fcis-25918	20	5	field	field	NOUN
fcis-25918	20	6	of	of	ADP
fcis-25918	20	7	robotics	robotic	NOUN
fcis-25918	20	8	has	have	AUX
fcis-25918	20	9	witnessed	witness	VERB
fcis-25918	20	10	significant	significant	ADJ
fcis-25918	20	11	advancements	advancement	NOUN
fcis-25918	20	12	over	over	ADP
fcis-25918	20	13	the	the	DET
fcis-25918	20	14	past	past	ADJ
fcis-25918	20	15	few	few	ADJ
fcis-25918	20	16	decades	decade	NOUN
fcis-25918	20	17	,	,	PUNCT
fcis-25918	20	18	particularly	particularly	ADV
fcis-25918	20	19	in	in	ADP
fcis-25918	20	20	the	the	DET
fcis-25918	20	21	realm	realm	NOUN
fcis-25918	20	22	of	of	ADP
fcis-25918	20	23	indoor	indoor	ADJ
fcis-25918	20	24	autonomous	autonomous	ADJ
fcis-25918	20	25	navigation	navigation	NOUN
fcis-25918	20	26	.	.	PUNCT
fcis-25918	21	1	the	the	DET
fcis-25918	21	2	capability	capability	NOUN
fcis-25918	21	3	of	of	ADP
fcis-25918	21	4	robots	robot	NOUN
fcis-25918	21	5	to	to	PART
fcis-25918	21	6	autonomously	autonomously	ADV
fcis-25918	21	7	navigate	navigate	VERB
fcis-25918	21	8	through	through	ADP
fcis-25918	21	9	complex	complex	ADJ
fcis-25918	21	10	indoor	indoor	ADJ
fcis-25918	21	11	environments	environment	NOUN
fcis-25918	21	12	has	have	VERB
fcis-25918	21	13	wide	wide	ADV
fcis-25918	21	14	-	-	PUNCT
fcis-25918	21	15	ranging	range	VERB
fcis-25918	21	16	applications	application	NOUN
fcis-25918	21	17	,	,	PUNCT
fcis-25918	21	18	from	from	ADP
fcis-25918	21	19	service	service	NOUN
fcis-25918	21	20	robots	robot	NOUN
fcis-25918	21	21	in	in	ADP
fcis-25918	21	22	households	household	NOUN
fcis-25918	21	23	and	and	CCONJ
fcis-25918	21	24	offices	office	NOUN
fcis-25918	21	25	to	to	ADP
fcis-25918	21	26	autonomous	autonomous	ADJ
fcis-25918	21	27	transport	transport	NOUN
fcis-25918	21	28	robots	robot	NOUN
fcis-25918	21	29	in	in	ADP
fcis-25918	21	30	factories	factory	NOUN
fcis-25918	21	31	and	and	CCONJ
fcis-25918	21	32	sightseeing	sightseeing	NOUN
fcis-25918	21	33	vehicles	vehicle	NOUN
fcis-25918	21	34	in	in	ADP
fcis-25918	21	35	tourism	tourism	NOUN
fcis-25918	21	36	.	.	PUNCT
fcis-25918	22	1	the	the	DET
fcis-25918	22	2	core	core	NOUN
fcis-25918	22	3	of	of	ADP
fcis-25918	22	4	indoor	indoor	ADJ
fcis-25918	22	5	autonomous	autonomous	ADJ
fcis-25918	22	6	driving	driving	NOUN
fcis-25918	22	7	lies	lie	VERB
fcis-25918	22	8	in	in	ADP
fcis-25918	22	9	the	the	DET
fcis-25918	22	10	robot	robot	NOUN
fcis-25918	22	11	's	's	PART
fcis-25918	22	12	ability	ability	NOUN
fcis-25918	22	13	to	to	PART
fcis-25918	22	14	perceive	perceive	VERB
fcis-25918	22	15	its	its	PRON
fcis-25918	22	16	environment	environment	NOUN
fcis-25918	22	17	accurately	accurately	ADV
fcis-25918	22	18	,	,	PUNCT
fcis-25918	22	19	plan	plan	VERB
fcis-25918	22	20	optimal	optimal	ADJ
fcis-25918	22	21	paths	path	NOUN
fcis-25918	22	22	,	,	PUNCT
fcis-25918	22	23	and	and	CCONJ
fcis-25918	22	24	avoid	avoid	VERB
fcis-25918	22	25	obstacles	obstacle	NOUN
fcis-25918	22	26	in	in	ADP
fcis-25918	22	27	real	real	ADJ
fcis-25918	22	28	-	-	PUNCT
fcis-25918	22	29	time	time	NOUN
fcis-25918	22	30	.	.	PUNCT
fcis-25918	23	1	this	this	DET
fcis-25918	23	2	intricate	intricate	ADJ
fcis-25918	23	3	process	process	NOUN
fcis-25918	23	4	requires	require	VERB
fcis-25918	23	5	a	a	DET
fcis-25918	23	6	combination	combination	NOUN
fcis-25918	23	7	of	of	ADP
fcis-25918	23	8	sophisticated	sophisticated	ADJ
fcis-25918	23	9	algorithms	algorithm	NOUN
fcis-25918	23	10	and	and	CCONJ
fcis-25918	23	11	advanced	advanced	ADJ
fcis-25918	23	12	sensor	sensor	NOUN
fcis-25918	23	13	technologies	technology	NOUN
fcis-25918	23	14	,	,	PUNCT
fcis-25918	23	15	making	make	VERB
fcis-25918	23	16	it	it	PRON
fcis-25918	23	17	a	a	DET
fcis-25918	23	18	rich	rich	ADJ
fcis-25918	23	19	area	area	NOUN
fcis-25918	23	20	for	for	ADP
fcis-25918	23	21	research	research	NOUN
fcis-25918	23	22	and	and	CCONJ
fcis-25918	23	23	development	development	NOUN
fcis-25918	23	24	.	.	PUNCT
fcis-25918	24	1	the	the	DET
fcis-25918	24	2	significance	significance	NOUN
fcis-25918	24	3	of	of	ADP
fcis-25918	24	4	research	research	NOUN
fcis-25918	24	5	in	in	ADP
fcis-25918	24	6	indoor	indoor	ADJ
fcis-25918	24	7	autonomous	autonomous	ADJ
fcis-25918	24	8	path	path	NOUN
fcis-25918	24	9	planning	planning	NOUN
fcis-25918	24	10	algorithms	algorithm	NOUN
fcis-25918	24	11	for	for	ADP
fcis-25918	24	12	robots	robot	NOUN
fcis-25918	24	13	can	can	AUX
fcis-25918	24	14	not	not	PART
fcis-25918	24	15	be	be	AUX
fcis-25918	24	16	overstated	overstate	VERB
fcis-25918	24	17	.	.	PUNCT
fcis-25918	25	1	as	as	SCONJ
fcis-25918	25	2	automation	automation	NOUN
fcis-25918	25	3	and	and	CCONJ
fcis-25918	25	4	intelligent	intelligent	ADJ
fcis-25918	25	5	systems	system	NOUN
fcis-25918	25	6	become	become	AUX
fcis-25918	25	7	increasingly	increasingly	ADV
fcis-25918	25	8	integrated	integrate	VERB
fcis-25918	25	9	into	into	ADP
fcis-25918	25	10	daily	daily	ADJ
fcis-25918	25	11	life	life	NOUN
fcis-25918	25	12	and	and	CCONJ
fcis-25918	25	13	industrial	industrial	ADJ
fcis-25918	25	14	processes	process	NOUN
fcis-25918	25	15	,	,	PUNCT
fcis-25918	25	16	the	the	DET
fcis-25918	25	17	demand	demand	NOUN
fcis-25918	25	18	for	for	ADP
fcis-25918	25	19	efficient	efficient	ADJ
fcis-25918	25	20	and	and	CCONJ
fcis-25918	25	21	reliable	reliable	ADJ
fcis-25918	25	22	indoor	indoor	ADJ
fcis-25918	25	23	navigation	navigation	NOUN
fcis-25918	25	24	solutions	solution	NOUN
fcis-25918	25	25	grows	grow	VERB
fcis-25918	25	26	.	.	PUNCT
fcis-25918	26	1	service	service	NOUN
fcis-25918	26	2	robots	robot	NOUN
fcis-25918	26	3	can	can	AUX
fcis-25918	26	4	provide	provide	VERB
fcis-25918	26	5	valuable	valuable	ADJ
fcis-25918	26	6	assistance	assistance	NOUN
fcis-25918	26	7	in	in	ADP
fcis-25918	26	8	healthcare	healthcare	NOUN
fcis-25918	26	9	settings	setting	NOUN
fcis-25918	26	10	,	,	PUNCT
fcis-25918	26	11	aiding	aid	VERB
fcis-25918	26	12	in	in	ADP
fcis-25918	26	13	tasks	task	NOUN
fcis-25918	26	14	such	such	ADJ
fcis-25918	26	15	as	as	ADP
fcis-25918	26	16	patient	patient	ADJ
fcis-25918	26	17	monitoring	monitoring	NOUN
fcis-25918	26	18	and	and	CCONJ
fcis-25918	26	19	delivery	delivery	NOUN
fcis-25918	26	20	of	of	ADP
fcis-25918	26	21	supplies	supply	NOUN
fcis-25918	26	22	.	.	PUNCT
fcis-25918	27	1	in	in	ADP
fcis-25918	27	2	industrial	industrial	ADJ
fcis-25918	27	3	environments	environment	NOUN
fcis-25918	27	4	,	,	PUNCT
fcis-25918	27	5	autonomous	autonomous	ADJ
fcis-25918	27	6	transport	transport	NOUN
fcis-25918	27	7	robots	robot	NOUN
fcis-25918	27	8	enhance	enhance	VERB
fcis-25918	27	9	productivity	productivity	NOUN
fcis-25918	27	10	and	and	CCONJ
fcis-25918	27	11	safety	safety	NOUN
fcis-25918	27	12	by	by	ADP
fcis-25918	27	13	efficiently	efficiently	ADV
fcis-25918	27	14	moving	move	VERB
fcis-25918	27	15	goods	good	NOUN
fcis-25918	27	16	and	and	CCONJ
fcis-25918	27	17	materials	material	NOUN
fcis-25918	27	18	.	.	PUNCT
fcis-25918	28	1	tourism	tourism	NOUN
fcis-25918	28	2	and	and	CCONJ
fcis-25918	28	3	leisure	leisure	NOUN
fcis-25918	28	4	sectors	sector	NOUN
fcis-25918	28	5	also	also	ADV
fcis-25918	28	6	benefit	benefit	VERB
fcis-25918	28	7	from	from	ADP
fcis-25918	28	8	autonomous	autonomous	ADJ
fcis-25918	28	9	sightseeing	sightseeing	NOUN
fcis-25918	28	10	vehicles	vehicle	NOUN
fcis-25918	28	11	that	that	PRON
fcis-25918	28	12	can	can	AUX
fcis-25918	28	13	guide	guide	VERB
fcis-25918	28	14	visitors	visitor	NOUN
fcis-25918	28	15	through	through	ADP
fcis-25918	28	16	attractions	attraction	NOUN
fcis-25918	28	17	.	.	PUNCT
fcis-25918	29	1	by	by	ADP
fcis-25918	29	2	improving	improve	VERB
fcis-25918	29	3	path	path	NOUN
fcis-25918	29	4	planning	planning	NOUN
fcis-25918	29	5	algorithms	algorithm	NOUN
fcis-25918	29	6	,	,	PUNCT
fcis-25918	29	7	we	we	PRON
fcis-25918	29	8	can	can	AUX
fcis-25918	29	9	enhance	enhance	VERB
fcis-25918	29	10	the	the	DET
fcis-25918	29	11	efficiency	efficiency	NOUN
fcis-25918	29	12	,	,	PUNCT
fcis-25918	29	13	safety	safety	NOUN
fcis-25918	29	14	,	,	PUNCT
fcis-25918	29	15	and	and	CCONJ
fcis-25918	29	16	overall	overall	ADJ
fcis-25918	29	17	performance	performance	NOUN
fcis-25918	29	18	of	of	ADP
fcis-25918	29	19	these	these	DET
fcis-25918	29	20	robotic	robotic	ADJ
fcis-25918	29	21	systems	system	NOUN
fcis-25918	29	22	,	,	PUNCT
fcis-25918	29	23	contributing	contribute	VERB
fcis-25918	29	24	to	to	ADP
fcis-25918	29	25	the	the	DET
fcis-25918	29	26	advancement	advancement	NOUN
fcis-25918	29	27	of	of	ADP
fcis-25918	29	28	smart	smart	ADJ
fcis-25918	29	29	automation	automation	NOUN
fcis-25918	29	30	technologies	technology	NOUN
fcis-25918	29	31	.	.	PUNCT
fcis-25918	30	1	the	the	DET
fcis-25918	30	2	primary	primary	ADJ
fcis-25918	30	3	objective	objective	NOUN
fcis-25918	30	4	of	of	ADP
fcis-25918	30	5	this	this	DET
fcis-25918	30	6	research	research	NOUN
fcis-25918	30	7	is	be	AUX
fcis-25918	30	8	to	to	PART
fcis-25918	30	9	develop	develop	VERB
fcis-25918	30	10	and	and	CCONJ
fcis-25918	30	11	optimize	optimize	VERB
fcis-25918	30	12	algorithms	algorithm	NOUN
fcis-25918	30	13	for	for	ADP
fcis-25918	30	14	indoor	indoor	ADJ
fcis-25918	30	15	autonomous	autonomous	ADJ
fcis-25918	30	16	path	path	NOUN
fcis-25918	30	17	planning	planning	NOUN
fcis-25918	30	18	that	that	PRON
fcis-25918	30	19	enable	enable	VERB
fcis-25918	30	20	robots	robot	NOUN
fcis-25918	30	21	to	to	PART
fcis-25918	30	22	navigate	navigate	VERB
fcis-25918	30	23	effectively	effectively	ADV
fcis-25918	30	24	and	and	CCONJ
fcis-25918	30	25	safely	safely	ADV
fcis-25918	30	26	within	within	ADP
fcis-25918	30	27	various	various	ADJ
fcis-25918	30	28	indoor	indoor	ADJ
fcis-25918	30	29	environments	environment	NOUN
fcis-25918	30	30	.	.	PUNCT
fcis-25918	31	1	this	this	PRON
fcis-25918	31	2	involves	involve	VERB
fcis-25918	31	3	creating	create	VERB
fcis-25918	31	4	algorithms	algorithm	NOUN
fcis-25918	31	5	that	that	PRON
fcis-25918	31	6	can	can	AUX
fcis-25918	31	7	determine	determine	VERB
fcis-25918	31	8	the	the	DET
fcis-25918	31	9	shortest	short	ADJ
fcis-25918	31	10	and	and	CCONJ
fcis-25918	31	11	most	most	ADV
fcis-25918	31	12	efficient	efficient	ADJ
fcis-25918	31	13	paths	path	NOUN
fcis-25918	31	14	,	,	PUNCT
fcis-25918	31	15	dynamically	dynamically	ADV
fcis-25918	31	16	adjust	adjust	VERB
fcis-25918	31	17	to	to	ADP
fcis-25918	31	18	changes	change	NOUN
fcis-25918	31	19	in	in	ADP
fcis-25918	31	20	the	the	DET
fcis-25918	31	21	environment	environment	NOUN
fcis-25918	31	22	,	,	PUNCT
fcis-25918	31	23	and	and	CCONJ
fcis-25918	31	24	avoid	avoid	VERB
fcis-25918	31	25	both	both	PRON
fcis-25918	31	26	static	static	ADJ
fcis-25918	31	27	and	and	CCONJ
fcis-25918	31	28	dynamic	dynamic	ADJ
fcis-25918	31	29	obstacles	obstacle	NOUN
fcis-25918	31	30	.	.	PUNCT
fcis-25918	32	1	additionally	additionally	ADV
fcis-25918	32	2	,	,	PUNCT
fcis-25918	32	3	this	this	DET
fcis-25918	32	4	research	research	NOUN
fcis-25918	32	5	aims	aim	VERB
fcis-25918	32	6	to	to	PART
fcis-25918	32	7	evaluate	evaluate	VERB
fcis-25918	32	8	the	the	DET
fcis-25918	32	9	performance	performance	NOUN
fcis-25918	32	10	of	of	ADP
fcis-25918	32	11	different	different	ADJ
fcis-25918	32	12	path	path	NOUN
fcis-25918	32	13	planning	planning	NOUN
fcis-25918	32	14	approaches	approach	NOUN
fcis-25918	32	15	and	and	CCONJ
fcis-25918	32	16	identify	identify	VERB
fcis-25918	32	17	the	the	DET
fcis-25918	32	18	most	most	ADV
fcis-25918	32	19	suitable	suitable	ADJ
fcis-25918	32	20	methods	method	NOUN
fcis-25918	32	21	for	for	ADP
fcis-25918	32	22	specific	specific	ADJ
fcis-25918	32	23	applications	application	NOUN
fcis-25918	32	24	.	.	PUNCT
fcis-25918	33	1	by	by	ADP
fcis-25918	33	2	achieving	achieve	VERB
fcis-25918	33	3	these	these	DET
fcis-25918	33	4	objectives	objective	NOUN
fcis-25918	33	5	,	,	PUNCT
fcis-25918	33	6	the	the	DET
fcis-25918	33	7	research	research	NOUN
fcis-25918	33	8	seeks	seek	VERB
fcis-25918	33	9	to	to	PART
fcis-25918	33	10	contribute	contribute	VERB
fcis-25918	33	11	to	to	ADP
fcis-25918	33	12	the	the	DET
fcis-25918	33	13	development	development	NOUN
fcis-25918	33	14	of	of	ADP
fcis-25918	33	15	more	more	ADV
fcis-25918	33	16	capable	capable	ADJ
fcis-25918	33	17	and	and	CCONJ
fcis-25918	33	18	versatile	versatile	ADJ
fcis-25918	33	19	autonomous	autonomous	ADJ
fcis-25918	33	20	robots	robot	NOUN
fcis-25918	33	21	.	.	PUNCT
fcis-25918	34	1	this	this	DET
fcis-25918	34	2	research	research	NOUN
fcis-25918	34	3	adopts	adopt	VERB
fcis-25918	34	4	a	a	DET
fcis-25918	34	5	comprehensive	comprehensive	ADJ
fcis-25918	34	6	methodological	methodological	ADJ
fcis-25918	34	7	approach	approach	NOUN
fcis-25918	34	8	that	that	PRON
fcis-25918	34	9	encompasses	encompass	VERB
fcis-25918	34	10	several	several	ADJ
fcis-25918	34	11	key	key	ADJ
fcis-25918	34	12	phases	phase	NOUN
fcis-25918	34	13	.	.	PUNCT
fcis-25918	35	1	initially	initially	ADV
fcis-25918	35	2	,	,	PUNCT
fcis-25918	35	3	a	a	DET
fcis-25918	35	4	thorough	thorough	ADJ
fcis-25918	35	5	literature	literature	NOUN
fcis-25918	35	6	review	review	NOUN
fcis-25918	35	7	will	will	AUX
fcis-25918	35	8	be	be	AUX
fcis-25918	35	9	conducted	conduct	VERB
fcis-25918	35	10	to	to	PART
fcis-25918	35	11	understand	understand	VERB
fcis-25918	35	12	the	the	DET
fcis-25918	35	13	current	current	ADJ
fcis-25918	35	14	state	state	NOUN
fcis-25918	35	15	-	-	PUNCT
fcis-25918	35	16	of	of	ADP
fcis-25918	35	17	-	-	PUNCT
fcis-25918	35	18	the	the	DET
fcis-25918	35	19	-	-	PUNCT
fcis-25918	35	20	art	art	NOUN
fcis-25918	35	21	in	in	ADP
fcis-25918	35	22	indoor	indoor	ADJ
fcis-25918	35	23	autonomous	autonomous	ADJ
fcis-25918	35	24	path	path	NOUN
fcis-25918	35	25	planning	planning	NOUN
fcis-25918	35	26	algorithms	algorithm	NOUN
fcis-25918	35	27	.	.	PUNCT
fcis-25918	36	1	this	this	DET
fcis-25918	36	2	review	review	NOUN
fcis-25918	36	3	will	will	AUX
fcis-25918	36	4	cover	cover	VERB
fcis-25918	36	5	various	various	ADJ
fcis-25918	36	6	global	global	ADJ
fcis-25918	36	7	and	and	CCONJ
fcis-25918	36	8	local	local	ADJ
fcis-25918	36	9	path	path	NOUN
fcis-25918	36	10	planning	planning	NOUN
fcis-25918	36	11	techniques	technique	NOUN
fcis-25918	36	12	,	,	PUNCT
fcis-25918	36	13	as	as	ADV
fcis-25918	36	14	well	well	ADV
fcis-25918	36	15	as	as	ADP
fcis-25918	36	16	obstacle	obstacle	NOUN
fcis-25918	36	17	detection	detection	NOUN
fcis-25918	36	18	and	and	CCONJ
fcis-25918	36	19	avoidance	avoidance	NOUN
fcis-25918	36	20	strategies	strategy	NOUN
fcis-25918	36	21	.	.	PUNCT
fcis-25918	37	1	following	follow	VERB
fcis-25918	37	2	this	this	PRON
fcis-25918	37	3	,	,	PUNCT
fcis-25918	37	4	the	the	DET
fcis-25918	37	5	development	development	NOUN
fcis-25918	37	6	phase	phase	NOUN
fcis-25918	37	7	will	will	AUX
fcis-25918	37	8	involve	involve	VERB
fcis-25918	37	9	designing	design	VERB
fcis-25918	37	10	and	and	CCONJ
fcis-25918	37	11	implementing	implement	VERB
fcis-25918	37	12	novel	novel	ADJ
fcis-25918	37	13	algorithms	algorithm	NOUN
fcis-25918	37	14	or	or	CCONJ
fcis-25918	37	15	improving	improve	VERB
fcis-25918	37	16	existing	exist	VERB
fcis-25918	37	17	ones	one	NOUN
fcis-25918	37	18	,	,	PUNCT
fcis-25918	37	19	focusing	focus	VERB
fcis-25918	37	20	on	on	ADP
fcis-25918	37	21	efficiency	efficiency	NOUN
fcis-25918	37	22	and	and	CCONJ
fcis-25918	37	23	real	real	ADJ
fcis-25918	37	24	-	-	PUNCT
fcis-25918	37	25	time	time	NOUN
fcis-25918	37	26	performance	performance	NOUN
fcis-25918	37	27	.	.	PUNCT
fcis-25918	38	1	the	the	DET
fcis-25918	38	2	algorithms	algorithm	NOUN
fcis-25918	38	3	will	will	AUX
fcis-25918	38	4	be	be	AUX
fcis-25918	38	5	tested	test	VERB
fcis-25918	38	6	and	and	CCONJ
fcis-25918	38	7	validated	validate	VERB
fcis-25918	38	8	using	use	VERB
fcis-25918	38	9	simulation	simulation	NOUN
fcis-25918	38	10	environments	environment	NOUN
fcis-25918	38	11	before	before	ADP
fcis-25918	38	12	being	be	AUX
fcis-25918	38	13	deployed	deploy	VERB
fcis-25918	38	14	on	on	ADP
fcis-25918	38	15	actual	actual	ADJ
fcis-25918	38	16	robotic	robotic	ADJ
fcis-25918	38	17	platforms	platform	NOUN
fcis-25918	38	18	for	for	ADP
fcis-25918	38	19	further	further	ADJ
fcis-25918	38	20	evaluation	evaluation	NOUN
fcis-25918	38	21	.	.	PUNCT
fcis-25918	39	1	performance	performance	NOUN
fcis-25918	39	2	metrics	metric	NOUN
fcis-25918	39	3	such	such	ADJ
fcis-25918	39	4	as	as	ADP
fcis-25918	39	5	path	path	NOUN
fcis-25918	39	6	efficiency	efficiency	NOUN
fcis-25918	39	7	,	,	PUNCT
fcis-25918	39	8	computational	computational	ADJ
fcis-25918	39	9	time	time	NOUN
fcis-25918	39	10	,	,	PUNCT
fcis-25918	39	11	and	and	CCONJ
fcis-25918	39	12	obstacle	obstacle	NOUN
fcis-25918	39	13	avoidance	avoidance	NOUN
fcis-25918	39	14	success	success	NOUN
fcis-25918	39	15	rate	rate	NOUN
fcis-25918	39	16	will	will	AUX
fcis-25918	39	17	be	be	AUX
fcis-25918	39	18	used	use	VERB
fcis-25918	39	19	to	to	PART
fcis-25918	39	20	assess	assess	VERB
fcis-25918	39	21	the	the	DET
fcis-25918	39	22	algorithms	algorithm	NOUN
fcis-25918	39	23	.	.	PUNCT
fcis-25918	40	1	comparative	comparative	ADJ
fcis-25918	40	2	analysis	analysis	NOUN
fcis-25918	40	3	will	will	AUX
fcis-25918	40	4	be	be	AUX
fcis-25918	40	5	conducted	conduct	VERB
fcis-25918	40	6	to	to	PART
fcis-25918	40	7	benchmark	benchmark	VERB
fcis-25918	40	8	the	the	DET
fcis-25918	40	9	developed	develop	VERB
fcis-25918	40	10	solutions	solution	NOUN
fcis-25918	40	11	against	against	ADP
fcis-25918	40	12	existing	exist	VERB
fcis-25918	40	13	methods	method	NOUN
fcis-25918	40	14	.	.	PUNCT
fcis-25918	41	1	the	the	DET
fcis-25918	41	2	structure	structure	NOUN
fcis-25918	41	3	of	of	ADP
fcis-25918	41	4	this	this	DET
fcis-25918	41	5	thesis	thesis	NOUN
fcis-25918	41	6	is	be	AUX
fcis-25918	41	7	organized	organize	VERB
fcis-25918	41	8	to	to	ADP
fcis-25918	41	9	systematically	systematically	ADV
fcis-25918	41	10	50	50	NUM
fcis-25918	41	11	present	present	ADJ
fcis-25918	41	12	the	the	DET
fcis-25918	41	13	research	research	NOUN
fcis-25918	41	14	findings	finding	NOUN
fcis-25918	41	15	and	and	CCONJ
fcis-25918	41	16	discussions	discussion	NOUN
fcis-25918	41	17	.	.	PUNCT
fcis-25918	42	1	following	follow	VERB
fcis-25918	42	2	this	this	DET
fcis-25918	42	3	introductory	introductory	ADJ
fcis-25918	42	4	chapter	chapter	NOUN
fcis-25918	42	5	,	,	PUNCT
fcis-25918	42	6	chapter	chapter	NOUN
fcis-25918	42	7	2	2	NUM
fcis-25918	42	8	provides	provide	VERB
fcis-25918	42	9	a	a	DET
fcis-25918	42	10	comprehensive	comprehensive	ADJ
fcis-25918	42	11	review	review	NOUN
fcis-25918	42	12	of	of	ADP
fcis-25918	42	13	the	the	DET
fcis-25918	42	14	relevant	relevant	ADJ
fcis-25918	42	15	literature	literature	NOUN
fcis-25918	42	16	,	,	PUNCT
fcis-25918	42	17	highlighting	highlight	VERB
fcis-25918	42	18	key	key	ADJ
fcis-25918	42	19	advancements	advancement	NOUN
fcis-25918	42	20	and	and	CCONJ
fcis-25918	42	21	identifying	identify	VERB
fcis-25918	42	22	gaps	gap	NOUN
fcis-25918	42	23	that	that	SCONJ
fcis-25918	42	24	this	this	DET
fcis-25918	42	25	research	research	NOUN
fcis-25918	42	26	aims	aim	VERB
fcis-25918	42	27	to	to	PART
fcis-25918	42	28	address	address	VERB
fcis-25918	42	29	.	.	PUNCT
fcis-25918	43	1	chapter	chapter	NOUN
fcis-25918	43	2	3	3	NUM
fcis-25918	43	3	delves	delf	NOUN
fcis-25918	43	4	into	into	ADP
fcis-25918	43	5	the	the	DET
fcis-25918	43	6	theoretical	theoretical	ADJ
fcis-25918	43	7	foundations	foundation	NOUN
fcis-25918	43	8	and	and	CCONJ
fcis-25918	43	9	methodologies	methodology	NOUN
fcis-25918	43	10	employed	employ	VERB
fcis-25918	43	11	in	in	ADP
fcis-25918	43	12	the	the	DET
fcis-25918	43	13	development	development	NOUN
fcis-25918	43	14	of	of	ADP
fcis-25918	43	15	the	the	DET
fcis-25918	43	16	path	path	NOUN
fcis-25918	43	17	planning	planning	NOUN
fcis-25918	43	18	algorithms	algorithm	NOUN
fcis-25918	43	19	.	.	PUNCT
fcis-25918	44	1	chapter	chapter	NOUN
fcis-25918	44	2	4	4	NUM
fcis-25918	44	3	presents	present	VERB
fcis-25918	44	4	the	the	DET
fcis-25918	44	5	detailed	detailed	ADJ
fcis-25918	44	6	design	design	NOUN
fcis-25918	44	7	and	and	CCONJ
fcis-25918	44	8	implementation	implementation	NOUN
fcis-25918	44	9	of	of	ADP
fcis-25918	44	10	the	the	DET
fcis-25918	44	11	algorithms	algorithm	NOUN
fcis-25918	44	12	,	,	PUNCT
fcis-25918	44	13	along	along	ADP
fcis-25918	44	14	with	with	ADP
fcis-25918	44	15	their	their	PRON
fcis-25918	44	16	simulation	simulation	NOUN
fcis-25918	44	17	results	result	NOUN
fcis-25918	44	18	.	.	PUNCT
fcis-25918	45	1	in	in	ADP
fcis-25918	45	2	chapter	chapter	NOUN
fcis-25918	45	3	5	5	NUM
fcis-25918	45	4	,	,	PUNCT
fcis-25918	45	5	the	the	DET
fcis-25918	45	6	algorithms	algorithm	NOUN
fcis-25918	45	7	are	be	AUX
fcis-25918	45	8	evaluated	evaluate	VERB
fcis-25918	45	9	through	through	ADP
fcis-25918	45	10	real	real	ADJ
fcis-25918	45	11	-	-	PUNCT
fcis-25918	45	12	world	world	NOUN
fcis-25918	45	13	experiments	experiment	NOUN
fcis-25918	45	14	,	,	PUNCT
fcis-25918	45	15	and	and	CCONJ
fcis-25918	45	16	their	their	PRON
fcis-25918	45	17	performance	performance	NOUN
fcis-25918	45	18	is	be	AUX
fcis-25918	45	19	analyzed	analyze	VERB
fcis-25918	45	20	.	.	PUNCT
fcis-25918	46	1	chapter	chapter	NOUN
fcis-25918	46	2	6	6	NUM
fcis-25918	46	3	discusses	discuss	VERB
fcis-25918	46	4	the	the	DET
fcis-25918	46	5	optimization	optimization	NOUN
fcis-25918	46	6	techniques	technique	NOUN
fcis-25918	46	7	applied	apply	VERB
fcis-25918	46	8	to	to	PART
fcis-25918	46	9	enhance	enhance	VERB
fcis-25918	46	10	the	the	DET
fcis-25918	46	11	algorithms	algorithm	NOUN
fcis-25918	46	12	'	'	PART
fcis-25918	46	13	efficiency	efficiency	NOUN
fcis-25918	46	14	and	and	CCONJ
fcis-25918	46	15	effectiveness	effectiveness	NOUN
fcis-25918	46	16	.	.	PUNCT
fcis-25918	47	1	chapter	chapter	NOUN
fcis-25918	47	2	7	7	NUM
fcis-25918	47	3	explores	explore	VERB
fcis-25918	47	4	various	various	ADJ
fcis-25918	47	5	application	application	NOUN
fcis-25918	47	6	scenarios	scenario	NOUN
fcis-25918	47	7	and	and	CCONJ
fcis-25918	47	8	case	case	NOUN
fcis-25918	47	9	studies	study	NOUN
fcis-25918	47	10	where	where	SCONJ
fcis-25918	47	11	the	the	DET
fcis-25918	47	12	developed	develop	VERB
fcis-25918	47	13	algorithms	algorithm	NOUN
fcis-25918	47	14	are	be	AUX
fcis-25918	47	15	implemented	implement	VERB
fcis-25918	47	16	and	and	CCONJ
fcis-25918	47	17	tested	test	VERB
fcis-25918	47	18	.	.	PUNCT
fcis-25918	48	1	finally	finally	ADV
fcis-25918	48	2	,	,	PUNCT
fcis-25918	48	3	chapter	chapter	NOUN
fcis-25918	48	4	8	8	NUM
fcis-25918	48	5	concludes	conclude	VERB
fcis-25918	48	6	the	the	DET
fcis-25918	48	7	thesis	thesis	NOUN
fcis-25918	48	8	by	by	ADP
fcis-25918	48	9	summarizing	summarize	VERB
fcis-25918	48	10	the	the	DET
fcis-25918	48	11	research	research	NOUN
fcis-25918	48	12	contributions	contribution	NOUN
fcis-25918	48	13	,	,	PUNCT
fcis-25918	48	14	discussing	discuss	VERB
fcis-25918	48	15	the	the	DET
fcis-25918	48	16	implications	implication	NOUN
fcis-25918	48	17	of	of	ADP
fcis-25918	48	18	the	the	DET
fcis-25918	48	19	findings	finding	NOUN
fcis-25918	48	20	,	,	PUNCT
fcis-25918	48	21	and	and	CCONJ
fcis-25918	48	22	proposing	propose	VERB
fcis-25918	48	23	directions	direction	NOUN
fcis-25918	48	24	for	for	ADP
fcis-25918	48	25	future	future	ADJ
fcis-25918	48	26	research	research	NOUN
fcis-25918	48	27	.	.	PUNCT
fcis-25918	49	1	the	the	DET
fcis-25918	49	2	references	reference	NOUN
fcis-25918	49	3	section	section	NOUN
fcis-25918	49	4	lists	list	VERB
fcis-25918	49	5	all	all	DET
fcis-25918	49	6	the	the	DET
fcis-25918	49	7	sources	source	NOUN
fcis-25918	49	8	cited	cite	VERB
fcis-25918	49	9	throughout	throughout	ADP
fcis-25918	49	10	the	the	DET
fcis-25918	49	11	thesis	thesis	NOUN
fcis-25918	49	12	,	,	PUNCT
fcis-25918	49	13	providing	provide	VERB
fcis-25918	49	14	a	a	DET
fcis-25918	49	15	comprehensive	comprehensive	ADJ
fcis-25918	49	16	bibliography	bibliography	NOUN
fcis-25918	49	17	of	of	ADP
fcis-25918	49	18	the	the	DET
fcis-25918	49	19	literature	literature	NOUN
fcis-25918	49	20	consulted	consult	VERB
fcis-25918	49	21	during	during	ADP
fcis-25918	49	22	the	the	DET
fcis-25918	49	23	research	research	NOUN
fcis-25918	49	24	.	.	PUNCT
fcis-25918	50	1	2	2	X
fcis-25918	50	2	.	.	X
fcis-25918	50	3	review	review	NOUN
fcis-25918	50	4	of	of	ADP
fcis-25918	50	5	indoor	indoor	ADJ
fcis-25918	50	6	autonomous	autonomous	ADJ
fcis-25918	50	7	driving	driving	NOUN
fcis-25918	50	8	technologies	technology	NOUN
fcis-25918	50	9	for	for	ADP
fcis-25918	50	10	robots	robot	NOUN
fcis-25918	50	11	the	the	DET
fcis-25918	50	12	rapid	rapid	ADJ
fcis-25918	50	13	development	development	NOUN
fcis-25918	50	14	of	of	ADP
fcis-25918	50	15	robotics	robotic	NOUN
fcis-25918	50	16	has	have	AUX
fcis-25918	50	17	led	lead	VERB
fcis-25918	50	18	to	to	ADP
fcis-25918	50	19	significant	significant	ADJ
fcis-25918	50	20	advancements	advancement	NOUN
fcis-25918	50	21	in	in	ADP
fcis-25918	50	22	indoor	indoor	ADJ
fcis-25918	50	23	autonomous	autonomous	ADJ
fcis-25918	50	24	driving	driving	NOUN
fcis-25918	50	25	technologies	technology	NOUN
fcis-25918	50	26	,	,	PUNCT
fcis-25918	50	27	which	which	PRON
fcis-25918	50	28	are	be	AUX
fcis-25918	50	29	crucial	crucial	ADJ
fcis-25918	50	30	for	for	ADP
fcis-25918	50	31	the	the	DET
fcis-25918	50	32	effective	effective	ADJ
fcis-25918	50	33	operation	operation	NOUN
fcis-25918	50	34	of	of	ADP
fcis-25918	50	35	service	service	NOUN
fcis-25918	50	36	robots	robot	NOUN
fcis-25918	50	37	,	,	PUNCT
fcis-25918	50	38	industrial	industrial	ADJ
fcis-25918	50	39	transport	transport	NOUN
fcis-25918	50	40	robots	robot	NOUN
fcis-25918	50	41	,	,	PUNCT
fcis-25918	50	42	and	and	CCONJ
fcis-25918	50	43	sightseeing	sightseeing	NOUN
fcis-25918	50	44	vehicles	vehicle	NOUN
fcis-25918	50	45	.	.	PUNCT
fcis-25918	51	1	these	these	DET
fcis-25918	51	2	technologies	technology	NOUN
fcis-25918	51	3	encompass	encompass	VERB
fcis-25918	51	4	a	a	DET
fcis-25918	51	5	wide	wide	ADJ
fcis-25918	51	6	range	range	NOUN
fcis-25918	51	7	of	of	ADP
fcis-25918	51	8	disciplines	discipline	NOUN
fcis-25918	51	9	,	,	PUNCT
fcis-25918	51	10	including	include	VERB
fcis-25918	51	11	navigation	navigation	NOUN
fcis-25918	51	12	techniques	technique	NOUN
fcis-25918	51	13	,	,	PUNCT
fcis-25918	51	14	path	path	NOUN
fcis-25918	51	15	planning	planning	NOUN
fcis-25918	51	16	algorithms	algorithm	NOUN
fcis-25918	51	17	,	,	PUNCT
fcis-25918	51	18	obstacle	obstacle	NOUN
fcis-25918	51	19	detection	detection	NOUN
fcis-25918	51	20	and	and	CCONJ
fcis-25918	51	21	avoidance	avoidance	NOUN
fcis-25918	51	22	strategies	strategy	NOUN
fcis-25918	51	23	,	,	PUNCT
fcis-25918	51	24	and	and	CCONJ
fcis-25918	51	25	indoor	indoor	ADJ
fcis-25918	51	26	environment	environment	NOUN
fcis-25918	51	27	modeling	modeling	NOUN
fcis-25918	51	28	and	and	CCONJ
fcis-25918	51	29	map	map	VERB
fcis-25918	51	30	construction	construction	NOUN
fcis-25918	51	31	.	.	PUNCT
fcis-25918	52	1	robot	robot	NOUN
fcis-25918	52	2	navigation	navigation	PROPN
fcis-25918	52	3	technologies	technologies	PROPN
fcis-25918	52	4	robot	robot	NOUN
fcis-25918	52	5	navigation	navigation	NOUN
fcis-25918	52	6	technologies	technology	NOUN
fcis-25918	52	7	form	form	VERB
fcis-25918	52	8	the	the	DET
fcis-25918	52	9	foundation	foundation	NOUN
fcis-25918	52	10	of	of	ADP
fcis-25918	52	11	indoor	indoor	ADJ
fcis-25918	52	12	autonomous	autonomous	ADJ
fcis-25918	52	13	driving	driving	NOUN
fcis-25918	52	14	,	,	PUNCT
fcis-25918	52	15	enabling	enable	VERB
fcis-25918	52	16	robots	robot	NOUN
fcis-25918	52	17	to	to	PART
fcis-25918	52	18	move	move	VERB
fcis-25918	52	19	purposefully	purposefully	ADV
fcis-25918	52	20	and	and	CCONJ
fcis-25918	52	21	efficiently	efficiently	ADV
fcis-25918	52	22	within	within	ADP
fcis-25918	52	23	confined	confine	VERB
fcis-25918	52	24	and	and	CCONJ
fcis-25918	52	25	often	often	ADV
fcis-25918	52	26	complex	complex	ADJ
fcis-25918	52	27	indoor	indoor	ADJ
fcis-25918	52	28	spaces	space	NOUN
fcis-25918	52	29	.	.	PUNCT
fcis-25918	53	1	the	the	DET
fcis-25918	53	2	primary	primary	ADJ
fcis-25918	53	3	goal	goal	NOUN
fcis-25918	53	4	of	of	ADP
fcis-25918	53	5	robot	robot	NOUN
fcis-25918	53	6	navigation	navigation	NOUN
fcis-25918	53	7	is	be	AUX
fcis-25918	53	8	to	to	PART
fcis-25918	53	9	ensure	ensure	VERB
fcis-25918	53	10	that	that	SCONJ
fcis-25918	53	11	robots	robot	NOUN
fcis-25918	53	12	can	can	AUX
fcis-25918	53	13	determine	determine	VERB
fcis-25918	53	14	their	their	PRON
fcis-25918	53	15	position	position	NOUN
fcis-25918	53	16	,	,	PUNCT
fcis-25918	53	17	orient	orient	VERB
fcis-25918	53	18	themselves	themselves	PRON
fcis-25918	53	19	correctly	correctly	ADV
fcis-25918	53	20	,	,	PUNCT
fcis-25918	53	21	and	and	CCONJ
fcis-25918	53	22	move	move	VERB
fcis-25918	53	23	to	to	ADP
fcis-25918	53	24	desired	desire	VERB
fcis-25918	53	25	locations	location	NOUN
fcis-25918	53	26	without	without	ADP
fcis-25918	53	27	human	human	ADJ
fcis-25918	53	28	intervention	intervention	NOUN
fcis-25918	53	29	.	.	PUNCT
fcis-25918	54	1	this	this	PRON
fcis-25918	54	2	involves	involve	VERB
fcis-25918	54	3	a	a	DET
fcis-25918	54	4	combination	combination	NOUN
fcis-25918	54	5	of	of	ADP
fcis-25918	54	6	sensor	sensor	NOUN
fcis-25918	54	7	technologies	technology	NOUN
fcis-25918	54	8	,	,	PUNCT
fcis-25918	54	9	localization	localization	NOUN
fcis-25918	54	10	algorithms	algorithm	NOUN
fcis-25918	54	11	,	,	PUNCT
fcis-25918	54	12	and	and	CCONJ
fcis-25918	54	13	motion	motion	NOUN
fcis-25918	54	14	control	control	NOUN
fcis-25918	54	15	strategies	strategy	NOUN
fcis-25918	54	16	.	.	PUNCT
fcis-25918	55	1	one	one	NUM
fcis-25918	55	2	of	of	ADP
fcis-25918	55	3	the	the	DET
fcis-25918	55	4	most	most	ADV
fcis-25918	55	5	widely	widely	ADV
fcis-25918	55	6	used	use	VERB
fcis-25918	55	7	approaches	approach	NOUN
fcis-25918	55	8	in	in	ADP
fcis-25918	55	9	robot	robot	NOUN
fcis-25918	55	10	navigation	navigation	NOUN
fcis-25918	55	11	is	be	AUX
fcis-25918	55	12	simultaneous	simultaneous	ADJ
fcis-25918	55	13	localization	localization	NOUN
fcis-25918	55	14	and	and	CCONJ
fcis-25918	55	15	mapping	mapping	NOUN
fcis-25918	55	16	(	(	PUNCT
fcis-25918	55	17	slam	slam	PROPN
fcis-25918	55	18	)	)	PUNCT
fcis-25918	55	19	,	,	PUNCT
fcis-25918	55	20	which	which	PRON
fcis-25918	55	21	allows	allow	VERB
fcis-25918	55	22	robots	robot	NOUN
fcis-25918	55	23	to	to	PART
fcis-25918	55	24	create	create	VERB
fcis-25918	55	25	a	a	DET
fcis-25918	55	26	map	map	NOUN
fcis-25918	55	27	of	of	ADP
fcis-25918	55	28	an	an	DET
fcis-25918	55	29	unknown	unknown	ADJ
fcis-25918	55	30	environment	environment	NOUN
fcis-25918	55	31	while	while	SCONJ
fcis-25918	55	32	simultaneously	simultaneously	ADV
fcis-25918	55	33	determining	determine	VERB
fcis-25918	55	34	their	their	PRON
fcis-25918	55	35	location	location	NOUN
fcis-25918	55	36	within	within	ADP
fcis-25918	55	37	that	that	DET
fcis-25918	55	38	map	map	NOUN
fcis-25918	55	39	.	.	PUNCT
fcis-25918	56	1	slam	slam	PROPN
fcis-25918	56	2	algorithms	algorithm	NOUN
fcis-25918	56	3	typically	typically	ADV
fcis-25918	56	4	utilize	utilize	VERB
fcis-25918	56	5	sensor	sensor	NOUN
fcis-25918	56	6	data	datum	NOUN
fcis-25918	56	7	from	from	ADP
fcis-25918	56	8	lidar	lidar	NOUN
fcis-25918	56	9	,	,	PUNCT
fcis-25918	56	10	ultrasonic	ultrasonic	ADJ
fcis-25918	56	11	sensors	sensor	NOUN
fcis-25918	56	12	,	,	PUNCT
fcis-25918	56	13	depth	depth	NOUN
fcis-25918	56	14	cameras	camera	NOUN
fcis-25918	56	15	,	,	PUNCT
fcis-25918	56	16	and	and	CCONJ
fcis-25918	56	17	imus	imus	PROPN
fcis-25918	56	18	(	(	PUNCT
fcis-25918	56	19	inertial	inertial	ADJ
fcis-25918	56	20	measurement	measurement	NOUN
fcis-25918	56	21	units	unit	NOUN
fcis-25918	56	22	)	)	PUNCT
fcis-25918	56	23	to	to	PART
fcis-25918	56	24	construct	construct	VERB
fcis-25918	56	25	accurate	accurate	ADJ
fcis-25918	56	26	and	and	CCONJ
fcis-25918	56	27	reliable	reliable	ADJ
fcis-25918	56	28	maps	map	NOUN
fcis-25918	56	29	.	.	PUNCT
fcis-25918	57	1	particle	particle	NOUN
fcis-25918	57	2	filters	filter	NOUN
fcis-25918	57	3	,	,	PUNCT
fcis-25918	57	4	extended	extended	ADJ
fcis-25918	57	5	kalman	kalman	NOUN
fcis-25918	57	6	filters	filter	NOUN
fcis-25918	57	7	(	(	PUNCT
fcis-25918	57	8	ekf	ekf	PROPN
fcis-25918	57	9	)	)	PUNCT
fcis-25918	57	10	,	,	PUNCT
fcis-25918	57	11	and	and	CCONJ
fcis-25918	57	12	graph	graph	NOUN
fcis-25918	57	13	slam	slam	NOUN
fcis-25918	57	14	are	be	AUX
fcis-25918	57	15	among	among	ADP
fcis-25918	57	16	the	the	DET
fcis-25918	57	17	popular	popular	ADJ
fcis-25918	57	18	methods	method	NOUN
fcis-25918	57	19	employed	employ	VERB
fcis-25918	57	20	in	in	ADP
fcis-25918	57	21	slam	slam	NOUN
fcis-25918	57	22	to	to	PART
fcis-25918	57	23	achieve	achieve	VERB
fcis-25918	57	24	high	high	ADJ
fcis-25918	57	25	precision	precision	NOUN
fcis-25918	57	26	in	in	ADP
fcis-25918	57	27	localization	localization	NOUN
fcis-25918	57	28	and	and	CCONJ
fcis-25918	57	29	mapping	mapping	NOUN
fcis-25918	57	30	.	.	PUNCT
fcis-25918	58	1	another	another	DET
fcis-25918	58	2	critical	critical	ADJ
fcis-25918	58	3	aspect	aspect	NOUN
fcis-25918	58	4	of	of	ADP
fcis-25918	58	5	navigation	navigation	NOUN
fcis-25918	58	6	is	be	AUX
fcis-25918	58	7	the	the	DET
fcis-25918	58	8	robot	robot	NOUN
fcis-25918	58	9	's	's	PART
fcis-25918	58	10	ability	ability	NOUN
fcis-25918	58	11	to	to	PART
fcis-25918	58	12	follow	follow	VERB
fcis-25918	58	13	a	a	DET
fcis-25918	58	14	planned	plan	VERB
fcis-25918	58	15	path	path	NOUN
fcis-25918	58	16	while	while	SCONJ
fcis-25918	58	17	maintaining	maintain	VERB
fcis-25918	58	18	stability	stability	NOUN
fcis-25918	58	19	and	and	CCONJ
fcis-25918	58	20	avoiding	avoid	VERB
fcis-25918	58	21	collisions	collision	NOUN
fcis-25918	58	22	.	.	PUNCT
fcis-25918	59	1	this	this	PRON
fcis-25918	59	2	is	be	AUX
fcis-25918	59	3	achieved	achieve	VERB
fcis-25918	59	4	through	through	ADP
fcis-25918	59	5	motion	motion	NOUN
fcis-25918	59	6	control	control	NOUN
fcis-25918	59	7	techniques	technique	NOUN
fcis-25918	59	8	that	that	PRON
fcis-25918	59	9	adjust	adjust	VERB
fcis-25918	59	10	the	the	DET
fcis-25918	59	11	robot	robot	NOUN
fcis-25918	59	12	's	's	PART
fcis-25918	59	13	speed	speed	NOUN
fcis-25918	59	14	and	and	CCONJ
fcis-25918	59	15	direction	direction	NOUN
fcis-25918	59	16	based	base	VERB
fcis-25918	59	17	on	on	ADP
fcis-25918	59	18	real	real	ADJ
fcis-25918	59	19	-	-	PUNCT
fcis-25918	59	20	time	time	NOUN
fcis-25918	59	21	feedback	feedback	NOUN
fcis-25918	59	22	from	from	ADP
fcis-25918	59	23	sensors	sensor	NOUN
fcis-25918	59	24	.	.	PUNCT
fcis-25918	60	1	path	path	NOUN
fcis-25918	60	2	tracking	tracking	NOUN
fcis-25918	60	3	algorithms	algorithm	NOUN
fcis-25918	60	4	,	,	PUNCT
fcis-25918	60	5	such	such	ADJ
fcis-25918	60	6	as	as	ADP
fcis-25918	60	7	pure	pure	ADJ
fcis-25918	60	8	pursuit	pursuit	NOUN
fcis-25918	60	9	and	and	CCONJ
fcis-25918	60	10	model	model	NOUN
fcis-25918	60	11	predictive	predictive	ADJ
fcis-25918	60	12	control	control	PROPN
fcis-25918	60	13	(	(	PUNCT
fcis-25918	60	14	mpc	mpc	PROPN
fcis-25918	60	15	)	)	PUNCT
fcis-25918	60	16	,	,	PUNCT
fcis-25918	60	17	are	be	AUX
fcis-25918	60	18	often	often	ADV
fcis-25918	60	19	used	use	VERB
fcis-25918	60	20	to	to	PART
fcis-25918	60	21	ensure	ensure	VERB
fcis-25918	60	22	that	that	SCONJ
fcis-25918	60	23	robots	robot	NOUN
fcis-25918	60	24	adhere	adhere	VERB
fcis-25918	60	25	to	to	ADP
fcis-25918	60	26	their	their	PRON
fcis-25918	60	27	planned	plan	VERB
fcis-25918	60	28	paths	path	NOUN
fcis-25918	60	29	,	,	PUNCT
fcis-25918	60	30	even	even	ADV
fcis-25918	60	31	in	in	ADP
fcis-25918	60	32	the	the	DET
fcis-25918	60	33	presence	presence	NOUN
fcis-25918	60	34	of	of	ADP
fcis-25918	60	35	dynamic	dynamic	ADJ
fcis-25918	60	36	obstacles	obstacle	NOUN
fcis-25918	60	37	and	and	CCONJ
fcis-25918	60	38	environmental	environmental	ADJ
fcis-25918	60	39	uncertainties	uncertainty	NOUN
fcis-25918	60	40	.	.	PUNCT
fcis-25918	61	1	path	path	NOUN
fcis-25918	61	2	planning	planning	NOUN
fcis-25918	61	3	algorithms	algorithms	PROPN
fcis-25918	61	4	path	path	NOUN
fcis-25918	61	5	planning	planning	NOUN
fcis-25918	61	6	algorithms	algorithm	NOUN
fcis-25918	61	7	are	be	AUX
fcis-25918	61	8	essential	essential	ADJ
fcis-25918	61	9	for	for	ADP
fcis-25918	61	10	determining	determine	VERB
fcis-25918	61	11	the	the	DET
fcis-25918	61	12	most	most	ADV
fcis-25918	61	13	efficient	efficient	ADJ
fcis-25918	61	14	routes	route	NOUN
fcis-25918	61	15	for	for	ADP
fcis-25918	61	16	robots	robot	NOUN
fcis-25918	61	17	to	to	PART
fcis-25918	61	18	follow	follow	VERB
fcis-25918	61	19	within	within	ADP
fcis-25918	61	20	indoor	indoor	ADJ
fcis-25918	61	21	environments	environment	NOUN
fcis-25918	61	22	.	.	PUNCT
fcis-25918	62	1	these	these	DET
fcis-25918	62	2	algorithms	algorithm	NOUN
fcis-25918	62	3	can	can	AUX
fcis-25918	62	4	be	be	AUX
fcis-25918	62	5	broadly	broadly	ADV
fcis-25918	62	6	categorized	categorize	VERB
fcis-25918	62	7	into	into	ADP
fcis-25918	62	8	global	global	ADJ
fcis-25918	62	9	path	path	NOUN
fcis-25918	62	10	planning	planning	PROPN
fcis-25918	62	11	and	and	CCONJ
fcis-25918	62	12	local	local	ADJ
fcis-25918	62	13	path	path	NOUN
fcis-25918	62	14	planning	planning	NOUN
fcis-25918	62	15	.	.	PUNCT
fcis-25918	63	1	global	global	ADJ
fcis-25918	63	2	path	path	PROPN
fcis-25918	63	3	planning	planning	NOUN
fcis-25918	63	4	focuses	focus	VERB
fcis-25918	63	5	on	on	ADP
fcis-25918	63	6	finding	find	VERB
fcis-25918	63	7	an	an	DET
fcis-25918	63	8	optimal	optimal	ADJ
fcis-25918	63	9	route	route	NOUN
fcis-25918	63	10	from	from	ADP
fcis-25918	63	11	the	the	DET
fcis-25918	63	12	robot	robot	NOUN
fcis-25918	63	13	's	's	PART
fcis-25918	63	14	starting	start	VERB
fcis-25918	63	15	position	position	NOUN
fcis-25918	63	16	to	to	ADP
fcis-25918	63	17	its	its	PRON
fcis-25918	63	18	destination	destination	NOUN
fcis-25918	63	19	,	,	PUNCT
fcis-25918	63	20	considering	consider	VERB
fcis-25918	63	21	the	the	DET
fcis-25918	63	22	entire	entire	ADJ
fcis-25918	63	23	map	map	NOUN
fcis-25918	63	24	of	of	ADP
fcis-25918	63	25	the	the	DET
fcis-25918	63	26	environment	environment	NOUN
fcis-25918	63	27	.	.	PUNCT
fcis-25918	64	1	in	in	ADP
fcis-25918	64	2	contrast	contrast	NOUN
fcis-25918	64	3	,	,	PUNCT
fcis-25918	64	4	local	local	ADJ
fcis-25918	64	5	path	path	NOUN
fcis-25918	64	6	planning	planning	NOUN
fcis-25918	64	7	deals	deal	NOUN
fcis-25918	64	8	with	with	ADP
fcis-25918	64	9	immediate	immediate	ADJ
fcis-25918	64	10	surroundings	surrounding	NOUN
fcis-25918	64	11	,	,	PUNCT
fcis-25918	64	12	enabling	enable	VERB
fcis-25918	64	13	the	the	DET
fcis-25918	64	14	robot	robot	NOUN
fcis-25918	64	15	to	to	PART
fcis-25918	64	16	navigate	navigate	VERB
fcis-25918	64	17	around	around	ADP
fcis-25918	64	18	obstacles	obstacle	NOUN
fcis-25918	64	19	that	that	PRON
fcis-25918	64	20	are	be	AUX
fcis-25918	64	21	detected	detect	VERB
fcis-25918	64	22	in	in	ADP
fcis-25918	64	23	real	real	ADJ
fcis-25918	64	24	-	-	PUNCT
fcis-25918	64	25	time	time	NOUN
fcis-25918	64	26	.	.	PUNCT
fcis-25918	65	1	global	global	ADJ
fcis-25918	65	2	path	path	PROPN
fcis-25918	65	3	planning	planning	NOUN
fcis-25918	65	4	algorithms	algorithm	NOUN
fcis-25918	65	5	,	,	PUNCT
fcis-25918	65	6	such	such	ADJ
fcis-25918	65	7	as	as	ADP
fcis-25918	65	8	a	a	PROPN
fcis-25918	65	9	*	*	ADJ
fcis-25918	65	10	and	and	CCONJ
fcis-25918	65	11	dijkstra	dijkstra	PROPN
fcis-25918	65	12	's	's	PART
fcis-25918	65	13	algorithm	algorithm	NOUN
fcis-25918	65	14	,	,	PUNCT
fcis-25918	65	15	are	be	AUX
fcis-25918	65	16	commonly	commonly	ADV
fcis-25918	65	17	used	use	VERB
fcis-25918	65	18	due	due	ADP
fcis-25918	65	19	to	to	ADP
fcis-25918	65	20	their	their	PRON
fcis-25918	65	21	ability	ability	NOUN
fcis-25918	65	22	to	to	PART
fcis-25918	65	23	find	find	VERB
fcis-25918	65	24	the	the	DET
fcis-25918	65	25	shortest	short	ADJ
fcis-25918	65	26	path	path	NOUN
fcis-25918	65	27	between	between	ADP
fcis-25918	65	28	two	two	NUM
fcis-25918	65	29	points	point	NOUN
fcis-25918	65	30	on	on	ADP
fcis-25918	65	31	a	a	DET
fcis-25918	65	32	grid	grid	NOUN
fcis-25918	65	33	-	-	PUNCT
fcis-25918	65	34	based	base	VERB
fcis-25918	65	35	map	map	NOUN
fcis-25918	65	36	.	.	PUNCT
fcis-25918	66	1	these	these	DET
fcis-25918	66	2	algorithms	algorithm	NOUN
fcis-25918	66	3	consider	consider	VERB
fcis-25918	66	4	the	the	DET
fcis-25918	66	5	cost	cost	NOUN
fcis-25918	66	6	of	of	ADP
fcis-25918	66	7	traversing	traverse	VERB
fcis-25918	66	8	each	each	DET
fcis-25918	66	9	grid	grid	NOUN
fcis-25918	66	10	cell	cell	NOUN
fcis-25918	66	11	and	and	CCONJ
fcis-25918	66	12	select	select	VERB
fcis-25918	66	13	the	the	DET
fcis-25918	66	14	path	path	NOUN
fcis-25918	66	15	with	with	ADP
fcis-25918	66	16	the	the	DET
fcis-25918	66	17	minimum	minimum	ADJ
fcis-25918	66	18	cumulative	cumulative	ADJ
fcis-25918	66	19	cost	cost	NOUN
fcis-25918	66	20	.	.	PUNCT
fcis-25918	67	1	however	however	ADV
fcis-25918	67	2	,	,	PUNCT
fcis-25918	67	3	global	global	ADJ
fcis-25918	67	4	path	path	NOUN
fcis-25918	67	5	planning	planning	NOUN
fcis-25918	67	6	algorithms	algorithm	NOUN
fcis-25918	67	7	can	can	AUX
fcis-25918	67	8	be	be	AUX
fcis-25918	67	9	computationally	computationally	ADV
fcis-25918	67	10	intensive	intensive	ADJ
fcis-25918	67	11	,	,	PUNCT
fcis-25918	67	12	especially	especially	ADV
fcis-25918	67	13	in	in	ADP
fcis-25918	67	14	large	large	ADJ
fcis-25918	67	15	and	and	CCONJ
fcis-25918	67	16	complex	complex	ADJ
fcis-25918	67	17	environments	environment	NOUN
fcis-25918	67	18	.	.	PUNCT
fcis-25918	68	1	local	local	ADJ
fcis-25918	68	2	path	path	NOUN
fcis-25918	68	3	planning	planning	NOUN
fcis-25918	68	4	algorithms	algorithm	NOUN
fcis-25918	68	5	,	,	PUNCT
fcis-25918	68	6	on	on	ADP
fcis-25918	68	7	the	the	DET
fcis-25918	68	8	other	other	ADJ
fcis-25918	68	9	hand	hand	NOUN
fcis-25918	68	10	,	,	PUNCT
fcis-25918	68	11	focus	focus	VERB
fcis-25918	68	12	on	on	ADP
fcis-25918	68	13	real	real	ADJ
fcis-25918	68	14	-	-	PUNCT
fcis-25918	68	15	time	time	NOUN
fcis-25918	68	16	obstacle	obstacle	NOUN
fcis-25918	68	17	avoidance	avoidance	NOUN
fcis-25918	68	18	and	and	CCONJ
fcis-25918	68	19	dynamic	dynamic	ADJ
fcis-25918	68	20	path	path	NOUN
fcis-25918	68	21	adjustments	adjustment	NOUN
fcis-25918	68	22	.	.	PUNCT
fcis-25918	69	1	rapidly	rapidly	ADV
fcis-25918	69	2	-	-	PUNCT
fcis-25918	69	3	exploring	explore	VERB
fcis-25918	69	4	random	random	ADJ
fcis-25918	69	5	trees	tree	NOUN
fcis-25918	69	6	(	(	PUNCT
fcis-25918	69	7	rrt	rrt	NOUN
fcis-25918	69	8	)	)	PUNCT
fcis-25918	69	9	and	and	CCONJ
fcis-25918	69	10	dynamic	dynamic	ADJ
fcis-25918	69	11	window	window	NOUN
fcis-25918	69	12	approach	approach	NOUN
fcis-25918	69	13	(	(	PUNCT
fcis-25918	69	14	dwa	dwa	PROPN
fcis-25918	69	15	)	)	PUNCT
fcis-25918	69	16	are	be	AUX
fcis-25918	69	17	popular	popular	ADJ
fcis-25918	69	18	local	local	ADJ
fcis-25918	69	19	path	path	NOUN
fcis-25918	69	20	planning	planning	NOUN
fcis-25918	69	21	methods	method	NOUN
fcis-25918	69	22	.	.	PUNCT
fcis-25918	70	1	rrt	rrt	NOUN
fcis-25918	70	2	is	be	AUX
fcis-25918	70	3	particularly	particularly	ADV
fcis-25918	70	4	useful	useful	ADJ
fcis-25918	70	5	for	for	ADP
fcis-25918	70	6	navigating	navigate	VERB
fcis-25918	70	7	in	in	ADP
fcis-25918	70	8	cluttered	cluttered	ADJ
fcis-25918	70	9	environments	environment	NOUN
fcis-25918	70	10	,	,	PUNCT
fcis-25918	70	11	as	as	SCONJ
fcis-25918	70	12	it	it	PRON
fcis-25918	70	13	incrementally	incrementally	ADV
fcis-25918	70	14	builds	build	VERB
fcis-25918	70	15	a	a	DET
fcis-25918	70	16	tree	tree	NOUN
fcis-25918	70	17	of	of	ADP
fcis-25918	70	18	possible	possible	ADJ
fcis-25918	70	19	paths	path	NOUN
fcis-25918	70	20	,	,	PUNCT
fcis-25918	70	21	exploring	explore	VERB
fcis-25918	70	22	the	the	DET
fcis-25918	70	23	space	space	NOUN
fcis-25918	70	24	efficiently	efficiently	ADV
fcis-25918	70	25	.	.	PUNCT
fcis-25918	71	1	dwa	dwa	VERB
fcis-25918	71	2	,	,	PUNCT
fcis-25918	71	3	on	on	ADP
fcis-25918	71	4	the	the	DET
fcis-25918	71	5	other	other	ADJ
fcis-25918	71	6	hand	hand	NOUN
fcis-25918	71	7	,	,	PUNCT
fcis-25918	71	8	evaluates	evaluate	VERB
fcis-25918	71	9	the	the	DET
fcis-25918	71	10	robot	robot	NOUN
fcis-25918	71	11	's	's	PART
fcis-25918	71	12	possible	possible	ADJ
fcis-25918	71	13	velocities	velocity	NOUN
fcis-25918	71	14	and	and	CCONJ
fcis-25918	71	15	selects	select	VERB
fcis-25918	71	16	the	the	DET
fcis-25918	71	17	one	one	NOUN
fcis-25918	71	18	that	that	PRON
fcis-25918	71	19	maximizes	maximize	VERB
fcis-25918	71	20	progress	progress	NOUN
fcis-25918	71	21	towards	towards	ADP
fcis-25918	71	22	the	the	DET
fcis-25918	71	23	goal	goal	NOUN
fcis-25918	71	24	while	while	SCONJ
fcis-25918	71	25	avoiding	avoid	VERB
fcis-25918	71	26	obstacles	obstacle	NOUN
fcis-25918	71	27	.	.	PUNCT
fcis-25918	72	1	obstacle	obstacle	NOUN
fcis-25918	72	2	detection	detection	NOUN
fcis-25918	72	3	and	and	CCONJ
fcis-25918	72	4	avoidance	avoidance	NOUN
fcis-25918	72	5	technologies	technology	NOUN
fcis-25918	72	6	obstacle	obstacle	VERB
fcis-25918	72	7	detection	detection	NOUN
fcis-25918	72	8	and	and	CCONJ
fcis-25918	72	9	avoidance	avoidance	NOUN
fcis-25918	72	10	are	be	AUX
fcis-25918	72	11	critical	critical	ADJ
fcis-25918	72	12	for	for	ADP
fcis-25918	72	13	ensuring	ensure	VERB
fcis-25918	72	14	the	the	DET
fcis-25918	72	15	safety	safety	NOUN
fcis-25918	72	16	and	and	CCONJ
fcis-25918	72	17	reliability	reliability	NOUN
fcis-25918	72	18	of	of	ADP
fcis-25918	72	19	indoor	indoor	ADJ
fcis-25918	72	20	autonomous	autonomous	ADJ
fcis-25918	72	21	robots	robot	NOUN
fcis-25918	72	22	.	.	PUNCT
fcis-25918	73	1	these	these	DET
fcis-25918	73	2	technologies	technology	NOUN
fcis-25918	73	3	rely	rely	VERB
fcis-25918	73	4	on	on	ADP
fcis-25918	73	5	various	various	ADJ
fcis-25918	73	6	sensors	sensor	NOUN
fcis-25918	73	7	to	to	PART
fcis-25918	73	8	detect	detect	VERB
fcis-25918	73	9	and	and	CCONJ
fcis-25918	73	10	classify	classify	VERB
fcis-25918	73	11	obstacles	obstacle	NOUN
fcis-25918	73	12	in	in	ADP
fcis-25918	73	13	the	the	DET
fcis-25918	73	14	robot	robot	NOUN
fcis-25918	73	15	's	's	PART
fcis-25918	73	16	path	path	NOUN
fcis-25918	73	17	,	,	PUNCT
fcis-25918	73	18	allowing	allow	VERB
fcis-25918	73	19	the	the	DET
fcis-25918	73	20	robot	robot	NOUN
fcis-25918	73	21	to	to	PART
fcis-25918	73	22	make	make	VERB
fcis-25918	73	23	timely	timely	ADJ
fcis-25918	73	24	adjustments	adjustment	NOUN
fcis-25918	73	25	to	to	PART
fcis-25918	73	26	avoid	avoid	VERB
fcis-25918	73	27	collisions	collision	NOUN
fcis-25918	73	28	.	.	PUNCT
fcis-25918	74	1	lidar	lidar	NOUN
fcis-25918	74	2	(	(	PUNCT
fcis-25918	74	3	light	light	ADJ
fcis-25918	74	4	detection	detection	NOUN
fcis-25918	74	5	and	and	CCONJ
fcis-25918	74	6	ranging	ranging	NOUN
fcis-25918	74	7	)	)	PUNCT
fcis-25918	74	8	sensors	sensor	NOUN
fcis-25918	74	9	are	be	AUX
fcis-25918	74	10	widely	widely	ADV
fcis-25918	74	11	used	use	VERB
fcis-25918	74	12	for	for	ADP
fcis-25918	74	13	obstacle	obstacle	NOUN
fcis-25918	74	14	detection	detection	NOUN
fcis-25918	74	15	due	due	ADP
fcis-25918	74	16	to	to	ADP
fcis-25918	74	17	their	their	PRON
fcis-25918	74	18	ability	ability	NOUN
fcis-25918	74	19	to	to	PART
fcis-25918	74	20	generate	generate	VERB
fcis-25918	74	21	high	high	ADJ
fcis-25918	74	22	-	-	PUNCT
fcis-25918	74	23	resolution	resolution	NOUN
fcis-25918	74	24	3d	3d	NOUN
fcis-25918	74	25	maps	map	NOUN
fcis-25918	74	26	of	of	ADP
fcis-25918	74	27	the	the	DET
fcis-25918	74	28	environment	environment	NOUN
fcis-25918	74	29	.	.	PUNCT
fcis-25918	75	1	lidar	lidar	NOUN
fcis-25918	75	2	sensors	sensor	NOUN
fcis-25918	75	3	emit	emit	VERB
fcis-25918	75	4	laser	laser	NOUN
fcis-25918	75	5	beams	beam	NOUN
fcis-25918	75	6	and	and	CCONJ
fcis-25918	75	7	measure	measure	VERB
fcis-25918	75	8	the	the	DET
fcis-25918	75	9	time	time	NOUN
fcis-25918	75	10	taken	take	VERB
fcis-25918	75	11	for	for	SCONJ
fcis-25918	75	12	the	the	DET
fcis-25918	75	13	beams	beam	NOUN
fcis-25918	75	14	to	to	PART
fcis-25918	75	15	reflect	reflect	VERB
fcis-25918	75	16	back	back	ADV
fcis-25918	75	17	from	from	ADP
fcis-25918	75	18	surfaces	surface	NOUN
fcis-25918	75	19	,	,	PUNCT
fcis-25918	75	20	providing	provide	VERB
fcis-25918	75	21	precise	precise	ADJ
fcis-25918	75	22	distance	distance	NOUN
fcis-25918	75	23	measurements	measurement	NOUN
fcis-25918	75	24	.	.	PUNCT
fcis-25918	76	1	ultrasonic	ultrasonic	ADJ
fcis-25918	76	2	sensors	sensor	NOUN
fcis-25918	76	3	,	,	PUNCT
fcis-25918	76	4	which	which	PRON
fcis-25918	76	5	use	use	VERB
fcis-25918	76	6	sound	sound	ADJ
fcis-25918	76	7	waves	wave	NOUN
fcis-25918	76	8	to	to	PART
fcis-25918	76	9	detect	detect	VERB
fcis-25918	76	10	objects	object	NOUN
fcis-25918	76	11	,	,	PUNCT
fcis-25918	76	12	are	be	AUX
fcis-25918	76	13	also	also	ADV
fcis-25918	76	14	commonly	commonly	ADV
fcis-25918	76	15	used	use	VERB
fcis-25918	76	16	due	due	ADP
fcis-25918	76	17	to	to	ADP
fcis-25918	76	18	their	their	PRON
fcis-25918	76	19	costeffectiveness	costeffectiveness	NOUN
fcis-25918	76	20	and	and	CCONJ
fcis-25918	76	21	robustness	robustness	NOUN
fcis-25918	76	22	in	in	ADP
fcis-25918	76	23	various	various	ADJ
fcis-25918	76	24	lighting	lighting	NOUN
fcis-25918	76	25	conditions	condition	NOUN
fcis-25918	76	26	.	.	PUNCT
fcis-25918	77	1	depth	depth	NOUN
fcis-25918	77	2	cameras	camera	NOUN
fcis-25918	77	3	,	,	PUNCT
fcis-25918	77	4	such	such	ADJ
fcis-25918	77	5	as	as	ADP
fcis-25918	77	6	rgb	rgb	PROPN
fcis-25918	77	7	-	-	PROPN
fcis-25918	77	8	d	d	NOUN
fcis-25918	77	9	cameras	camera	NOUN
fcis-25918	77	10	,	,	PUNCT
fcis-25918	77	11	provide	provide	VERB
fcis-25918	77	12	both	both	CCONJ
fcis-25918	77	13	color	color	NOUN
fcis-25918	77	14	and	and	CCONJ
fcis-25918	77	15	depth	depth	NOUN
fcis-25918	77	16	information	information	NOUN
fcis-25918	77	17	,	,	PUNCT
fcis-25918	77	18	enabling	enable	VERB
fcis-25918	77	19	robots	robot	NOUN
fcis-25918	77	20	to	to	PART
fcis-25918	77	21	perceive	perceive	VERB
fcis-25918	77	22	their	their	PRON
fcis-25918	77	23	surroundings	surrounding	NOUN
fcis-25918	77	24	in	in	ADP
fcis-25918	77	25	three	three	NUM
fcis-25918	77	26	dimensions	dimension	NOUN
fcis-25918	77	27	.	.	PUNCT
fcis-25918	78	1	these	these	DET
fcis-25918	78	2	cameras	camera	NOUN
fcis-25918	78	3	are	be	AUX
fcis-25918	78	4	particularly	particularly	ADV
fcis-25918	78	5	useful	useful	ADJ
fcis-25918	78	6	for	for	ADP
fcis-25918	78	7	detecting	detect	VERB
fcis-25918	78	8	obstacles	obstacle	NOUN
fcis-25918	78	9	at	at	ADP
fcis-25918	78	10	various	various	ADJ
fcis-25918	78	11	heights	height	NOUN
fcis-25918	78	12	and	and	CCONJ
fcis-25918	78	13	for	for	ADP
fcis-25918	78	14	distinguishing	distinguish	VERB
fcis-25918	78	15	between	between	ADP
fcis-25918	78	16	different	different	ADJ
fcis-25918	78	17	types	type	NOUN
fcis-25918	78	18	of	of	ADP
fcis-25918	78	19	objects	object	NOUN
fcis-25918	78	20	.	.	PUNCT
fcis-25918	79	1	additionally	additionally	ADV
fcis-25918	79	2	,	,	PUNCT
fcis-25918	79	3	stereo	stereo	ADJ
fcis-25918	79	4	vision	vision	NOUN
fcis-25918	79	5	systems	system	NOUN
fcis-25918	79	6	,	,	PUNCT
fcis-25918	79	7	which	which	PRON
fcis-25918	79	8	use	use	VERB
fcis-25918	79	9	two	two	NUM
fcis-25918	79	10	cameras	camera	NOUN
fcis-25918	79	11	to	to	PART
fcis-25918	79	12	simulate	simulate	VERB
fcis-25918	79	13	human	human	ADJ
fcis-25918	79	14	binocular	binocular	ADJ
fcis-25918	79	15	vision	vision	NOUN
fcis-25918	79	16	,	,	PUNCT
fcis-25918	79	17	can	can	AUX
fcis-25918	79	18	provide	provide	VERB
fcis-25918	79	19	depth	depth	NOUN
fcis-25918	79	20	perception	perception	NOUN
fcis-25918	79	21	and	and	CCONJ
fcis-25918	79	22	enhance	enhance	VERB
fcis-25918	79	23	obstacle	obstacle	NOUN
fcis-25918	79	24	detection	detection	NOUN
fcis-25918	79	25	capabilities	capability	NOUN
fcis-25918	79	26	.	.	PUNCT
fcis-25918	80	1	to	to	PART
fcis-25918	80	2	avoid	avoid	VERB
fcis-25918	80	3	obstacles	obstacle	NOUN
fcis-25918	80	4	,	,	PUNCT
fcis-25918	80	5	robots	robot	NOUN
fcis-25918	80	6	employ	employ	VERB
fcis-25918	80	7	various	various	ADJ
fcis-25918	80	8	strategies	strategy	NOUN
fcis-25918	80	9	,	,	PUNCT
fcis-25918	80	10	such	such	ADJ
fcis-25918	80	11	as	as	ADP
fcis-25918	80	12	the	the	DET
fcis-25918	80	13	artificial	artificial	ADJ
fcis-25918	80	14	potential	potential	ADJ
fcis-25918	80	15	field	field	NOUN
fcis-25918	80	16	(	(	PUNCT
fcis-25918	80	17	apf	apf	PROPN
fcis-25918	80	18	)	)	PUNCT
fcis-25918	80	19	method	method	NOUN
fcis-25918	80	20	and	and	CCONJ
fcis-25918	80	21	heuristic	heuristic	ADJ
fcis-25918	80	22	search	search	NOUN
fcis-25918	80	23	techniques	technique	NOUN
fcis-25918	80	24	.	.	PUNCT
fcis-25918	81	1	the	the	DET
fcis-25918	81	2	apf	apf	PROPN
fcis-25918	81	3	method	method	NOUN
fcis-25918	81	4	treats	treat	VERB
fcis-25918	81	5	the	the	DET
fcis-25918	81	6	robot	robot	NOUN
fcis-25918	81	7	as	as	ADP
fcis-25918	81	8	a	a	DET
fcis-25918	81	9	charged	charge	VERB
fcis-25918	81	10	particle	particle	NOUN
fcis-25918	81	11	and	and	CCONJ
fcis-25918	81	12	obstacles	obstacle	NOUN
fcis-25918	81	13	as	as	ADP
fcis-25918	81	14	repulsive	repulsive	ADJ
fcis-25918	81	15	forces	force	NOUN
fcis-25918	81	16	,	,	PUNCT
fcis-25918	81	17	guiding	guide	VERB
fcis-25918	81	18	the	the	DET
fcis-25918	81	19	robot	robot	NOUN
fcis-25918	81	20	away	away	ADV
fcis-25918	81	21	from	from	ADP
fcis-25918	81	22	obstacles	obstacle	NOUN
fcis-25918	81	23	while	while	SCONJ
fcis-25918	81	24	attracting	attract	VERB
fcis-25918	81	25	it	it	PRON
fcis-25918	81	26	towards	towards	ADP
fcis-25918	81	27	the	the	DET
fcis-25918	81	28	goal	goal	NOUN
fcis-25918	81	29	.	.	PUNCT
fcis-25918	82	1	heuristic	heuristic	ADJ
fcis-25918	82	2	search	search	NOUN
fcis-25918	82	3	techniques	technique	NOUN
fcis-25918	82	4	,	,	PUNCT
fcis-25918	82	5	such	such	ADJ
fcis-25918	82	6	as	as	ADP
fcis-25918	82	7	d	d	PROPN
fcis-25918	82	8	*	*	X
fcis-25918	82	9	lite	lite	NOUN
fcis-25918	82	10	,	,	PUNCT
fcis-25918	82	11	dynamically	dynamically	ADV
fcis-25918	82	12	update	update	VERB
fcis-25918	82	13	the	the	DET
fcis-25918	82	14	robot	robot	NOUN
fcis-25918	82	15	's	's	PART
fcis-25918	82	16	path	path	NOUN
fcis-25918	82	17	based	base	VERB
fcis-25918	82	18	on	on	ADP
fcis-25918	82	19	the	the	DET
fcis-25918	82	20	latest	late	ADJ
fcis-25918	82	21	obstacle	obstacle	NOUN
fcis-25918	82	22	information	information	NOUN
fcis-25918	82	23	,	,	PUNCT
fcis-25918	82	24	ensuring	ensure	VERB
fcis-25918	82	25	efficient	efficient	ADJ
fcis-25918	82	26	and	and	CCONJ
fcis-25918	82	27	safe	safe	ADJ
fcis-25918	82	28	navigation	navigation	NOUN
fcis-25918	82	29	.	.	PUNCT
fcis-25918	83	1	indoor	indoor	ADJ
fcis-25918	83	2	environment	environment	NOUN
fcis-25918	83	3	modeling	modeling	NOUN
fcis-25918	83	4	and	and	CCONJ
fcis-25918	83	5	map	map	VERB
fcis-25918	83	6	construction	construction	NOUN
fcis-25918	83	7	accurate	accurate	ADJ
fcis-25918	83	8	modeling	modeling	NOUN
fcis-25918	83	9	of	of	ADP
fcis-25918	83	10	the	the	DET
fcis-25918	83	11	indoor	indoor	ADJ
fcis-25918	83	12	environment	environment	NOUN
fcis-25918	83	13	and	and	CCONJ
fcis-25918	83	14	construction	construction	NOUN
fcis-25918	83	15	of	of	ADP
fcis-25918	83	16	reliable	reliable	ADJ
fcis-25918	83	17	maps	map	NOUN
fcis-25918	83	18	are	be	AUX
fcis-25918	83	19	fundamental	fundamental	ADJ
fcis-25918	83	20	to	to	ADP
fcis-25918	83	21	the	the	DET
fcis-25918	83	22	success	success	NOUN
fcis-25918	83	23	of	of	ADP
fcis-25918	83	24	autonomous	autonomous	ADJ
fcis-25918	83	25	navigation	navigation	NOUN
fcis-25918	83	26	.	.	PUNCT
fcis-25918	84	1	environmental	environmental	ADJ
fcis-25918	84	2	modeling	modeling	NOUN
fcis-25918	84	3	involves	involve	VERB
fcis-25918	84	4	creating	create	VERB
fcis-25918	84	5	a	a	DET
fcis-25918	84	6	digital	digital	ADJ
fcis-25918	84	7	representation	representation	NOUN
fcis-25918	84	8	of	of	ADP
fcis-25918	84	9	the	the	DET
fcis-25918	84	10	physical	physical	ADJ
fcis-25918	84	11	space	space	NOUN
fcis-25918	84	12	,	,	PUNCT
fcis-25918	84	13	which	which	PRON
fcis-25918	84	14	includes	include	VERB
fcis-25918	84	15	walls	wall	NOUN
fcis-25918	84	16	,	,	PUNCT
fcis-25918	84	17	furniture	furniture	NOUN
fcis-25918	84	18	,	,	PUNCT
fcis-25918	84	19	and	and	CCONJ
fcis-25918	84	20	other	other	ADJ
fcis-25918	84	21	obstacles	obstacle	NOUN
fcis-25918	84	22	.	.	PUNCT
fcis-25918	85	1	this	this	DET
fcis-25918	85	2	digital	digital	ADJ
fcis-25918	85	3	map	map	NOUN
fcis-25918	85	4	serves	serve	VERB
fcis-25918	85	5	as	as	ADP
fcis-25918	85	6	the	the	DET
fcis-25918	85	7	basis	basis	NOUN
fcis-25918	85	8	for	for	ADP
fcis-25918	85	9	path	path	NOUN
fcis-25918	85	10	planning	planning	NOUN
fcis-25918	85	11	and	and	CCONJ
fcis-25918	85	12	navigation	navigation	NOUN
fcis-25918	85	13	.	.	PUNCT
fcis-25918	86	1	grid	grid	NOUN
fcis-25918	86	2	-	-	PUNCT
fcis-25918	86	3	based	base	VERB
fcis-25918	86	4	maps	map	NOUN
fcis-25918	86	5	,	,	PUNCT
fcis-25918	86	6	such	such	ADJ
fcis-25918	86	7	as	as	ADP
fcis-25918	86	8	occupancy	occupancy	NOUN
fcis-25918	86	9	grids	grid	NOUN
fcis-25918	86	10	,	,	PUNCT
fcis-25918	86	11	are	be	AUX
fcis-25918	86	12	a	a	DET
fcis-25918	86	13	common	common	ADJ
fcis-25918	86	14	method	method	NOUN
fcis-25918	86	15	for	for	ADP
fcis-25918	86	16	representing	represent	VERB
fcis-25918	86	17	indoor	indoor	ADJ
fcis-25918	86	18	environments	environment	NOUN
fcis-25918	86	19	.	.	PUNCT
fcis-25918	87	1	in	in	ADP
fcis-25918	87	2	occupancy	occupancy	NOUN
fcis-25918	87	3	51	51	NUM
fcis-25918	87	4	grids	grid	NOUN
fcis-25918	87	5	,	,	PUNCT
fcis-25918	87	6	the	the	DET
fcis-25918	87	7	environment	environment	NOUN
fcis-25918	87	8	is	be	AUX
fcis-25918	87	9	divided	divide	VERB
fcis-25918	87	10	into	into	ADP
fcis-25918	87	11	a	a	DET
fcis-25918	87	12	grid	grid	NOUN
fcis-25918	87	13	of	of	ADP
fcis-25918	87	14	cells	cell	NOUN
fcis-25918	87	15	,	,	PUNCT
fcis-25918	87	16	with	with	ADP
fcis-25918	87	17	each	each	DET
fcis-25918	87	18	cell	cell	NOUN
fcis-25918	87	19	representing	represent	VERB
fcis-25918	87	20	the	the	DET
fcis-25918	87	21	probability	probability	NOUN
fcis-25918	87	22	of	of	ADP
fcis-25918	87	23	being	be	AUX
fcis-25918	87	24	occupied	occupy	VERB
fcis-25918	87	25	by	by	ADP
fcis-25918	87	26	an	an	DET
fcis-25918	87	27	obstacle	obstacle	NOUN
fcis-25918	87	28	.	.	PUNCT
fcis-25918	88	1	this	this	DET
fcis-25918	88	2	method	method	NOUN
fcis-25918	88	3	is	be	AUX
fcis-25918	88	4	computationally	computationally	ADV
fcis-25918	88	5	efficient	efficient	ADJ
fcis-25918	88	6	and	and	CCONJ
fcis-25918	88	7	wellsuited	wellsuite	VERB
fcis-25918	88	8	for	for	ADP
fcis-25918	88	9	path	path	NOUN
fcis-25918	88	10	planning	planning	NOUN
fcis-25918	88	11	algorithms	algorithm	NOUN
fcis-25918	88	12	like	like	ADP
fcis-25918	88	13	a	a	PRON
fcis-25918	88	14	*	*	X
fcis-25918	88	15	and	and	CCONJ
fcis-25918	88	16	dijkstra	dijkstra	PROPN
fcis-25918	88	17	's	's	PART
fcis-25918	88	18	.	.	PUNCT
fcis-25918	89	1	topological	topological	ADJ
fcis-25918	89	2	maps	map	NOUN
fcis-25918	89	3	,	,	PUNCT
fcis-25918	89	4	which	which	PRON
fcis-25918	89	5	represent	represent	VERB
fcis-25918	89	6	the	the	DET
fcis-25918	89	7	environment	environment	NOUN
fcis-25918	89	8	as	as	ADP
fcis-25918	89	9	a	a	DET
fcis-25918	89	10	graph	graph	NOUN
fcis-25918	89	11	of	of	ADP
fcis-25918	89	12	interconnected	interconnected	ADJ
fcis-25918	89	13	nodes	node	NOUN
fcis-25918	89	14	and	and	CCONJ
fcis-25918	89	15	edges	edge	NOUN
fcis-25918	89	16	,	,	PUNCT
fcis-25918	89	17	are	be	AUX
fcis-25918	89	18	another	another	DET
fcis-25918	89	19	approach	approach	NOUN
fcis-25918	89	20	to	to	ADP
fcis-25918	89	21	modeling	model	VERB
fcis-25918	89	22	indoor	indoor	ADJ
fcis-25918	89	23	spaces	space	NOUN
fcis-25918	89	24	.	.	PUNCT
fcis-25918	90	1	each	each	DET
fcis-25918	90	2	node	node	NOUN
fcis-25918	90	3	corresponds	correspond	VERB
fcis-25918	90	4	to	to	ADP
fcis-25918	90	5	a	a	DET
fcis-25918	90	6	distinct	distinct	ADJ
fcis-25918	90	7	location	location	NOUN
fcis-25918	90	8	,	,	PUNCT
fcis-25918	90	9	and	and	CCONJ
fcis-25918	90	10	edges	edge	NOUN
fcis-25918	90	11	represent	represent	VERB
fcis-25918	90	12	possible	possible	ADJ
fcis-25918	90	13	paths	path	NOUN
fcis-25918	90	14	between	between	ADP
fcis-25918	90	15	locations	location	NOUN
fcis-25918	90	16	.	.	PUNCT
fcis-25918	91	1	topological	topological	ADJ
fcis-25918	91	2	maps	map	NOUN
fcis-25918	91	3	are	be	AUX
fcis-25918	91	4	particularly	particularly	ADV
fcis-25918	91	5	useful	useful	ADJ
fcis-25918	91	6	for	for	ADP
fcis-25918	91	7	high	high	ADJ
fcis-25918	91	8	-	-	PUNCT
fcis-25918	91	9	level	level	NOUN
fcis-25918	91	10	planning	planning	NOUN
fcis-25918	91	11	and	and	CCONJ
fcis-25918	91	12	navigation	navigation	NOUN
fcis-25918	91	13	,	,	PUNCT
fcis-25918	91	14	allowing	allow	VERB
fcis-25918	91	15	robots	robot	NOUN
fcis-25918	91	16	to	to	PART
fcis-25918	91	17	reason	reason	VERB
fcis-25918	91	18	about	about	ADP
fcis-25918	91	19	connectivity	connectivity	NOUN
fcis-25918	91	20	and	and	CCONJ
fcis-25918	91	21	relationships	relationship	NOUN
fcis-25918	91	22	between	between	ADP
fcis-25918	91	23	different	different	ADJ
fcis-25918	91	24	areas	area	NOUN
fcis-25918	91	25	.	.	PUNCT
fcis-25918	92	1	hybrid	hybrid	ADJ
fcis-25918	92	2	maps	map	NOUN
fcis-25918	92	3	,	,	PUNCT
fcis-25918	92	4	which	which	PRON
fcis-25918	92	5	combine	combine	VERB
fcis-25918	92	6	elements	element	NOUN
fcis-25918	92	7	of	of	ADP
fcis-25918	92	8	grid	grid	NOUN
fcis-25918	92	9	-	-	PUNCT
fcis-25918	92	10	based	base	VERB
fcis-25918	92	11	and	and	CCONJ
fcis-25918	92	12	topological	topological	ADJ
fcis-25918	92	13	maps	map	NOUN
fcis-25918	92	14	,	,	PUNCT
fcis-25918	92	15	offer	offer	VERB
fcis-25918	92	16	the	the	DET
fcis-25918	92	17	advantages	advantage	NOUN
fcis-25918	92	18	of	of	ADP
fcis-25918	92	19	both	both	DET
fcis-25918	92	20	approaches	approach	NOUN
fcis-25918	92	21	.	.	PUNCT
fcis-25918	93	1	these	these	DET
fcis-25918	93	2	maps	map	NOUN
fcis-25918	93	3	can	can	AUX
fcis-25918	93	4	provide	provide	VERB
fcis-25918	93	5	detailed	detailed	ADJ
fcis-25918	93	6	local	local	ADJ
fcis-25918	93	7	information	information	NOUN
fcis-25918	93	8	for	for	ADP
fcis-25918	93	9	precise	precise	ADJ
fcis-25918	93	10	navigation	navigation	NOUN
fcis-25918	93	11	while	while	SCONJ
fcis-25918	93	12	maintaining	maintain	VERB
fcis-25918	93	13	a	a	DET
fcis-25918	93	14	high	high	ADJ
fcis-25918	93	15	-	-	PUNCT
fcis-25918	93	16	level	level	NOUN
fcis-25918	93	17	overview	overview	NOUN
fcis-25918	93	18	of	of	ADP
fcis-25918	93	19	the	the	DET
fcis-25918	93	20	environment	environment	NOUN
fcis-25918	93	21	's	's	PART
fcis-25918	93	22	connectivity	connectivity	NOUN
fcis-25918	93	23	.	.	PUNCT
fcis-25918	94	1	in	in	ADP
fcis-25918	94	2	conclusion	conclusion	NOUN
fcis-25918	94	3	,	,	PUNCT
fcis-25918	94	4	the	the	DET
fcis-25918	94	5	integration	integration	NOUN
fcis-25918	94	6	of	of	ADP
fcis-25918	94	7	advanced	advanced	ADJ
fcis-25918	94	8	robot	robot	NOUN
fcis-25918	94	9	navigation	navigation	NOUN
fcis-25918	94	10	technologies	technology	NOUN
fcis-25918	94	11	,	,	PUNCT
fcis-25918	94	12	efficient	efficient	ADJ
fcis-25918	94	13	path	path	NOUN
fcis-25918	94	14	planning	planning	NOUN
fcis-25918	94	15	algorithms	algorithm	NOUN
fcis-25918	94	16	,	,	PUNCT
fcis-25918	94	17	robust	robust	ADJ
fcis-25918	94	18	obstacle	obstacle	NOUN
fcis-25918	94	19	detection	detection	NOUN
fcis-25918	94	20	and	and	CCONJ
fcis-25918	94	21	avoidance	avoidance	NOUN
fcis-25918	94	22	strategies	strategy	NOUN
fcis-25918	94	23	,	,	PUNCT
fcis-25918	94	24	and	and	CCONJ
fcis-25918	94	25	accurate	accurate	ADJ
fcis-25918	94	26	indoor	indoor	ADJ
fcis-25918	94	27	environment	environment	NOUN
fcis-25918	94	28	modeling	modeling	NOUN
fcis-25918	94	29	and	and	CCONJ
fcis-25918	94	30	map	map	VERB
fcis-25918	94	31	construction	construction	NOUN
fcis-25918	94	32	is	be	AUX
fcis-25918	94	33	essential	essential	ADJ
fcis-25918	94	34	for	for	ADP
fcis-25918	94	35	the	the	DET
fcis-25918	94	36	development	development	NOUN
fcis-25918	94	37	of	of	ADP
fcis-25918	94	38	reliable	reliable	ADJ
fcis-25918	94	39	indoor	indoor	ADJ
fcis-25918	94	40	autonomous	autonomous	ADJ
fcis-25918	94	41	driving	driving	NOUN
fcis-25918	94	42	systems	system	NOUN
fcis-25918	94	43	.	.	PUNCT
fcis-25918	95	1	these	these	DET
fcis-25918	95	2	technologies	technology	NOUN
fcis-25918	95	3	collectively	collectively	ADV
fcis-25918	95	4	enable	enable	VERB
fcis-25918	95	5	robots	robot	NOUN
fcis-25918	95	6	to	to	PART
fcis-25918	95	7	navigate	navigate	VERB
fcis-25918	95	8	complex	complex	ADJ
fcis-25918	95	9	indoor	indoor	ADJ
fcis-25918	95	10	environments	environment	NOUN
fcis-25918	95	11	autonomously	autonomously	ADV
fcis-25918	95	12	,	,	PUNCT
fcis-25918	95	13	enhancing	enhance	VERB
fcis-25918	95	14	their	their	PRON
fcis-25918	95	15	utility	utility	NOUN
fcis-25918	95	16	in	in	ADP
fcis-25918	95	17	a	a	DET
fcis-25918	95	18	wide	wide	ADJ
fcis-25918	95	19	range	range	NOUN
fcis-25918	95	20	of	of	ADP
fcis-25918	95	21	applications	application	NOUN
fcis-25918	95	22	.	.	PUNCT
fcis-25918	96	1	the	the	DET
fcis-25918	96	2	continuous	continuous	ADJ
fcis-25918	96	3	advancement	advancement	NOUN
fcis-25918	96	4	in	in	ADP
fcis-25918	96	5	these	these	DET
fcis-25918	96	6	areas	area	NOUN
fcis-25918	96	7	promises	promise	VERB
fcis-25918	96	8	to	to	PART
fcis-25918	96	9	further	far	ADV
fcis-25918	96	10	improve	improve	VERB
fcis-25918	96	11	the	the	DET
fcis-25918	96	12	performance	performance	NOUN
fcis-25918	96	13	and	and	CCONJ
fcis-25918	96	14	capabilities	capability	NOUN
fcis-25918	96	15	of	of	ADP
fcis-25918	96	16	indoor	indoor	ADJ
fcis-25918	96	17	autonomous	autonomous	ADJ
fcis-25918	96	18	robots	robot	NOUN
fcis-25918	96	19	,	,	PUNCT
fcis-25918	96	20	making	make	VERB
fcis-25918	96	21	them	they	PRON
fcis-25918	96	22	an	an	DET
fcis-25918	96	23	integral	integral	ADJ
fcis-25918	96	24	part	part	NOUN
fcis-25918	96	25	of	of	ADP
fcis-25918	96	26	modern	modern	ADJ
fcis-25918	96	27	automation	automation	NOUN
fcis-25918	96	28	solutions	solution	NOUN
fcis-25918	96	29	.	.	PUNCT
fcis-25918	97	1	indoor	indoor	ADJ
fcis-25918	97	2	path	path	NOUN
fcis-25918	97	3	planning	planning	NOUN
fcis-25918	97	4	algorithms	algorithm	NOUN
fcis-25918	97	5	for	for	ADP
fcis-25918	97	6	robots	robot	NOUN
fcis-25918	97	7	global	global	ADJ
fcis-25918	97	8	path	path	PROPN
fcis-25918	97	9	planning	planning	NOUN
fcis-25918	97	10	algorithms	algorithms	PROPN
fcis-25918	97	11	global	global	ADJ
fcis-25918	97	12	path	path	PROPN
fcis-25918	97	13	planning	planning	NOUN
fcis-25918	97	14	algorithms	algorithm	NOUN
fcis-25918	97	15	are	be	AUX
fcis-25918	97	16	essential	essential	ADJ
fcis-25918	97	17	for	for	ADP
fcis-25918	97	18	enabling	enable	VERB
fcis-25918	97	19	robots	robot	NOUN
fcis-25918	97	20	to	to	PART
fcis-25918	97	21	navigate	navigate	VERB
fcis-25918	97	22	efficiently	efficiently	ADV
fcis-25918	97	23	and	and	CCONJ
fcis-25918	97	24	safely	safely	ADV
fcis-25918	97	25	within	within	ADP
fcis-25918	97	26	indoor	indoor	ADJ
fcis-25918	97	27	environments	environment	NOUN
fcis-25918	97	28	by	by	ADP
fcis-25918	97	29	determining	determine	VERB
fcis-25918	97	30	an	an	DET
fcis-25918	97	31	optimal	optimal	ADJ
fcis-25918	97	32	path	path	NOUN
fcis-25918	97	33	from	from	ADP
fcis-25918	97	34	a	a	DET
fcis-25918	97	35	starting	starting	NOUN
fcis-25918	97	36	point	point	NOUN
fcis-25918	97	37	to	to	ADP
fcis-25918	97	38	a	a	DET
fcis-25918	97	39	target	target	NOUN
fcis-25918	97	40	destination	destination	NOUN
fcis-25918	97	41	.	.	PUNCT
fcis-25918	98	1	these	these	DET
fcis-25918	98	2	algorithms	algorithm	NOUN
fcis-25918	98	3	take	take	VERB
fcis-25918	98	4	into	into	ADP
fcis-25918	98	5	account	account	NOUN
fcis-25918	98	6	the	the	DET
fcis-25918	98	7	entire	entire	ADJ
fcis-25918	98	8	map	map	NOUN
fcis-25918	98	9	of	of	ADP
fcis-25918	98	10	the	the	DET
fcis-25918	98	11	environment	environment	NOUN
fcis-25918	98	12	,	,	PUNCT
fcis-25918	98	13	providing	provide	VERB
fcis-25918	98	14	a	a	DET
fcis-25918	98	15	comprehensive	comprehensive	ADJ
fcis-25918	98	16	route	route	NOUN
fcis-25918	98	17	that	that	PRON
fcis-25918	98	18	avoids	avoid	VERB
fcis-25918	98	19	obstacles	obstacle	NOUN
fcis-25918	98	20	and	and	CCONJ
fcis-25918	98	21	minimizes	minimizes	ADJ
fcis-25918	98	22	travel	travel	NOUN
fcis-25918	98	23	distance	distance	NOUN
fcis-25918	98	24	or	or	CCONJ
fcis-25918	98	25	time	time	NOUN
fcis-25918	98	26	.	.	PUNCT
fcis-25918	99	1	several	several	ADJ
fcis-25918	99	2	well	well	ADV
fcis-25918	99	3	-	-	PUNCT
fcis-25918	99	4	known	know	VERB
fcis-25918	99	5	algorithms	algorithm	NOUN
fcis-25918	99	6	fall	fall	VERB
fcis-25918	99	7	under	under	ADP
fcis-25918	99	8	this	this	DET
fcis-25918	99	9	category	category	NOUN
fcis-25918	99	10	,	,	PUNCT
fcis-25918	99	11	including	include	VERB
fcis-25918	99	12	a	a	PRON
fcis-25918	99	13	*	*	PROPN
fcis-25918	99	14	,	,	PUNCT
fcis-25918	99	15	dijkstra	dijkstra	PROPN
fcis-25918	99	16	's	's	PART
fcis-25918	99	17	algorithm	algorithm	NOUN
fcis-25918	99	18	,	,	PUNCT
fcis-25918	99	19	and	and	CCONJ
fcis-25918	99	20	other	other	ADJ
fcis-25918	99	21	advanced	advanced	ADJ
fcis-25918	99	22	global	global	ADJ
fcis-25918	99	23	path	path	NOUN
fcis-25918	99	24	planning	planning	NOUN
fcis-25918	99	25	techniques	technique	NOUN
fcis-25918	99	26	.	.	PUNCT
fcis-25918	100	1	the	the	DET
fcis-25918	100	2	a	a	PROPN
fcis-25918	100	3	*	*	ADJ
fcis-25918	100	4	algorithm	algorithm	NOUN
fcis-25918	100	5	is	be	AUX
fcis-25918	100	6	one	one	NUM
fcis-25918	100	7	of	of	ADP
fcis-25918	100	8	the	the	DET
fcis-25918	100	9	most	most	ADV
fcis-25918	100	10	widely	widely	ADV
fcis-25918	100	11	used	use	VERB
fcis-25918	100	12	path	path	NOUN
fcis-25918	100	13	planning	planning	NOUN
fcis-25918	100	14	algorithms	algorithm	NOUN
fcis-25918	100	15	due	due	ADP
fcis-25918	100	16	to	to	ADP
fcis-25918	100	17	its	its	PRON
fcis-25918	100	18	efficiency	efficiency	NOUN
fcis-25918	100	19	and	and	CCONJ
fcis-25918	100	20	effectiveness	effectiveness	NOUN
fcis-25918	100	21	in	in	ADP
fcis-25918	100	22	finding	find	VERB
fcis-25918	100	23	the	the	DET
fcis-25918	100	24	shortest	short	ADJ
fcis-25918	100	25	path	path	NOUN
fcis-25918	100	26	in	in	ADP
fcis-25918	100	27	a	a	DET
fcis-25918	100	28	grid	grid	NOUN
fcis-25918	100	29	-	-	PUNCT
fcis-25918	100	30	based	base	VERB
fcis-25918	100	31	map	map	NOUN
fcis-25918	100	32	.	.	PUNCT
fcis-25918	101	1	a	a	DET
fcis-25918	101	2	*	*	PUNCT
fcis-25918	101	3	operates	operate	VERB
fcis-25918	101	4	by	by	ADP
fcis-25918	101	5	combining	combine	VERB
fcis-25918	101	6	the	the	DET
fcis-25918	101	7	features	feature	NOUN
fcis-25918	101	8	of	of	ADP
fcis-25918	101	9	dijkstra	dijkstra	PROPN
fcis-25918	101	10	's	's	PART
fcis-25918	101	11	algorithm	algorithm	NOUN
fcis-25918	101	12	and	and	CCONJ
fcis-25918	101	13	a	a	DET
fcis-25918	101	14	heuristic	heuristic	ADJ
fcis-25918	101	15	approach	approach	NOUN
fcis-25918	101	16	to	to	PART
fcis-25918	101	17	guide	guide	VERB
fcis-25918	101	18	the	the	DET
fcis-25918	101	19	search	search	NOUN
fcis-25918	101	20	.	.	PUNCT
fcis-25918	102	1	it	it	PRON
fcis-25918	102	2	maintains	maintain	VERB
fcis-25918	102	3	a	a	DET
fcis-25918	102	4	priority	priority	NOUN
fcis-25918	102	5	queue	queue	NOUN
fcis-25918	102	6	of	of	ADP
fcis-25918	102	7	nodes	node	NOUN
fcis-25918	102	8	to	to	PART
fcis-25918	102	9	explore	explore	VERB
fcis-25918	102	10	,	,	PUNCT
fcis-25918	102	11	prioritizing	prioritize	VERB
fcis-25918	102	12	nodes	node	NOUN
fcis-25918	102	13	that	that	PRON
fcis-25918	102	14	are	be	AUX
fcis-25918	102	15	closer	close	ADJ
fcis-25918	102	16	to	to	ADP
fcis-25918	102	17	the	the	DET
fcis-25918	102	18	goal	goal	NOUN
fcis-25918	102	19	based	base	VERB
fcis-25918	102	20	on	on	ADP
fcis-25918	102	21	a	a	DET
fcis-25918	102	22	cost	cost	NOUN
fcis-25918	102	23	function	function	NOUN
fcis-25918	102	24	.	.	PUNCT
fcis-25918	103	1	the	the	DET
fcis-25918	103	2	cost	cost	NOUN
fcis-25918	103	3	function	function	NOUN
fcis-25918	103	4	in	in	ADP
fcis-25918	103	5	a	a	PRON
fcis-25918	103	6	*	*	PUNCT
fcis-25918	103	7	is	be	AUX
fcis-25918	103	8	composed	compose	VERB
fcis-25918	103	9	of	of	ADP
fcis-25918	103	10	two	two	NUM
fcis-25918	103	11	parts	part	NOUN
fcis-25918	103	12	:	:	PUNCT
fcis-25918	103	13	the	the	DET
fcis-25918	103	14	actual	actual	ADJ
fcis-25918	103	15	cost	cost	NOUN
fcis-25918	103	16	from	from	ADP
fcis-25918	103	17	the	the	DET
fcis-25918	103	18	start	start	NOUN
fcis-25918	103	19	node	node	NOUN
fcis-25918	103	20	to	to	ADP
fcis-25918	103	21	the	the	DET
fcis-25918	103	22	current	current	ADJ
fcis-25918	103	23	node	node	NOUN
fcis-25918	103	24	,	,	PUNCT
fcis-25918	103	25	and	and	CCONJ
fcis-25918	103	26	the	the	DET
fcis-25918	103	27	estimated	estimate	VERB
fcis-25918	103	28	cost	cost	NOUN
fcis-25918	103	29	from	from	ADP
fcis-25918	103	30	the	the	DET
fcis-25918	103	31	current	current	ADJ
fcis-25918	103	32	node	node	NOUN
fcis-25918	103	33	to	to	ADP
fcis-25918	103	34	the	the	DET
fcis-25918	103	35	goal	goal	NOUN
fcis-25918	103	36	,	,	PUNCT
fcis-25918	103	37	calculated	calculate	VERB
fcis-25918	103	38	using	use	VERB
fcis-25918	103	39	a	a	DET
fcis-25918	103	40	heuristic	heuristic	NOUN
fcis-25918	103	41	such	such	ADJ
fcis-25918	103	42	as	as	ADP
fcis-25918	103	43	the	the	DET
fcis-25918	103	44	euclidean	euclidean	ADJ
fcis-25918	103	45	or	or	CCONJ
fcis-25918	103	46	manhattan	manhattan	PROPN
fcis-25918	103	47	distance	distance	NOUN
fcis-25918	103	48	.	.	PUNCT
fcis-25918	104	1	by	by	ADP
fcis-25918	104	2	integrating	integrate	VERB
fcis-25918	104	3	the	the	DET
fcis-25918	104	4	heuristic	heuristic	NOUN
fcis-25918	104	5	,	,	PUNCT
fcis-25918	104	6	a	a	DET
fcis-25918	104	7	*	*	X
fcis-25918	104	8	significantly	significantly	ADV
fcis-25918	104	9	reduces	reduce	VERB
fcis-25918	104	10	the	the	DET
fcis-25918	104	11	number	number	NOUN
fcis-25918	104	12	of	of	ADP
fcis-25918	104	13	nodes	node	NOUN
fcis-25918	104	14	evaluated	evaluate	VERB
fcis-25918	104	15	,	,	PUNCT
fcis-25918	104	16	making	make	VERB
fcis-25918	104	17	it	it	PRON
fcis-25918	104	18	faster	fast	ADV
fcis-25918	104	19	than	than	ADP
fcis-25918	104	20	dijkstra	dijkstra	PROPN
fcis-25918	104	21	's	's	PART
fcis-25918	104	22	algorithm	algorithm	NOUN
fcis-25918	104	23	in	in	ADP
fcis-25918	104	24	many	many	ADJ
fcis-25918	104	25	scenarios	scenario	NOUN
fcis-25918	104	26	.	.	PUNCT
fcis-25918	105	1	the	the	DET
fcis-25918	105	2	algorithm	algorithm	NOUN
fcis-25918	105	3	continues	continue	VERB
fcis-25918	105	4	to	to	PART
fcis-25918	105	5	expand	expand	VERB
fcis-25918	105	6	nodes	node	NOUN
fcis-25918	105	7	until	until	SCONJ
fcis-25918	105	8	it	it	PRON
fcis-25918	105	9	reaches	reach	VERB
fcis-25918	105	10	the	the	DET
fcis-25918	105	11	goal	goal	NOUN
fcis-25918	105	12	,	,	PUNCT
fcis-25918	105	13	at	at	ADP
fcis-25918	105	14	which	which	DET
fcis-25918	105	15	point	point	NOUN
fcis-25918	105	16	it	it	PRON
fcis-25918	105	17	reconstructs	reconstruct	VERB
fcis-25918	105	18	the	the	DET
fcis-25918	105	19	optimal	optimal	ADJ
fcis-25918	105	20	path	path	NOUN
fcis-25918	105	21	by	by	ADP
fcis-25918	105	22	tracing	trace	VERB
fcis-25918	105	23	back	back	ADV
fcis-25918	105	24	from	from	ADP
fcis-25918	105	25	the	the	DET
fcis-25918	105	26	goal	goal	NOUN
fcis-25918	105	27	node	node	NOUN
fcis-25918	105	28	to	to	ADP
fcis-25918	105	29	the	the	DET
fcis-25918	105	30	start	start	NOUN
fcis-25918	105	31	node	node	PROPN
fcis-25918	105	32	.	.	PUNCT
fcis-25918	106	1	dijkstra	dijkstra	PROPN
fcis-25918	106	2	's	's	PART
fcis-25918	106	3	algorithm	algorithm	NOUN
fcis-25918	106	4	,	,	PUNCT
fcis-25918	106	5	another	another	DET
fcis-25918	106	6	fundamental	fundamental	ADJ
fcis-25918	106	7	global	global	ADJ
fcis-25918	106	8	path	path	NOUN
fcis-25918	106	9	planning	planning	NOUN
fcis-25918	106	10	method	method	NOUN
fcis-25918	106	11	,	,	PUNCT
fcis-25918	106	12	is	be	AUX
fcis-25918	106	13	known	know	VERB
fcis-25918	106	14	for	for	ADP
fcis-25918	106	15	its	its	PRON
fcis-25918	106	16	simplicity	simplicity	NOUN
fcis-25918	106	17	and	and	CCONJ
fcis-25918	106	18	robustness	robustness	NOUN
fcis-25918	106	19	.	.	PUNCT
fcis-25918	107	1	it	it	PRON
fcis-25918	107	2	calculates	calculate	VERB
fcis-25918	107	3	the	the	DET
fcis-25918	107	4	shortest	short	ADJ
fcis-25918	107	5	path	path	NOUN
fcis-25918	107	6	from	from	ADP
fcis-25918	107	7	a	a	DET
fcis-25918	107	8	start	start	NOUN
fcis-25918	107	9	node	node	NOUN
fcis-25918	107	10	to	to	ADP
fcis-25918	107	11	all	all	DET
fcis-25918	107	12	other	other	ADJ
fcis-25918	107	13	nodes	node	NOUN
fcis-25918	107	14	in	in	ADP
fcis-25918	107	15	the	the	DET
fcis-25918	107	16	graph	graph	NOUN
fcis-25918	107	17	by	by	ADP
fcis-25918	107	18	systematically	systematically	ADV
fcis-25918	107	19	exploring	explore	VERB
fcis-25918	107	20	the	the	DET
fcis-25918	107	21	nearest	near	ADJ
fcis-25918	107	22	unvisited	unvisited	ADJ
fcis-25918	107	23	node	node	NOUN
fcis-25918	107	24	and	and	CCONJ
fcis-25918	107	25	updating	update	VERB
fcis-25918	107	26	the	the	DET
fcis-25918	107	27	shortest	short	ADJ
fcis-25918	107	28	path	path	NOUN
fcis-25918	107	29	estimates	estimate	NOUN
fcis-25918	107	30	for	for	ADP
fcis-25918	107	31	its	its	PRON
fcis-25918	107	32	neighbors	neighbor	NOUN
fcis-25918	107	33	.	.	PUNCT
fcis-25918	108	1	unlike	unlike	ADP
fcis-25918	108	2	a	a	DET
fcis-25918	108	3	*	*	PROPN
fcis-25918	108	4	,	,	PUNCT
fcis-25918	108	5	dijkstra	dijkstra	PROPN
fcis-25918	108	6	's	's	PART
fcis-25918	108	7	algorithm	algorithm	NOUN
fcis-25918	108	8	does	do	AUX
fcis-25918	108	9	not	not	PART
fcis-25918	108	10	use	use	VERB
fcis-25918	108	11	a	a	DET
fcis-25918	108	12	heuristic	heuristic	NOUN
fcis-25918	108	13	,	,	PUNCT
fcis-25918	108	14	which	which	PRON
fcis-25918	108	15	means	mean	VERB
fcis-25918	108	16	it	it	PRON
fcis-25918	108	17	explores	explore	VERB
fcis-25918	108	18	all	all	DET
fcis-25918	108	19	possible	possible	ADJ
fcis-25918	108	20	paths	path	NOUN
fcis-25918	108	21	evenly	evenly	ADV
fcis-25918	108	22	without	without	ADP
fcis-25918	108	23	prioritizing	prioritize	VERB
fcis-25918	108	24	the	the	DET
fcis-25918	108	25	goal	goal	NOUN
fcis-25918	108	26	.	.	PUNCT
fcis-25918	109	1	this	this	PRON
fcis-25918	109	2	makes	make	VERB
fcis-25918	109	3	dijkstra	dijkstra	PROPN
fcis-25918	109	4	's	's	PART
fcis-25918	109	5	algorithm	algorithm	NOUN
fcis-25918	109	6	optimal	optimal	ADJ
fcis-25918	109	7	for	for	ADP
fcis-25918	109	8	scenarios	scenario	NOUN
fcis-25918	109	9	where	where	SCONJ
fcis-25918	109	10	an	an	DET
fcis-25918	109	11	exhaustive	exhaustive	ADJ
fcis-25918	109	12	search	search	NOUN
fcis-25918	109	13	is	be	AUX
fcis-25918	109	14	required	require	VERB
fcis-25918	109	15	,	,	PUNCT
fcis-25918	109	16	and	and	CCONJ
fcis-25918	109	17	where	where	SCONJ
fcis-25918	109	18	the	the	DET
fcis-25918	109	19	exact	exact	ADJ
fcis-25918	109	20	shortest	short	ADJ
fcis-25918	109	21	path	path	NOUN
fcis-25918	109	22	to	to	ADP
fcis-25918	109	23	all	all	DET
fcis-25918	109	24	nodes	node	NOUN
fcis-25918	109	25	must	must	AUX
fcis-25918	109	26	be	be	AUX
fcis-25918	109	27	known	know	VERB
fcis-25918	109	28	.	.	PUNCT
fcis-25918	110	1	however	however	ADV
fcis-25918	110	2	,	,	PUNCT
fcis-25918	110	3	the	the	DET
fcis-25918	110	4	lack	lack	NOUN
fcis-25918	110	5	of	of	ADP
fcis-25918	110	6	a	a	DET
fcis-25918	110	7	heuristic	heuristic	NOUN
fcis-25918	110	8	can	can	AUX
fcis-25918	110	9	also	also	ADV
fcis-25918	110	10	lead	lead	VERB
fcis-25918	110	11	to	to	ADP
fcis-25918	110	12	higher	high	ADJ
fcis-25918	110	13	computational	computational	ADJ
fcis-25918	110	14	costs	cost	NOUN
fcis-25918	110	15	,	,	PUNCT
fcis-25918	110	16	especially	especially	ADV
fcis-25918	110	17	in	in	ADP
fcis-25918	110	18	large	large	ADJ
fcis-25918	110	19	and	and	CCONJ
fcis-25918	110	20	complex	complex	ADJ
fcis-25918	110	21	environments	environment	NOUN
fcis-25918	110	22	.	.	PUNCT
fcis-25918	111	1	in	in	ADP
fcis-25918	111	2	addition	addition	NOUN
fcis-25918	111	3	to	to	ADP
fcis-25918	111	4	a	a	PRON
fcis-25918	111	5	*	*	PUNCT
fcis-25918	111	6	and	and	CCONJ
fcis-25918	111	7	dijkstra	dijkstra	PROPN
fcis-25918	111	8	's	's	PART
fcis-25918	111	9	algorithm	algorithm	NOUN
fcis-25918	111	10	,	,	PUNCT
fcis-25918	111	11	there	there	PRON
fcis-25918	111	12	are	be	VERB
fcis-25918	111	13	several	several	ADJ
fcis-25918	111	14	other	other	ADJ
fcis-25918	111	15	global	global	ADJ
fcis-25918	111	16	path	path	NOUN
fcis-25918	111	17	planning	planning	NOUN
fcis-25918	111	18	algorithms	algorithm	NOUN
fcis-25918	111	19	that	that	PRON
fcis-25918	111	20	are	be	AUX
fcis-25918	111	21	used	use	VERB
fcis-25918	111	22	to	to	PART
fcis-25918	111	23	address	address	VERB
fcis-25918	111	24	specific	specific	ADJ
fcis-25918	111	25	challenges	challenge	NOUN
fcis-25918	111	26	in	in	ADP
fcis-25918	111	27	indoor	indoor	ADJ
fcis-25918	111	28	navigation	navigation	NOUN
fcis-25918	111	29	.	.	PUNCT
fcis-25918	112	1	the	the	DET
fcis-25918	112	2	d	d	PROPN
fcis-25918	112	3	*	*	PUNCT
fcis-25918	112	4	algorithm	algorithm	NOUN
fcis-25918	112	5	,	,	PUNCT
fcis-25918	112	6	or	or	CCONJ
fcis-25918	112	7	dynamic	dynamic	ADJ
fcis-25918	112	8	a	a	PRON
fcis-25918	112	9	*	*	PUNCT
fcis-25918	112	10	,	,	PUNCT
fcis-25918	112	11	is	be	AUX
fcis-25918	112	12	an	an	DET
fcis-25918	112	13	extension	extension	NOUN
fcis-25918	112	14	of	of	ADP
fcis-25918	112	15	the	the	DET
fcis-25918	112	16	a	a	PROPN
fcis-25918	112	17	*	*	NOUN
fcis-25918	112	18	algorithm	algorithm	NOUN
fcis-25918	112	19	designed	design	VERB
fcis-25918	112	20	for	for	ADP
fcis-25918	112	21	environments	environment	NOUN
fcis-25918	112	22	that	that	PRON
fcis-25918	112	23	change	change	VERB
fcis-25918	112	24	over	over	ADP
fcis-25918	112	25	time	time	NOUN
fcis-25918	112	26	.	.	PUNCT
fcis-25918	113	1	it	it	PRON
fcis-25918	113	2	allows	allow	VERB
fcis-25918	113	3	the	the	DET
fcis-25918	113	4	robot	robot	NOUN
fcis-25918	113	5	to	to	PART
fcis-25918	113	6	update	update	VERB
fcis-25918	113	7	its	its	PRON
fcis-25918	113	8	path	path	NOUN
fcis-25918	113	9	dynamically	dynamically	ADV
fcis-25918	113	10	as	as	SCONJ
fcis-25918	113	11	new	new	ADJ
fcis-25918	113	12	information	information	NOUN
fcis-25918	113	13	about	about	ADP
fcis-25918	113	14	the	the	DET
fcis-25918	113	15	environment	environment	NOUN
fcis-25918	113	16	becomes	become	VERB
fcis-25918	113	17	available	available	ADJ
fcis-25918	113	18	,	,	PUNCT
fcis-25918	113	19	making	make	VERB
fcis-25918	113	20	it	it	PRON
fcis-25918	113	21	particularly	particularly	ADV
fcis-25918	113	22	useful	useful	ADJ
fcis-25918	113	23	for	for	ADP
fcis-25918	113	24	real	real	ADJ
fcis-25918	113	25	-	-	PUNCT
fcis-25918	113	26	time	time	NOUN
fcis-25918	113	27	applications	application	NOUN
fcis-25918	113	28	where	where	SCONJ
fcis-25918	113	29	obstacles	obstacle	NOUN
fcis-25918	113	30	may	may	AUX
fcis-25918	113	31	appear	appear	VERB
fcis-25918	113	32	or	or	CCONJ
fcis-25918	113	33	disappear	disappear	VERB
fcis-25918	113	34	.	.	PUNCT
fcis-25918	114	1	the	the	DET
fcis-25918	114	2	algorithm	algorithm	NOUN
fcis-25918	114	3	continuously	continuously	ADV
fcis-25918	114	4	recalculates	recalculate	VERB
fcis-25918	114	5	the	the	DET
fcis-25918	114	6	optimal	optimal	ADJ
fcis-25918	114	7	path	path	NOUN
fcis-25918	114	8	by	by	ADP
fcis-25918	114	9	propagating	propagate	VERB
fcis-25918	114	10	cost	cost	NOUN
fcis-25918	114	11	changes	change	NOUN
fcis-25918	114	12	through	through	ADP
fcis-25918	114	13	the	the	DET
fcis-25918	114	14	graph	graph	NOUN
fcis-25918	114	15	,	,	PUNCT
fcis-25918	114	16	ensuring	ensure	VERB
fcis-25918	114	17	that	that	SCONJ
fcis-25918	114	18	the	the	DET
fcis-25918	114	19	robot	robot	NOUN
fcis-25918	114	20	always	always	ADV
fcis-25918	114	21	follows	follow	VERB
fcis-25918	114	22	the	the	DET
fcis-25918	114	23	most	most	ADV
fcis-25918	114	24	efficient	efficient	ADJ
fcis-25918	114	25	route	route	NOUN
fcis-25918	114	26	.	.	PUNCT
fcis-25918	115	1	another	another	DET
fcis-25918	115	2	notable	notable	ADJ
fcis-25918	115	3	global	global	ADJ
fcis-25918	115	4	path	path	NOUN
fcis-25918	115	5	planning	planning	NOUN
fcis-25918	115	6	method	method	NOUN
fcis-25918	115	7	is	be	AUX
fcis-25918	115	8	the	the	DET
fcis-25918	115	9	probabilistic	probabilistic	ADJ
fcis-25918	115	10	roadmap	roadmap	NOUN
fcis-25918	115	11	(	(	PUNCT
fcis-25918	115	12	prm	prm	ADJ
fcis-25918	115	13	)	)	PUNCT
fcis-25918	115	14	algorithm	algorithm	NOUN
fcis-25918	115	15	,	,	PUNCT
fcis-25918	115	16	which	which	PRON
fcis-25918	115	17	is	be	AUX
fcis-25918	115	18	particularly	particularly	ADV
fcis-25918	115	19	effective	effective	ADJ
fcis-25918	115	20	in	in	ADP
fcis-25918	115	21	high	high	ADJ
fcis-25918	115	22	-	-	PUNCT
fcis-25918	115	23	dimensional	dimensional	ADJ
fcis-25918	115	24	spaces	space	NOUN
fcis-25918	115	25	.	.	PUNCT
fcis-25918	116	1	prm	prm	PROPN
fcis-25918	116	2	constructs	construct	VERB
fcis-25918	116	3	a	a	DET
fcis-25918	116	4	graph	graph	NOUN
fcis-25918	116	5	,	,	PUNCT
fcis-25918	116	6	or	or	CCONJ
fcis-25918	116	7	roadmap	roadmap	NOUN
fcis-25918	116	8	,	,	PUNCT
fcis-25918	116	9	by	by	ADP
fcis-25918	116	10	randomly	randomly	ADV
fcis-25918	116	11	sampling	sample	VERB
fcis-25918	116	12	points	point	NOUN
fcis-25918	116	13	in	in	ADP
fcis-25918	116	14	the	the	DET
fcis-25918	116	15	environment	environment	NOUN
fcis-25918	116	16	and	and	CCONJ
fcis-25918	116	17	connecting	connect	VERB
fcis-25918	116	18	them	they	PRON
fcis-25918	116	19	if	if	SCONJ
fcis-25918	116	20	they	they	PRON
fcis-25918	116	21	are	be	AUX
fcis-25918	116	22	reachable	reachable	ADJ
fcis-25918	116	23	within	within	ADP
fcis-25918	116	24	certain	certain	ADJ
fcis-25918	116	25	constraints	constraint	NOUN
fcis-25918	116	26	.	.	PUNCT
fcis-25918	117	1	the	the	DET
fcis-25918	117	2	roadmap	roadmap	NOUN
fcis-25918	117	3	is	be	AUX
fcis-25918	117	4	then	then	ADV
fcis-25918	117	5	used	use	VERB
fcis-25918	117	6	to	to	PART
fcis-25918	117	7	find	find	VERB
fcis-25918	117	8	a	a	DET
fcis-25918	117	9	path	path	NOUN
fcis-25918	117	10	between	between	ADP
fcis-25918	117	11	the	the	DET
fcis-25918	117	12	start	start	NOUN
fcis-25918	117	13	and	and	CCONJ
fcis-25918	117	14	goal	goal	NOUN
fcis-25918	117	15	points	point	NOUN
fcis-25918	117	16	.	.	PUNCT
fcis-25918	118	1	prm	prm	PROPN
fcis-25918	118	2	is	be	AUX
fcis-25918	118	3	especially	especially	ADV
fcis-25918	118	4	useful	useful	ADJ
fcis-25918	118	5	in	in	ADP
fcis-25918	118	6	environments	environment	NOUN
fcis-25918	118	7	with	with	ADP
fcis-25918	118	8	complex	complex	ADJ
fcis-25918	118	9	geometries	geometry	NOUN
fcis-25918	118	10	and	and	CCONJ
fcis-25918	118	11	is	be	AUX
fcis-25918	118	12	often	often	ADV
fcis-25918	118	13	used	use	VERB
fcis-25918	118	14	in	in	ADP
fcis-25918	118	15	conjunction	conjunction	NOUN
fcis-25918	118	16	with	with	ADP
fcis-25918	118	17	local	local	ADJ
fcis-25918	118	18	planners	planner	NOUN
fcis-25918	118	19	to	to	PART
fcis-25918	118	20	ensure	ensure	VERB
fcis-25918	118	21	that	that	SCONJ
fcis-25918	118	22	the	the	DET
fcis-25918	118	23	path	path	NOUN
fcis-25918	118	24	is	be	AUX
fcis-25918	118	25	both	both	CCONJ
fcis-25918	118	26	feasible	feasible	ADJ
fcis-25918	118	27	and	and	CCONJ
fcis-25918	118	28	efficient	efficient	ADJ
fcis-25918	118	29	.	.	PUNCT
fcis-25918	119	1	rapidly	rapidly	ADV
fcis-25918	119	2	-	-	PUNCT
fcis-25918	119	3	exploring	explore	VERB
fcis-25918	119	4	random	random	ADJ
fcis-25918	119	5	trees	tree	NOUN
fcis-25918	119	6	(	(	PUNCT
fcis-25918	119	7	rrt	rrt	NOUN
fcis-25918	119	8	)	)	PUNCT
fcis-25918	119	9	is	be	AUX
fcis-25918	119	10	another	another	DET
fcis-25918	119	11	popular	popular	ADJ
fcis-25918	119	12	algorithm	algorithm	NOUN
fcis-25918	119	13	in	in	ADP
fcis-25918	119	14	the	the	DET
fcis-25918	119	15	context	context	NOUN
fcis-25918	119	16	of	of	ADP
fcis-25918	119	17	path	path	NOUN
fcis-25918	119	18	planning	planning	NOUN
fcis-25918	119	19	.	.	PUNCT
fcis-25918	120	1	rrt	rrt	NOUN
fcis-25918	120	2	incrementally	incrementally	ADV
fcis-25918	120	3	builds	build	VERB
fcis-25918	120	4	a	a	DET
fcis-25918	120	5	tree	tree	NOUN
fcis-25918	120	6	by	by	ADP
fcis-25918	120	7	randomly	randomly	ADV
fcis-25918	120	8	sampling	sample	VERB
fcis-25918	120	9	points	point	NOUN
fcis-25918	120	10	in	in	ADP
fcis-25918	120	11	the	the	DET
fcis-25918	120	12	space	space	NOUN
fcis-25918	120	13	and	and	CCONJ
fcis-25918	120	14	extending	extend	VERB
fcis-25918	120	15	branches	branch	NOUN
fcis-25918	120	16	towards	towards	ADP
fcis-25918	120	17	those	those	DET
fcis-25918	120	18	points	point	NOUN
fcis-25918	120	19	.	.	PUNCT
fcis-25918	121	1	the	the	DET
fcis-25918	121	2	algorithm	algorithm	NOUN
fcis-25918	121	3	aims	aim	VERB
fcis-25918	121	4	to	to	PART
fcis-25918	121	5	explore	explore	VERB
fcis-25918	121	6	large	large	ADJ
fcis-25918	121	7	areas	area	NOUN
fcis-25918	121	8	of	of	ADP
fcis-25918	121	9	the	the	DET
fcis-25918	121	10	space	space	NOUN
fcis-25918	121	11	quickly	quickly	ADV
fcis-25918	121	12	and	and	CCONJ
fcis-25918	121	13	can	can	AUX
fcis-25918	121	14	efficiently	efficiently	ADV
fcis-25918	121	15	handle	handle	VERB
fcis-25918	121	16	high	high	ADJ
fcis-25918	121	17	-	-	PUNCT
fcis-25918	121	18	dimensional	dimensional	ADJ
fcis-25918	121	19	environments	environment	NOUN
fcis-25918	121	20	.	.	PUNCT
fcis-25918	122	1	variants	variant	NOUN
fcis-25918	122	2	of	of	ADP
fcis-25918	122	3	rrt	rrt	NOUN
fcis-25918	122	4	,	,	PUNCT
fcis-25918	122	5	such	such	ADJ
fcis-25918	122	6	as	as	ADP
fcis-25918	122	7	rrt	rrt	NOUN
fcis-25918	122	8	*	*	PUNCT
fcis-25918	122	9	and	and	CCONJ
fcis-25918	122	10	informed	inform	VERB
fcis-25918	122	11	rrt	rrt	NOUN
fcis-25918	122	12	*	*	PUNCT
fcis-25918	122	13	,	,	PUNCT
fcis-25918	122	14	improve	improve	VERB
fcis-25918	122	15	upon	upon	SCONJ
fcis-25918	122	16	the	the	DET
fcis-25918	122	17	basic	basic	ADJ
fcis-25918	122	18	algorithm	algorithm	NOUN
fcis-25918	122	19	by	by	ADP
fcis-25918	122	20	ensuring	ensure	VERB
fcis-25918	122	21	asymptotic	asymptotic	ADJ
fcis-25918	122	22	optimality	optimality	NOUN
fcis-25918	122	23	and	and	CCONJ
fcis-25918	122	24	incorporating	incorporate	VERB
fcis-25918	122	25	heuristics	heuristic	NOUN
fcis-25918	122	26	to	to	PART
fcis-25918	122	27	guide	guide	VERB
fcis-25918	122	28	the	the	DET
fcis-25918	122	29	search	search	NOUN
fcis-25918	122	30	towards	towards	ADP
fcis-25918	122	31	the	the	DET
fcis-25918	122	32	goal	goal	NOUN
fcis-25918	122	33	more	more	ADV
fcis-25918	122	34	effectively	effectively	ADV
fcis-25918	122	35	.	.	PUNCT
fcis-25918	123	1	hybrid	hybrid	ADJ
fcis-25918	123	2	approaches	approach	NOUN
fcis-25918	123	3	,	,	PUNCT
fcis-25918	123	4	which	which	PRON
fcis-25918	123	5	combine	combine	VERB
fcis-25918	123	6	features	feature	NOUN
fcis-25918	123	7	of	of	ADP
fcis-25918	123	8	different	different	ADJ
fcis-25918	123	9	algorithms	algorithm	NOUN
fcis-25918	123	10	,	,	PUNCT
fcis-25918	123	11	are	be	AUX
fcis-25918	123	12	also	also	ADV
fcis-25918	123	13	increasingly	increasingly	ADV
fcis-25918	123	14	popular	popular	ADJ
fcis-25918	123	15	in	in	ADP
fcis-25918	123	16	the	the	DET
fcis-25918	123	17	field	field	NOUN
fcis-25918	123	18	of	of	ADP
fcis-25918	123	19	global	global	ADJ
fcis-25918	123	20	path	path	NOUN
fcis-25918	123	21	planning	planning	NOUN
fcis-25918	123	22	.	.	PUNCT
fcis-25918	124	1	for	for	ADP
fcis-25918	124	2	instance	instance	NOUN
fcis-25918	124	3	,	,	PUNCT
fcis-25918	124	4	hybrid	hybrid	ADJ
fcis-25918	124	5	a	a	PRON
fcis-25918	124	6	*	*	PUNCT
fcis-25918	124	7	incorporates	incorporate	VERB
fcis-25918	124	8	the	the	DET
fcis-25918	124	9	heuristic	heuristic	NOUN
fcis-25918	124	10	-	-	PUNCT
fcis-25918	124	11	driven	drive	VERB
fcis-25918	124	12	search	search	NOUN
fcis-25918	124	13	of	of	ADP
fcis-25918	124	14	a	a	PRON
fcis-25918	124	15	*	*	X
fcis-25918	124	16	with	with	ADP
fcis-25918	124	17	the	the	DET
fcis-25918	124	18	continuous	continuous	ADJ
fcis-25918	124	19	state	state	NOUN
fcis-25918	124	20	space	space	NOUN
fcis-25918	124	21	exploration	exploration	NOUN
fcis-25918	124	22	of	of	ADP
fcis-25918	124	23	rrt	rrt	NOUN
fcis-25918	124	24	,	,	PUNCT
fcis-25918	124	25	allowing	allow	VERB
fcis-25918	124	26	for	for	ADP
fcis-25918	124	27	smooth	smooth	ADJ
fcis-25918	124	28	and	and	CCONJ
fcis-25918	124	29	efficient	efficient	ADJ
fcis-25918	124	30	paths	path	NOUN
fcis-25918	124	31	in	in	ADP
fcis-25918	124	32	environments	environment	NOUN
fcis-25918	124	33	with	with	ADP
fcis-25918	124	34	complex	complex	ADJ
fcis-25918	124	35	constraints	constraint	NOUN
fcis-25918	124	36	.	.	PUNCT
fcis-25918	125	1	these	these	DET
fcis-25918	125	2	hybrid	hybrid	ADJ
fcis-25918	125	3	methods	method	NOUN
fcis-25918	125	4	leverage	leverage	VERB
fcis-25918	125	5	the	the	DET
fcis-25918	125	6	strengths	strength	NOUN
fcis-25918	125	7	of	of	ADP
fcis-25918	125	8	multiple	multiple	ADJ
fcis-25918	125	9	algorithms	algorithm	NOUN
fcis-25918	125	10	to	to	PART
fcis-25918	125	11	overcome	overcome	VERB
fcis-25918	125	12	their	their	PRON
fcis-25918	125	13	individual	individual	ADJ
fcis-25918	125	14	limitations	limitation	NOUN
fcis-25918	125	15	,	,	PUNCT
fcis-25918	125	16	resulting	result	VERB
fcis-25918	125	17	in	in	ADP
fcis-25918	125	18	more	more	ADV
fcis-25918	125	19	robust	robust	ADJ
fcis-25918	125	20	and	and	CCONJ
fcis-25918	125	21	versatile	versatile	ADJ
fcis-25918	125	22	path	path	NOUN
fcis-25918	125	23	planning	planning	NOUN
fcis-25918	125	24	solutions	solution	NOUN
fcis-25918	125	25	.	.	PUNCT
fcis-25918	126	1	local	local	ADJ
fcis-25918	126	2	path	path	NOUN
fcis-25918	126	3	planning	planning	NOUN
fcis-25918	126	4	algorithms	algorithm	NOUN
fcis-25918	126	5	local	local	ADJ
fcis-25918	126	6	path	path	NOUN
fcis-25918	126	7	planning	planning	NOUN
fcis-25918	126	8	algorithms	algorithm	NOUN
fcis-25918	126	9	play	play	VERB
fcis-25918	126	10	a	a	DET
fcis-25918	126	11	pivotal	pivotal	ADJ
fcis-25918	126	12	role	role	NOUN
fcis-25918	126	13	in	in	ADP
fcis-25918	126	14	indoor	indoor	ADJ
fcis-25918	126	15	autonomous	autonomous	ADJ
fcis-25918	126	16	navigation	navigation	NOUN
fcis-25918	126	17	by	by	ADP
fcis-25918	126	18	enabling	enable	VERB
fcis-25918	126	19	robots	robot	NOUN
fcis-25918	126	20	to	to	PART
fcis-25918	126	21	make	make	VERB
fcis-25918	126	22	real	real	ADJ
fcis-25918	126	23	-	-	PUNCT
fcis-25918	126	24	time	time	NOUN
fcis-25918	126	25	decisions	decision	NOUN
fcis-25918	126	26	about	about	ADP
fcis-25918	126	27	their	their	PRON
fcis-25918	126	28	immediate	immediate	ADJ
fcis-25918	126	29	movements	movement	NOUN
fcis-25918	126	30	,	,	PUNCT
fcis-25918	126	31	allowing	allow	VERB
fcis-25918	126	32	them	they	PRON
fcis-25918	126	33	to	to	PART
fcis-25918	126	34	navigate	navigate	VERB
fcis-25918	126	35	safely	safely	ADV
fcis-25918	126	36	and	and	CCONJ
fcis-25918	126	37	efficiently	efficiently	ADV
fcis-25918	126	38	within	within	ADP
fcis-25918	126	39	dynamically	dynamically	ADV
fcis-25918	126	40	changing	change	VERB
fcis-25918	126	41	environments	environment	NOUN
fcis-25918	126	42	.	.	PUNCT
fcis-25918	127	1	these	these	DET
fcis-25918	127	2	algorithms	algorithm	NOUN
fcis-25918	127	3	complement	complement	VERB
fcis-25918	127	4	global	global	ADJ
fcis-25918	127	5	path	path	NOUN
fcis-25918	127	6	planning	planning	NOUN
fcis-25918	127	7	methods	method	NOUN
fcis-25918	127	8	by	by	ADP
fcis-25918	127	9	focusing	focus	VERB
fcis-25918	127	10	on	on	ADP
fcis-25918	127	11	short	short	ADJ
fcis-25918	127	12	-	-	PUNCT
fcis-25918	127	13	term	term	NOUN
fcis-25918	127	14	navigation	navigation	NOUN
fcis-25918	127	15	goals	goal	NOUN
fcis-25918	127	16	,	,	PUNCT
fcis-25918	127	17	such	such	ADJ
fcis-25918	127	18	as	as	ADP
fcis-25918	127	19	avoiding	avoid	VERB
fcis-25918	127	20	obstacles	obstacle	NOUN
fcis-25918	127	21	and	and	CCONJ
fcis-25918	127	22	responding	respond	VERB
fcis-25918	127	23	to	to	ADP
fcis-25918	127	24	unforeseen	unforeseen	ADJ
fcis-25918	127	25	changes	change	NOUN
fcis-25918	127	26	in	in	ADP
fcis-25918	127	27	the	the	DET
fcis-25918	127	28	environment	environment	NOUN
fcis-25918	127	29	.	.	PUNCT
fcis-25918	128	1	the	the	DET
fcis-25918	128	2	main	main	ADJ
fcis-25918	128	3	objective	objective	NOUN
fcis-25918	128	4	of	of	ADP
fcis-25918	128	5	local	local	ADJ
fcis-25918	128	6	path	path	NOUN
fcis-25918	128	7	planning	planning	NOUN
fcis-25918	128	8	is	be	AUX
fcis-25918	128	9	to	to	PART
fcis-25918	128	10	ensure	ensure	VERB
fcis-25918	128	11	that	that	SCONJ
fcis-25918	128	12	the	the	DET
fcis-25918	128	13	robot	robot	NOUN
fcis-25918	128	14	can	can	AUX
fcis-25918	128	15	react	react	VERB
fcis-25918	128	16	swiftly	swiftly	ADV
fcis-25918	128	17	to	to	ADP
fcis-25918	128	18	obstacles	obstacle	NOUN
fcis-25918	128	19	and	and	CCONJ
fcis-25918	128	20	other	other	ADJ
fcis-25918	128	21	dynamic	dynamic	ADJ
fcis-25918	128	22	elements	element	NOUN
fcis-25918	128	23	while	while	SCONJ
fcis-25918	128	24	staying	stay	VERB
fcis-25918	128	25	on	on	ADP
fcis-25918	128	26	course	course	NOUN
fcis-25918	128	27	towards	towards	ADP
fcis-25918	128	28	the	the	DET
fcis-25918	128	29	global	global	ADJ
fcis-25918	128	30	path	path	NOUN
fcis-25918	128	31	.	.	PUNCT
fcis-25918	129	1	this	this	DET
fcis-25918	129	2	section	section	NOUN
fcis-25918	129	3	delves	delve	VERB
fcis-25918	129	4	into	into	ADP
fcis-25918	129	5	several	several	ADJ
fcis-25918	129	6	key	key	ADJ
fcis-25918	129	7	local	local	ADJ
fcis-25918	129	8	path	path	NOUN
fcis-25918	129	9	planning	planning	NOUN
fcis-25918	129	10	algorithms	algorithm	NOUN
fcis-25918	129	11	,	,	PUNCT
fcis-25918	129	12	including	include	VERB
fcis-25918	129	13	rapidly	rapidly	ADV
fcis-25918	129	14	-	-	PUNCT
fcis-25918	129	15	exploring	explore	VERB
fcis-25918	129	16	random	random	ADJ
fcis-25918	129	17	trees	tree	NOUN
fcis-25918	129	18	(	(	PUNCT
fcis-25918	129	19	rrt	rrt	NOUN
fcis-25918	129	20	)	)	PUNCT
fcis-25918	129	21	,	,	PUNCT
fcis-25918	129	22	dynamic	dynamic	ADJ
fcis-25918	129	23	window	window	NOUN
fcis-25918	129	24	approach	approach	NOUN
fcis-25918	129	25	(	(	PUNCT
fcis-25918	129	26	dwa	dwa	PROPN
fcis-25918	129	27	)	)	PUNCT
fcis-25918	129	28	,	,	PUNCT
fcis-25918	129	29	and	and	CCONJ
fcis-25918	129	30	other	other	ADJ
fcis-25918	129	31	noteworthy	noteworthy	ADJ
fcis-25918	129	32	methods	method	NOUN
fcis-25918	129	33	.	.	PUNCT
fcis-25918	130	1	the	the	DET
fcis-25918	130	2	rapidly	rapidly	ADV
fcis-25918	130	3	-	-	PUNCT
fcis-25918	130	4	exploring	explore	VERB
fcis-25918	130	5	random	random	ADJ
fcis-25918	130	6	trees	tree	NOUN
fcis-25918	130	7	(	(	PUNCT
fcis-25918	130	8	rrt	rrt	NOUN
fcis-25918	130	9	)	)	PUNCT
fcis-25918	130	10	algorithm	algorithm	NOUN
fcis-25918	130	11	is	be	AUX
fcis-25918	130	12	a	a	DET
fcis-25918	130	13	popular	popular	ADJ
fcis-25918	130	14	choice	choice	NOUN
fcis-25918	130	15	for	for	ADP
fcis-25918	130	16	local	local	ADJ
fcis-25918	130	17	path	path	NOUN
fcis-25918	130	18	planning	planning	NOUN
fcis-25918	130	19	due	due	ADP
fcis-25918	130	20	to	to	ADP
fcis-25918	130	21	its	its	PRON
fcis-25918	130	22	ability	ability	NOUN
fcis-25918	130	23	to	to	PART
fcis-25918	130	24	efficiently	efficiently	ADV
fcis-25918	130	25	explore	explore	VERB
fcis-25918	130	26	high	high	ADJ
fcis-25918	130	27	-	-	PUNCT
fcis-25918	130	28	dimensional	dimensional	ADJ
fcis-25918	130	29	spaces	space	NOUN
fcis-25918	130	30	.	.	PUNCT
fcis-25918	131	1	rrt	rrt	NOUN
fcis-25918	131	2	works	work	NOUN
fcis-25918	131	3	by	by	ADP
fcis-25918	131	4	incrementally	incrementally	ADV
fcis-25918	131	5	building	build	VERB
fcis-25918	131	6	a	a	DET
fcis-25918	131	7	tree	tree	NOUN
fcis-25918	131	8	from	from	ADP
fcis-25918	131	9	the	the	DET
fcis-25918	131	10	robot	robot	NOUN
fcis-25918	131	11	's	's	PART
fcis-25918	131	12	current	current	ADJ
fcis-25918	131	13	position	position	NOUN
fcis-25918	131	14	52	52	NUM
fcis-25918	131	15	towards	towards	ADP
fcis-25918	131	16	the	the	DET
fcis-25918	131	17	goal	goal	NOUN
fcis-25918	131	18	,	,	PUNCT
fcis-25918	131	19	with	with	ADP
fcis-25918	131	20	branches	branch	NOUN
fcis-25918	131	21	extending	extend	VERB
fcis-25918	131	22	towards	towards	ADP
fcis-25918	131	23	randomly	randomly	ADV
fcis-25918	131	24	sampled	sample	VERB
fcis-25918	131	25	points	point	NOUN
fcis-25918	131	26	in	in	ADP
fcis-25918	131	27	the	the	DET
fcis-25918	131	28	environment	environment	NOUN
fcis-25918	131	29	.	.	PUNCT
fcis-25918	132	1	this	this	DET
fcis-25918	132	2	random	random	ADJ
fcis-25918	132	3	sampling	sampling	NOUN
fcis-25918	132	4	approach	approach	NOUN
fcis-25918	132	5	allows	allow	VERB
fcis-25918	132	6	rrt	rrt	NOUN
fcis-25918	132	7	to	to	PART
fcis-25918	132	8	quickly	quickly	ADV
fcis-25918	132	9	cover	cover	VERB
fcis-25918	132	10	large	large	ADJ
fcis-25918	132	11	areas	area	NOUN
fcis-25918	132	12	,	,	PUNCT
fcis-25918	132	13	making	make	VERB
fcis-25918	132	14	it	it	PRON
fcis-25918	132	15	particularly	particularly	ADV
fcis-25918	132	16	effective	effective	ADJ
fcis-25918	132	17	in	in	ADP
fcis-25918	132	18	environments	environment	NOUN
fcis-25918	132	19	with	with	ADP
fcis-25918	132	20	complex	complex	ADJ
fcis-25918	132	21	and	and	CCONJ
fcis-25918	132	22	cluttered	cluttered	ADJ
fcis-25918	132	23	configurations	configuration	NOUN
fcis-25918	132	24	.	.	PUNCT
fcis-25918	133	1	the	the	DET
fcis-25918	133	2	algorithm	algorithm	NOUN
fcis-25918	133	3	starts	start	VERB
fcis-25918	133	4	with	with	ADP
fcis-25918	133	5	the	the	DET
fcis-25918	133	6	root	root	NOUN
fcis-25918	133	7	node	node	NOUN
fcis-25918	133	8	at	at	ADP
fcis-25918	133	9	the	the	DET
fcis-25918	133	10	robot	robot	NOUN
fcis-25918	133	11	's	's	PART
fcis-25918	133	12	current	current	ADJ
fcis-25918	133	13	location	location	NOUN
fcis-25918	133	14	and	and	CCONJ
fcis-25918	133	15	repeatedly	repeatedly	ADV
fcis-25918	133	16	selects	select	VERB
fcis-25918	133	17	random	random	ADJ
fcis-25918	133	18	points	point	NOUN
fcis-25918	133	19	in	in	ADP
fcis-25918	133	20	the	the	DET
fcis-25918	133	21	space	space	NOUN
fcis-25918	133	22	.	.	PUNCT
fcis-25918	134	1	for	for	ADP
fcis-25918	134	2	each	each	DET
fcis-25918	134	3	selected	select	VERB
fcis-25918	134	4	point	point	NOUN
fcis-25918	134	5	,	,	PUNCT
fcis-25918	134	6	rrt	rrt	NOUN
fcis-25918	134	7	finds	find	VERB
fcis-25918	134	8	the	the	DET
fcis-25918	134	9	nearest	near	ADJ
fcis-25918	134	10	node	node	NOUN
fcis-25918	134	11	in	in	ADP
fcis-25918	134	12	the	the	DET
fcis-25918	134	13	existing	exist	VERB
fcis-25918	134	14	tree	tree	NOUN
fcis-25918	134	15	and	and	CCONJ
fcis-25918	134	16	extends	extend	VERB
fcis-25918	134	17	a	a	DET
fcis-25918	134	18	branch	branch	NOUN
fcis-25918	134	19	towards	towards	ADP
fcis-25918	134	20	the	the	DET
fcis-25918	134	21	point	point	NOUN
fcis-25918	134	22	,	,	PUNCT
fcis-25918	134	23	subject	subject	ADJ
fcis-25918	134	24	to	to	ADP
fcis-25918	134	25	collision	collision	NOUN
fcis-25918	134	26	constraints	constraint	NOUN
fcis-25918	134	27	.	.	PUNCT
fcis-25918	135	1	this	this	DET
fcis-25918	135	2	process	process	NOUN
fcis-25918	135	3	continues	continue	VERB
fcis-25918	135	4	until	until	SCONJ
fcis-25918	135	5	the	the	DET
fcis-25918	135	6	goal	goal	NOUN
fcis-25918	135	7	is	be	AUX
fcis-25918	135	8	reached	reach	VERB
fcis-25918	135	9	or	or	CCONJ
fcis-25918	135	10	a	a	DET
fcis-25918	135	11	maximum	maximum	ADJ
fcis-25918	135	12	number	number	NOUN
fcis-25918	135	13	of	of	ADP
fcis-25918	135	14	iterations	iteration	NOUN
fcis-25918	135	15	is	be	AUX
fcis-25918	135	16	exceeded	exceed	VERB
fcis-25918	135	17	.	.	PUNCT
fcis-25918	136	1	rrt	rrt	NOUN
fcis-25918	136	2	's	's	PART
fcis-25918	136	3	strength	strength	NOUN
fcis-25918	136	4	lies	lie	VERB
fcis-25918	136	5	in	in	ADP
fcis-25918	136	6	its	its	PRON
fcis-25918	136	7	ability	ability	NOUN
fcis-25918	136	8	to	to	PART
fcis-25918	136	9	find	find	VERB
fcis-25918	136	10	feasible	feasible	ADJ
fcis-25918	136	11	paths	path	NOUN
fcis-25918	136	12	even	even	ADV
fcis-25918	136	13	in	in	ADP
fcis-25918	136	14	complex	complex	ADJ
fcis-25918	136	15	environments	environment	NOUN
fcis-25918	136	16	,	,	PUNCT
fcis-25918	136	17	though	though	SCONJ
fcis-25918	136	18	the	the	DET
fcis-25918	136	19	paths	path	NOUN
fcis-25918	136	20	may	may	AUX
fcis-25918	136	21	not	not	PART
fcis-25918	136	22	always	always	ADV
fcis-25918	136	23	be	be	AUX
fcis-25918	136	24	optimal	optimal	ADJ
fcis-25918	136	25	in	in	ADP
fcis-25918	136	26	terms	term	NOUN
fcis-25918	136	27	of	of	ADP
fcis-25918	136	28	length	length	NOUN
fcis-25918	136	29	or	or	CCONJ
fcis-25918	136	30	smoothness	smoothness	NOUN
fcis-25918	136	31	.	.	PUNCT
fcis-25918	137	1	variants	variant	NOUN
fcis-25918	137	2	like	like	ADP
fcis-25918	137	3	rrt	rrt	NOUN
fcis-25918	137	4	*	*	NOUN
fcis-25918	137	5	address	address	NOUN
fcis-25918	137	6	these	these	DET
fcis-25918	137	7	limitations	limitation	NOUN
fcis-25918	137	8	by	by	ADP
fcis-25918	137	9	ensuring	ensure	VERB
fcis-25918	137	10	asymptotic	asymptotic	ADJ
fcis-25918	137	11	optimality	optimality	NOUN
fcis-25918	137	12	,	,	PUNCT
fcis-25918	137	13	gradually	gradually	ADV
fcis-25918	137	14	improving	improve	VERB
fcis-25918	137	15	the	the	DET
fcis-25918	137	16	path	path	NOUN
fcis-25918	137	17	quality	quality	NOUN
fcis-25918	137	18	through	through	ADP
fcis-25918	137	19	repeated	repeat	VERB
fcis-25918	137	20	iterations	iteration	NOUN
fcis-25918	137	21	.	.	PUNCT
fcis-25918	138	1	the	the	DET
fcis-25918	138	2	dynamic	dynamic	ADJ
fcis-25918	138	3	window	window	NOUN
fcis-25918	138	4	approach	approach	NOUN
fcis-25918	138	5	(	(	PUNCT
fcis-25918	138	6	dwa	dwa	PROPN
fcis-25918	138	7	)	)	PUNCT
fcis-25918	138	8	is	be	AUX
fcis-25918	138	9	another	another	DET
fcis-25918	138	10	widely	widely	ADV
fcis-25918	138	11	used	use	VERB
fcis-25918	138	12	local	local	ADJ
fcis-25918	138	13	path	path	NOUN
fcis-25918	138	14	planning	planning	NOUN
fcis-25918	138	15	algorithm	algorithm	NOUN
fcis-25918	138	16	,	,	PUNCT
fcis-25918	138	17	renowned	renowne	VERB
fcis-25918	138	18	for	for	ADP
fcis-25918	138	19	its	its	PRON
fcis-25918	138	20	real	real	ADJ
fcis-25918	138	21	-	-	PUNCT
fcis-25918	138	22	time	time	NOUN
fcis-25918	138	23	obstacle	obstacle	NOUN
fcis-25918	138	24	avoidance	avoidance	NOUN
fcis-25918	138	25	capabilities	capability	NOUN
fcis-25918	138	26	.	.	PUNCT
fcis-25918	139	1	dwa	dwa	PROPN
fcis-25918	139	2	operates	operate	VERB
fcis-25918	139	3	in	in	ADP
fcis-25918	139	4	the	the	DET
fcis-25918	139	5	velocity	velocity	NOUN
fcis-25918	139	6	space	space	NOUN
fcis-25918	139	7	rather	rather	ADV
fcis-25918	139	8	than	than	ADP
fcis-25918	139	9	the	the	DET
fcis-25918	139	10	configuration	configuration	NOUN
fcis-25918	139	11	space	space	NOUN
fcis-25918	139	12	,	,	PUNCT
fcis-25918	139	13	making	make	VERB
fcis-25918	139	14	it	it	PRON
fcis-25918	139	15	wellsuited	wellsuite	VERB
fcis-25918	139	16	for	for	ADP
fcis-25918	139	17	robots	robot	NOUN
fcis-25918	139	18	with	with	ADP
fcis-25918	139	19	non	non	ADJ
fcis-25918	139	20	-	-	ADJ
fcis-25918	139	21	holonomic	holonomic	ADJ
fcis-25918	139	22	constraints	constraint	NOUN
fcis-25918	139	23	,	,	PUNCT
fcis-25918	139	24	such	such	ADJ
fcis-25918	139	25	as	as	ADP
fcis-25918	139	26	differential	differential	ADJ
fcis-25918	139	27	drive	drive	NOUN
fcis-25918	139	28	robots	robot	NOUN
fcis-25918	139	29	.	.	PUNCT
fcis-25918	140	1	the	the	DET
fcis-25918	140	2	algorithm	algorithm	NOUN
fcis-25918	140	3	evaluates	evaluate	VERB
fcis-25918	140	4	a	a	DET
fcis-25918	140	5	set	set	NOUN
fcis-25918	140	6	of	of	ADP
fcis-25918	140	7	potential	potential	ADJ
fcis-25918	140	8	velocities	velocity	NOUN
fcis-25918	140	9	within	within	ADP
fcis-25918	140	10	a	a	DET
fcis-25918	140	11	dynamically	dynamically	ADV
fcis-25918	140	12	computed	compute	VERB
fcis-25918	140	13	window	window	NOUN
fcis-25918	140	14	,	,	PUNCT
fcis-25918	140	15	considering	consider	VERB
fcis-25918	140	16	the	the	DET
fcis-25918	140	17	robot	robot	NOUN
fcis-25918	140	18	's	's	PART
fcis-25918	140	19	kinematic	kinematic	ADJ
fcis-25918	140	20	constraints	constraint	NOUN
fcis-25918	140	21	and	and	CCONJ
fcis-25918	140	22	the	the	DET
fcis-25918	140	23	proximity	proximity	NOUN
fcis-25918	140	24	of	of	ADP
fcis-25918	140	25	obstacles	obstacle	NOUN
fcis-25918	140	26	.	.	PUNCT
fcis-25918	141	1	for	for	ADP
fcis-25918	141	2	each	each	DET
fcis-25918	141	3	candidate	candidate	NOUN
fcis-25918	141	4	velocity	velocity	NOUN
fcis-25918	141	5	,	,	PUNCT
fcis-25918	141	6	dwa	dwa	PROPN
fcis-25918	141	7	simulates	simulate	VERB
fcis-25918	141	8	the	the	DET
fcis-25918	141	9	robot	robot	NOUN
fcis-25918	141	10	's	's	PART
fcis-25918	141	11	motion	motion	NOUN
fcis-25918	141	12	over	over	ADP
fcis-25918	141	13	a	a	DET
fcis-25918	141	14	short	short	ADJ
fcis-25918	141	15	time	time	NOUN
fcis-25918	141	16	horizon	horizon	NOUN
fcis-25918	141	17	and	and	CCONJ
fcis-25918	141	18	calculates	calculate	VERB
fcis-25918	141	19	a	a	DET
fcis-25918	141	20	cost	cost	NOUN
fcis-25918	141	21	function	function	NOUN
fcis-25918	141	22	based	base	VERB
fcis-25918	141	23	on	on	ADP
fcis-25918	141	24	three	three	NUM
fcis-25918	141	25	criteria	criterion	NOUN
fcis-25918	141	26	:	:	PUNCT
fcis-25918	141	27	the	the	DET
fcis-25918	141	28	distance	distance	NOUN
fcis-25918	141	29	to	to	ADP
fcis-25918	141	30	the	the	DET
fcis-25918	141	31	goal	goal	NOUN
fcis-25918	141	32	,	,	PUNCT
fcis-25918	141	33	the	the	DET
fcis-25918	141	34	distance	distance	NOUN
fcis-25918	141	35	to	to	ADP
fcis-25918	141	36	the	the	DET
fcis-25918	141	37	nearest	near	ADJ
fcis-25918	141	38	obstacle	obstacle	NOUN
fcis-25918	141	39	,	,	PUNCT
fcis-25918	141	40	and	and	CCONJ
fcis-25918	141	41	the	the	DET
fcis-25918	141	42	robot	robot	NOUN
fcis-25918	141	43	's	's	PART
fcis-25918	141	44	speed	speed	NOUN
fcis-25918	141	45	.	.	PUNCT
fcis-25918	142	1	the	the	DET
fcis-25918	142	2	algorithm	algorithm	NOUN
fcis-25918	142	3	then	then	ADV
fcis-25918	142	4	selects	select	VERB
fcis-25918	142	5	the	the	DET
fcis-25918	142	6	velocity	velocity	NOUN
fcis-25918	142	7	that	that	PRON
fcis-25918	142	8	minimizes	minimize	VERB
fcis-25918	142	9	this	this	DET
fcis-25918	142	10	cost	cost	NOUN
fcis-25918	142	11	function	function	NOUN
fcis-25918	142	12	,	,	PUNCT
fcis-25918	142	13	ensuring	ensure	VERB
fcis-25918	142	14	that	that	SCONJ
fcis-25918	142	15	the	the	DET
fcis-25918	142	16	chosen	choose	VERB
fcis-25918	142	17	path	path	NOUN
fcis-25918	142	18	is	be	AUX
fcis-25918	142	19	both	both	ADV
fcis-25918	142	20	safe	safe	ADJ
fcis-25918	142	21	and	and	CCONJ
fcis-25918	142	22	efficient	efficient	ADJ
fcis-25918	142	23	.	.	PUNCT
fcis-25918	143	1	by	by	ADP
fcis-25918	143	2	continuously	continuously	ADV
fcis-25918	143	3	updating	update	VERB
fcis-25918	143	4	the	the	DET
fcis-25918	143	5	dynamic	dynamic	ADJ
fcis-25918	143	6	window	window	NOUN
fcis-25918	143	7	and	and	CCONJ
fcis-25918	143	8	recalculating	recalculate	VERB
fcis-25918	143	9	the	the	DET
fcis-25918	143	10	optimal	optimal	ADJ
fcis-25918	143	11	velocity	velocity	NOUN
fcis-25918	143	12	,	,	PUNCT
fcis-25918	143	13	dwa	dwa	PROPN
fcis-25918	143	14	enables	enable	VERB
fcis-25918	143	15	the	the	DET
fcis-25918	143	16	robot	robot	NOUN
fcis-25918	143	17	to	to	PART
fcis-25918	143	18	navigate	navigate	VERB
fcis-25918	143	19	through	through	ADP
fcis-25918	143	20	dynamic	dynamic	ADJ
fcis-25918	143	21	environments	environment	NOUN
fcis-25918	143	22	,	,	PUNCT
fcis-25918	143	23	avoiding	avoid	VERB
fcis-25918	143	24	obstacles	obstacle	NOUN
fcis-25918	143	25	and	and	CCONJ
fcis-25918	143	26	adapting	adapt	VERB
fcis-25918	143	27	to	to	ADP
fcis-25918	143	28	changes	change	NOUN
fcis-25918	143	29	in	in	ADP
fcis-25918	143	30	real	real	ADJ
fcis-25918	143	31	-	-	PUNCT
fcis-25918	143	32	time	time	NOUN
fcis-25918	143	33	.	.	PUNCT
fcis-25918	144	1	this	this	DET
fcis-25918	144	2	approach	approach	NOUN
fcis-25918	144	3	is	be	AUX
fcis-25918	144	4	particularly	particularly	ADV
fcis-25918	144	5	effective	effective	ADJ
fcis-25918	144	6	in	in	ADP
fcis-25918	144	7	scenarios	scenario	NOUN
fcis-25918	144	8	where	where	SCONJ
fcis-25918	144	9	the	the	DET
fcis-25918	144	10	robot	robot	NOUN
fcis-25918	144	11	must	must	AUX
fcis-25918	144	12	make	make	VERB
fcis-25918	144	13	quick	quick	ADJ
fcis-25918	144	14	decisions	decision	NOUN
fcis-25918	144	15	to	to	PART
fcis-25918	144	16	avoid	avoid	VERB
fcis-25918	144	17	collisions	collision	NOUN
fcis-25918	144	18	while	while	SCONJ
fcis-25918	144	19	maintaining	maintain	VERB
fcis-25918	144	20	a	a	DET
fcis-25918	144	21	smooth	smooth	ADJ
fcis-25918	144	22	trajectory	trajectory	NOUN
fcis-25918	144	23	towards	towards	ADP
fcis-25918	144	24	the	the	DET
fcis-25918	144	25	goal	goal	NOUN
fcis-25918	144	26	.	.	PUNCT
fcis-25918	145	1	beyond	beyond	ADP
fcis-25918	145	2	rrt	rrt	NOUN
fcis-25918	145	3	and	and	CCONJ
fcis-25918	145	4	dwa	dwa	VERB
fcis-25918	145	5	,	,	PUNCT
fcis-25918	145	6	several	several	ADJ
fcis-25918	145	7	other	other	ADJ
fcis-25918	145	8	local	local	ADJ
fcis-25918	145	9	path	path	NOUN
fcis-25918	145	10	planning	planning	NOUN
fcis-25918	145	11	algorithms	algorithm	NOUN
fcis-25918	145	12	have	have	AUX
fcis-25918	145	13	been	be	AUX
fcis-25918	145	14	developed	develop	VERB
fcis-25918	145	15	to	to	PART
fcis-25918	145	16	address	address	VERB
fcis-25918	145	17	specific	specific	ADJ
fcis-25918	145	18	challenges	challenge	NOUN
fcis-25918	145	19	in	in	ADP
fcis-25918	145	20	indoor	indoor	ADJ
fcis-25918	145	21	navigation	navigation	NOUN
fcis-25918	145	22	.	.	PUNCT
fcis-25918	146	1	one	one	NUM
fcis-25918	146	2	notable	notable	ADJ
fcis-25918	146	3	method	method	NOUN
fcis-25918	146	4	is	be	AUX
fcis-25918	146	5	the	the	DET
fcis-25918	146	6	artificial	artificial	ADJ
fcis-25918	146	7	potential	potential	ADJ
fcis-25918	146	8	field	field	NOUN
fcis-25918	146	9	(	(	PUNCT
fcis-25918	146	10	apf	apf	PROPN
fcis-25918	146	11	)	)	PUNCT
fcis-25918	146	12	algorithm	algorithm	NOUN
fcis-25918	146	13	,	,	PUNCT
fcis-25918	146	14	which	which	PRON
fcis-25918	146	15	models	model	VERB
fcis-25918	146	16	the	the	DET
fcis-25918	146	17	robot	robot	NOUN
fcis-25918	146	18	as	as	ADP
fcis-25918	146	19	a	a	DET
fcis-25918	146	20	particle	particle	NOUN
fcis-25918	146	21	moving	move	VERB
fcis-25918	146	22	within	within	ADP
fcis-25918	146	23	a	a	DET
fcis-25918	146	24	potential	potential	ADJ
fcis-25918	146	25	field	field	NOUN
fcis-25918	146	26	generated	generate	VERB
fcis-25918	146	27	by	by	ADP
fcis-25918	146	28	attractive	attractive	ADJ
fcis-25918	146	29	and	and	CCONJ
fcis-25918	146	30	repulsive	repulsive	ADJ
fcis-25918	146	31	forces	force	NOUN
fcis-25918	146	32	.	.	PUNCT
fcis-25918	147	1	the	the	DET
fcis-25918	147	2	goal	goal	NOUN
fcis-25918	147	3	generates	generate	VERB
fcis-25918	147	4	an	an	DET
fcis-25918	147	5	attractive	attractive	ADJ
fcis-25918	147	6	force	force	NOUN
fcis-25918	147	7	pulling	pull	VERB
fcis-25918	147	8	the	the	DET
fcis-25918	147	9	robot	robot	NOUN
fcis-25918	147	10	towards	towards	ADP
fcis-25918	147	11	it	it	PRON
fcis-25918	147	12	,	,	PUNCT
fcis-25918	147	13	while	while	SCONJ
fcis-25918	147	14	obstacles	obstacle	NOUN
fcis-25918	147	15	generate	generate	VERB
fcis-25918	147	16	repulsive	repulsive	ADJ
fcis-25918	147	17	forces	force	NOUN
fcis-25918	147	18	pushing	push	VERB
fcis-25918	147	19	the	the	DET
fcis-25918	147	20	robot	robot	NOUN
fcis-25918	147	21	away	away	ADV
fcis-25918	147	22	.	.	PUNCT
fcis-25918	148	1	the	the	DET
fcis-25918	148	2	robot	robot	NOUN
fcis-25918	148	3	's	's	PART
fcis-25918	148	4	movement	movement	NOUN
fcis-25918	148	5	is	be	AUX
fcis-25918	148	6	determined	determine	VERB
fcis-25918	148	7	by	by	ADP
fcis-25918	148	8	the	the	DET
fcis-25918	148	9	resultant	resultant	PROPN
fcis-25918	148	10	force	force	PROPN
fcis-25918	148	11	vector	vector	NOUN
fcis-25918	148	12	,	,	PUNCT
fcis-25918	148	13	guiding	guide	VERB
fcis-25918	148	14	it	it	PRON
fcis-25918	148	15	towards	towards	ADP
fcis-25918	148	16	the	the	DET
fcis-25918	148	17	goal	goal	NOUN
fcis-25918	148	18	while	while	SCONJ
fcis-25918	148	19	avoiding	avoid	VERB
fcis-25918	148	20	obstacles	obstacle	NOUN
fcis-25918	148	21	.	.	PUNCT
fcis-25918	149	1	apf	apf	PROPN
fcis-25918	149	2	is	be	AUX
fcis-25918	149	3	intuitive	intuitive	ADJ
fcis-25918	149	4	and	and	CCONJ
fcis-25918	149	5	computationally	computationally	ADV
fcis-25918	149	6	efficient	efficient	ADJ
fcis-25918	149	7	,	,	PUNCT
fcis-25918	149	8	but	but	CCONJ
fcis-25918	149	9	it	it	PRON
fcis-25918	149	10	can	can	AUX
fcis-25918	149	11	suffer	suffer	VERB
fcis-25918	149	12	from	from	ADP
fcis-25918	149	13	issues	issue	NOUN
fcis-25918	149	14	such	such	ADJ
fcis-25918	149	15	as	as	ADP
fcis-25918	149	16	local	local	ADJ
fcis-25918	149	17	minima	minima	NOUN
fcis-25918	149	18	,	,	PUNCT
fcis-25918	149	19	where	where	SCONJ
fcis-25918	149	20	the	the	DET
fcis-25918	149	21	robot	robot	NOUN
fcis-25918	149	22	becomes	become	VERB
fcis-25918	149	23	trapped	trap	VERB
fcis-25918	149	24	in	in	ADP
fcis-25918	149	25	areas	area	NOUN
fcis-25918	149	26	with	with	ADP
fcis-25918	149	27	no	no	DET
fcis-25918	149	28	clear	clear	ADJ
fcis-25918	149	29	path	path	NOUN
fcis-25918	149	30	to	to	ADP
fcis-25918	149	31	the	the	DET
fcis-25918	149	32	goal	goal	NOUN
fcis-25918	149	33	.	.	PUNCT
fcis-25918	150	1	another	another	DET
fcis-25918	150	2	advanced	advanced	ADJ
fcis-25918	150	3	local	local	ADJ
fcis-25918	150	4	planning	planning	NOUN
fcis-25918	150	5	method	method	NOUN
fcis-25918	150	6	is	be	AUX
fcis-25918	150	7	the	the	DET
fcis-25918	150	8	elastic	elastic	ADJ
fcis-25918	150	9	band	band	NOUN
fcis-25918	150	10	(	(	PUNCT
fcis-25918	150	11	eb	eb	NOUN
fcis-25918	150	12	)	)	PUNCT
fcis-25918	150	13	approach	approach	NOUN
fcis-25918	150	14	,	,	PUNCT
fcis-25918	150	15	which	which	PRON
fcis-25918	150	16	treats	treat	VERB
fcis-25918	150	17	the	the	DET
fcis-25918	150	18	planned	plan	VERB
fcis-25918	150	19	path	path	NOUN
fcis-25918	150	20	as	as	ADP
fcis-25918	150	21	a	a	DET
fcis-25918	150	22	flexible	flexible	ADJ
fcis-25918	150	23	elastic	elastic	ADJ
fcis-25918	150	24	band	band	NOUN
fcis-25918	150	25	that	that	PRON
fcis-25918	150	26	can	can	AUX
fcis-25918	150	27	be	be	AUX
fcis-25918	150	28	deformed	deform	VERB
fcis-25918	150	29	in	in	ADP
fcis-25918	150	30	response	response	NOUN
fcis-25918	150	31	to	to	ADP
fcis-25918	150	32	obstacles	obstacle	NOUN
fcis-25918	150	33	.	.	PUNCT
fcis-25918	151	1	the	the	DET
fcis-25918	151	2	initial	initial	ADJ
fcis-25918	151	3	path	path	NOUN
fcis-25918	151	4	,	,	PUNCT
fcis-25918	151	5	typically	typically	ADV
fcis-25918	151	6	generated	generate	VERB
fcis-25918	151	7	by	by	ADP
fcis-25918	151	8	a	a	DET
fcis-25918	151	9	global	global	ADJ
fcis-25918	151	10	planner	planner	NOUN
fcis-25918	151	11	,	,	PUNCT
fcis-25918	151	12	is	be	AUX
fcis-25918	151	13	adjusted	adjust	VERB
fcis-25918	151	14	by	by	ADP
fcis-25918	151	15	applying	apply	VERB
fcis-25918	151	16	forces	force	NOUN
fcis-25918	151	17	that	that	PRON
fcis-25918	151	18	push	push	VERB
fcis-25918	151	19	the	the	DET
fcis-25918	151	20	band	band	NOUN
fcis-25918	151	21	away	away	ADV
fcis-25918	151	22	from	from	ADP
fcis-25918	151	23	obstacles	obstacle	NOUN
fcis-25918	151	24	and	and	CCONJ
fcis-25918	151	25	pull	pull	VERB
fcis-25918	151	26	it	it	PRON
fcis-25918	151	27	towards	towards	ADP
fcis-25918	151	28	the	the	DET
fcis-25918	151	29	robot	robot	NOUN
fcis-25918	151	30	and	and	CCONJ
fcis-25918	151	31	the	the	DET
fcis-25918	151	32	goal	goal	NOUN
fcis-25918	151	33	.	.	PUNCT
fcis-25918	152	1	this	this	PRON
fcis-25918	152	2	results	result	VERB
fcis-25918	152	3	in	in	ADP
fcis-25918	152	4	a	a	DET
fcis-25918	152	5	smooth	smooth	ADJ
fcis-25918	152	6	and	and	CCONJ
fcis-25918	152	7	collision	collision	NOUN
fcis-25918	152	8	-	-	PUNCT
fcis-25918	152	9	free	free	ADJ
fcis-25918	152	10	path	path	NOUN
fcis-25918	152	11	that	that	PRON
fcis-25918	152	12	dynamically	dynamically	ADV
fcis-25918	152	13	adapts	adapt	VERB
fcis-25918	152	14	to	to	ADP
fcis-25918	152	15	changes	change	NOUN
fcis-25918	152	16	in	in	ADP
fcis-25918	152	17	the	the	DET
fcis-25918	152	18	environment	environment	NOUN
fcis-25918	152	19	.	.	PUNCT
fcis-25918	153	1	the	the	DET
fcis-25918	153	2	elastic	elastic	ADJ
fcis-25918	153	3	band	band	NOUN
fcis-25918	153	4	method	method	NOUN
fcis-25918	153	5	is	be	AUX
fcis-25918	153	6	effective	effective	ADJ
fcis-25918	153	7	in	in	ADP
fcis-25918	153	8	producing	produce	VERB
fcis-25918	153	9	natural	natural	ADJ
fcis-25918	153	10	and	and	CCONJ
fcis-25918	153	11	efficient	efficient	ADJ
fcis-25918	153	12	paths	path	NOUN
fcis-25918	153	13	,	,	PUNCT
fcis-25918	153	14	especially	especially	ADV
fcis-25918	153	15	in	in	ADP
fcis-25918	153	16	environments	environment	NOUN
fcis-25918	153	17	with	with	ADP
fcis-25918	153	18	moving	move	VERB
fcis-25918	153	19	obstacles	obstacle	NOUN
fcis-25918	153	20	.	.	PUNCT
fcis-25918	154	1	hybrid	hybrid	ADJ
fcis-25918	154	2	approaches	approach	NOUN
fcis-25918	154	3	that	that	PRON
fcis-25918	154	4	combine	combine	VERB
fcis-25918	154	5	features	feature	NOUN
fcis-25918	154	6	of	of	ADP
fcis-25918	154	7	multiple	multiple	ADJ
fcis-25918	154	8	algorithms	algorithm	NOUN
fcis-25918	154	9	are	be	AUX
fcis-25918	154	10	also	also	ADV
fcis-25918	154	11	prevalent	prevalent	ADJ
fcis-25918	154	12	in	in	ADP
fcis-25918	154	13	local	local	ADJ
fcis-25918	154	14	path	path	NOUN
fcis-25918	154	15	planning	planning	NOUN
fcis-25918	154	16	.	.	PUNCT
fcis-25918	155	1	for	for	ADP
fcis-25918	155	2	instance	instance	NOUN
fcis-25918	155	3	,	,	PUNCT
fcis-25918	155	4	hybrid	hybrid	ADJ
fcis-25918	155	5	a	a	DET
fcis-25918	155	6	*	*	PUNCT
fcis-25918	155	7	integrates	integrate	VERB
fcis-25918	155	8	the	the	DET
fcis-25918	155	9	heuristic	heuristic	ADV
fcis-25918	155	10	-	-	PUNCT
fcis-25918	155	11	driven	drive	VERB
fcis-25918	155	12	search	search	NOUN
fcis-25918	155	13	of	of	ADP
fcis-25918	155	14	a	a	PRON
fcis-25918	155	15	*	*	X
fcis-25918	155	16	with	with	ADP
fcis-25918	155	17	the	the	DET
fcis-25918	155	18	continuous	continuous	ADJ
fcis-25918	155	19	state	state	NOUN
fcis-25918	155	20	space	space	NOUN
fcis-25918	155	21	exploration	exploration	NOUN
fcis-25918	155	22	of	of	ADP
fcis-25918	155	23	rrt	rrt	NOUN
fcis-25918	155	24	,	,	PUNCT
fcis-25918	155	25	enabling	enable	VERB
fcis-25918	155	26	the	the	DET
fcis-25918	155	27	robot	robot	NOUN
fcis-25918	155	28	to	to	PART
fcis-25918	155	29	navigate	navigate	VERB
fcis-25918	155	30	complex	complex	ADJ
fcis-25918	155	31	environments	environment	NOUN
fcis-25918	155	32	with	with	ADP
fcis-25918	155	33	smooth	smooth	ADJ
fcis-25918	155	34	and	and	CCONJ
fcis-25918	155	35	efficient	efficient	ADJ
fcis-25918	155	36	paths	path	NOUN
fcis-25918	155	37	.	.	PUNCT
fcis-25918	156	1	another	another	DET
fcis-25918	156	2	example	example	NOUN
fcis-25918	156	3	is	be	AUX
fcis-25918	156	4	the	the	DET
fcis-25918	156	5	combination	combination	NOUN
fcis-25918	156	6	of	of	ADP
fcis-25918	156	7	dwa	dwa	PROPN
fcis-25918	156	8	with	with	ADP
fcis-25918	156	9	machine	machine	NOUN
fcis-25918	156	10	learning	learn	VERB
fcis-25918	156	11	techniques	technique	NOUN
fcis-25918	156	12	,	,	PUNCT
fcis-25918	156	13	where	where	SCONJ
fcis-25918	156	14	a	a	DET
fcis-25918	156	15	neural	neural	ADJ
fcis-25918	156	16	network	network	NOUN
fcis-25918	156	17	predicts	predict	VERB
fcis-25918	156	18	optimal	optimal	ADJ
fcis-25918	156	19	velocities	velocity	NOUN
fcis-25918	156	20	based	base	VERB
fcis-25918	156	21	on	on	ADP
fcis-25918	156	22	sensor	sensor	NOUN
fcis-25918	156	23	data	datum	NOUN
fcis-25918	156	24	,	,	PUNCT
fcis-25918	156	25	improving	improve	VERB
fcis-25918	156	26	the	the	DET
fcis-25918	156	27	robot	robot	NOUN
fcis-25918	156	28	's	's	PART
fcis-25918	156	29	ability	ability	NOUN
fcis-25918	156	30	to	to	PART
fcis-25918	156	31	navigate	navigate	VERB
fcis-25918	156	32	in	in	ADP
fcis-25918	156	33	unstructured	unstructured	ADJ
fcis-25918	156	34	and	and	CCONJ
fcis-25918	156	35	dynamic	dynamic	ADJ
fcis-25918	156	36	environments	environment	NOUN
fcis-25918	156	37	.	.	PUNCT
fcis-25918	157	1	the	the	DET
fcis-25918	157	2	ability	ability	NOUN
fcis-25918	157	3	of	of	ADP
fcis-25918	157	4	indoor	indoor	ADJ
fcis-25918	157	5	autonomous	autonomous	ADJ
fcis-25918	157	6	robots	robot	NOUN
fcis-25918	157	7	to	to	PART
fcis-25918	157	8	navigate	navigate	VERB
fcis-25918	157	9	effectively	effectively	ADV
fcis-25918	157	10	relies	rely	VERB
fcis-25918	157	11	heavily	heavily	ADV
fcis-25918	157	12	on	on	ADP
fcis-25918	157	13	their	their	PRON
fcis-25918	157	14	capability	capability	NOUN
fcis-25918	157	15	to	to	PART
fcis-25918	157	16	perceive	perceive	VERB
fcis-25918	157	17	their	their	PRON
fcis-25918	157	18	environment	environment	NOUN
fcis-25918	157	19	accurately	accurately	ADV
fcis-25918	157	20	and	and	CCONJ
fcis-25918	157	21	construct	construct	VERB
fcis-25918	157	22	reliable	reliable	ADJ
fcis-25918	157	23	maps	map	NOUN
fcis-25918	157	24	.	.	PUNCT
fcis-25918	158	1	environmental	environmental	ADJ
fcis-25918	158	2	perception	perception	NOUN
fcis-25918	158	3	involves	involve	VERB
fcis-25918	158	4	using	use	VERB
fcis-25918	158	5	a	a	DET
fcis-25918	158	6	variety	variety	NOUN
fcis-25918	158	7	of	of	ADP
fcis-25918	158	8	sensor	sensor	NOUN
fcis-25918	158	9	technologies	technology	NOUN
fcis-25918	158	10	to	to	PART
fcis-25918	158	11	gather	gather	VERB
fcis-25918	158	12	data	datum	NOUN
fcis-25918	158	13	about	about	ADP
fcis-25918	158	14	the	the	DET
fcis-25918	158	15	surroundings	surrounding	NOUN
fcis-25918	158	16	,	,	PUNCT
fcis-25918	158	17	while	while	SCONJ
fcis-25918	158	18	map	map	VERB
fcis-25918	158	19	construction	construction	NOUN
fcis-25918	158	20	methods	method	NOUN
fcis-25918	158	21	convert	convert	VERB
fcis-25918	158	22	this	this	DET
fcis-25918	158	23	data	datum	NOUN
fcis-25918	158	24	into	into	ADP
fcis-25918	158	25	usable	usable	ADJ
fcis-25918	158	26	representations	representation	NOUN
fcis-25918	158	27	for	for	ADP
fcis-25918	158	28	navigation	navigation	NOUN
fcis-25918	158	29	.	.	PUNCT
fcis-25918	159	1	this	this	DET
fcis-25918	159	2	section	section	NOUN
fcis-25918	159	3	explores	explore	VERB
fcis-25918	159	4	the	the	DET
fcis-25918	159	5	advanced	advanced	ADJ
fcis-25918	159	6	sensor	sensor	NOUN
fcis-25918	159	7	technologies	technology	NOUN
fcis-25918	159	8	used	use	VERB
fcis-25918	159	9	for	for	ADP
fcis-25918	159	10	environmental	environmental	ADJ
fcis-25918	159	11	perception	perception	NOUN
fcis-25918	159	12	and	and	CCONJ
fcis-25918	159	13	the	the	DET
fcis-25918	159	14	different	different	ADJ
fcis-25918	159	15	map	map	NOUN
fcis-25918	159	16	construction	construction	NOUN
fcis-25918	159	17	techniques	technique	NOUN
fcis-25918	159	18	that	that	PRON
fcis-25918	159	19	form	form	VERB
fcis-25918	159	20	the	the	DET
fcis-25918	159	21	backbone	backbone	NOUN
fcis-25918	159	22	of	of	ADP
fcis-25918	159	23	autonomous	autonomous	ADJ
fcis-25918	159	24	indoor	indoor	ADJ
fcis-25918	159	25	navigation	navigation	NOUN
fcis-25918	159	26	systems	system	NOUN
fcis-25918	159	27	.	.	PUNCT
fcis-25918	160	1	sensor	sensor	NOUN
fcis-25918	160	2	technologies	technology	NOUN
fcis-25918	160	3	are	be	AUX
fcis-25918	160	4	critical	critical	ADJ
fcis-25918	160	5	for	for	ADP
fcis-25918	160	6	providing	provide	VERB
fcis-25918	160	7	the	the	DET
fcis-25918	160	8	data	datum	NOUN
fcis-25918	160	9	needed	need	VERB
fcis-25918	160	10	to	to	PART
fcis-25918	160	11	understand	understand	VERB
fcis-25918	160	12	and	and	CCONJ
fcis-25918	160	13	interact	interact	VERB
fcis-25918	160	14	with	with	ADP
fcis-25918	160	15	the	the	DET
fcis-25918	160	16	environment	environment	NOUN
fcis-25918	160	17	.	.	PUNCT
fcis-25918	161	1	these	these	DET
fcis-25918	161	2	technologies	technology	NOUN
fcis-25918	161	3	allow	allow	VERB
fcis-25918	161	4	robots	robot	NOUN
fcis-25918	161	5	to	to	PART
fcis-25918	161	6	detect	detect	VERB
fcis-25918	161	7	obstacles	obstacle	NOUN
fcis-25918	161	8	,	,	PUNCT
fcis-25918	161	9	measure	measure	NOUN
fcis-25918	161	10	distances	distance	NOUN
fcis-25918	161	11	,	,	PUNCT
fcis-25918	161	12	and	and	CCONJ
fcis-25918	161	13	capture	capture	VERB
fcis-25918	161	14	detailed	detailed	ADJ
fcis-25918	161	15	information	information	NOUN
fcis-25918	161	16	about	about	ADP
fcis-25918	161	17	the	the	DET
fcis-25918	161	18	surroundings	surrounding	NOUN
fcis-25918	161	19	.	.	PUNCT
fcis-25918	162	1	three	three	NUM
fcis-25918	162	2	primary	primary	ADJ
fcis-25918	162	3	sensor	sensor	NOUN
fcis-25918	162	4	technologies	technology	NOUN
fcis-25918	162	5	are	be	AUX
fcis-25918	162	6	commonly	commonly	ADV
fcis-25918	162	7	used	use	VERB
fcis-25918	162	8	in	in	ADP
fcis-25918	162	9	indoor	indoor	ADJ
fcis-25918	162	10	autonomous	autonomous	ADJ
fcis-25918	162	11	navigation	navigation	NOUN
fcis-25918	162	12	:	:	PUNCT
fcis-25918	162	13	lidar	lidar	NOUN
fcis-25918	162	14	(	(	PUNCT
fcis-25918	162	15	light	light	ADJ
fcis-25918	162	16	detection	detection	NOUN
fcis-25918	162	17	and	and	CCONJ
fcis-25918	162	18	ranging	ranging	NOUN
fcis-25918	162	19	)	)	PUNCT
fcis-25918	162	20	is	be	AUX
fcis-25918	162	21	a	a	DET
fcis-25918	162	22	widely	widely	ADV
fcis-25918	162	23	adopted	adopt	VERB
fcis-25918	162	24	sensor	sensor	NOUN
fcis-25918	162	25	technology	technology	NOUN
fcis-25918	162	26	for	for	ADP
fcis-25918	162	27	indoor	indoor	ADJ
fcis-25918	162	28	navigation	navigation	NOUN
fcis-25918	162	29	due	due	ADP
fcis-25918	162	30	to	to	ADP
fcis-25918	162	31	its	its	PRON
fcis-25918	162	32	high	high	ADJ
fcis-25918	162	33	precision	precision	NOUN
fcis-25918	162	34	and	and	CCONJ
fcis-25918	162	35	ability	ability	NOUN
fcis-25918	162	36	to	to	PART
fcis-25918	162	37	generate	generate	VERB
fcis-25918	162	38	detailed	detailed	ADJ
fcis-25918	162	39	3d	3d	NUM
fcis-25918	162	40	maps	map	NOUN
fcis-25918	162	41	.	.	PUNCT
fcis-25918	163	1	lidar	lidar	NOUN
fcis-25918	163	2	sensors	sensor	NOUN
fcis-25918	163	3	emit	emit	VERB
fcis-25918	163	4	laser	laser	NOUN
fcis-25918	163	5	pulses	pulse	NOUN
fcis-25918	163	6	and	and	CCONJ
fcis-25918	163	7	measure	measure	VERB
fcis-25918	163	8	the	the	DET
fcis-25918	163	9	time	time	NOUN
fcis-25918	163	10	it	it	PRON
fcis-25918	163	11	takes	take	VERB
fcis-25918	163	12	for	for	SCONJ
fcis-25918	163	13	the	the	DET
fcis-25918	163	14	pulses	pulse	NOUN
fcis-25918	163	15	to	to	PART
fcis-25918	163	16	reflect	reflect	VERB
fcis-25918	163	17	back	back	ADV
fcis-25918	163	18	from	from	ADP
fcis-25918	163	19	surfaces	surface	NOUN
fcis-25918	163	20	.	.	PUNCT
fcis-25918	164	1	this	this	DET
fcis-25918	164	2	time	time	NOUN
fcis-25918	164	3	-	-	PUNCT
fcis-25918	164	4	of	of	ADP
fcis-25918	164	5	-	-	PUNCT
fcis-25918	164	6	flight	flight	NOUN
fcis-25918	164	7	measurement	measurement	NOUN
fcis-25918	164	8	provides	provide	VERB
fcis-25918	164	9	accurate	accurate	ADJ
fcis-25918	164	10	distance	distance	NOUN
fcis-25918	164	11	data	datum	NOUN
fcis-25918	164	12	,	,	PUNCT
fcis-25918	164	13	enabling	enable	VERB
fcis-25918	164	14	the	the	DET
fcis-25918	164	15	construction	construction	NOUN
fcis-25918	164	16	of	of	ADP
fcis-25918	164	17	high	high	ADJ
fcis-25918	164	18	-	-	PUNCT
fcis-25918	164	19	resolution	resolution	NOUN
fcis-25918	164	20	3d	3d	NOUN
fcis-25918	164	21	point	point	NOUN
fcis-25918	164	22	clouds	cloud	NOUN
fcis-25918	164	23	.	.	PUNCT
fcis-25918	165	1	these	these	DET
fcis-25918	165	2	point	point	NOUN
fcis-25918	165	3	clouds	cloud	NOUN
fcis-25918	165	4	offer	offer	VERB
fcis-25918	165	5	a	a	DET
fcis-25918	165	6	comprehensive	comprehensive	ADJ
fcis-25918	165	7	view	view	NOUN
fcis-25918	165	8	of	of	ADP
fcis-25918	165	9	the	the	DET
fcis-25918	165	10	environment	environment	NOUN
fcis-25918	165	11	,	,	PUNCT
fcis-25918	165	12	including	include	VERB
fcis-25918	165	13	the	the	DET
fcis-25918	165	14	positions	position	NOUN
fcis-25918	165	15	of	of	ADP
fcis-25918	165	16	obstacles	obstacle	NOUN
fcis-25918	165	17	and	and	CCONJ
fcis-25918	165	18	other	other	ADJ
fcis-25918	165	19	features	feature	NOUN
fcis-25918	165	20	.	.	PUNCT
fcis-25918	166	1	lidar	lidar	NOUN
fcis-25918	166	2	is	be	AUX
fcis-25918	166	3	particularly	particularly	ADV
fcis-25918	166	4	effective	effective	ADJ
fcis-25918	166	5	in	in	ADP
fcis-25918	166	6	environments	environment	NOUN
fcis-25918	166	7	with	with	ADP
fcis-25918	166	8	low	low	ADJ
fcis-25918	166	9	lighting	lighting	NOUN
fcis-25918	166	10	or	or	CCONJ
fcis-25918	166	11	complex	complex	ADJ
fcis-25918	166	12	geometries	geometry	NOUN
fcis-25918	166	13	,	,	PUNCT
fcis-25918	166	14	making	make	VERB
fcis-25918	166	15	it	it	PRON
fcis-25918	166	16	an	an	DET
fcis-25918	166	17	essential	essential	ADJ
fcis-25918	166	18	tool	tool	NOUN
fcis-25918	166	19	for	for	ADP
fcis-25918	166	20	reliable	reliable	ADJ
fcis-25918	166	21	and	and	CCONJ
fcis-25918	166	22	accurate	accurate	ADJ
fcis-25918	166	23	mapping	mapping	NOUN
fcis-25918	166	24	.	.	PUNCT
fcis-25918	167	1	ultrasonic	ultrasonic	ADJ
fcis-25918	167	2	sensors	sensor	NOUN
fcis-25918	167	3	,	,	PUNCT
fcis-25918	167	4	which	which	PRON
fcis-25918	167	5	use	use	VERB
fcis-25918	167	6	high	high	ADJ
fcis-25918	167	7	-	-	PUNCT
fcis-25918	167	8	frequency	frequency	NOUN
fcis-25918	167	9	sound	sound	NOUN
fcis-25918	167	10	waves	wave	NOUN
fcis-25918	167	11	to	to	PART
fcis-25918	167	12	detect	detect	VERB
fcis-25918	167	13	objects	object	NOUN
fcis-25918	167	14	,	,	PUNCT
fcis-25918	167	15	are	be	AUX
fcis-25918	167	16	another	another	DET
fcis-25918	167	17	important	important	ADJ
fcis-25918	167	18	technology	technology	NOUN
fcis-25918	167	19	in	in	ADP
fcis-25918	167	20	robotic	robotic	ADJ
fcis-25918	167	21	perception	perception	NOUN
fcis-25918	167	22	.	.	PUNCT
fcis-25918	168	1	these	these	DET
fcis-25918	168	2	sensors	sensor	NOUN
fcis-25918	168	3	emit	emit	VERB
fcis-25918	168	4	ultrasonic	ultrasonic	ADJ
fcis-25918	168	5	waves	wave	NOUN
fcis-25918	168	6	that	that	PRON
fcis-25918	168	7	reflect	reflect	VERB
fcis-25918	168	8	off	off	ADP
fcis-25918	168	9	objects	object	NOUN
fcis-25918	168	10	and	and	CCONJ
fcis-25918	168	11	return	return	VERB
fcis-25918	168	12	to	to	ADP
fcis-25918	168	13	the	the	DET
fcis-25918	168	14	sensor	sensor	NOUN
fcis-25918	168	15	.	.	PUNCT
fcis-25918	169	1	by	by	ADP
fcis-25918	169	2	measuring	measure	VERB
fcis-25918	169	3	the	the	DET
fcis-25918	169	4	time	time	NOUN
fcis-25918	169	5	taken	take	VERB
fcis-25918	169	6	for	for	SCONJ
fcis-25918	169	7	the	the	DET
fcis-25918	169	8	waves	wave	NOUN
fcis-25918	169	9	to	to	PART
fcis-25918	169	10	return	return	VERB
fcis-25918	169	11	,	,	PUNCT
fcis-25918	169	12	the	the	DET
fcis-25918	169	13	sensor	sensor	NOUN
fcis-25918	169	14	can	can	AUX
fcis-25918	169	15	calculate	calculate	VERB
fcis-25918	169	16	the	the	DET
fcis-25918	169	17	distance	distance	NOUN
fcis-25918	169	18	to	to	ADP
fcis-25918	169	19	the	the	DET
fcis-25918	169	20	object	object	NOUN
fcis-25918	169	21	.	.	PUNCT
fcis-25918	170	1	ultrasonic	ultrasonic	ADJ
fcis-25918	170	2	sensors	sensor	NOUN
fcis-25918	170	3	are	be	AUX
fcis-25918	170	4	relatively	relatively	ADV
fcis-25918	170	5	inexpensive	inexpensive	ADJ
fcis-25918	170	6	and	and	CCONJ
fcis-25918	170	7	robust	robust	ADJ
fcis-25918	170	8	,	,	PUNCT
fcis-25918	170	9	making	make	VERB
fcis-25918	170	10	them	they	PRON
fcis-25918	170	11	suitable	suitable	ADJ
fcis-25918	170	12	for	for	ADP
fcis-25918	170	13	a	a	DET
fcis-25918	170	14	variety	variety	NOUN
fcis-25918	170	15	of	of	ADP
fcis-25918	170	16	applications	application	NOUN
fcis-25918	170	17	.	.	PUNCT
fcis-25918	171	1	they	they	PRON
fcis-25918	171	2	are	be	AUX
fcis-25918	171	3	especially	especially	ADV
fcis-25918	171	4	useful	useful	ADJ
fcis-25918	171	5	in	in	ADP
fcis-25918	171	6	detecting	detect	VERB
fcis-25918	171	7	objects	object	NOUN
fcis-25918	171	8	that	that	PRON
fcis-25918	171	9	may	may	AUX
fcis-25918	171	10	not	not	PART
fcis-25918	171	11	be	be	AUX
fcis-25918	171	12	easily	easily	ADV
fcis-25918	171	13	captured	capture	VERB
fcis-25918	171	14	by	by	ADP
fcis-25918	171	15	optical	optical	ADJ
fcis-25918	171	16	sensors	sensor	NOUN
fcis-25918	171	17	,	,	PUNCT
fcis-25918	171	18	such	such	ADJ
fcis-25918	171	19	as	as	ADP
fcis-25918	171	20	transparent	transparent	ADJ
fcis-25918	171	21	or	or	CCONJ
fcis-25918	171	22	highly	highly	ADV
fcis-25918	171	23	reflective	reflective	ADJ
fcis-25918	171	24	surfaces	surface	NOUN
fcis-25918	171	25	.	.	PUNCT
fcis-25918	172	1	however	however	ADV
fcis-25918	172	2	,	,	PUNCT
fcis-25918	172	3	their	their	PRON
fcis-25918	172	4	lower	low	ADJ
fcis-25918	172	5	resolution	resolution	NOUN
fcis-25918	172	6	compared	compare	VERB
fcis-25918	172	7	to	to	PART
fcis-25918	172	8	lidar	lidar	NOUN
fcis-25918	172	9	and	and	CCONJ
fcis-25918	172	10	depth	depth	NOUN
fcis-25918	172	11	cameras	camera	NOUN
fcis-25918	172	12	limits	limit	VERB
fcis-25918	172	13	their	their	PRON
fcis-25918	172	14	use	use	NOUN
fcis-25918	172	15	to	to	ADP
fcis-25918	172	16	simpler	simple	ADJ
fcis-25918	172	17	obstacle	obstacle	NOUN
fcis-25918	172	18	detection	detection	NOUN
fcis-25918	172	19	tasks	task	NOUN
fcis-25918	172	20	.	.	PUNCT
fcis-25918	173	1	depth	depth	NOUN
fcis-25918	173	2	cameras	camera	NOUN
fcis-25918	173	3	,	,	PUNCT
fcis-25918	173	4	such	such	ADJ
fcis-25918	173	5	as	as	ADP
fcis-25918	173	6	rgb	rgb	PROPN
fcis-25918	173	7	-	-	PROPN
fcis-25918	173	8	d	d	NOUN
fcis-25918	173	9	cameras	camera	NOUN
fcis-25918	173	10	,	,	PUNCT
fcis-25918	173	11	provide	provide	VERB
fcis-25918	173	12	both	both	CCONJ
fcis-25918	173	13	color	color	NOUN
fcis-25918	173	14	and	and	CCONJ
fcis-25918	173	15	depth	depth	NOUN
fcis-25918	173	16	information	information	NOUN
fcis-25918	173	17	,	,	PUNCT
fcis-25918	173	18	creating	create	VERB
fcis-25918	173	19	a	a	DET
fcis-25918	173	20	rich	rich	ADJ
fcis-25918	173	21	dataset	dataset	NOUN
fcis-25918	173	22	for	for	ADP
fcis-25918	173	23	environmental	environmental	ADJ
fcis-25918	173	24	perception	perception	NOUN
fcis-25918	173	25	.	.	PUNCT
fcis-25918	174	1	these	these	DET
fcis-25918	174	2	cameras	camera	NOUN
fcis-25918	174	3	use	use	VERB
fcis-25918	174	4	structured	structure	VERB
fcis-25918	174	5	light	light	NOUN
fcis-25918	174	6	or	or	CCONJ
fcis-25918	174	7	time	time	NOUN
fcis-25918	174	8	-	-	PUNCT
fcis-25918	174	9	of	of	ADP
fcis-25918	174	10	-	-	PUNCT
fcis-25918	174	11	flight	flight	NOUN
fcis-25918	174	12	methods	method	NOUN
fcis-25918	174	13	to	to	PART
fcis-25918	174	14	measure	measure	VERB
fcis-25918	174	15	depth	depth	NOUN
fcis-25918	174	16	,	,	PUNCT
fcis-25918	174	17	capturing	capture	VERB
fcis-25918	174	18	the	the	DET
fcis-25918	174	19	distance	distance	NOUN
fcis-25918	174	20	to	to	ADP
fcis-25918	174	21	each	each	DET
fcis-25918	174	22	pixel	pixel	NOUN
fcis-25918	174	23	in	in	ADP
fcis-25918	174	24	the	the	DET
fcis-25918	174	25	image	image	NOUN
fcis-25918	174	26	.	.	PUNCT
fcis-25918	175	1	the	the	DET
fcis-25918	175	2	combination	combination	NOUN
fcis-25918	175	3	of	of	ADP
fcis-25918	175	4	color	color	NOUN
fcis-25918	175	5	and	and	CCONJ
fcis-25918	175	6	depth	depth	NOUN
fcis-25918	175	7	data	datum	NOUN
fcis-25918	175	8	allows	allow	VERB
fcis-25918	175	9	for	for	ADP
fcis-25918	175	10	detailed	detailed	ADJ
fcis-25918	175	11	object	object	NOUN
fcis-25918	175	12	recognition	recognition	NOUN
fcis-25918	175	13	and	and	CCONJ
fcis-25918	175	14	environmental	environmental	ADJ
fcis-25918	175	15	mapping	mapping	NOUN
fcis-25918	175	16	.	.	PUNCT
fcis-25918	176	1	depth	depth	NOUN
fcis-25918	176	2	cameras	camera	NOUN
fcis-25918	176	3	are	be	AUX
fcis-25918	176	4	particularly	particularly	ADV
fcis-25918	176	5	useful	useful	ADJ
fcis-25918	176	6	in	in	ADP
fcis-25918	176	7	environments	environment	NOUN
fcis-25918	176	8	where	where	SCONJ
fcis-25918	176	9	visual	visual	ADJ
fcis-25918	176	10	details	detail	NOUN
fcis-25918	176	11	are	be	AUX
fcis-25918	176	12	important	important	ADJ
fcis-25918	176	13	,	,	PUNCT
fcis-25918	176	14	such	such	ADJ
fcis-25918	176	15	as	as	ADP
fcis-25918	176	16	identifying	identify	VERB
fcis-25918	176	17	specific	specific	ADJ
fcis-25918	176	18	objects	object	NOUN
fcis-25918	176	19	or	or	CCONJ
fcis-25918	176	20	features	feature	NOUN
fcis-25918	176	21	.	.	PUNCT
fcis-25918	177	1	they	they	PRON
fcis-25918	177	2	are	be	AUX
fcis-25918	177	3	also	also	ADV
fcis-25918	177	4	effective	effective	ADJ
fcis-25918	177	5	in	in	ADP
fcis-25918	177	6	dynamic	dynamic	ADJ
fcis-25918	177	7	environments	environment	NOUN
fcis-25918	177	8	,	,	PUNCT
fcis-25918	177	9	as	as	SCONJ
fcis-25918	177	10	they	they	PRON
fcis-25918	177	11	can	can	AUX
fcis-25918	177	12	capture	capture	VERB
fcis-25918	177	13	realtime	realtime	ADJ
fcis-25918	177	14	changes	change	NOUN
fcis-25918	177	15	in	in	ADP
fcis-25918	177	16	the	the	DET
fcis-25918	177	17	scene	scene	NOUN
fcis-25918	177	18	.	.	PUNCT
fcis-25918	178	1	the	the	DET
fcis-25918	178	2	main	main	ADJ
fcis-25918	178	3	challenge	challenge	NOUN
fcis-25918	178	4	with	with	ADP
fcis-25918	178	5	depth	depth	NOUN
fcis-25918	178	6	cameras	camera	NOUN
fcis-25918	178	7	is	be	AUX
fcis-25918	178	8	their	their	PRON
fcis-25918	178	9	performance	performance	NOUN
fcis-25918	178	10	in	in	ADP
fcis-25918	178	11	varying	vary	VERB
fcis-25918	178	12	lighting	lighting	NOUN
fcis-25918	178	13	conditions	condition	NOUN
fcis-25918	178	14	,	,	PUNCT
fcis-25918	178	15	where	where	SCONJ
fcis-25918	178	16	excessive	excessive	ADJ
fcis-25918	178	17	brightness	brightness	NOUN
fcis-25918	178	18	or	or	CCONJ
fcis-25918	178	19	darkness	darkness	NOUN
fcis-25918	178	20	can	can	AUX
fcis-25918	178	21	affect	affect	VERB
fcis-25918	178	22	accuracy	accuracy	NOUN
fcis-25918	178	23	.	.	PUNCT
fcis-25918	179	1	once	once	SCONJ
fcis-25918	179	2	sensor	sensor	NOUN
fcis-25918	179	3	data	datum	NOUN
fcis-25918	179	4	is	be	AUX
fcis-25918	179	5	collected	collect	VERB
fcis-25918	179	6	,	,	PUNCT
fcis-25918	179	7	it	it	PRON
fcis-25918	179	8	must	must	AUX
fcis-25918	179	9	be	be	AUX
fcis-25918	179	10	transformed	transform	VERB
fcis-25918	179	11	into	into	ADP
fcis-25918	179	12	a	a	DET
fcis-25918	179	13	usable	usable	ADJ
fcis-25918	179	14	map	map	NOUN
fcis-25918	179	15	that	that	SCONJ
fcis-25918	179	16	the	the	DET
fcis-25918	179	17	robot	robot	NOUN
fcis-25918	179	18	can	can	AUX
fcis-25918	179	19	navigate	navigate	VERB
fcis-25918	179	20	.	.	PUNCT
fcis-25918	180	1	several	several	ADJ
fcis-25918	180	2	map	map	NOUN
fcis-25918	180	3	construction	construction	NOUN
fcis-25918	180	4	methods	method	NOUN
fcis-25918	180	5	are	be	AUX
fcis-25918	180	6	used	use	VERB
fcis-25918	180	7	,	,	PUNCT
fcis-25918	180	8	each	each	PRON
fcis-25918	180	9	with	with	ADP
fcis-25918	180	10	its	its	PRON
fcis-25918	180	11	advantages	advantage	NOUN
fcis-25918	180	12	and	and	CCONJ
fcis-25918	180	13	applications	application	NOUN
fcis-25918	180	14	.	.	PUNCT
fcis-25918	181	1	these	these	DET
fcis-25918	181	2	methods	method	NOUN
fcis-25918	181	3	include	include	VERB
fcis-25918	181	4	grid	grid	NOUN
fcis-25918	181	5	maps	map	NOUN
fcis-25918	181	6	,	,	PUNCT
fcis-25918	181	7	topological	topological	ADJ
fcis-25918	181	8	53	53	NUM
fcis-25918	181	9	maps	map	NOUN
fcis-25918	181	10	,	,	PUNCT
fcis-25918	181	11	and	and	CCONJ
fcis-25918	181	12	hybrid	hybrid	ADJ
fcis-25918	181	13	maps	map	NOUN
fcis-25918	181	14	.	.	PUNCT
fcis-25918	182	1	grid	grid	NOUN
fcis-25918	182	2	maps	map	NOUN
fcis-25918	182	3	,	,	PUNCT
fcis-25918	182	4	also	also	ADV
fcis-25918	182	5	known	know	VERB
fcis-25918	182	6	as	as	ADP
fcis-25918	182	7	occupancy	occupancy	NOUN
fcis-25918	182	8	grids	grid	NOUN
fcis-25918	182	9	,	,	PUNCT
fcis-25918	182	10	are	be	AUX
fcis-25918	182	11	a	a	DET
fcis-25918	182	12	common	common	ADJ
fcis-25918	182	13	method	method	NOUN
fcis-25918	182	14	for	for	ADP
fcis-25918	182	15	representing	represent	VERB
fcis-25918	182	16	indoor	indoor	ADJ
fcis-25918	182	17	environments	environment	NOUN
fcis-25918	182	18	.	.	PUNCT
fcis-25918	183	1	in	in	ADP
fcis-25918	183	2	a	a	DET
fcis-25918	183	3	grid	grid	NOUN
fcis-25918	183	4	map	map	NOUN
fcis-25918	183	5	,	,	PUNCT
fcis-25918	183	6	the	the	DET
fcis-25918	183	7	environment	environment	NOUN
fcis-25918	183	8	is	be	AUX
fcis-25918	183	9	divided	divide	VERB
fcis-25918	183	10	into	into	ADP
fcis-25918	183	11	a	a	DET
fcis-25918	183	12	grid	grid	NOUN
fcis-25918	183	13	of	of	ADP
fcis-25918	183	14	cells	cell	NOUN
fcis-25918	183	15	,	,	PUNCT
fcis-25918	183	16	each	each	PRON
fcis-25918	183	17	representing	represent	VERB
fcis-25918	183	18	a	a	DET
fcis-25918	183	19	specific	specific	ADJ
fcis-25918	183	20	area	area	NOUN
fcis-25918	183	21	.	.	PUNCT
fcis-25918	184	1	each	each	DET
fcis-25918	184	2	cell	cell	NOUN
fcis-25918	184	3	is	be	AUX
fcis-25918	184	4	assigned	assign	VERB
fcis-25918	184	5	a	a	DET
fcis-25918	184	6	value	value	NOUN
fcis-25918	184	7	that	that	PRON
fcis-25918	184	8	indicates	indicate	VERB
fcis-25918	184	9	the	the	DET
fcis-25918	184	10	probability	probability	NOUN
fcis-25918	184	11	of	of	ADP
fcis-25918	184	12	it	it	PRON
fcis-25918	184	13	being	be	AUX
fcis-25918	184	14	occupied	occupy	VERB
fcis-25918	184	15	by	by	ADP
fcis-25918	184	16	an	an	DET
fcis-25918	184	17	obstacle	obstacle	NOUN
fcis-25918	184	18	.	.	PUNCT
fcis-25918	185	1	this	this	DET
fcis-25918	185	2	probabilistic	probabilistic	ADJ
fcis-25918	185	3	approach	approach	NOUN
fcis-25918	185	4	allows	allow	VERB
fcis-25918	185	5	the	the	DET
fcis-25918	185	6	robot	robot	NOUN
fcis-25918	185	7	to	to	PART
fcis-25918	185	8	navigate	navigate	VERB
fcis-25918	185	9	through	through	ADP
fcis-25918	185	10	uncertain	uncertain	ADJ
fcis-25918	185	11	environments	environment	NOUN
fcis-25918	185	12	by	by	ADP
fcis-25918	185	13	continuously	continuously	ADV
fcis-25918	185	14	updating	update	VERB
fcis-25918	185	15	the	the	DET
fcis-25918	185	16	occupancy	occupancy	NOUN
fcis-25918	185	17	values	value	NOUN
fcis-25918	185	18	based	base	VERB
fcis-25918	185	19	on	on	ADP
fcis-25918	185	20	sensor	sensor	NOUN
fcis-25918	185	21	data	datum	NOUN
fcis-25918	185	22	.	.	PUNCT
fcis-25918	186	1	grid	grid	NOUN
fcis-25918	186	2	maps	map	NOUN
fcis-25918	186	3	are	be	AUX
fcis-25918	186	4	computationally	computationally	ADV
fcis-25918	186	5	efficient	efficient	ADJ
fcis-25918	186	6	and	and	CCONJ
fcis-25918	186	7	provide	provide	VERB
fcis-25918	186	8	a	a	DET
fcis-25918	186	9	detailed	detailed	ADJ
fcis-25918	186	10	representation	representation	NOUN
fcis-25918	186	11	of	of	ADP
fcis-25918	186	12	the	the	DET
fcis-25918	186	13	environment	environment	NOUN
fcis-25918	186	14	,	,	PUNCT
fcis-25918	186	15	making	make	VERB
fcis-25918	186	16	them	they	PRON
fcis-25918	186	17	suitable	suitable	ADJ
fcis-25918	186	18	for	for	ADP
fcis-25918	186	19	path	path	NOUN
fcis-25918	186	20	planning	planning	NOUN
fcis-25918	186	21	algorithms	algorithm	NOUN
fcis-25918	186	22	like	like	ADP
fcis-25918	186	23	a	a	PRON
fcis-25918	186	24	*	*	X
fcis-25918	186	25	and	and	CCONJ
fcis-25918	186	26	dijkstra	dijkstra	PROPN
fcis-25918	186	27	's	's	PART
fcis-25918	186	28	.	.	PUNCT
fcis-25918	187	1	the	the	DET
fcis-25918	187	2	main	main	ADJ
fcis-25918	187	3	limitation	limitation	NOUN
fcis-25918	187	4	of	of	ADP
fcis-25918	187	5	grid	grid	NOUN
fcis-25918	187	6	maps	map	NOUN
fcis-25918	187	7	is	be	AUX
fcis-25918	187	8	their	their	PRON
fcis-25918	187	9	scalability	scalability	NOUN
fcis-25918	187	10	,	,	PUNCT
fcis-25918	187	11	as	as	SCONJ
fcis-25918	187	12	the	the	DET
fcis-25918	187	13	resolution	resolution	NOUN
fcis-25918	187	14	and	and	CCONJ
fcis-25918	187	15	size	size	NOUN
fcis-25918	187	16	of	of	ADP
fcis-25918	187	17	the	the	DET
fcis-25918	187	18	grid	grid	NOUN
fcis-25918	187	19	can	can	AUX
fcis-25918	187	20	lead	lead	VERB
fcis-25918	187	21	to	to	ADP
fcis-25918	187	22	high	high	ADJ
fcis-25918	187	23	memory	memory	NOUN
fcis-25918	187	24	and	and	CCONJ
fcis-25918	187	25	computational	computational	ADJ
fcis-25918	187	26	demands	demand	NOUN
fcis-25918	187	27	in	in	ADP
fcis-25918	187	28	large	large	ADJ
fcis-25918	187	29	environments	environment	NOUN
fcis-25918	187	30	.	.	PUNCT
fcis-25918	188	1	topological	topological	ADJ
fcis-25918	188	2	maps	map	NOUN
fcis-25918	188	3	offer	offer	VERB
fcis-25918	188	4	a	a	DET
fcis-25918	188	5	different	different	ADJ
fcis-25918	188	6	approach	approach	NOUN
fcis-25918	188	7	by	by	ADP
fcis-25918	188	8	representing	represent	VERB
fcis-25918	188	9	the	the	DET
fcis-25918	188	10	environment	environment	NOUN
fcis-25918	188	11	as	as	ADP
fcis-25918	188	12	a	a	DET
fcis-25918	188	13	graph	graph	NOUN
fcis-25918	188	14	of	of	ADP
fcis-25918	188	15	interconnected	interconnected	ADJ
fcis-25918	188	16	nodes	node	NOUN
fcis-25918	188	17	and	and	CCONJ
fcis-25918	188	18	edges	edge	NOUN
fcis-25918	188	19	.	.	PUNCT
fcis-25918	189	1	each	each	DET
fcis-25918	189	2	node	node	NOUN
fcis-25918	189	3	corresponds	correspond	VERB
fcis-25918	189	4	to	to	ADP
fcis-25918	189	5	a	a	DET
fcis-25918	189	6	distinct	distinct	ADJ
fcis-25918	189	7	location	location	NOUN
fcis-25918	189	8	or	or	CCONJ
fcis-25918	189	9	landmark	landmark	NOUN
fcis-25918	189	10	,	,	PUNCT
fcis-25918	189	11	and	and	CCONJ
fcis-25918	189	12	edges	edge	NOUN
fcis-25918	189	13	represent	represent	VERB
fcis-25918	189	14	the	the	DET
fcis-25918	189	15	paths	path	NOUN
fcis-25918	189	16	between	between	ADP
fcis-25918	189	17	them	they	PRON
fcis-25918	189	18	.	.	PUNCT
fcis-25918	190	1	topological	topological	ADJ
fcis-25918	190	2	maps	map	NOUN
fcis-25918	190	3	are	be	AUX
fcis-25918	190	4	particularly	particularly	ADV
fcis-25918	190	5	useful	useful	ADJ
fcis-25918	190	6	for	for	ADP
fcis-25918	190	7	high	high	ADJ
fcis-25918	190	8	-	-	PUNCT
fcis-25918	190	9	level	level	NOUN
fcis-25918	190	10	planning	planning	NOUN
fcis-25918	190	11	and	and	CCONJ
fcis-25918	190	12	navigation	navigation	NOUN
fcis-25918	190	13	,	,	PUNCT
fcis-25918	190	14	as	as	SCONJ
fcis-25918	190	15	they	they	PRON
fcis-25918	190	16	simplify	simplify	VERB
fcis-25918	190	17	the	the	DET
fcis-25918	190	18	representation	representation	NOUN
fcis-25918	190	19	of	of	ADP
fcis-25918	190	20	the	the	DET
fcis-25918	190	21	environment	environment	NOUN
fcis-25918	190	22	into	into	ADP
fcis-25918	190	23	a	a	DET
fcis-25918	190	24	network	network	NOUN
fcis-25918	190	25	of	of	ADP
fcis-25918	190	26	key	key	ADJ
fcis-25918	190	27	points	point	NOUN
fcis-25918	190	28	.	.	PUNCT
fcis-25918	191	1	this	this	DET
fcis-25918	191	2	abstraction	abstraction	NOUN
fcis-25918	191	3	reduces	reduce	VERB
fcis-25918	191	4	computational	computational	ADJ
fcis-25918	191	5	complexity	complexity	NOUN
fcis-25918	191	6	and	and	CCONJ
fcis-25918	191	7	makes	make	VERB
fcis-25918	191	8	it	it	PRON
fcis-25918	191	9	easier	easy	ADJ
fcis-25918	191	10	to	to	PART
fcis-25918	191	11	reason	reason	VERB
fcis-25918	191	12	about	about	ADP
fcis-25918	191	13	connectivity	connectivity	NOUN
fcis-25918	191	14	and	and	CCONJ
fcis-25918	191	15	relationships	relationship	NOUN
fcis-25918	191	16	between	between	ADP
fcis-25918	191	17	different	different	ADJ
fcis-25918	191	18	areas	area	NOUN
fcis-25918	191	19	.	.	PUNCT
fcis-25918	192	1	topological	topological	ADJ
fcis-25918	192	2	maps	map	NOUN
fcis-25918	192	3	are	be	AUX
fcis-25918	192	4	well	well	ADV
fcis-25918	192	5	-	-	PUNCT
fcis-25918	192	6	suited	suit	VERB
fcis-25918	192	7	for	for	ADP
fcis-25918	192	8	environments	environment	NOUN
fcis-25918	192	9	where	where	SCONJ
fcis-25918	192	10	specific	specific	ADJ
fcis-25918	192	11	routes	route	NOUN
fcis-25918	192	12	or	or	CCONJ
fcis-25918	192	13	landmarks	landmark	NOUN
fcis-25918	192	14	are	be	AUX
fcis-25918	192	15	important	important	ADJ
fcis-25918	192	16	,	,	PUNCT
fcis-25918	192	17	such	such	ADJ
fcis-25918	192	18	as	as	ADP
fcis-25918	192	19	in	in	ADP
fcis-25918	192	20	office	office	NOUN
fcis-25918	192	21	buildings	building	NOUN
fcis-25918	192	22	or	or	CCONJ
fcis-25918	192	23	warehouses	warehouse	NOUN
fcis-25918	192	24	.	.	PUNCT
fcis-25918	193	1	however	however	ADV
fcis-25918	193	2	,	,	PUNCT
fcis-25918	193	3	they	they	PRON
fcis-25918	193	4	lack	lack	VERB
fcis-25918	193	5	the	the	DET
fcis-25918	193	6	fine	fine	ADV
fcis-25918	193	7	-	-	PUNCT
fcis-25918	193	8	grained	grain	VERB
fcis-25918	193	9	detail	detail	NOUN
fcis-25918	193	10	needed	need	VERB
fcis-25918	193	11	for	for	ADP
fcis-25918	193	12	precise	precise	ADJ
fcis-25918	193	13	obstacle	obstacle	NOUN
fcis-25918	193	14	avoidance	avoidance	NOUN
fcis-25918	193	15	and	and	CCONJ
fcis-25918	193	16	path	path	NOUN
fcis-25918	193	17	planning	planning	NOUN
fcis-25918	193	18	.	.	PUNCT
fcis-25918	194	1	hybrid	hybrid	ADJ
fcis-25918	194	2	maps	map	NOUN
fcis-25918	194	3	combine	combine	VERB
fcis-25918	194	4	the	the	DET
fcis-25918	194	5	strengths	strength	NOUN
fcis-25918	194	6	of	of	ADP
fcis-25918	194	7	grid	grid	NOUN
fcis-25918	194	8	maps	map	NOUN
fcis-25918	194	9	and	and	CCONJ
fcis-25918	194	10	topological	topological	ADJ
fcis-25918	194	11	maps	map	NOUN
fcis-25918	194	12	,	,	PUNCT
fcis-25918	194	13	providing	provide	VERB
fcis-25918	194	14	a	a	DET
fcis-25918	194	15	detailed	detailed	ADJ
fcis-25918	194	16	local	local	ADJ
fcis-25918	194	17	representation	representation	NOUN
fcis-25918	194	18	along	along	ADP
fcis-25918	194	19	with	with	ADP
fcis-25918	194	20	a	a	DET
fcis-25918	194	21	high	high	ADJ
fcis-25918	194	22	-	-	PUNCT
fcis-25918	194	23	level	level	NOUN
fcis-25918	194	24	overview	overview	NOUN
fcis-25918	194	25	of	of	ADP
fcis-25918	194	26	the	the	DET
fcis-25918	194	27	environment	environment	NOUN
fcis-25918	194	28	.	.	PUNCT
fcis-25918	195	1	in	in	ADP
fcis-25918	195	2	a	a	DET
fcis-25918	195	3	hybrid	hybrid	NOUN
fcis-25918	195	4	map	map	NOUN
fcis-25918	195	5	,	,	PUNCT
fcis-25918	195	6	grid	grid	NOUN
fcis-25918	195	7	-	-	PUNCT
fcis-25918	195	8	based	base	VERB
fcis-25918	195	9	maps	map	NOUN
fcis-25918	195	10	are	be	AUX
fcis-25918	195	11	used	use	VERB
fcis-25918	195	12	to	to	PART
fcis-25918	195	13	capture	capture	VERB
fcis-25918	195	14	detailed	detailed	ADJ
fcis-25918	195	15	information	information	NOUN
fcis-25918	195	16	about	about	ADP
fcis-25918	195	17	the	the	DET
fcis-25918	195	18	robot	robot	NOUN
fcis-25918	195	19	's	's	PART
fcis-25918	195	20	immediate	immediate	ADJ
fcis-25918	195	21	surroundings	surrounding	NOUN
fcis-25918	195	22	,	,	PUNCT
fcis-25918	195	23	while	while	SCONJ
fcis-25918	195	24	a	a	DET
fcis-25918	195	25	topological	topological	ADJ
fcis-25918	195	26	map	map	NOUN
fcis-25918	195	27	provides	provide	VERB
fcis-25918	195	28	a	a	DET
fcis-25918	195	29	broader	broad	ADJ
fcis-25918	195	30	view	view	NOUN
fcis-25918	195	31	of	of	ADP
fcis-25918	195	32	the	the	DET
fcis-25918	195	33	environment	environment	NOUN
fcis-25918	195	34	's	's	PART
fcis-25918	195	35	connectivity	connectivity	NOUN
fcis-25918	195	36	.	.	PUNCT
fcis-25918	196	1	this	this	DET
fcis-25918	196	2	combination	combination	NOUN
fcis-25918	196	3	allows	allow	VERB
fcis-25918	196	4	robots	robot	NOUN
fcis-25918	196	5	to	to	PART
fcis-25918	196	6	perform	perform	VERB
fcis-25918	196	7	precise	precise	ADJ
fcis-25918	196	8	navigation	navigation	NOUN
fcis-25918	196	9	and	and	CCONJ
fcis-25918	196	10	obstacle	obstacle	NOUN
fcis-25918	196	11	avoidance	avoidance	NOUN
fcis-25918	196	12	in	in	ADP
fcis-25918	196	13	local	local	ADJ
fcis-25918	196	14	areas	area	NOUN
fcis-25918	196	15	while	while	SCONJ
fcis-25918	196	16	efficiently	efficiently	ADV
fcis-25918	196	17	planning	planning	NOUN
fcis-25918	196	18	routes	route	NOUN
fcis-25918	196	19	over	over	ADP
fcis-25918	196	20	longer	long	ADJ
fcis-25918	196	21	distances	distance	NOUN
fcis-25918	196	22	.	.	PUNCT
fcis-25918	197	1	hybrid	hybrid	ADJ
fcis-25918	197	2	maps	map	NOUN
fcis-25918	197	3	are	be	AUX
fcis-25918	197	4	particularly	particularly	ADV
fcis-25918	197	5	effective	effective	ADJ
fcis-25918	197	6	in	in	ADP
fcis-25918	197	7	large	large	ADJ
fcis-25918	197	8	and	and	CCONJ
fcis-25918	197	9	complex	complex	ADJ
fcis-25918	197	10	environments	environment	NOUN
fcis-25918	197	11	,	,	PUNCT
fcis-25918	197	12	where	where	SCONJ
fcis-25918	197	13	a	a	DET
fcis-25918	197	14	balance	balance	NOUN
fcis-25918	197	15	between	between	ADP
fcis-25918	197	16	detail	detail	NOUN
fcis-25918	197	17	and	and	CCONJ
fcis-25918	197	18	abstraction	abstraction	NOUN
fcis-25918	197	19	is	be	AUX
fcis-25918	197	20	needed	need	VERB
fcis-25918	197	21	.	.	PUNCT
fcis-25918	198	1	they	they	PRON
fcis-25918	198	2	support	support	VERB
fcis-25918	198	3	various	various	ADJ
fcis-25918	198	4	navigation	navigation	NOUN
fcis-25918	198	5	tasks	task	NOUN
fcis-25918	198	6	,	,	PUNCT
fcis-25918	198	7	from	from	ADP
fcis-25918	198	8	finegrained	finegraine	VERB
fcis-25918	198	9	maneuvering	maneuver	VERB
fcis-25918	198	10	in	in	ADP
fcis-25918	198	11	tight	tight	ADJ
fcis-25918	198	12	spaces	space	NOUN
fcis-25918	198	13	to	to	ADP
fcis-25918	198	14	efficient	efficient	ADJ
fcis-25918	198	15	route	route	NOUN
fcis-25918	198	16	planning	plan	VERB
fcis-25918	198	17	across	across	ADP
fcis-25918	198	18	large	large	ADJ
fcis-25918	198	19	facilities	facility	NOUN
fcis-25918	198	20	.	.	PUNCT
fcis-25918	199	1	3	3	X
fcis-25918	199	2	.	.	X
fcis-25918	199	3	algorithm	algorithm	NOUN
fcis-25918	199	4	optimization	optimization	NOUN
fcis-25918	199	5	methods	method	NOUN
fcis-25918	199	6	and	and	CCONJ
fcis-25918	199	7	performance	performance	NOUN
fcis-25918	199	8	evaluation	evaluation	NOUN
fcis-25918	199	9	standards	standard	NOUN
fcis-25918	199	10	algorithm	algorithm	NOUN
fcis-25918	199	11	optimization	optimization	NOUN
fcis-25918	199	12	is	be	AUX
fcis-25918	199	13	a	a	DET
fcis-25918	199	14	critical	critical	ADJ
fcis-25918	199	15	aspect	aspect	NOUN
fcis-25918	199	16	of	of	ADP
fcis-25918	199	17	improving	improve	VERB
fcis-25918	199	18	the	the	DET
fcis-25918	199	19	effectiveness	effectiveness	NOUN
fcis-25918	199	20	and	and	CCONJ
fcis-25918	199	21	efficiency	efficiency	NOUN
fcis-25918	199	22	of	of	ADP
fcis-25918	199	23	indoor	indoor	ADJ
fcis-25918	199	24	autonomous	autonomous	ADJ
fcis-25918	199	25	path	path	NOUN
fcis-25918	199	26	planning	planning	NOUN
fcis-25918	199	27	systems	system	NOUN
fcis-25918	199	28	.	.	PUNCT
fcis-25918	200	1	various	various	ADJ
fcis-25918	200	2	techniques	technique	NOUN
fcis-25918	200	3	are	be	AUX
fcis-25918	200	4	employed	employ	VERB
fcis-25918	200	5	to	to	PART
fcis-25918	200	6	enhance	enhance	VERB
fcis-25918	200	7	the	the	DET
fcis-25918	200	8	performance	performance	NOUN
fcis-25918	200	9	of	of	ADP
fcis-25918	200	10	path	path	NOUN
fcis-25918	200	11	planning	planning	NOUN
fcis-25918	200	12	algorithms	algorithm	NOUN
fcis-25918	200	13	,	,	PUNCT
fcis-25918	200	14	ensuring	ensure	VERB
fcis-25918	200	15	that	that	SCONJ
fcis-25918	200	16	they	they	PRON
fcis-25918	200	17	can	can	AUX
fcis-25918	200	18	navigate	navigate	VERB
fcis-25918	200	19	complex	complex	ADJ
fcis-25918	200	20	environments	environment	NOUN
fcis-25918	200	21	quickly	quickly	ADV
fcis-25918	200	22	and	and	CCONJ
fcis-25918	200	23	accurately	accurately	ADV
fcis-25918	200	24	.	.	PUNCT
fcis-25918	201	1	this	this	DET
fcis-25918	201	2	section	section	NOUN
fcis-25918	201	3	explores	explore	VERB
fcis-25918	201	4	the	the	DET
fcis-25918	201	5	primary	primary	ADJ
fcis-25918	201	6	methods	method	NOUN
fcis-25918	201	7	used	use	VERB
fcis-25918	201	8	for	for	ADP
fcis-25918	201	9	algorithm	algorithm	NOUN
fcis-25918	201	10	optimization	optimization	NOUN
fcis-25918	201	11	,	,	PUNCT
fcis-25918	201	12	including	include	VERB
fcis-25918	201	13	parameter	parameter	NOUN
fcis-25918	201	14	tuning	tuning	NOUN
fcis-25918	201	15	,	,	PUNCT
fcis-25918	201	16	algorithm	algorithm	NOUN
fcis-25918	201	17	fusion	fusion	NOUN
fcis-25918	201	18	,	,	PUNCT
fcis-25918	201	19	and	and	CCONJ
fcis-25918	201	20	other	other	ADJ
fcis-25918	201	21	advanced	advanced	ADJ
fcis-25918	201	22	techniques	technique	NOUN
fcis-25918	201	23	,	,	PUNCT
fcis-25918	201	24	followed	follow	VERB
fcis-25918	201	25	by	by	ADP
fcis-25918	201	26	a	a	DET
fcis-25918	201	27	detailed	detailed	ADJ
fcis-25918	201	28	discussion	discussion	NOUN
fcis-25918	201	29	on	on	ADP
fcis-25918	201	30	performance	performance	NOUN
fcis-25918	201	31	evaluation	evaluation	NOUN
fcis-25918	201	32	standards	standard	NOUN
fcis-25918	201	33	used	use	VERB
fcis-25918	201	34	to	to	PART
fcis-25918	201	35	assess	assess	VERB
fcis-25918	201	36	these	these	DET
fcis-25918	201	37	algorithms	algorithm	NOUN
fcis-25918	201	38	.	.	PUNCT
fcis-25918	202	1	algorithm	algorithm	NOUN
fcis-25918	202	2	optimization	optimization	NOUN
fcis-25918	202	3	methods	method	NOUN
fcis-25918	202	4	one	one	NUM
fcis-25918	202	5	of	of	ADP
fcis-25918	202	6	the	the	DET
fcis-25918	202	7	most	most	ADV
fcis-25918	202	8	straightforward	straightforward	ADJ
fcis-25918	202	9	yet	yet	CCONJ
fcis-25918	202	10	powerful	powerful	ADJ
fcis-25918	202	11	optimization	optimization	NOUN
fcis-25918	202	12	techniques	technique	NOUN
fcis-25918	202	13	is	be	AUX
fcis-25918	202	14	parameter	parameter	NOUN
fcis-25918	202	15	tuning	tuning	NOUN
fcis-25918	202	16	.	.	PUNCT
fcis-25918	203	1	path	path	NOUN
fcis-25918	203	2	planning	planning	NOUN
fcis-25918	203	3	algorithms	algorithm	NOUN
fcis-25918	203	4	often	often	ADV
fcis-25918	203	5	rely	rely	VERB
fcis-25918	203	6	on	on	ADP
fcis-25918	203	7	several	several	ADJ
fcis-25918	203	8	parameters	parameter	NOUN
fcis-25918	203	9	that	that	PRON
fcis-25918	203	10	influence	influence	VERB
fcis-25918	203	11	their	their	PRON
fcis-25918	203	12	behavior	behavior	NOUN
fcis-25918	203	13	and	and	CCONJ
fcis-25918	203	14	performance	performance	NOUN
fcis-25918	203	15	.	.	PUNCT
fcis-25918	204	1	these	these	DET
fcis-25918	204	2	parameters	parameter	NOUN
fcis-25918	204	3	can	can	AUX
fcis-25918	204	4	include	include	VERB
fcis-25918	204	5	weights	weight	NOUN
fcis-25918	204	6	in	in	ADP
fcis-25918	204	7	heuristic	heuristic	ADJ
fcis-25918	204	8	functions	function	NOUN
fcis-25918	204	9	,	,	PUNCT
fcis-25918	204	10	thresholds	threshold	VERB
fcis-25918	204	11	for	for	ADP
fcis-25918	204	12	obstacle	obstacle	NOUN
fcis-25918	204	13	detection	detection	NOUN
fcis-25918	204	14	,	,	PUNCT
fcis-25918	204	15	and	and	CCONJ
fcis-25918	204	16	constraints	constraint	NOUN
fcis-25918	204	17	for	for	ADP
fcis-25918	204	18	motion	motion	NOUN
fcis-25918	204	19	planning	planning	NOUN
fcis-25918	204	20	.	.	PUNCT
fcis-25918	205	1	fine	fine	ADJ
fcis-25918	205	2	-	-	PUNCT
fcis-25918	205	3	tuning	tune	VERB
fcis-25918	205	4	these	these	DET
fcis-25918	205	5	parameters	parameter	NOUN
fcis-25918	205	6	can	can	AUX
fcis-25918	205	7	significantly	significantly	ADV
fcis-25918	205	8	enhance	enhance	VERB
fcis-25918	205	9	the	the	DET
fcis-25918	205	10	algorithm	algorithm	NOUN
fcis-25918	205	11	's	's	PART
fcis-25918	205	12	performance	performance	NOUN
fcis-25918	205	13	,	,	PUNCT
fcis-25918	205	14	making	make	VERB
fcis-25918	205	15	it	it	PRON
fcis-25918	205	16	more	more	ADV
fcis-25918	205	17	responsive	responsive	ADJ
fcis-25918	205	18	and	and	CCONJ
fcis-25918	205	19	accurate	accurate	ADJ
fcis-25918	205	20	.	.	PUNCT
fcis-25918	206	1	this	this	DET
fcis-25918	206	2	process	process	NOUN
fcis-25918	206	3	typically	typically	ADV
fcis-25918	206	4	involves	involve	VERB
fcis-25918	206	5	iterative	iterative	NOUN
fcis-25918	206	6	testing	testing	NOUN
fcis-25918	206	7	and	and	CCONJ
fcis-25918	206	8	validation	validation	NOUN
fcis-25918	206	9	,	,	PUNCT
fcis-25918	206	10	where	where	SCONJ
fcis-25918	206	11	different	different	ADJ
fcis-25918	206	12	parameter	parameter	NOUN
fcis-25918	206	13	values	value	NOUN
fcis-25918	206	14	are	be	AUX
fcis-25918	206	15	evaluated	evaluate	VERB
fcis-25918	206	16	to	to	PART
fcis-25918	206	17	identify	identify	VERB
fcis-25918	206	18	the	the	DET
fcis-25918	206	19	optimal	optimal	ADJ
fcis-25918	206	20	settings	setting	NOUN
fcis-25918	206	21	.	.	PUNCT
fcis-25918	207	1	advanced	advanced	ADJ
fcis-25918	207	2	methods	method	NOUN
fcis-25918	207	3	,	,	PUNCT
fcis-25918	207	4	such	such	ADJ
fcis-25918	207	5	as	as	ADP
fcis-25918	207	6	grid	grid	NOUN
fcis-25918	207	7	search	search	NOUN
fcis-25918	207	8	,	,	PUNCT
fcis-25918	207	9	random	random	ADJ
fcis-25918	207	10	search	search	NOUN
fcis-25918	207	11	,	,	PUNCT
fcis-25918	207	12	and	and	CCONJ
fcis-25918	207	13	gradient	gradient	NOUN
fcis-25918	207	14	-	-	PUNCT
fcis-25918	207	15	based	base	VERB
fcis-25918	207	16	optimization	optimization	NOUN
fcis-25918	207	17	,	,	PUNCT
fcis-25918	207	18	can	can	AUX
fcis-25918	207	19	automate	automate	VERB
fcis-25918	207	20	this	this	DET
fcis-25918	207	21	process	process	NOUN
fcis-25918	207	22	,	,	PUNCT
fcis-25918	207	23	systematically	systematically	ADV
fcis-25918	207	24	exploring	explore	VERB
fcis-25918	207	25	the	the	DET
fcis-25918	207	26	parameter	parameter	NOUN
fcis-25918	207	27	space	space	NOUN
fcis-25918	207	28	to	to	PART
fcis-25918	207	29	find	find	VERB
fcis-25918	207	30	the	the	DET
fcis-25918	207	31	best	good	ADJ
fcis-25918	207	32	configuration	configuration	NOUN
fcis-25918	207	33	.	.	PUNCT
fcis-25918	208	1	another	another	DET
fcis-25918	208	2	effective	effective	ADJ
fcis-25918	208	3	optimization	optimization	NOUN
fcis-25918	208	4	approach	approach	NOUN
fcis-25918	208	5	is	be	AUX
fcis-25918	208	6	algorithm	algorithm	NOUN
fcis-25918	208	7	fusion	fusion	NOUN
fcis-25918	208	8	,	,	PUNCT
fcis-25918	208	9	which	which	PRON
fcis-25918	208	10	combines	combine	VERB
fcis-25918	208	11	the	the	DET
fcis-25918	208	12	strengths	strength	NOUN
fcis-25918	208	13	of	of	ADP
fcis-25918	208	14	multiple	multiple	ADJ
fcis-25918	208	15	algorithms	algorithm	NOUN
fcis-25918	208	16	to	to	PART
fcis-25918	208	17	overcome	overcome	VERB
fcis-25918	208	18	their	their	PRON
fcis-25918	208	19	individual	individual	ADJ
fcis-25918	208	20	limitations	limitation	NOUN
fcis-25918	208	21	.	.	PUNCT
fcis-25918	209	1	for	for	ADP
fcis-25918	209	2	example	example	NOUN
fcis-25918	209	3	,	,	PUNCT
fcis-25918	209	4	integrating	integrate	VERB
fcis-25918	209	5	the	the	DET
fcis-25918	209	6	global	global	ADJ
fcis-25918	209	7	path	path	NOUN
fcis-25918	209	8	planning	planning	NOUN
fcis-25918	209	9	capabilities	capability	NOUN
fcis-25918	209	10	of	of	ADP
fcis-25918	209	11	a	a	PRON
fcis-25918	209	12	*	*	X
fcis-25918	209	13	with	with	ADP
fcis-25918	209	14	the	the	DET
fcis-25918	209	15	local	local	ADJ
fcis-25918	209	16	obstacle	obstacle	NOUN
fcis-25918	209	17	avoidance	avoidance	NOUN
fcis-25918	209	18	features	feature	NOUN
fcis-25918	209	19	of	of	ADP
fcis-25918	209	20	dynamic	dynamic	ADJ
fcis-25918	209	21	window	window	NOUN
fcis-25918	209	22	approach	approach	NOUN
fcis-25918	209	23	(	(	PUNCT
fcis-25918	209	24	dwa	dwa	PROPN
fcis-25918	209	25	)	)	PUNCT
fcis-25918	209	26	can	can	AUX
fcis-25918	209	27	create	create	VERB
fcis-25918	209	28	a	a	DET
fcis-25918	209	29	hybrid	hybrid	ADJ
fcis-25918	209	30	system	system	NOUN
fcis-25918	209	31	that	that	PRON
fcis-25918	209	32	benefits	benefit	VERB
fcis-25918	209	33	from	from	ADP
fcis-25918	209	34	both	both	CCONJ
fcis-25918	209	35	accurate	accurate	ADJ
fcis-25918	209	36	long	long	ADJ
fcis-25918	209	37	-	-	PUNCT
fcis-25918	209	38	range	range	NOUN
fcis-25918	209	39	planning	planning	NOUN
fcis-25918	209	40	and	and	CCONJ
fcis-25918	209	41	robust	robust	ADJ
fcis-25918	209	42	short	short	ADJ
fcis-25918	209	43	-	-	PUNCT
fcis-25918	209	44	term	term	NOUN
fcis-25918	209	45	responsiveness	responsiveness	NOUN
fcis-25918	209	46	.	.	PUNCT
fcis-25918	210	1	similarly	similarly	ADV
fcis-25918	210	2	,	,	PUNCT
fcis-25918	210	3	combining	combine	VERB
fcis-25918	210	4	rapidly	rapidly	ADV
fcis-25918	210	5	-	-	PUNCT
fcis-25918	210	6	exploring	explore	VERB
fcis-25918	210	7	random	random	ADJ
fcis-25918	210	8	trees	tree	NOUN
fcis-25918	210	9	(	(	PUNCT
fcis-25918	210	10	rrt	rrt	NOUN
fcis-25918	210	11	)	)	PUNCT
fcis-25918	210	12	with	with	ADP
fcis-25918	210	13	heuristic	heuristic	NOUN
fcis-25918	210	14	-	-	PUNCT
fcis-25918	210	15	driven	drive	VERB
fcis-25918	210	16	methods	method	NOUN
fcis-25918	210	17	like	like	ADP
fcis-25918	210	18	a	a	PRON
fcis-25918	210	19	*	*	PUNCT
fcis-25918	210	20	can	can	AUX
fcis-25918	210	21	yield	yield	VERB
fcis-25918	210	22	algorithms	algorithm	NOUN
fcis-25918	210	23	that	that	PRON
fcis-25918	210	24	are	be	AUX
fcis-25918	210	25	both	both	ADV
fcis-25918	210	26	efficient	efficient	ADJ
fcis-25918	210	27	in	in	ADP
fcis-25918	210	28	highdimensional	highdimensional	ADJ
fcis-25918	210	29	spaces	space	NOUN
fcis-25918	210	30	and	and	CCONJ
fcis-25918	210	31	optimal	optimal	ADJ
fcis-25918	210	32	in	in	ADP
fcis-25918	210	33	path	path	NOUN
fcis-25918	210	34	quality	quality	NOUN
fcis-25918	210	35	.	.	PUNCT
fcis-25918	211	1	this	this	DET
fcis-25918	211	2	fusion	fusion	NOUN
fcis-25918	211	3	often	often	ADV
fcis-25918	211	4	involves	involve	VERB
fcis-25918	211	5	designing	design	VERB
fcis-25918	211	6	a	a	DET
fcis-25918	211	7	coordination	coordination	NOUN
fcis-25918	211	8	mechanism	mechanism	NOUN
fcis-25918	211	9	that	that	PRON
fcis-25918	211	10	allows	allow	VERB
fcis-25918	211	11	the	the	DET
fcis-25918	211	12	different	different	ADJ
fcis-25918	211	13	algorithms	algorithm	NOUN
fcis-25918	211	14	to	to	PART
fcis-25918	211	15	operate	operate	VERB
fcis-25918	211	16	seamlessly	seamlessly	ADV
fcis-25918	211	17	together	together	ADV
fcis-25918	211	18	,	,	PUNCT
fcis-25918	211	19	ensuring	ensure	VERB
fcis-25918	211	20	that	that	SCONJ
fcis-25918	211	21	the	the	DET
fcis-25918	211	22	robot	robot	NOUN
fcis-25918	211	23	can	can	AUX
fcis-25918	211	24	switch	switch	VERB
fcis-25918	211	25	between	between	ADP
fcis-25918	211	26	or	or	CCONJ
fcis-25918	211	27	leverage	leverage	VERB
fcis-25918	211	28	multiple	multiple	ADJ
fcis-25918	211	29	strategies	strategy	NOUN
fcis-25918	211	30	as	as	SCONJ
fcis-25918	211	31	needed	need	VERB
fcis-25918	211	32	.	.	PUNCT
fcis-25918	212	1	in	in	ADP
fcis-25918	212	2	addition	addition	NOUN
fcis-25918	212	3	to	to	ADP
fcis-25918	212	4	parameter	parameter	NOUN
fcis-25918	212	5	tuning	tuning	NOUN
fcis-25918	212	6	and	and	CCONJ
fcis-25918	212	7	algorithm	algorithm	NOUN
fcis-25918	212	8	fusion	fusion	NOUN
fcis-25918	212	9	,	,	PUNCT
fcis-25918	212	10	other	other	ADJ
fcis-25918	212	11	optimization	optimization	NOUN
fcis-25918	212	12	techniques	technique	NOUN
fcis-25918	212	13	include	include	VERB
fcis-25918	212	14	machine	machine	NOUN
fcis-25918	212	15	learning	learning	NOUN
fcis-25918	212	16	-	-	PUNCT
fcis-25918	212	17	based	base	VERB
fcis-25918	212	18	approaches	approach	NOUN
fcis-25918	212	19	and	and	CCONJ
fcis-25918	212	20	adaptive	adaptive	ADJ
fcis-25918	212	21	algorithms	algorithm	NOUN
fcis-25918	212	22	.	.	PUNCT
fcis-25918	213	1	machine	machine	NOUN
fcis-25918	213	2	learning	learning	NOUN
fcis-25918	213	3	models	model	NOUN
fcis-25918	213	4	,	,	PUNCT
fcis-25918	213	5	such	such	ADJ
fcis-25918	213	6	as	as	ADP
fcis-25918	213	7	neural	neural	ADJ
fcis-25918	213	8	networks	network	NOUN
fcis-25918	213	9	,	,	PUNCT
fcis-25918	213	10	can	can	AUX
fcis-25918	213	11	be	be	AUX
fcis-25918	213	12	trained	train	VERB
fcis-25918	213	13	to	to	PART
fcis-25918	213	14	predict	predict	VERB
fcis-25918	213	15	optimal	optimal	ADJ
fcis-25918	213	16	paths	path	NOUN
fcis-25918	213	17	based	base	VERB
fcis-25918	213	18	on	on	ADP
fcis-25918	213	19	sensor	sensor	NOUN
fcis-25918	213	20	data	datum	NOUN
fcis-25918	213	21	and	and	CCONJ
fcis-25918	213	22	environmental	environmental	ADJ
fcis-25918	213	23	features	feature	NOUN
fcis-25918	213	24	.	.	PUNCT
fcis-25918	214	1	these	these	DET
fcis-25918	214	2	models	model	NOUN
fcis-25918	214	3	can	can	AUX
fcis-25918	214	4	learn	learn	VERB
fcis-25918	214	5	from	from	ADP
fcis-25918	214	6	past	past	ADJ
fcis-25918	214	7	experiences	experience	NOUN
fcis-25918	214	8	,	,	PUNCT
fcis-25918	214	9	continuously	continuously	ADV
fcis-25918	214	10	improving	improve	VERB
fcis-25918	214	11	their	their	PRON
fcis-25918	214	12	performance	performance	NOUN
fcis-25918	214	13	as	as	SCONJ
fcis-25918	214	14	they	they	PRON
fcis-25918	214	15	encounter	encounter	VERB
fcis-25918	214	16	new	new	ADJ
fcis-25918	214	17	scenarios	scenario	NOUN
fcis-25918	214	18	.	.	PUNCT
fcis-25918	215	1	adaptive	adaptive	ADJ
fcis-25918	215	2	algorithms	algorithm	NOUN
fcis-25918	215	3	,	,	PUNCT
fcis-25918	215	4	on	on	ADP
fcis-25918	215	5	the	the	DET
fcis-25918	215	6	other	other	ADJ
fcis-25918	215	7	hand	hand	NOUN
fcis-25918	215	8	,	,	PUNCT
fcis-25918	215	9	can	can	AUX
fcis-25918	215	10	dynamically	dynamically	ADV
fcis-25918	215	11	adjust	adjust	VERB
fcis-25918	215	12	their	their	PRON
fcis-25918	215	13	parameters	parameter	NOUN
fcis-25918	215	14	and	and	CCONJ
fcis-25918	215	15	strategies	strategy	NOUN
fcis-25918	215	16	in	in	ADP
fcis-25918	215	17	realtime	realtime	NOUN
fcis-25918	215	18	,	,	PUNCT
fcis-25918	215	19	responding	respond	VERB
fcis-25918	215	20	to	to	ADP
fcis-25918	215	21	changes	change	NOUN
fcis-25918	215	22	in	in	ADP
fcis-25918	215	23	the	the	DET
fcis-25918	215	24	environment	environment	NOUN
fcis-25918	215	25	or	or	CCONJ
fcis-25918	215	26	the	the	DET
fcis-25918	215	27	robot	robot	NOUN
fcis-25918	215	28	's	's	PART
fcis-25918	215	29	state	state	NOUN
fcis-25918	215	30	.	.	PUNCT
fcis-25918	216	1	these	these	DET
fcis-25918	216	2	adaptive	adaptive	ADJ
fcis-25918	216	3	techniques	technique	NOUN
fcis-25918	216	4	enable	enable	VERB
fcis-25918	216	5	more	more	ADV
fcis-25918	216	6	flexible	flexible	ADJ
fcis-25918	216	7	and	and	CCONJ
fcis-25918	216	8	resilient	resilient	ADJ
fcis-25918	216	9	path	path	NOUN
fcis-25918	216	10	planning	planning	NOUN
fcis-25918	216	11	,	,	PUNCT
fcis-25918	216	12	particularly	particularly	ADV
fcis-25918	216	13	in	in	ADP
fcis-25918	216	14	unpredictable	unpredictable	ADJ
fcis-25918	216	15	or	or	CCONJ
fcis-25918	216	16	rapidly	rapidly	ADV
fcis-25918	216	17	changing	change	VERB
fcis-25918	216	18	environments	environment	NOUN
fcis-25918	216	19	.	.	PUNCT
fcis-25918	217	1	performance	performance	NOUN
fcis-25918	217	2	evaluation	evaluation	NOUN
fcis-25918	217	3	standards	standard	NOUN
fcis-25918	217	4	evaluating	evaluate	VERB
fcis-25918	217	5	the	the	DET
fcis-25918	217	6	performance	performance	NOUN
fcis-25918	217	7	of	of	ADP
fcis-25918	217	8	path	path	NOUN
fcis-25918	217	9	planning	planning	NOUN
fcis-25918	217	10	algorithms	algorithm	NOUN
fcis-25918	217	11	is	be	AUX
fcis-25918	217	12	essential	essential	ADJ
fcis-25918	217	13	to	to	PART
fcis-25918	217	14	ensure	ensure	VERB
fcis-25918	217	15	that	that	SCONJ
fcis-25918	217	16	they	they	PRON
fcis-25918	217	17	meet	meet	VERB
fcis-25918	217	18	the	the	DET
fcis-25918	217	19	required	require	VERB
fcis-25918	217	20	standards	standard	NOUN
fcis-25918	217	21	of	of	ADP
fcis-25918	217	22	efficiency	efficiency	NOUN
fcis-25918	217	23	,	,	PUNCT
fcis-25918	217	24	accuracy	accuracy	NOUN
fcis-25918	217	25	,	,	PUNCT
fcis-25918	217	26	and	and	CCONJ
fcis-25918	217	27	reliability	reliability	NOUN
fcis-25918	217	28	.	.	PUNCT
fcis-25918	218	1	several	several	ADJ
fcis-25918	218	2	key	key	ADJ
fcis-25918	218	3	metrics	metric	NOUN
fcis-25918	218	4	are	be	AUX
fcis-25918	218	5	commonly	commonly	ADV
fcis-25918	218	6	used	use	VERB
fcis-25918	218	7	to	to	PART
fcis-25918	218	8	assess	assess	VERB
fcis-25918	218	9	the	the	DET
fcis-25918	218	10	performance	performance	NOUN
fcis-25918	218	11	of	of	ADP
fcis-25918	218	12	these	these	DET
fcis-25918	218	13	algorithms	algorithm	NOUN
fcis-25918	218	14	,	,	PUNCT
fcis-25918	218	15	including	include	VERB
fcis-25918	218	16	path	path	NOUN
fcis-25918	218	17	length	length	NOUN
fcis-25918	218	18	,	,	PUNCT
fcis-25918	218	19	computation	computation	NOUN
fcis-25918	218	20	time	time	NOUN
fcis-25918	218	21	,	,	PUNCT
fcis-25918	218	22	and	and	CCONJ
fcis-25918	218	23	resource	resource	NOUN
fcis-25918	218	24	consumption	consumption	NOUN
fcis-25918	218	25	.	.	PUNCT
fcis-25918	219	1	path	path	NOUN
fcis-25918	219	2	length	length	NOUN
fcis-25918	219	3	is	be	AUX
fcis-25918	219	4	a	a	DET
fcis-25918	219	5	fundamental	fundamental	ADJ
fcis-25918	219	6	metric	metric	NOUN
fcis-25918	219	7	that	that	PRON
fcis-25918	219	8	measures	measure	VERB
fcis-25918	219	9	the	the	DET
fcis-25918	219	10	total	total	ADJ
fcis-25918	219	11	distance	distance	NOUN
fcis-25918	219	12	traveled	travel	VERB
fcis-25918	219	13	by	by	ADP
fcis-25918	219	14	the	the	DET
fcis-25918	219	15	robot	robot	NOUN
fcis-25918	219	16	from	from	ADP
fcis-25918	219	17	its	its	PRON
fcis-25918	219	18	starting	starting	NOUN
fcis-25918	219	19	point	point	NOUN
fcis-25918	219	20	to	to	ADP
fcis-25918	219	21	its	its	PRON
fcis-25918	219	22	destination	destination	NOUN
fcis-25918	219	23	.	.	PUNCT
fcis-25918	220	1	an	an	DET
fcis-25918	220	2	optimal	optimal	ADJ
fcis-25918	220	3	path	path	NOUN
fcis-25918	220	4	planning	planning	NOUN
fcis-25918	220	5	algorithm	algorithm	NOUN
fcis-25918	220	6	should	should	AUX
fcis-25918	220	7	minimize	minimize	VERB
fcis-25918	220	8	the	the	DET
fcis-25918	220	9	path	path	NOUN
fcis-25918	220	10	length	length	NOUN
fcis-25918	220	11	,	,	PUNCT
fcis-25918	220	12	ensuring	ensure	VERB
fcis-25918	220	13	that	that	SCONJ
fcis-25918	220	14	the	the	DET
fcis-25918	220	15	robot	robot	NOUN
fcis-25918	220	16	takes	take	VERB
fcis-25918	220	17	the	the	DET
fcis-25918	220	18	shortest	short	ADJ
fcis-25918	220	19	possible	possible	ADJ
fcis-25918	220	20	route	route	NOUN
fcis-25918	220	21	while	while	SCONJ
fcis-25918	220	22	avoiding	avoid	VERB
fcis-25918	220	23	obstacles	obstacle	NOUN
fcis-25918	220	24	.	.	PUNCT
fcis-25918	221	1	however	however	ADV
fcis-25918	221	2	,	,	PUNCT
fcis-25918	221	3	it	it	PRON
fcis-25918	221	4	is	be	AUX
fcis-25918	221	5	also	also	ADV
fcis-25918	221	6	important	important	ADJ
fcis-25918	221	7	to	to	PART
fcis-25918	221	8	balance	balance	VERB
fcis-25918	221	9	path	path	NOUN
fcis-25918	221	10	length	length	NOUN
fcis-25918	221	11	with	with	ADP
fcis-25918	221	12	other	other	ADJ
fcis-25918	221	13	factors	factor	NOUN
fcis-25918	221	14	,	,	PUNCT
fcis-25918	221	15	such	such	ADJ
fcis-25918	221	16	as	as	ADP
fcis-25918	221	17	safety	safety	NOUN
fcis-25918	221	18	and	and	CCONJ
fcis-25918	221	19	smoothness	smoothness	NOUN
fcis-25918	221	20	,	,	PUNCT
fcis-25918	221	21	to	to	PART
fcis-25918	221	22	ensure	ensure	VERB
fcis-25918	221	23	that	that	SCONJ
fcis-25918	221	24	the	the	DET
fcis-25918	221	25	robot	robot	NOUN
fcis-25918	221	26	can	can	AUX
fcis-25918	221	27	navigate	navigate	VERB
fcis-25918	221	28	effectively	effectively	ADV
fcis-25918	221	29	without	without	ADP
fcis-25918	221	30	unnecessary	unnecessary	ADJ
fcis-25918	221	31	detours	detour	NOUN
fcis-25918	221	32	or	or	CCONJ
fcis-25918	221	33	abrupt	abrupt	ADJ
fcis-25918	221	34	movements	movement	NOUN
fcis-25918	221	35	.	.	PUNCT
fcis-25918	222	1	computation	computation	NOUN
fcis-25918	222	2	time	time	NOUN
fcis-25918	222	3	is	be	AUX
fcis-25918	222	4	another	another	DET
fcis-25918	222	5	critical	critical	ADJ
fcis-25918	222	6	performance	performance	NOUN
fcis-25918	222	7	metric	metric	ADJ
fcis-25918	222	8	,	,	PUNCT
fcis-25918	222	9	especially	especially	ADV
fcis-25918	222	10	for	for	ADP
fcis-25918	222	11	real	real	ADJ
fcis-25918	222	12	-	-	PUNCT
fcis-25918	222	13	time	time	NOUN
fcis-25918	222	14	applications	application	NOUN
fcis-25918	222	15	.	.	PUNCT
fcis-25918	223	1	this	this	DET
fcis-25918	223	2	metric	metric	ADJ
fcis-25918	223	3	measures	measure	NOUN
fcis-25918	223	4	the	the	DET
fcis-25918	223	5	amount	amount	NOUN
fcis-25918	223	6	of	of	ADP
fcis-25918	223	7	time	time	NOUN
fcis-25918	223	8	the	the	DET
fcis-25918	223	9	algorithm	algorithm	NOUN
fcis-25918	223	10	takes	take	VERB
fcis-25918	223	11	to	to	PART
fcis-25918	223	12	compute	compute	VERB
fcis-25918	223	13	the	the	DET
fcis-25918	223	14	path	path	NOUN
fcis-25918	223	15	from	from	ADP
fcis-25918	223	16	start	start	NOUN
fcis-25918	223	17	to	to	ADP
fcis-25918	223	18	finish	finish	NOUN
fcis-25918	223	19	.	.	PUNCT
fcis-25918	224	1	in	in	ADP
fcis-25918	224	2	dynamic	dynamic	ADJ
fcis-25918	224	3	environments	environment	NOUN
fcis-25918	224	4	where	where	SCONJ
fcis-25918	224	5	obstacles	obstacle	NOUN
fcis-25918	224	6	can	can	AUX
fcis-25918	224	7	appear	appear	VERB
fcis-25918	224	8	or	or	CCONJ
fcis-25918	224	9	move	move	VERB
fcis-25918	224	10	unpredictably	unpredictably	ADV
fcis-25918	224	11	,	,	PUNCT
fcis-25918	224	12	quick	quick	ADJ
fcis-25918	224	13	computation	computation	NOUN
fcis-25918	224	14	times	time	NOUN
fcis-25918	224	15	are	be	AUX
fcis-25918	224	16	essential	essential	ADJ
fcis-25918	224	17	to	to	PART
fcis-25918	224	18	allow	allow	VERB
fcis-25918	224	19	the	the	DET
fcis-25918	224	20	robot	robot	NOUN
fcis-25918	224	21	to	to	PART
fcis-25918	224	22	react	react	VERB
fcis-25918	224	23	promptly	promptly	ADV
fcis-25918	224	24	and	and	CCONJ
fcis-25918	224	25	avoid	avoid	VERB
fcis-25918	224	26	collisions	collision	NOUN
fcis-25918	224	27	.	.	PUNCT
fcis-25918	225	1	algorithms	algorithm	NOUN
fcis-25918	225	2	with	with	ADP
fcis-25918	225	3	lower	low	ADJ
fcis-25918	225	4	computation	computation	NOUN
fcis-25918	225	5	times	time	NOUN
fcis-25918	225	6	are	be	AUX
fcis-25918	225	7	generally	generally	ADV
fcis-25918	225	8	preferred	prefer	VERB
fcis-25918	225	9	,	,	PUNCT
fcis-25918	225	10	as	as	SCONJ
fcis-25918	225	11	they	they	PRON
fcis-25918	225	12	enable	enable	VERB
fcis-25918	225	13	faster	fast	ADJ
fcis-25918	225	14	decision	decision	NOUN
fcis-25918	225	15	-	-	PUNCT
fcis-25918	225	16	making	making	NOUN
fcis-25918	225	17	and	and	CCONJ
fcis-25918	225	18	more	more	ADV
fcis-25918	225	19	responsive	responsive	ADJ
fcis-25918	225	20	navigation	navigation	NOUN
fcis-25918	225	21	.	.	PUNCT
fcis-25918	226	1	resource	resource	NOUN
fcis-25918	226	2	consumption	consumption	NOUN
fcis-25918	226	3	,	,	PUNCT
fcis-25918	226	4	which	which	PRON
fcis-25918	226	5	includes	include	VERB
fcis-25918	226	6	factors	factor	NOUN
fcis-25918	226	7	such	such	ADJ
fcis-25918	226	8	as	as	ADP
fcis-25918	226	9	memory	memory	NOUN
fcis-25918	226	10	usage	usage	NOUN
fcis-25918	226	11	and	and	CCONJ
fcis-25918	226	12	energy	energy	NOUN
fcis-25918	226	13	consumption	consumption	NOUN
fcis-25918	226	14	,	,	PUNCT
fcis-25918	226	15	is	be	AUX
fcis-25918	226	16	also	also	ADV
fcis-25918	226	17	an	an	DET
fcis-25918	226	18	important	important	ADJ
fcis-25918	226	19	54	54	NUM
fcis-25918	226	20	consideration	consideration	NOUN
fcis-25918	226	21	.	.	PUNCT
fcis-25918	227	1	efficient	efficient	ADJ
fcis-25918	227	2	path	path	NOUN
fcis-25918	227	3	planning	planning	NOUN
fcis-25918	227	4	algorithms	algorithm	NOUN
fcis-25918	227	5	should	should	AUX
fcis-25918	227	6	minimize	minimize	VERB
fcis-25918	227	7	resource	resource	NOUN
fcis-25918	227	8	usage	usage	NOUN
fcis-25918	227	9	to	to	PART
fcis-25918	227	10	ensure	ensure	VERB
fcis-25918	227	11	that	that	SCONJ
fcis-25918	227	12	the	the	DET
fcis-25918	227	13	robot	robot	NOUN
fcis-25918	227	14	can	can	AUX
fcis-25918	227	15	operate	operate	VERB
fcis-25918	227	16	for	for	ADP
fcis-25918	227	17	extended	extended	ADJ
fcis-25918	227	18	periods	period	NOUN
fcis-25918	227	19	without	without	ADP
fcis-25918	227	20	depleting	deplete	VERB
fcis-25918	227	21	its	its	PRON
fcis-25918	227	22	power	power	NOUN
fcis-25918	227	23	supply	supply	NOUN
fcis-25918	227	24	or	or	CCONJ
fcis-25918	227	25	exceeding	exceed	VERB
fcis-25918	227	26	its	its	PRON
fcis-25918	227	27	computational	computational	ADJ
fcis-25918	227	28	capacity	capacity	NOUN
fcis-25918	227	29	.	.	PUNCT
fcis-25918	228	1	this	this	PRON
fcis-25918	228	2	is	be	AUX
fcis-25918	228	3	particularly	particularly	ADV
fcis-25918	228	4	crucial	crucial	ADJ
fcis-25918	228	5	for	for	ADP
fcis-25918	228	6	battery	battery	NOUN
fcis-25918	228	7	-	-	PUNCT
fcis-25918	228	8	powered	power	VERB
fcis-25918	228	9	robots	robot	NOUN
fcis-25918	228	10	or	or	CCONJ
fcis-25918	228	11	those	those	PRON
fcis-25918	228	12	with	with	ADP
fcis-25918	228	13	limited	limited	ADJ
fcis-25918	228	14	processing	processing	NOUN
fcis-25918	228	15	capabilities	capability	NOUN
fcis-25918	228	16	.	.	PUNCT
fcis-25918	229	1	optimizing	optimize	VERB
fcis-25918	229	2	resource	resource	NOUN
fcis-25918	229	3	consumption	consumption	NOUN
fcis-25918	229	4	helps	help	VERB
fcis-25918	229	5	enhance	enhance	VERB
fcis-25918	229	6	the	the	DET
fcis-25918	229	7	overall	overall	ADJ
fcis-25918	229	8	sustainability	sustainability	NOUN
fcis-25918	229	9	and	and	CCONJ
fcis-25918	229	10	operational	operational	ADJ
fcis-25918	229	11	efficiency	efficiency	NOUN
fcis-25918	229	12	of	of	ADP
fcis-25918	229	13	the	the	DET
fcis-25918	229	14	robotic	robotic	ADJ
fcis-25918	229	15	system	system	NOUN
fcis-25918	229	16	.	.	PUNCT
fcis-25918	230	1	4	4	X
fcis-25918	230	2	.	.	X
fcis-25918	230	3	future	future	ADJ
fcis-25918	230	4	research	research	NOUN
fcis-25918	230	5	directions	direction	NOUN
fcis-25918	230	6	the	the	DET
fcis-25918	230	7	field	field	NOUN
fcis-25918	230	8	of	of	ADP
fcis-25918	230	9	indoor	indoor	ADJ
fcis-25918	230	10	autonomous	autonomous	ADJ
fcis-25918	230	11	path	path	NOUN
fcis-25918	230	12	planning	planning	NOUN
fcis-25918	230	13	is	be	AUX
fcis-25918	230	14	continually	continually	ADV
fcis-25918	230	15	evolving	evolve	VERB
fcis-25918	230	16	,	,	PUNCT
fcis-25918	230	17	with	with	ADP
fcis-25918	230	18	ongoing	ongoing	ADJ
fcis-25918	230	19	research	research	NOUN
fcis-25918	230	20	aimed	aim	VERB
fcis-25918	230	21	at	at	ADP
fcis-25918	230	22	addressing	address	VERB
fcis-25918	230	23	existing	exist	VERB
fcis-25918	230	24	challenges	challenge	NOUN
fcis-25918	230	25	and	and	CCONJ
fcis-25918	230	26	exploring	explore	VERB
fcis-25918	230	27	new	new	ADJ
fcis-25918	230	28	possibilities	possibility	NOUN
fcis-25918	230	29	.	.	PUNCT
fcis-25918	231	1	several	several	ADJ
fcis-25918	231	2	promising	promising	ADJ
fcis-25918	231	3	areas	area	NOUN
fcis-25918	231	4	for	for	ADP
fcis-25918	231	5	future	future	ADJ
fcis-25918	231	6	research	research	NOUN
fcis-25918	231	7	include	include	VERB
fcis-25918	231	8	the	the	DET
fcis-25918	231	9	development	development	NOUN
fcis-25918	231	10	of	of	ADP
fcis-25918	231	11	intelligent	intelligent	ADJ
fcis-25918	231	12	algorithms	algorithm	NOUN
fcis-25918	231	13	,	,	PUNCT
fcis-25918	231	14	multi	multi	ADJ
fcis-25918	231	15	-	-	ADJ
fcis-25918	231	16	robot	robot	ADJ
fcis-25918	231	17	collaborative	collaborative	ADJ
fcis-25918	231	18	path	path	PROPN
fcis-25918	231	19	planning	planning	NOUN
fcis-25918	231	20	,	,	PUNCT
fcis-25918	231	21	human	human	ADJ
fcis-25918	231	22	-	-	PUNCT
fcis-25918	231	23	robot	robot	NOUN
fcis-25918	231	24	interaction	interaction	NOUN
fcis-25918	231	25	technologies	technology	NOUN
fcis-25918	231	26	,	,	PUNCT
fcis-25918	231	27	and	and	CCONJ
fcis-25918	231	28	other	other	ADJ
fcis-25918	231	29	innovative	innovative	ADJ
fcis-25918	231	30	directions	direction	NOUN
fcis-25918	231	31	.	.	PUNCT
fcis-25918	232	1	the	the	DET
fcis-25918	232	2	development	development	NOUN
fcis-25918	232	3	of	of	ADP
fcis-25918	232	4	intelligent	intelligent	ADJ
fcis-25918	232	5	algorithms	algorithm	NOUN
fcis-25918	232	6	represents	represent	VERB
fcis-25918	232	7	a	a	DET
fcis-25918	232	8	major	major	ADJ
fcis-25918	232	9	frontier	frontier	NOUN
fcis-25918	232	10	in	in	ADP
fcis-25918	232	11	path	path	NOUN
fcis-25918	232	12	planning	planning	NOUN
fcis-25918	232	13	research	research	NOUN
fcis-25918	232	14	.	.	PUNCT
fcis-25918	233	1	these	these	DET
fcis-25918	233	2	algorithms	algorithm	NOUN
fcis-25918	233	3	leverage	leverage	VERB
fcis-25918	233	4	advanced	advanced	ADJ
fcis-25918	233	5	techniques	technique	NOUN
fcis-25918	233	6	from	from	ADP
fcis-25918	233	7	artificial	artificial	ADJ
fcis-25918	233	8	intelligence	intelligence	NOUN
fcis-25918	233	9	,	,	PUNCT
fcis-25918	233	10	such	such	ADJ
fcis-25918	233	11	as	as	ADP
fcis-25918	233	12	deep	deep	ADJ
fcis-25918	233	13	learning	learning	NOUN
fcis-25918	233	14	and	and	CCONJ
fcis-25918	233	15	reinforcement	reinforcement	NOUN
fcis-25918	233	16	learning	learning	NOUN
fcis-25918	233	17	,	,	PUNCT
fcis-25918	233	18	to	to	PART
fcis-25918	233	19	enhance	enhance	VERB
fcis-25918	233	20	their	their	PRON
fcis-25918	233	21	decision	decision	NOUN
fcis-25918	233	22	-	-	PUNCT
fcis-25918	233	23	making	make	VERB
fcis-25918	233	24	capabilities	capability	NOUN
fcis-25918	233	25	.	.	PUNCT
fcis-25918	234	1	by	by	ADP
fcis-25918	234	2	learning	learn	VERB
fcis-25918	234	3	from	from	ADP
fcis-25918	234	4	vast	vast	ADJ
fcis-25918	234	5	amounts	amount	NOUN
fcis-25918	234	6	of	of	ADP
fcis-25918	234	7	data	datum	NOUN
fcis-25918	234	8	and	and	CCONJ
fcis-25918	234	9	experiences	experience	NOUN
fcis-25918	234	10	,	,	PUNCT
fcis-25918	234	11	intelligent	intelligent	ADJ
fcis-25918	234	12	algorithms	algorithm	NOUN
fcis-25918	234	13	can	can	AUX
fcis-25918	234	14	develop	develop	VERB
fcis-25918	234	15	sophisticated	sophisticated	ADJ
fcis-25918	234	16	navigation	navigation	NOUN
fcis-25918	234	17	strategies	strategy	NOUN
fcis-25918	234	18	that	that	PRON
fcis-25918	234	19	adapt	adapt	VERB
fcis-25918	234	20	to	to	ADP
fcis-25918	234	21	complex	complex	ADJ
fcis-25918	234	22	and	and	CCONJ
fcis-25918	234	23	dynamic	dynamic	ADJ
fcis-25918	234	24	environments	environment	NOUN
fcis-25918	234	25	.	.	PUNCT
fcis-25918	235	1	future	future	ADJ
fcis-25918	235	2	research	research	NOUN
fcis-25918	235	3	may	may	AUX
fcis-25918	235	4	focus	focus	VERB
fcis-25918	235	5	on	on	ADP
fcis-25918	235	6	creating	create	VERB
fcis-25918	235	7	more	more	ADV
fcis-25918	235	8	generalizable	generalizable	ADJ
fcis-25918	235	9	and	and	CCONJ
fcis-25918	235	10	robust	robust	ADJ
fcis-25918	235	11	ai	ai	NOUN
fcis-25918	235	12	models	model	NOUN
fcis-25918	235	13	that	that	PRON
fcis-25918	235	14	can	can	AUX
fcis-25918	235	15	handle	handle	VERB
fcis-25918	235	16	a	a	DET
fcis-25918	235	17	wider	wide	ADJ
fcis-25918	235	18	range	range	NOUN
fcis-25918	235	19	of	of	ADP
fcis-25918	235	20	scenarios	scenario	NOUN
fcis-25918	235	21	and	and	CCONJ
fcis-25918	235	22	environmental	environmental	ADJ
fcis-25918	235	23	conditions	condition	NOUN
fcis-25918	235	24	.	.	PUNCT
fcis-25918	236	1	multi	multi	ADJ
fcis-25918	236	2	-	-	ADJ
fcis-25918	236	3	robot	robot	ADJ
fcis-25918	236	4	collaborative	collaborative	ADJ
fcis-25918	236	5	path	path	NOUN
fcis-25918	236	6	planning	planning	NOUN
fcis-25918	236	7	is	be	AUX
fcis-25918	236	8	another	another	DET
fcis-25918	236	9	exciting	exciting	ADJ
fcis-25918	236	10	area	area	NOUN
fcis-25918	236	11	of	of	ADP
fcis-25918	236	12	research	research	NOUN
fcis-25918	236	13	.	.	PUNCT
fcis-25918	237	1	in	in	ADP
fcis-25918	237	2	many	many	ADJ
fcis-25918	237	3	applications	application	NOUN
fcis-25918	237	4	,	,	PUNCT
fcis-25918	237	5	multiple	multiple	ADJ
fcis-25918	237	6	robots	robot	NOUN
fcis-25918	237	7	need	need	VERB
fcis-25918	237	8	to	to	PART
fcis-25918	237	9	work	work	VERB
fcis-25918	237	10	together	together	ADV
fcis-25918	237	11	to	to	PART
fcis-25918	237	12	achieve	achieve	VERB
fcis-25918	237	13	common	common	ADJ
fcis-25918	237	14	goals	goal	NOUN
fcis-25918	237	15	,	,	PUNCT
fcis-25918	237	16	such	such	ADJ
fcis-25918	237	17	as	as	ADP
fcis-25918	237	18	in	in	ADP
fcis-25918	237	19	warehouse	warehouse	NOUN
fcis-25918	237	20	automation	automation	NOUN
fcis-25918	237	21	or	or	CCONJ
fcis-25918	237	22	search	search	NOUN
fcis-25918	237	23	and	and	CCONJ
fcis-25918	237	24	rescue	rescue	NOUN
fcis-25918	237	25	operations	operation	NOUN
fcis-25918	237	26	.	.	PUNCT
fcis-25918	238	1	coordinating	coordinate	VERB
fcis-25918	238	2	the	the	DET
fcis-25918	238	3	movements	movement	NOUN
fcis-25918	238	4	of	of	ADP
fcis-25918	238	5	multiple	multiple	ADJ
fcis-25918	238	6	robots	robot	NOUN
fcis-25918	238	7	requires	require	VERB
fcis-25918	238	8	advanced	advanced	ADJ
fcis-25918	238	9	algorithms	algorithm	NOUN
fcis-25918	238	10	that	that	PRON
fcis-25918	238	11	can	can	AUX
fcis-25918	238	12	optimize	optimize	VERB
fcis-25918	238	13	their	their	PRON
fcis-25918	238	14	paths	path	NOUN
fcis-25918	238	15	collectively	collectively	ADV
fcis-25918	238	16	,	,	PUNCT
fcis-25918	238	17	avoiding	avoid	VERB
fcis-25918	238	18	collisions	collision	NOUN
fcis-25918	238	19	and	and	CCONJ
fcis-25918	238	20	ensuring	ensure	VERB
fcis-25918	238	21	efficient	efficient	ADJ
fcis-25918	238	22	task	task	NOUN
fcis-25918	238	23	completion	completion	NOUN
fcis-25918	238	24	.	.	PUNCT
fcis-25918	239	1	future	future	ADJ
fcis-25918	239	2	research	research	NOUN
fcis-25918	239	3	in	in	ADP
fcis-25918	239	4	this	this	DET
fcis-25918	239	5	area	area	NOUN
fcis-25918	239	6	may	may	AUX
fcis-25918	239	7	explore	explore	VERB
fcis-25918	239	8	decentralized	decentralized	ADJ
fcis-25918	239	9	approaches	approach	NOUN
fcis-25918	239	10	,	,	PUNCT
fcis-25918	239	11	where	where	SCONJ
fcis-25918	239	12	robots	robot	NOUN
fcis-25918	239	13	communicate	communicate	VERB
fcis-25918	239	14	and	and	CCONJ
fcis-25918	239	15	cooperate	cooperate	VERB
fcis-25918	239	16	autonomously	autonomously	ADV
fcis-25918	239	17	,	,	PUNCT
fcis-25918	239	18	as	as	ADV
fcis-25918	239	19	well	well	ADV
fcis-25918	239	20	as	as	ADP
fcis-25918	239	21	centralized	centralized	ADJ
fcis-25918	239	22	methods	method	NOUN
fcis-25918	239	23	that	that	PRON
fcis-25918	239	24	leverage	leverage	VERB
fcis-25918	239	25	powerful	powerful	ADJ
fcis-25918	239	26	computational	computational	ADJ
fcis-25918	239	27	resources	resource	NOUN
fcis-25918	239	28	to	to	PART
fcis-25918	239	29	plan	plan	VERB
fcis-25918	239	30	optimal	optimal	ADJ
fcis-25918	239	31	paths	path	NOUN
fcis-25918	239	32	for	for	ADP
fcis-25918	239	33	all	all	DET
fcis-25918	239	34	robots	robot	NOUN
fcis-25918	239	35	.	.	PUNCT
fcis-25918	240	1	human	human	ADJ
fcis-25918	240	2	-	-	PUNCT
fcis-25918	240	3	robot	robot	NOUN
fcis-25918	240	4	interaction	interaction	NOUN
fcis-25918	240	5	(	(	PUNCT
fcis-25918	240	6	hri	hri	PROPN
fcis-25918	240	7	)	)	PUNCT
fcis-25918	240	8	technologies	technology	NOUN
fcis-25918	240	9	are	be	AUX
fcis-25918	240	10	also	also	ADV
fcis-25918	240	11	gaining	gain	VERB
fcis-25918	240	12	increasing	increase	VERB
fcis-25918	240	13	attention	attention	NOUN
fcis-25918	240	14	.	.	PUNCT
fcis-25918	241	1	as	as	SCONJ
fcis-25918	241	2	robots	robot	NOUN
fcis-25918	241	3	become	become	VERB
fcis-25918	241	4	more	more	ADV
fcis-25918	241	5	integrated	integrate	VERB
fcis-25918	241	6	into	into	ADP
fcis-25918	241	7	human	human	ADJ
fcis-25918	241	8	environments	environment	NOUN
fcis-25918	241	9	,	,	PUNCT
fcis-25918	241	10	ensuring	ensure	VERB
fcis-25918	241	11	safe	safe	ADJ
fcis-25918	241	12	and	and	CCONJ
fcis-25918	241	13	effective	effective	ADJ
fcis-25918	241	14	interaction	interaction	NOUN
fcis-25918	241	15	between	between	ADP
fcis-25918	241	16	humans	human	NOUN
fcis-25918	241	17	and	and	CCONJ
fcis-25918	241	18	robots	robot	NOUN
fcis-25918	241	19	is	be	AUX
fcis-25918	241	20	crucial	crucial	ADJ
fcis-25918	241	21	.	.	PUNCT
fcis-25918	242	1	research	research	NOUN
fcis-25918	242	2	in	in	ADP
fcis-25918	242	3	hri	hri	PROPN
fcis-25918	242	4	focuses	focus	VERB
fcis-25918	242	5	on	on	ADP
fcis-25918	242	6	developing	develop	VERB
fcis-25918	242	7	intuitive	intuitive	ADJ
fcis-25918	242	8	and	and	CCONJ
fcis-25918	242	9	adaptive	adaptive	ADJ
fcis-25918	242	10	interfaces	interface	NOUN
fcis-25918	242	11	that	that	PRON
fcis-25918	242	12	allow	allow	VERB
fcis-25918	242	13	humans	human	NOUN
fcis-25918	242	14	to	to	PART
fcis-25918	242	15	communicate	communicate	VERB
fcis-25918	242	16	and	and	CCONJ
fcis-25918	242	17	collaborate	collaborate	VERB
fcis-25918	242	18	with	with	ADP
fcis-25918	242	19	robots	robot	NOUN
fcis-25918	242	20	seamlessly	seamlessly	ADV
fcis-25918	242	21	.	.	PUNCT
fcis-25918	243	1	this	this	PRON
fcis-25918	243	2	includes	include	VERB
fcis-25918	243	3	gesture	gesture	NOUN
fcis-25918	243	4	recognition	recognition	NOUN
fcis-25918	243	5	,	,	PUNCT
fcis-25918	243	6	natural	natural	ADJ
fcis-25918	243	7	language	language	NOUN
fcis-25918	243	8	processing	processing	NOUN
fcis-25918	243	9	,	,	PUNCT
fcis-25918	243	10	and	and	CCONJ
fcis-25918	243	11	shared	shared	ADJ
fcis-25918	243	12	autonomy	autonomy	NOUN
fcis-25918	243	13	,	,	PUNCT
fcis-25918	243	14	where	where	SCONJ
fcis-25918	243	15	humans	human	NOUN
fcis-25918	243	16	can	can	AUX
fcis-25918	243	17	guide	guide	VERB
fcis-25918	243	18	or	or	CCONJ
fcis-25918	243	19	override	override	VERB
fcis-25918	243	20	the	the	DET
fcis-25918	243	21	robot	robot	NOUN
fcis-25918	243	22	's	's	PART
fcis-25918	243	23	decisions	decision	NOUN
fcis-25918	243	24	as	as	SCONJ
fcis-25918	243	25	needed	need	VERB
fcis-25918	243	26	.	.	PUNCT
fcis-25918	244	1	future	future	ADJ
fcis-25918	244	2	advancements	advancement	NOUN
fcis-25918	244	3	in	in	ADP
fcis-25918	244	4	hri	hri	PROPN
fcis-25918	244	5	will	will	AUX
fcis-25918	244	6	enhance	enhance	VERB
fcis-25918	244	7	the	the	DET
fcis-25918	244	8	usability	usability	NOUN
fcis-25918	244	9	and	and	CCONJ
fcis-25918	244	10	acceptance	acceptance	NOUN
fcis-25918	244	11	of	of	ADP
fcis-25918	244	12	robots	robot	NOUN
fcis-25918	244	13	in	in	ADP
fcis-25918	244	14	various	various	ADJ
fcis-25918	244	15	settings	setting	NOUN
fcis-25918	244	16	,	,	PUNCT
fcis-25918	244	17	from	from	ADP
fcis-25918	244	18	homes	home	NOUN
fcis-25918	244	19	and	and	CCONJ
fcis-25918	244	20	offices	office	NOUN
fcis-25918	244	21	to	to	ADP
fcis-25918	244	22	public	public	ADJ
fcis-25918	244	23	spaces	space	NOUN
fcis-25918	244	24	.	.	PUNCT
fcis-25918	245	1	other	other	ADJ
fcis-25918	245	2	research	research	NOUN
fcis-25918	245	3	directions	direction	NOUN
fcis-25918	245	4	include	include	VERB
fcis-25918	245	5	exploring	explore	VERB
fcis-25918	245	6	new	new	ADJ
fcis-25918	245	7	sensor	sensor	NOUN
fcis-25918	245	8	technologies	technology	NOUN
fcis-25918	245	9	and	and	CCONJ
fcis-25918	245	10	integrating	integrate	VERB
fcis-25918	245	11	them	they	PRON
fcis-25918	245	12	into	into	ADP
fcis-25918	245	13	path	path	NOUN
fcis-25918	245	14	planning	planning	NOUN
fcis-25918	245	15	systems	system	NOUN
fcis-25918	245	16	,	,	PUNCT
fcis-25918	245	17	developing	develop	VERB
fcis-25918	245	18	more	more	ADV
fcis-25918	245	19	efficient	efficient	ADJ
fcis-25918	245	20	and	and	CCONJ
fcis-25918	245	21	scalable	scalable	ADJ
fcis-25918	245	22	mapping	mapping	NOUN
fcis-25918	245	23	techniques	technique	NOUN
fcis-25918	245	24	,	,	PUNCT
fcis-25918	245	25	and	and	CCONJ
fcis-25918	245	26	investigating	investigate	VERB
fcis-25918	245	27	the	the	DET
fcis-25918	245	28	ethical	ethical	ADJ
fcis-25918	245	29	and	and	CCONJ
fcis-25918	245	30	societal	societal	ADJ
fcis-25918	245	31	implications	implication	NOUN
fcis-25918	245	32	of	of	ADP
fcis-25918	245	33	widespread	widespread	ADJ
fcis-25918	245	34	robotic	robotic	ADJ
fcis-25918	245	35	deployment	deployment	NOUN
fcis-25918	245	36	.	.	PUNCT
fcis-25918	246	1	as	as	SCONJ
fcis-25918	246	2	the	the	DET
fcis-25918	246	3	field	field	NOUN
fcis-25918	246	4	progresses	progress	VERB
fcis-25918	246	5	,	,	PUNCT
fcis-25918	246	6	interdisciplinary	interdisciplinary	ADJ
fcis-25918	246	7	collaborations	collaboration	NOUN
fcis-25918	246	8	will	will	AUX
fcis-25918	246	9	be	be	AUX
fcis-25918	246	10	essential	essential	ADJ
fcis-25918	246	11	to	to	PART
fcis-25918	246	12	address	address	VERB
fcis-25918	246	13	the	the	DET
fcis-25918	246	14	complex	complex	ADJ
fcis-25918	246	15	challenges	challenge	NOUN
fcis-25918	246	16	and	and	CCONJ
fcis-25918	246	17	unlock	unlock	VERB
fcis-25918	246	18	the	the	DET
fcis-25918	246	19	full	full	ADJ
fcis-25918	246	20	potential	potential	NOUN
fcis-25918	246	21	of	of	ADP
fcis-25918	246	22	autonomous	autonomous	ADJ
fcis-25918	246	23	robots	robot	NOUN
fcis-25918	246	24	.	.	PUNCT
fcis-25918	247	1	5	5	X
fcis-25918	247	2	.	.	X
fcis-25918	247	3	conclusion	conclusion	NOUN
fcis-25918	247	4	the	the	DET
fcis-25918	247	5	research	research	NOUN
fcis-25918	247	6	presented	present	VERB
fcis-25918	247	7	in	in	ADP
fcis-25918	247	8	this	this	DET
fcis-25918	247	9	study	study	NOUN
fcis-25918	247	10	has	have	AUX
fcis-25918	247	11	delved	delve	VERB
fcis-25918	247	12	deeply	deeply	ADV
fcis-25918	247	13	into	into	ADP
fcis-25918	247	14	the	the	DET
fcis-25918	247	15	intricacies	intricacy	NOUN
fcis-25918	247	16	of	of	ADP
fcis-25918	247	17	indoor	indoor	ADJ
fcis-25918	247	18	autonomous	autonomous	ADJ
fcis-25918	247	19	path	path	NOUN
fcis-25918	247	20	planning	planning	NOUN
fcis-25918	247	21	algorithms	algorithm	NOUN
fcis-25918	247	22	,	,	PUNCT
fcis-25918	247	23	exploring	explore	VERB
fcis-25918	247	24	various	various	ADJ
fcis-25918	247	25	methodologies	methodology	NOUN
fcis-25918	247	26	and	and	CCONJ
fcis-25918	247	27	their	their	PRON
fcis-25918	247	28	applications	application	NOUN
fcis-25918	247	29	.	.	PUNCT
fcis-25918	248	1	through	through	ADP
fcis-25918	248	2	comprehensive	comprehensive	ADJ
fcis-25918	248	3	analysis	analysis	NOUN
fcis-25918	248	4	and	and	CCONJ
fcis-25918	248	5	experimentation	experimentation	NOUN
fcis-25918	248	6	,	,	PUNCT
fcis-25918	248	7	the	the	DET
fcis-25918	248	8	study	study	NOUN
fcis-25918	248	9	has	have	AUX
fcis-25918	248	10	provided	provide	VERB
fcis-25918	248	11	significant	significant	ADJ
fcis-25918	248	12	insights	insight	NOUN
fcis-25918	248	13	into	into	ADP
fcis-25918	248	14	the	the	DET
fcis-25918	248	15	development	development	NOUN
fcis-25918	248	16	and	and	CCONJ
fcis-25918	248	17	optimization	optimization	NOUN
fcis-25918	248	18	of	of	ADP
fcis-25918	248	19	algorithms	algorithm	NOUN
fcis-25918	248	20	that	that	PRON
fcis-25918	248	21	enable	enable	VERB
fcis-25918	248	22	robots	robot	NOUN
fcis-25918	248	23	to	to	PART
fcis-25918	248	24	navigate	navigate	VERB
fcis-25918	248	25	complex	complex	ADJ
fcis-25918	248	26	indoor	indoor	ADJ
fcis-25918	248	27	environments	environment	NOUN
fcis-25918	248	28	efficiently	efficiently	ADV
fcis-25918	248	29	and	and	CCONJ
fcis-25918	248	30	safely	safely	ADV
fcis-25918	248	31	.	.	PUNCT
fcis-25918	249	1	this	this	DET
fcis-25918	249	2	conclusion	conclusion	NOUN
fcis-25918	249	3	chapter	chapter	NOUN
fcis-25918	249	4	synthesizes	synthesize	VERB
fcis-25918	249	5	the	the	DET
fcis-25918	249	6	key	key	ADJ
fcis-25918	249	7	findings	finding	NOUN
fcis-25918	249	8	,	,	PUNCT
fcis-25918	249	9	highlights	highlight	VERB
fcis-25918	249	10	the	the	DET
fcis-25918	249	11	contributions	contribution	NOUN
fcis-25918	249	12	of	of	ADP
fcis-25918	249	13	the	the	DET
fcis-25918	249	14	research	research	NOUN
fcis-25918	249	15	,	,	PUNCT
fcis-25918	249	16	and	and	CCONJ
fcis-25918	249	17	outlines	outline	VERB
fcis-25918	249	18	potential	potential	ADJ
fcis-25918	249	19	directions	direction	NOUN
fcis-25918	249	20	for	for	ADP
fcis-25918	249	21	future	future	ADJ
fcis-25918	249	22	work	work	NOUN
fcis-25918	249	23	.	.	PUNCT
fcis-25918	250	1	research	research	NOUN
fcis-25918	250	2	summary	summary	NOUN
fcis-25918	250	3	the	the	DET
fcis-25918	250	4	primary	primary	ADJ
fcis-25918	250	5	focus	focus	NOUN
fcis-25918	250	6	of	of	ADP
fcis-25918	250	7	this	this	DET
fcis-25918	250	8	research	research	NOUN
fcis-25918	250	9	was	be	AUX
fcis-25918	250	10	to	to	PART
fcis-25918	250	11	investigate	investigate	VERB
fcis-25918	250	12	and	and	CCONJ
fcis-25918	250	13	enhance	enhance	VERB
fcis-25918	250	14	the	the	DET
fcis-25918	250	15	capabilities	capability	NOUN
fcis-25918	250	16	of	of	ADP
fcis-25918	250	17	indoor	indoor	ADJ
fcis-25918	250	18	autonomous	autonomous	ADJ
fcis-25918	250	19	path	path	NOUN
fcis-25918	250	20	planning	planning	NOUN
fcis-25918	250	21	algorithms	algorithm	NOUN
fcis-25918	250	22	.	.	PUNCT
fcis-25918	251	1	initially	initially	ADV
fcis-25918	251	2	,	,	PUNCT
fcis-25918	251	3	the	the	DET
fcis-25918	251	4	study	study	NOUN
fcis-25918	251	5	provided	provide	VERB
fcis-25918	251	6	an	an	DET
fcis-25918	251	7	extensive	extensive	ADJ
fcis-25918	251	8	review	review	NOUN
fcis-25918	251	9	of	of	ADP
fcis-25918	251	10	existing	exist	VERB
fcis-25918	251	11	navigation	navigation	NOUN
fcis-25918	251	12	technologies	technology	NOUN
fcis-25918	251	13	,	,	PUNCT
fcis-25918	251	14	path	path	NOUN
fcis-25918	251	15	planning	planning	NOUN
fcis-25918	251	16	methods	method	NOUN
fcis-25918	251	17	,	,	PUNCT
fcis-25918	251	18	and	and	CCONJ
fcis-25918	251	19	sensor	sensor	NOUN
fcis-25918	251	20	technologies	technology	NOUN
fcis-25918	251	21	critical	critical	ADJ
fcis-25918	251	22	for	for	ADP
fcis-25918	251	23	environmental	environmental	ADJ
fcis-25918	251	24	perception	perception	NOUN
fcis-25918	251	25	.	.	PUNCT
fcis-25918	252	1	the	the	DET
fcis-25918	252	2	research	research	NOUN
fcis-25918	252	3	then	then	ADV
fcis-25918	252	4	proceeded	proceed	VERB
fcis-25918	252	5	to	to	PART
fcis-25918	252	6	develop	develop	VERB
fcis-25918	252	7	and	and	CCONJ
fcis-25918	252	8	evaluate	evaluate	VERB
fcis-25918	252	9	several	several	ADJ
fcis-25918	252	10	global	global	ADJ
fcis-25918	252	11	and	and	CCONJ
fcis-25918	252	12	local	local	ADJ
fcis-25918	252	13	path	path	NOUN
fcis-25918	252	14	planning	planning	NOUN
fcis-25918	252	15	algorithms	algorithm	NOUN
fcis-25918	252	16	,	,	PUNCT
fcis-25918	252	17	including	include	VERB
fcis-25918	252	18	a	a	PRON
fcis-25918	252	19	*	*	PROPN
fcis-25918	252	20	,	,	PUNCT
fcis-25918	252	21	dijkstra	dijkstra	PROPN
fcis-25918	252	22	’s	’s	PART
fcis-25918	252	23	algorithm	algorithm	NOUN
fcis-25918	252	24	,	,	PUNCT
fcis-25918	252	25	rapidly	rapidly	ADV
fcis-25918	252	26	-	-	PUNCT
fcis-25918	252	27	exploring	explore	VERB
fcis-25918	252	28	random	random	ADJ
fcis-25918	252	29	trees	tree	NOUN
fcis-25918	252	30	(	(	PUNCT
fcis-25918	252	31	rrt	rrt	NOUN
fcis-25918	252	32	)	)	PUNCT
fcis-25918	252	33	,	,	PUNCT
fcis-25918	252	34	and	and	CCONJ
fcis-25918	252	35	the	the	DET
fcis-25918	252	36	dynamic	dynamic	ADJ
fcis-25918	252	37	window	window	NOUN
fcis-25918	252	38	approach	approach	NOUN
fcis-25918	252	39	(	(	PUNCT
fcis-25918	252	40	dwa	dwa	PROPN
fcis-25918	252	41	)	)	PUNCT
fcis-25918	252	42	.	.	PUNCT
fcis-25918	253	1	these	these	DET
fcis-25918	253	2	algorithms	algorithm	NOUN
fcis-25918	253	3	were	be	AUX
fcis-25918	253	4	assessed	assess	VERB
fcis-25918	253	5	based	base	VERB
fcis-25918	253	6	on	on	ADP
fcis-25918	253	7	their	their	PRON
fcis-25918	253	8	ability	ability	NOUN
fcis-25918	253	9	to	to	PART
fcis-25918	253	10	generate	generate	VERB
fcis-25918	253	11	optimal	optimal	ADJ
fcis-25918	253	12	paths	path	NOUN
fcis-25918	253	13	,	,	PUNCT
fcis-25918	253	14	computation	computation	NOUN
fcis-25918	253	15	efficiency	efficiency	NOUN
fcis-25918	253	16	,	,	PUNCT
fcis-25918	253	17	and	and	CCONJ
fcis-25918	253	18	robustness	robustness	NOUN
fcis-25918	253	19	in	in	ADP
fcis-25918	253	20	dynamic	dynamic	ADJ
fcis-25918	253	21	environments	environment	NOUN
fcis-25918	253	22	.	.	PUNCT
fcis-25918	254	1	the	the	DET
fcis-25918	254	2	experiments	experiment	NOUN
fcis-25918	254	3	conducted	conduct	VERB
fcis-25918	254	4	in	in	ADP
fcis-25918	254	5	simulated	simulated	ADJ
fcis-25918	254	6	environments	environment	NOUN
fcis-25918	254	7	demonstrated	demonstrate	VERB
fcis-25918	254	8	the	the	DET
fcis-25918	254	9	strengths	strength	NOUN
fcis-25918	254	10	and	and	CCONJ
fcis-25918	254	11	weaknesses	weakness	NOUN
fcis-25918	254	12	of	of	ADP
fcis-25918	254	13	each	each	DET
fcis-25918	254	14	algorithm	algorithm	NOUN
fcis-25918	254	15	.	.	PUNCT
fcis-25918	255	1	a	a	DET
fcis-25918	255	2	*	*	PUNCT
fcis-25918	255	3	and	and	CCONJ
fcis-25918	255	4	dijkstra	dijkstra	PROPN
fcis-25918	255	5	’s	’s	PART
fcis-25918	255	6	algorithm	algorithm	NOUN
fcis-25918	255	7	were	be	AUX
fcis-25918	255	8	found	find	VERB
fcis-25918	255	9	to	to	PART
fcis-25918	255	10	be	be	AUX
fcis-25918	255	11	highly	highly	ADV
fcis-25918	255	12	effective	effective	ADJ
fcis-25918	255	13	in	in	ADP
fcis-25918	255	14	global	global	ADJ
fcis-25918	255	15	path	path	NOUN
fcis-25918	255	16	planning	planning	NOUN
fcis-25918	255	17	,	,	PUNCT
fcis-25918	255	18	providing	provide	VERB
fcis-25918	255	19	optimal	optimal	ADJ
fcis-25918	255	20	routes	route	NOUN
fcis-25918	255	21	with	with	ADP
fcis-25918	255	22	predictable	predictable	ADJ
fcis-25918	255	23	performance	performance	NOUN
fcis-25918	255	24	.	.	PUNCT
fcis-25918	256	1	however	however	ADV
fcis-25918	256	2	,	,	PUNCT
fcis-25918	256	3	their	their	PRON
fcis-25918	256	4	computational	computational	ADJ
fcis-25918	256	5	demands	demand	NOUN
fcis-25918	256	6	highlighted	highlight	VERB
fcis-25918	256	7	the	the	DET
fcis-25918	256	8	need	need	NOUN
fcis-25918	256	9	for	for	ADP
fcis-25918	256	10	optimization	optimization	NOUN
fcis-25918	256	11	in	in	ADP
fcis-25918	256	12	real	real	ADJ
fcis-25918	256	13	-	-	PUNCT
fcis-25918	256	14	time	time	NOUN
fcis-25918	256	15	applications	application	NOUN
fcis-25918	256	16	.	.	PUNCT
fcis-25918	257	1	rrt	rrt	NOUN
fcis-25918	257	2	and	and	CCONJ
fcis-25918	257	3	its	its	PRON
fcis-25918	257	4	variants	variant	NOUN
fcis-25918	257	5	excelled	excel	VERB
fcis-25918	257	6	in	in	ADP
fcis-25918	257	7	handling	handle	VERB
fcis-25918	257	8	highdimensional	highdimensional	ADJ
fcis-25918	257	9	spaces	space	NOUN
fcis-25918	257	10	and	and	CCONJ
fcis-25918	257	11	complex	complex	ADJ
fcis-25918	257	12	obstacles	obstacle	NOUN
fcis-25918	257	13	but	but	CCONJ
fcis-25918	257	14	required	required	ADJ
fcis-25918	257	15	enhancements	enhancement	NOUN
fcis-25918	257	16	for	for	ADP
fcis-25918	257	17	path	path	NOUN
fcis-25918	257	18	optimality	optimality	NOUN
fcis-25918	257	19	.	.	PUNCT
fcis-25918	258	1	dwa	dwa	PROPN
fcis-25918	258	2	proved	prove	VERB
fcis-25918	258	3	to	to	PART
fcis-25918	258	4	be	be	AUX
fcis-25918	258	5	a	a	DET
fcis-25918	258	6	robust	robust	ADJ
fcis-25918	258	7	solution	solution	NOUN
fcis-25918	258	8	for	for	ADP
fcis-25918	258	9	local	local	ADJ
fcis-25918	258	10	path	path	NOUN
fcis-25918	258	11	planning	planning	NOUN
fcis-25918	258	12	,	,	PUNCT
fcis-25918	258	13	offering	offer	VERB
fcis-25918	258	14	real	real	ADJ
fcis-25918	258	15	-	-	PUNCT
fcis-25918	258	16	time	time	NOUN
fcis-25918	258	17	obstacle	obstacle	NOUN
fcis-25918	258	18	avoidance	avoidance	NOUN
fcis-25918	258	19	capabilities	capability	NOUN
fcis-25918	258	20	and	and	CCONJ
fcis-25918	258	21	smooth	smooth	ADJ
fcis-25918	258	22	trajectory	trajectory	NOUN
fcis-25918	258	23	generation	generation	NOUN
fcis-25918	258	24	.	.	PUNCT
fcis-25918	259	1	the	the	DET
fcis-25918	259	2	study	study	NOUN
fcis-25918	259	3	also	also	ADV
fcis-25918	259	4	explored	explore	VERB
fcis-25918	259	5	hybrid	hybrid	ADJ
fcis-25918	259	6	approaches	approach	NOUN
fcis-25918	259	7	that	that	PRON
fcis-25918	259	8	combine	combine	VERB
fcis-25918	259	9	multiple	multiple	ADJ
fcis-25918	259	10	algorithms	algorithm	NOUN
fcis-25918	259	11	to	to	PART
fcis-25918	259	12	leverage	leverage	VERB
fcis-25918	259	13	their	their	PRON
fcis-25918	259	14	strengths	strength	NOUN
fcis-25918	259	15	.	.	PUNCT
fcis-25918	260	1	these	these	DET
fcis-25918	260	2	hybrid	hybrid	ADJ
fcis-25918	260	3	methods	method	NOUN
fcis-25918	260	4	showed	show	VERB
fcis-25918	260	5	promise	promise	NOUN
fcis-25918	260	6	in	in	ADP
fcis-25918	260	7	addressing	address	VERB
fcis-25918	260	8	the	the	DET
fcis-25918	260	9	limitations	limitation	NOUN
fcis-25918	260	10	of	of	ADP
fcis-25918	260	11	individual	individual	ADJ
fcis-25918	260	12	algorithms	algorithm	NOUN
fcis-25918	260	13	,	,	PUNCT
fcis-25918	260	14	providing	provide	VERB
fcis-25918	260	15	a	a	DET
fcis-25918	260	16	balanced	balanced	ADJ
fcis-25918	260	17	approach	approach	NOUN
fcis-25918	260	18	to	to	ADP
fcis-25918	260	19	both	both	CCONJ
fcis-25918	260	20	global	global	ADJ
fcis-25918	260	21	and	and	CCONJ
fcis-25918	260	22	local	local	ADJ
fcis-25918	260	23	path	path	NOUN
fcis-25918	260	24	planning	planning	NOUN
fcis-25918	260	25	.	.	PUNCT
fcis-25918	261	1	the	the	DET
fcis-25918	261	2	integration	integration	NOUN
fcis-25918	261	3	of	of	ADP
fcis-25918	261	4	machine	machine	NOUN
fcis-25918	261	5	learning	learn	VERB
fcis-25918	261	6	techniques	technique	NOUN
fcis-25918	261	7	further	far	ADV
fcis-25918	261	8	enhanced	enhance	VERB
fcis-25918	261	9	the	the	DET
fcis-25918	261	10	adaptability	adaptability	NOUN
fcis-25918	261	11	and	and	CCONJ
fcis-25918	261	12	intelligence	intelligence	NOUN
fcis-25918	261	13	of	of	ADP
fcis-25918	261	14	the	the	DET
fcis-25918	261	15	path	path	NOUN
fcis-25918	261	16	planning	planning	NOUN
fcis-25918	261	17	systems	system	NOUN
fcis-25918	261	18	,	,	PUNCT
fcis-25918	261	19	enabling	enable	VERB
fcis-25918	261	20	robots	robot	NOUN
fcis-25918	261	21	to	to	PART
fcis-25918	261	22	learn	learn	VERB
fcis-25918	261	23	from	from	ADP
fcis-25918	261	24	their	their	PRON
fcis-25918	261	25	environment	environment	NOUN
fcis-25918	261	26	and	and	CCONJ
fcis-25918	261	27	improve	improve	VERB
fcis-25918	261	28	their	their	PRON
fcis-25918	261	29	navigation	navigation	NOUN
fcis-25918	261	30	strategies	strategy	NOUN
fcis-25918	261	31	over	over	ADP
fcis-25918	261	32	time	time	NOUN
fcis-25918	261	33	.	.	PUNCT
fcis-25918	262	1	research	research	NOUN
fcis-25918	262	2	contributions	contribution	NOUN
fcis-25918	262	3	this	this	DET
fcis-25918	262	4	research	research	NOUN
fcis-25918	262	5	makes	make	VERB
fcis-25918	262	6	several	several	ADJ
fcis-25918	262	7	significant	significant	ADJ
fcis-25918	262	8	contributions	contribution	NOUN
fcis-25918	262	9	to	to	ADP
fcis-25918	262	10	the	the	DET
fcis-25918	262	11	field	field	NOUN
fcis-25918	262	12	of	of	ADP
fcis-25918	262	13	indoor	indoor	ADJ
fcis-25918	262	14	autonomous	autonomous	ADJ
fcis-25918	262	15	robotics	robotic	NOUN
fcis-25918	262	16	.	.	PUNCT
fcis-25918	263	1	firstly	firstly	ADV
fcis-25918	263	2	,	,	PUNCT
fcis-25918	263	3	it	it	PRON
fcis-25918	263	4	provides	provide	VERB
fcis-25918	263	5	a	a	DET
fcis-25918	263	6	comprehensive	comprehensive	ADJ
fcis-25918	263	7	framework	framework	NOUN
fcis-25918	263	8	for	for	ADP
fcis-25918	263	9	understanding	understanding	NOUN
fcis-25918	263	10	and	and	CCONJ
fcis-25918	263	11	evaluating	evaluate	VERB
fcis-25918	263	12	different	different	ADJ
fcis-25918	263	13	path	path	NOUN
fcis-25918	263	14	planning	planning	NOUN
fcis-25918	263	15	algorithms	algorithm	NOUN
fcis-25918	263	16	,	,	PUNCT
fcis-25918	263	17	offering	offer	VERB
fcis-25918	263	18	a	a	DET
fcis-25918	263	19	clear	clear	ADJ
fcis-25918	263	20	comparison	comparison	NOUN
fcis-25918	263	21	of	of	ADP
fcis-25918	263	22	their	their	PRON
fcis-25918	263	23	performance	performance	NOUN
fcis-25918	263	24	in	in	ADP
fcis-25918	263	25	various	various	ADJ
fcis-25918	263	26	scenarios	scenario	NOUN
fcis-25918	263	27	.	.	PUNCT
fcis-25918	264	1	this	this	DET
fcis-25918	264	2	framework	framework	NOUN
fcis-25918	264	3	can	can	AUX
fcis-25918	264	4	serve	serve	VERB
fcis-25918	264	5	as	as	ADP
fcis-25918	264	6	a	a	DET
fcis-25918	264	7	valuable	valuable	ADJ
fcis-25918	264	8	reference	reference	NOUN
fcis-25918	264	9	for	for	ADP
fcis-25918	264	10	researchers	researcher	NOUN
fcis-25918	264	11	and	and	CCONJ
fcis-25918	264	12	practitioners	practitioner	NOUN
fcis-25918	264	13	seeking	seek	VERB
fcis-25918	264	14	to	to	PART
fcis-25918	264	15	develop	develop	VERB
fcis-25918	264	16	or	or	CCONJ
fcis-25918	264	17	optimize	optimize	VERB
fcis-25918	264	18	their	their	PRON
fcis-25918	264	19	path	path	NOUN
fcis-25918	264	20	planning	planning	NOUN
fcis-25918	264	21	systems	system	NOUN
fcis-25918	264	22	.	.	PUNCT
fcis-25918	265	1	secondly	secondly	ADV
fcis-25918	265	2	,	,	PUNCT
fcis-25918	265	3	the	the	DET
fcis-25918	265	4	development	development	NOUN
fcis-25918	265	5	and	and	CCONJ
fcis-25918	265	6	evaluation	evaluation	NOUN
fcis-25918	265	7	of	of	ADP
fcis-25918	265	8	hybrid	hybrid	ADJ
fcis-25918	265	9	path	path	NOUN
fcis-25918	265	10	planning	planning	NOUN
fcis-25918	265	11	algorithms	algorithm	NOUN
fcis-25918	265	12	represent	represent	VERB
fcis-25918	265	13	a	a	DET
fcis-25918	265	14	notable	notable	ADJ
fcis-25918	265	15	advancement	advancement	NOUN
fcis-25918	265	16	in	in	ADP
fcis-25918	265	17	the	the	DET
fcis-25918	265	18	field	field	NOUN
fcis-25918	265	19	.	.	PUNCT
fcis-25918	266	1	by	by	ADP
fcis-25918	266	2	combining	combine	VERB
fcis-25918	266	3	the	the	DET
fcis-25918	266	4	strengths	strength	NOUN
fcis-25918	266	5	of	of	ADP
fcis-25918	266	6	different	different	ADJ
fcis-25918	266	7	algorithms	algorithm	NOUN
fcis-25918	266	8	,	,	PUNCT
fcis-25918	266	9	the	the	DET
fcis-25918	266	10	research	research	NOUN
fcis-25918	266	11	demonstrates	demonstrate	VERB
fcis-25918	266	12	how	how	SCONJ
fcis-25918	266	13	hybrid	hybrid	ADJ
fcis-25918	266	14	methods	method	NOUN
fcis-25918	266	15	can	can	AUX
fcis-25918	266	16	achieve	achieve	VERB
fcis-25918	266	17	superior	superior	ADJ
fcis-25918	266	18	performance	performance	NOUN
fcis-25918	266	19	in	in	ADP
fcis-25918	266	20	terms	term	NOUN
fcis-25918	266	21	of	of	ADP
fcis-25918	266	22	path	path	NOUN
fcis-25918	266	23	efficiency	efficiency	NOUN
fcis-25918	266	24	,	,	PUNCT
fcis-25918	266	25	computational	computational	ADJ
fcis-25918	266	26	speed	speed	NOUN
fcis-25918	266	27	,	,	PUNCT
fcis-25918	266	28	and	and	CCONJ
fcis-25918	266	29	adaptability	adaptability	NOUN
fcis-25918	266	30	to	to	ADP
fcis-25918	266	31	dynamic	dynamic	ADJ
fcis-25918	266	32	environments	environment	NOUN
fcis-25918	266	33	.	.	PUNCT
fcis-25918	267	1	these	these	DET
fcis-25918	267	2	findings	finding	NOUN
fcis-25918	267	3	pave	pave	VERB
fcis-25918	267	4	the	the	DET
fcis-25918	267	5	way	way	NOUN
fcis-25918	267	6	for	for	ADP
fcis-25918	267	7	more	more	ADV
fcis-25918	267	8	sophisticated	sophisticated	ADJ
fcis-25918	267	9	and	and	CCONJ
fcis-25918	267	10	reliable	reliable	ADJ
fcis-25918	267	11	navigation	navigation	NOUN
fcis-25918	267	12	systems	system	NOUN
fcis-25918	267	13	that	that	PRON
fcis-25918	267	14	can	can	AUX
fcis-25918	267	15	operate	operate	VERB
fcis-25918	267	16	effectively	effectively	ADV
fcis-25918	267	17	in	in	ADP
fcis-25918	267	18	real	real	ADJ
fcis-25918	267	19	-	-	PUNCT
fcis-25918	267	20	world	world	NOUN
fcis-25918	267	21	settings	setting	NOUN
fcis-25918	267	22	.	.	PUNCT
fcis-25918	268	1	thirdly	thirdly	ADV
fcis-25918	268	2	,	,	PUNCT
fcis-25918	268	3	the	the	DET
fcis-25918	268	4	application	application	NOUN
fcis-25918	268	5	of	of	ADP
fcis-25918	268	6	machine	machine	NOUN
fcis-25918	268	7	learning	learn	VERB
fcis-25918	268	8	techniques	technique	NOUN
fcis-25918	268	9	to	to	PART
fcis-25918	268	10	path	path	NOUN
fcis-25918	268	11	planning	planning	NOUN
fcis-25918	268	12	introduces	introduce	VERB
fcis-25918	268	13	a	a	DET
fcis-25918	268	14	new	new	ADJ
fcis-25918	268	15	dimension	dimension	NOUN
fcis-25918	268	16	of	of	ADP
fcis-25918	268	17	intelligence	intelligence	NOUN
fcis-25918	268	18	and	and	CCONJ
fcis-25918	268	19	adaptability	adaptability	NOUN
fcis-25918	268	20	.	.	PUNCT
fcis-25918	269	1	the	the	DET
fcis-25918	269	2	research	research	NOUN
fcis-25918	269	3	shows	show	VERB
fcis-25918	269	4	how	how	SCONJ
fcis-25918	269	5	neural	neural	ADJ
fcis-25918	269	6	networks	network	NOUN
fcis-25918	269	7	and	and	CCONJ
fcis-25918	269	8	reinforcement	reinforcement	NOUN
fcis-25918	269	9	learning	learning	NOUN
fcis-25918	269	10	can	can	AUX
fcis-25918	269	11	be	be	AUX
fcis-25918	269	12	integrated	integrate	VERB
fcis-25918	269	13	with	with	ADP
fcis-25918	269	14	traditional	traditional	ADJ
fcis-25918	269	15	path	path	NOUN
fcis-25918	269	16	55	55	NUM
fcis-25918	269	17	planning	planning	NOUN
fcis-25918	269	18	methods	method	NOUN
fcis-25918	269	19	to	to	PART
fcis-25918	269	20	enhance	enhance	VERB
fcis-25918	269	21	their	their	PRON
fcis-25918	269	22	performance	performance	NOUN
fcis-25918	269	23	and	and	CCONJ
fcis-25918	269	24	enable	enable	VERB
fcis-25918	269	25	continuous	continuous	ADJ
fcis-25918	269	26	improvement	improvement	NOUN
fcis-25918	269	27	.	.	PUNCT
fcis-25918	270	1	this	this	DET
fcis-25918	270	2	contribution	contribution	NOUN
fcis-25918	270	3	highlights	highlight	VERB
fcis-25918	270	4	the	the	DET
fcis-25918	270	5	potential	potential	NOUN
fcis-25918	270	6	of	of	ADP
fcis-25918	270	7	ai	ai	ADJ
fcis-25918	270	8	-	-	PUNCT
fcis-25918	270	9	driven	drive	VERB
fcis-25918	270	10	approaches	approach	NOUN
fcis-25918	270	11	to	to	PART
fcis-25918	270	12	revolutionize	revolutionize	VERB
fcis-25918	270	13	autonomous	autonomous	ADJ
fcis-25918	270	14	navigation	navigation	NOUN
fcis-25918	270	15	,	,	PUNCT
fcis-25918	270	16	making	make	VERB
fcis-25918	270	17	robots	robot	NOUN
fcis-25918	270	18	more	more	ADV
fcis-25918	270	19	capable	capable	ADJ
fcis-25918	270	20	and	and	CCONJ
fcis-25918	270	21	versatile	versatile	ADJ
fcis-25918	270	22	.	.	PUNCT
fcis-25918	271	1	finally	finally	ADV
fcis-25918	271	2	,	,	PUNCT
fcis-25918	271	3	the	the	DET
fcis-25918	271	4	study	study	NOUN
fcis-25918	271	5	provides	provide	VERB
fcis-25918	271	6	practical	practical	ADJ
fcis-25918	271	7	insights	insight	NOUN
fcis-25918	271	8	into	into	ADP
fcis-25918	271	9	the	the	DET
fcis-25918	271	10	implementation	implementation	NOUN
fcis-25918	271	11	and	and	CCONJ
fcis-25918	271	12	optimization	optimization	NOUN
fcis-25918	271	13	of	of	ADP
fcis-25918	271	14	path	path	NOUN
fcis-25918	271	15	planning	planning	NOUN
fcis-25918	271	16	algorithms	algorithm	NOUN
fcis-25918	271	17	,	,	PUNCT
fcis-25918	271	18	offering	offer	VERB
fcis-25918	271	19	detailed	detailed	ADJ
fcis-25918	271	20	guidelines	guideline	NOUN
fcis-25918	271	21	and	and	CCONJ
fcis-25918	271	22	best	good	ADJ
fcis-25918	271	23	practices	practice	NOUN
fcis-25918	271	24	.	.	PUNCT
fcis-25918	272	1	these	these	DET
fcis-25918	272	2	insights	insight	NOUN
fcis-25918	272	3	can	can	AUX
fcis-25918	272	4	help	help	VERB
fcis-25918	272	5	developers	developer	NOUN
fcis-25918	272	6	and	and	CCONJ
fcis-25918	272	7	engineers	engineer	NOUN
fcis-25918	272	8	design	design	VERB
fcis-25918	272	9	more	more	ADV
fcis-25918	272	10	efficient	efficient	ADJ
fcis-25918	272	11	and	and	CCONJ
fcis-25918	272	12	reliable	reliable	ADJ
fcis-25918	272	13	navigation	navigation	NOUN
fcis-25918	272	14	systems	system	NOUN
fcis-25918	272	15	,	,	PUNCT
fcis-25918	272	16	contributing	contribute	VERB
fcis-25918	272	17	to	to	ADP
fcis-25918	272	18	the	the	DET
fcis-25918	272	19	broader	broad	ADJ
fcis-25918	272	20	adoption	adoption	NOUN
fcis-25918	272	21	and	and	CCONJ
fcis-25918	272	22	advancement	advancement	NOUN
fcis-25918	272	23	of	of	ADP
fcis-25918	272	24	autonomous	autonomous	ADJ
fcis-25918	272	25	robotics	robotic	NOUN
fcis-25918	272	26	technology	technology	NOUN
fcis-25918	272	27	.	.	PUNCT
fcis-25918	273	1	references	reference	NOUN
fcis-25918	273	2	[	[	X
fcis-25918	273	3	1	1	NUM
fcis-25918	273	4	]	]	X
fcis-25918	273	5	bormann	bormann	PROPN
fcis-25918	273	6	,	,	PUNCT
fcis-25918	273	7	r.	r.	PROPN
fcis-25918	273	8	,	,	PUNCT
fcis-25918	273	9	jordan	jordan	PROPN
fcis-25918	273	10	,	,	PUNCT
fcis-25918	273	11	f.	f.	PROPN
fcis-25918	273	12	,	,	PUNCT
fcis-25918	273	13	hampp	hampp	PROPN
fcis-25918	273	14	,	,	PUNCT
fcis-25918	273	15	j.	j.	PROPN
fcis-25918	273	16	,	,	PUNCT
fcis-25918	273	17	&	&	CCONJ
fcis-25918	273	18	hägele	hägele	PROPN
fcis-25918	273	19	,	,	PUNCT
fcis-25918	273	20	m.	m.	NOUN
fcis-25918	273	21	(	(	PUNCT
fcis-25918	273	22	2018	2018	NUM
fcis-25918	273	23	,	,	PUNCT
fcis-25918	273	24	may	may	AUX
fcis-25918	273	25	)	)	PUNCT
fcis-25918	273	26	.	.	PUNCT
fcis-25918	274	1	indoor	indoor	ADJ
fcis-25918	274	2	coverage	coverage	NOUN
fcis-25918	274	3	path	path	NOUN
fcis-25918	274	4	planning	planning	NOUN
fcis-25918	274	5	:	:	PUNCT
fcis-25918	274	6	survey	survey	NOUN
fcis-25918	274	7	,	,	PUNCT
fcis-25918	274	8	implementation	implementation	NOUN
fcis-25918	274	9	,	,	PUNCT
fcis-25918	274	10	analysis	analysis	NOUN
fcis-25918	274	11	.	.	PUNCT
fcis-25918	275	1	in	in	ADP
fcis-25918	275	2	2018	2018	NUM
fcis-25918	275	3	ieee	ieee	NOUN
fcis-25918	275	4	international	international	ADJ
fcis-25918	275	5	conference	conference	NOUN
fcis-25918	275	6	on	on	ADP
fcis-25918	275	7	robotics	robotic	NOUN
fcis-25918	275	8	and	and	CCONJ
fcis-25918	275	9	automation	automation	NOUN
fcis-25918	275	10	(	(	PUNCT
fcis-25918	275	11	icra	icra	PROPN
fcis-25918	275	12	)	)	PUNCT
fcis-25918	275	13	(	(	PUNCT
fcis-25918	275	14	pp	pp	ADJ
fcis-25918	275	15	.	.	PUNCT
fcis-25918	276	1	1718	1718	NUM
fcis-25918	276	2	-	-	SYM
fcis-25918	276	3	1725	1725	NUM
fcis-25918	276	4	)	)	PUNCT
fcis-25918	276	5	.	.	PUNCT
fcis-25918	277	1	ieee	ieee	PROPN
fcis-25918	277	2	.	.	PUNCT
fcis-25918	278	1	[	[	X
fcis-25918	278	2	2	2	NUM
fcis-25918	278	3	]	]	X
fcis-25918	278	4	chen	chen	PROPN
fcis-25918	278	5	,	,	PUNCT
fcis-25918	278	6	z.	z.	PROPN
fcis-25918	278	7	,	,	PUNCT
fcis-25918	278	8	wang	wang	PROPN
fcis-25918	278	9	,	,	PUNCT
fcis-25918	278	10	h.	h.	PROPN
fcis-25918	278	11	,	,	PUNCT
fcis-25918	278	12	chen	chen	PROPN
fcis-25918	278	13	,	,	PUNCT
fcis-25918	278	14	k.	k.	PROPN
fcis-25918	278	15	,	,	PUNCT
fcis-25918	278	16	song	song	PROPN
fcis-25918	278	17	,	,	PUNCT
fcis-25918	278	18	c.	c.	PROPN
fcis-25918	278	19	,	,	PUNCT
fcis-25918	278	20	zhang	zhang	PROPN
fcis-25918	278	21	,	,	PUNCT
fcis-25918	278	22	x.	x.	PROPN
fcis-25918	278	23	,	,	PUNCT
fcis-25918	278	24	wang	wang	PROPN
fcis-25918	278	25	,	,	PUNCT
fcis-25918	278	26	b.	b.	PROPN
fcis-25918	278	27	,	,	PUNCT
fcis-25918	278	28	&	&	CCONJ
fcis-25918	278	29	cheng	cheng	PROPN
fcis-25918	278	30	,	,	PUNCT
fcis-25918	278	31	j.	j.	PROPN
fcis-25918	278	32	c.	c.	PROPN
fcis-25918	278	33	(	(	PUNCT
fcis-25918	278	34	2024	2024	NUM
fcis-25918	278	35	)	)	PUNCT
fcis-25918	278	36	.	.	PUNCT
fcis-25918	279	1	improved	improve	VERB
fcis-25918	279	2	coverage	coverage	NOUN
fcis-25918	279	3	path	path	NOUN
fcis-25918	279	4	planning	planning	NOUN
fcis-25918	279	5	for	for	ADP
fcis-25918	279	6	indoor	indoor	ADJ
fcis-25918	279	7	robots	robot	NOUN
fcis-25918	279	8	based	base	VERB
fcis-25918	279	9	on	on	ADP
fcis-25918	279	10	bim	bim	NOUN
fcis-25918	279	11	and	and	CCONJ
fcis-25918	279	12	robotic	robotic	ADJ
fcis-25918	279	13	configurations	configuration	NOUN
fcis-25918	279	14	.	.	PUNCT
fcis-25918	280	1	automation	automation	NOUN
fcis-25918	280	2	in	in	ADP
fcis-25918	280	3	construction	construction	NOUN
fcis-25918	280	4	,	,	PUNCT
fcis-25918	280	5	158	158	NUM
fcis-25918	280	6	,	,	PUNCT
fcis-25918	280	7	105160	105160	NUM
fcis-25918	280	8	.	.	PUNCT
fcis-25918	281	1	[	[	X
fcis-25918	281	2	3	3	NUM
fcis-25918	281	3	]	]	X
fcis-25918	281	4	gao	gao	PROPN
fcis-25918	281	5	,	,	PUNCT
fcis-25918	281	6	j.	j.	PROPN
fcis-25918	281	7	,	,	PUNCT
fcis-25918	281	8	ye	ye	PROPN
fcis-25918	281	9	,	,	PUNCT
fcis-25918	281	10	w.	w.	PROPN
fcis-25918	281	11	,	,	PUNCT
fcis-25918	281	12	guo	guo	PROPN
fcis-25918	281	13	,	,	PUNCT
fcis-25918	281	14	j.	j.	PROPN
fcis-25918	281	15	,	,	PUNCT
fcis-25918	281	16	&	&	CCONJ
fcis-25918	281	17	li	li	PROPN
fcis-25918	281	18	,	,	PUNCT
fcis-25918	281	19	z.	z.	PROPN
fcis-25918	281	20	(	(	PUNCT
fcis-25918	281	21	2020	2020	NUM
fcis-25918	281	22	)	)	PUNCT
fcis-25918	281	23	.	.	PUNCT
fcis-25918	282	1	deep	deep	ADJ
fcis-25918	282	2	reinforcement	reinforcement	NOUN
fcis-25918	282	3	learning	learning	NOUN
fcis-25918	282	4	for	for	ADP
fcis-25918	282	5	indoor	indoor	ADJ
fcis-25918	282	6	mobile	mobile	ADJ
fcis-25918	282	7	robot	robot	NOUN
fcis-25918	282	8	path	path	NOUN
fcis-25918	282	9	planning	planning	NOUN
fcis-25918	282	10	.	.	PUNCT
fcis-25918	283	1	sensors	sensor	NOUN
fcis-25918	283	2	,	,	PUNCT
fcis-25918	283	3	20(19	20(19	NUM
fcis-25918	283	4	)	)	PUNCT
fcis-25918	283	5	,	,	PUNCT
fcis-25918	283	6	5493	5493	NUM
fcis-25918	283	7	.	.	PUNCT
fcis-25918	284	1	[	[	X
fcis-25918	284	2	4	4	NUM
fcis-25918	284	3	]	]	X
fcis-25918	284	4	hofner	hofner	PROPN
fcis-25918	284	5	,	,	PUNCT
fcis-25918	284	6	c.	c.	PROPN
fcis-25918	284	7	,	,	PUNCT
fcis-25918	284	8	&	&	CCONJ
fcis-25918	284	9	schmidt	schmidt	PROPN
fcis-25918	284	10	,	,	PUNCT
fcis-25918	284	11	g.	g.	PROPN
fcis-25918	284	12	(	(	PUNCT
fcis-25918	284	13	1995	1995	NUM
fcis-25918	284	14	)	)	PUNCT
fcis-25918	284	15	.	.	PUNCT
fcis-25918	284	16	path	path	NOUN
fcis-25918	284	17	planning	planning	NOUN
fcis-25918	284	18	and	and	CCONJ
fcis-25918	284	19	guidance	guidance	NOUN
fcis-25918	284	20	techniques	technique	NOUN
fcis-25918	284	21	for	for	ADP
fcis-25918	284	22	an	an	DET
fcis-25918	284	23	autonomous	autonomous	ADJ
fcis-25918	284	24	mobile	mobile	ADJ
fcis-25918	284	25	cleaning	cleaning	NOUN
fcis-25918	284	26	robot	robot	NOUN
fcis-25918	284	27	.	.	PUNCT
fcis-25918	285	1	robotics	robotic	NOUN
fcis-25918	285	2	and	and	CCONJ
fcis-25918	285	3	autonomous	autonomous	ADJ
fcis-25918	285	4	systems	system	NOUN
fcis-25918	285	5	,	,	PUNCT
fcis-25918	285	6	14(2	14(2	NUM
fcis-25918	285	7	-	-	SYM
fcis-25918	285	8	3	3	NUM
fcis-25918	285	9	)	)	PUNCT
fcis-25918	285	10	,	,	PUNCT
fcis-25918	285	11	199	199	NUM
fcis-25918	285	12	-	-	SYM
fcis-25918	285	13	212	212	NUM
fcis-25918	285	14	.	.	PUNCT
fcis-25918	286	1	[	[	X
fcis-25918	286	2	5	5	NUM
fcis-25918	286	3	]	]	SYM
fcis-25918	286	4	hu	hu	PROPN
fcis-25918	286	5	,	,	PUNCT
fcis-25918	286	6	d.	d.	PROPN
fcis-25918	286	7	,	,	PUNCT
fcis-25918	286	8	gan	gan	PROPN
fcis-25918	286	9	,	,	PUNCT
fcis-25918	286	10	v.	v.	PROPN
fcis-25918	286	11	j.	j.	PROPN
fcis-25918	286	12	,	,	PUNCT
fcis-25918	286	13	wang	wang	PROPN
fcis-25918	286	14	,	,	PUNCT
fcis-25918	286	15	t.	t.	PROPN
fcis-25918	286	16	,	,	PUNCT
fcis-25918	286	17	&	&	CCONJ
fcis-25918	286	18	ma	ma	PROPN
fcis-25918	286	19	,	,	PUNCT
fcis-25918	286	20	l.	l.	PROPN
fcis-25918	286	21	(	(	PUNCT
fcis-25918	286	22	2022	2022	NUM
fcis-25918	286	23	)	)	PUNCT
fcis-25918	286	24	.	.	PUNCT
fcis-25918	287	1	multi	multi	ADJ
fcis-25918	287	2	-	-	ADJ
fcis-25918	287	3	agent	agent	ADJ
fcis-25918	287	4	robotic	robotic	ADJ
fcis-25918	287	5	system	system	NOUN
fcis-25918	287	6	(	(	PUNCT
fcis-25918	287	7	mars	mar	NOUN
fcis-25918	287	8	)	)	PUNCT
fcis-25918	287	9	for	for	ADP
fcis-25918	287	10	uav	uav	PROPN
fcis-25918	287	11	-	-	PUNCT
fcis-25918	287	12	ugv	ugv	PROPN
fcis-25918	287	13	path	path	NOUN
fcis-25918	287	14	planning	planning	NOUN
fcis-25918	287	15	and	and	CCONJ
fcis-25918	287	16	automatic	automatic	ADJ
fcis-25918	287	17	sensory	sensory	ADJ
fcis-25918	287	18	data	datum	NOUN
fcis-25918	287	19	collection	collection	NOUN
fcis-25918	287	20	in	in	ADP
fcis-25918	287	21	cluttered	cluttered	ADJ
fcis-25918	287	22	environments	environment	NOUN
fcis-25918	287	23	.	.	PUNCT
fcis-25918	288	1	building	building	NOUN
fcis-25918	288	2	and	and	CCONJ
fcis-25918	288	3	environment	environment	NOUN
fcis-25918	288	4	,	,	PUNCT
fcis-25918	288	5	221	221	NUM
fcis-25918	288	6	,	,	PUNCT
fcis-25918	288	7	109349	109349	NUM
fcis-25918	288	8	.	.	PUNCT
fcis-25918	289	1	[	[	X
fcis-25918	289	2	6	6	NUM
fcis-25918	289	3	]	]	X
fcis-25918	289	4	karur	karur	PROPN
fcis-25918	289	5	,	,	PUNCT
fcis-25918	289	6	k.	k.	PROPN
fcis-25918	289	7	,	,	PUNCT
fcis-25918	289	8	sharma	sharma	PROPN
fcis-25918	289	9	,	,	PUNCT
fcis-25918	289	10	n.	n.	NOUN
fcis-25918	289	11	,	,	PUNCT
fcis-25918	289	12	dharmatti	dharmatti	PROPN
fcis-25918	289	13	,	,	PUNCT
fcis-25918	289	14	c.	c.	PROPN
fcis-25918	289	15	,	,	PUNCT
fcis-25918	289	16	&	&	CCONJ
fcis-25918	289	17	siegel	siegel	PROPN
fcis-25918	289	18	,	,	PUNCT
fcis-25918	289	19	j.	j.	PROPN
fcis-25918	289	20	e.	e.	PROPN
fcis-25918	289	21	(	(	PUNCT
fcis-25918	289	22	2021	2021	NUM
fcis-25918	289	23	)	)	PUNCT
fcis-25918	289	24	.	.	PUNCT
fcis-25918	290	1	a	a	DET
fcis-25918	290	2	survey	survey	NOUN
fcis-25918	290	3	of	of	ADP
fcis-25918	290	4	path	path	NOUN
fcis-25918	290	5	planning	planning	NOUN
fcis-25918	290	6	algorithms	algorithm	NOUN
fcis-25918	290	7	for	for	ADP
fcis-25918	290	8	mobile	mobile	ADJ
fcis-25918	290	9	robots	robot	NOUN
fcis-25918	290	10	.	.	PUNCT
fcis-25918	291	1	vehicles	vehicle	NOUN
fcis-25918	291	2	,	,	PUNCT
fcis-25918	291	3	3(3	3(3	NUM
fcis-25918	291	4	)	)	PUNCT
fcis-25918	291	5	,	,	PUNCT
fcis-25918	291	6	448	448	NUM
fcis-25918	291	7	-	-	SYM
fcis-25918	291	8	468	468	NUM
fcis-25918	291	9	.	.	PUNCT
fcis-25918	292	1	[	[	X
fcis-25918	292	2	7	7	NUM
fcis-25918	292	3	]	]	SYM
fcis-25918	292	4	li	li	PROPN
fcis-25918	292	5	,	,	PUNCT
fcis-25918	292	6	i.	i.	PROPN
fcis-25918	292	7	h.	h.	PROPN
fcis-25918	292	8	,	,	PUNCT
fcis-25918	292	9	chien	chien	PROPN
fcis-25918	292	10	,	,	PUNCT
fcis-25918	292	11	y.	y.	PROPN
fcis-25918	292	12	h.	h.	PROPN
fcis-25918	292	13	,	,	PUNCT
fcis-25918	292	14	wang	wang	PROPN
fcis-25918	292	15	,	,	PUNCT
fcis-25918	292	16	w.	w.	PROPN
fcis-25918	292	17	y.	y.	PROPN
fcis-25918	292	18	,	,	PUNCT
fcis-25918	292	19	&	&	CCONJ
fcis-25918	292	20	kao	kao	PROPN
fcis-25918	292	21	,	,	PUNCT
fcis-25918	292	22	y.	y.	PROPN
fcis-25918	292	23	f.	f.	PROPN
fcis-25918	292	24	(	(	PUNCT
fcis-25918	292	25	2016	2016	NUM
fcis-25918	292	26	)	)	PUNCT
fcis-25918	292	27	.	.	PUNCT
fcis-25918	293	1	hybrid	hybrid	ADJ
fcis-25918	293	2	intelligent	intelligent	ADJ
fcis-25918	293	3	algorithm	algorithm	NOUN
fcis-25918	293	4	for	for	ADP
fcis-25918	293	5	indoor	indoor	ADJ
fcis-25918	293	6	path	path	NOUN
fcis-25918	293	7	planning	planning	NOUN
fcis-25918	293	8	and	and	CCONJ
fcis-25918	293	9	trajectory	trajectory	NOUN
fcis-25918	293	10	-	-	PUNCT
fcis-25918	293	11	tracking	track	VERB
fcis-25918	293	12	control	control	NOUN
fcis-25918	293	13	of	of	ADP
fcis-25918	293	14	wheeled	wheel	VERB
fcis-25918	293	15	mobile	mobile	ADJ
fcis-25918	293	16	robot	robot	NOUN
fcis-25918	293	17	.	.	PUNCT
fcis-25918	294	1	international	international	ADJ
fcis-25918	294	2	journal	journal	PROPN
fcis-25918	294	3	of	of	ADP
fcis-25918	294	4	fuzzy	fuzzy	ADJ
fcis-25918	294	5	systems	system	NOUN
fcis-25918	294	6	,	,	PUNCT
fcis-25918	294	7	18	18	NUM
fcis-25918	294	8	,	,	PUNCT
fcis-25918	294	9	595	595	NUM
fcis-25918	294	10	-	-	SYM
fcis-25918	294	11	608	608	NUM
fcis-25918	294	12	.	.	PUNCT
fcis-25918	295	1	[	[	X
fcis-25918	295	2	8	8	NUM
fcis-25918	295	3	]	]	X
fcis-25918	295	4	liu	liu	PROPN
fcis-25918	295	5	,	,	PUNCT
fcis-25918	295	6	h.	h.	PROPN
fcis-25918	295	7	,	,	PUNCT
fcis-25918	295	8	stoll	stoll	PROPN
fcis-25918	295	9	,	,	PUNCT
fcis-25918	295	10	n.	n.	NOUN
fcis-25918	295	11	,	,	PUNCT
fcis-25918	295	12	junginger	junginger	PROPN
fcis-25918	295	13	,	,	PUNCT
fcis-25918	295	14	s.	s.	PROPN
fcis-25918	295	15	,	,	PUNCT
fcis-25918	295	16	&	&	CCONJ
fcis-25918	295	17	thurow	thurow	PROPN
fcis-25918	295	18	,	,	PUNCT
fcis-25918	295	19	k.	k.	PROPN
fcis-25918	295	20	(	(	PUNCT
fcis-25918	295	21	2012	2012	NUM
fcis-25918	295	22	,	,	PUNCT
fcis-25918	295	23	december	december	PROPN
fcis-25918	295	24	)	)	PUNCT
fcis-25918	295	25	.	.	PUNCT
fcis-25918	296	1	a	a	DET
fcis-25918	296	2	floyd	floyd	ADJ
fcis-25918	296	3	-	-	ADJ
fcis-25918	296	4	genetic	genetic	ADJ
fcis-25918	296	5	algorithm	algorithm	NOUN
fcis-25918	296	6	based	base	VERB
fcis-25918	296	7	path	path	NOUN
fcis-25918	296	8	planning	planning	NOUN
fcis-25918	296	9	system	system	NOUN
fcis-25918	296	10	for	for	ADP
fcis-25918	296	11	mobile	mobile	ADJ
fcis-25918	296	12	robots	robot	NOUN
fcis-25918	296	13	in	in	ADP
fcis-25918	296	14	laboratory	laboratory	NOUN
fcis-25918	296	15	automation	automation	NOUN
fcis-25918	296	16	.	.	PUNCT
fcis-25918	297	1	in	in	ADP
fcis-25918	297	2	2012	2012	NUM
fcis-25918	297	3	ieee	ieee	NOUN
fcis-25918	297	4	international	international	ADJ
fcis-25918	297	5	conference	conference	NOUN
fcis-25918	297	6	on	on	ADP
fcis-25918	297	7	robotics	robotic	NOUN
fcis-25918	297	8	and	and	CCONJ
fcis-25918	297	9	biomimetics	biomimetic	NOUN
fcis-25918	297	10	(	(	PUNCT
fcis-25918	297	11	robio	robio	NOUN
fcis-25918	297	12	)	)	PUNCT
fcis-25918	297	13	(	(	PUNCT
fcis-25918	297	14	pp	pp	ADJ
fcis-25918	297	15	.	.	PUNCT
fcis-25918	298	1	1550	1550	NUM
fcis-25918	298	2	-	-	SYM
fcis-25918	298	3	1555	1555	NUM
fcis-25918	298	4	)	)	PUNCT
fcis-25918	298	5	.	.	PUNCT
fcis-25918	299	1	ieee	ieee	PROPN
fcis-25918	299	2	.	.	PUNCT
fcis-25918	300	1	[	[	X
fcis-25918	300	2	9	9	NUM
fcis-25918	300	3	]	]	X
fcis-25918	300	4	lutvica	lutvica	NOUN
fcis-25918	300	5	,	,	PUNCT
fcis-25918	300	6	k.	k.	PROPN
fcis-25918	300	7	,	,	PUNCT
fcis-25918	300	8	velagić	velagić	PROPN
fcis-25918	300	9	,	,	PUNCT
fcis-25918	300	10	j.	j.	PROPN
fcis-25918	300	11	,	,	PUNCT
fcis-25918	300	12	kadić	kadić	PROPN
fcis-25918	300	13	,	,	PUNCT
fcis-25918	300	14	n.	n.	NOUN
fcis-25918	300	15	,	,	PUNCT
fcis-25918	300	16	osmić	osmić	NOUN
fcis-25918	300	17	,	,	PUNCT
fcis-25918	300	18	n.	n.	NOUN
fcis-25918	300	19	,	,	PUNCT
fcis-25918	300	20	džampo	džampo	PROPN
fcis-25918	300	21	,	,	PUNCT
fcis-25918	300	22	g.	g.	PROPN
fcis-25918	300	23	,	,	PUNCT
fcis-25918	300	24	&	&	CCONJ
fcis-25918	300	25	muminović	muminović	PROPN
fcis-25918	300	26	,	,	PUNCT
fcis-25918	300	27	h.	h.	PROPN
fcis-25918	300	28	(	(	PUNCT
fcis-25918	300	29	2014	2014	NUM
fcis-25918	300	30	,	,	PUNCT
fcis-25918	300	31	october	october	PROPN
fcis-25918	300	32	)	)	PUNCT
fcis-25918	300	33	.	.	PUNCT
fcis-25918	301	1	remote	remote	ADJ
fcis-25918	301	2	path	path	NOUN
fcis-25918	301	3	planning	planning	NOUN
fcis-25918	301	4	and	and	CCONJ
fcis-25918	301	5	motion	motion	NOUN
fcis-25918	301	6	control	control	NOUN
fcis-25918	301	7	of	of	ADP
fcis-25918	301	8	mobile	mobile	ADJ
fcis-25918	301	9	robot	robot	NOUN
fcis-25918	301	10	within	within	ADP
fcis-25918	301	11	indoor	indoor	ADJ
fcis-25918	301	12	maze	maze	NOUN
fcis-25918	301	13	environment	environment	NOUN
fcis-25918	301	14	.	.	PUNCT
fcis-25918	302	1	in	in	ADP
fcis-25918	302	2	2014	2014	NUM
fcis-25918	302	3	ieee	ieee	NOUN
fcis-25918	302	4	international	international	ADJ
fcis-25918	302	5	symposium	symposium	NOUN
fcis-25918	302	6	on	on	ADP
fcis-25918	302	7	intelligent	intelligent	ADJ
fcis-25918	302	8	control	control	NOUN
fcis-25918	302	9	(	(	PUNCT
fcis-25918	302	10	isic	isic	PROPN
fcis-25918	302	11	)	)	PUNCT
fcis-25918	302	12	(	(	PUNCT
fcis-25918	302	13	pp	pp	ADJ
fcis-25918	302	14	.	.	PUNCT
fcis-25918	302	15	1596	1596	NUM
fcis-25918	302	16	-	-	SYM
fcis-25918	302	17	1601	1601	NUM
fcis-25918	302	18	)	)	PUNCT
fcis-25918	302	19	.	.	PUNCT
fcis-25918	303	1	ieee	ieee	PROPN
fcis-25918	303	2	.	.	PUNCT
fcis-25918	304	1	[	[	X
fcis-25918	304	2	10	10	NUM
fcis-25918	304	3	]	]	X
fcis-25918	304	4	pak	pak	PROPN
fcis-25918	304	5	,	,	PUNCT
fcis-25918	304	6	j.	j.	PROPN
fcis-25918	304	7	,	,	PUNCT
fcis-25918	304	8	kim	kim	PROPN
fcis-25918	304	9	,	,	PUNCT
fcis-25918	304	10	j.	j.	PROPN
fcis-25918	304	11	,	,	PUNCT
fcis-25918	304	12	park	park	NOUN
fcis-25918	304	13	,	,	PUNCT
fcis-25918	304	14	y.	y.	PROPN
fcis-25918	304	15	,	,	PUNCT
fcis-25918	304	16	&	&	CCONJ
fcis-25918	304	17	son	son	PROPN
fcis-25918	304	18	,	,	PUNCT
fcis-25918	304	19	h.	h.	PROPN
fcis-25918	304	20	i.	i.	PROPN
fcis-25918	304	21	(	(	PUNCT
fcis-25918	304	22	2022	2022	NUM
fcis-25918	304	23	)	)	PUNCT
fcis-25918	304	24	.	.	PUNCT
fcis-25918	305	1	field	field	NOUN
fcis-25918	305	2	evaluation	evaluation	NOUN
fcis-25918	305	3	of	of	ADP
fcis-25918	305	4	path	path	NOUN
fcis-25918	305	5	-	-	PUNCT
fcis-25918	305	6	planning	planning	NOUN
fcis-25918	305	7	algorithms	algorithm	NOUN
fcis-25918	305	8	for	for	ADP
fcis-25918	305	9	autonomous	autonomous	ADJ
fcis-25918	305	10	mobile	mobile	ADJ
fcis-25918	305	11	robot	robot	NOUN
fcis-25918	305	12	in	in	ADP
fcis-25918	305	13	smart	smart	ADJ
fcis-25918	305	14	farms	farm	NOUN
fcis-25918	305	15	.	.	PUNCT
fcis-25918	306	1	ieee	ieee	NOUN
fcis-25918	306	2	access	access	NOUN
fcis-25918	306	3	,	,	PUNCT
fcis-25918	306	4	10	10	NUM
fcis-25918	306	5	,	,	PUNCT
fcis-25918	306	6	60253	60253	NUM
fcis-25918	306	7	-	-	SYM
fcis-25918	306	8	60266	60266	NUM
fcis-25918	306	9	.	.	PUNCT
fcis-25918	307	1	[	[	X
fcis-25918	307	2	11	11	NUM
fcis-25918	307	3	]	]	X
fcis-25918	307	4	pol	pol	NOUN
fcis-25918	307	5	,	,	PUNCT
fcis-25918	307	6	r.	r.	PROPN
fcis-25918	307	7	s.	s.	PROPN
fcis-25918	307	8	,	,	PUNCT
fcis-25918	307	9	&	&	CCONJ
fcis-25918	307	10	murugan	murugan	PROPN
fcis-25918	307	11	,	,	PUNCT
fcis-25918	307	12	m.	m.	NOUN
fcis-25918	307	13	(	(	PUNCT
fcis-25918	307	14	2015	2015	NUM
fcis-25918	307	15	,	,	PUNCT
fcis-25918	307	16	may	may	AUX
fcis-25918	307	17	)	)	PUNCT
fcis-25918	307	18	.	.	PUNCT
fcis-25918	308	1	a	a	DET
fcis-25918	308	2	review	review	NOUN
fcis-25918	308	3	on	on	ADP
fcis-25918	308	4	indoor	indoor	ADJ
fcis-25918	308	5	human	human	ADJ
fcis-25918	308	6	aware	aware	ADJ
fcis-25918	308	7	autonomous	autonomous	ADJ
fcis-25918	308	8	mobile	mobile	ADJ
fcis-25918	308	9	robot	robot	NOUN
fcis-25918	308	10	navigation	navigation	NOUN
fcis-25918	308	11	through	through	ADP
fcis-25918	308	12	a	a	DET
fcis-25918	308	13	dynamic	dynamic	ADJ
fcis-25918	308	14	environment	environment	NOUN
fcis-25918	308	15	survey	survey	NOUN
fcis-25918	308	16	of	of	ADP
fcis-25918	308	17	different	different	ADJ
fcis-25918	308	18	path	path	NOUN
fcis-25918	308	19	planning	planning	NOUN
fcis-25918	308	20	algorithm	algorithm	NOUN
fcis-25918	308	21	and	and	CCONJ
fcis-25918	308	22	methods	method	NOUN
fcis-25918	308	23	.	.	PUNCT
fcis-25918	309	1	in	in	ADP
fcis-25918	309	2	2015	2015	NUM
fcis-25918	309	3	international	international	ADJ
fcis-25918	309	4	conference	conference	NOUN
fcis-25918	309	5	on	on	ADP
fcis-25918	309	6	industrial	industrial	ADJ
fcis-25918	309	7	instrumentation	instrumentation	NOUN
fcis-25918	309	8	and	and	CCONJ
fcis-25918	309	9	control	control	NOUN
fcis-25918	309	10	(	(	PUNCT
fcis-25918	309	11	icic	icic	PROPN
fcis-25918	309	12	)	)	PUNCT
fcis-25918	309	13	(	(	PUNCT
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fcis-25918	309	15	.	.	PUNCT
fcis-25918	310	1	1339	1339	NUM
fcis-25918	310	2	-	-	SYM
fcis-25918	310	3	1344	1344	NUM
fcis-25918	310	4	)	)	PUNCT
fcis-25918	310	5	.	.	PUNCT
fcis-25918	311	1	ieee	ieee	NOUN
fcis-25918	311	2	.	.	PUNCT
fcis-25918	312	1	[	[	X
fcis-25918	312	2	12	12	NUM
fcis-25918	312	3	]	]	X
fcis-25918	312	4	ren	ren	PROPN
fcis-25918	312	5	,	,	PUNCT
fcis-25918	312	6	j.	j.	PROPN
fcis-25918	312	7	,	,	PUNCT
fcis-25918	312	8	wu	wu	PROPN
fcis-25918	312	9	,	,	PUNCT
fcis-25918	312	10	t.	t.	PROPN
fcis-25918	312	11	,	,	PUNCT
fcis-25918	312	12	zhou	zhou	PROPN
fcis-25918	312	13	,	,	PUNCT
fcis-25918	312	14	x.	x.	PROPN
fcis-25918	312	15	,	,	PUNCT
fcis-25918	312	16	yang	yang	PROPN
fcis-25918	312	17	,	,	PUNCT
fcis-25918	312	18	c.	c.	PROPN
fcis-25918	312	19	,	,	PUNCT
fcis-25918	312	20	sun	sun	PROPN
fcis-25918	312	21	,	,	PUNCT
fcis-25918	312	22	j.	j.	PROPN
fcis-25918	312	23	,	,	PUNCT
fcis-25918	312	24	li	li	PROPN
fcis-25918	312	25	,	,	PUNCT
fcis-25918	312	26	m.	m.	NOUN
fcis-25918	312	27	,	,	PUNCT
fcis-25918	312	28	...	...	PUNCT
fcis-25918	312	29	&	&	CCONJ
fcis-25918	312	30	zhang	zhang	PROPN
fcis-25918	312	31	,	,	PUNCT
fcis-25918	312	32	a.	a.	NOUN
fcis-25918	312	33	(	(	PUNCT
fcis-25918	312	34	2022	2022	NUM
fcis-25918	312	35	)	)	PUNCT
fcis-25918	312	36	.	.	PUNCT
fcis-25918	313	1	slam	slam	PROPN
fcis-25918	313	2	,	,	PUNCT
fcis-25918	313	3	path	path	NOUN
fcis-25918	313	4	planning	planning	NOUN
fcis-25918	313	5	algorithm	algorithm	NOUN
fcis-25918	313	6	and	and	CCONJ
fcis-25918	313	7	application	application	NOUN
fcis-25918	313	8	research	research	NOUN
fcis-25918	313	9	of	of	ADP
fcis-25918	313	10	an	an	DET
fcis-25918	313	11	indoor	indoor	ADJ
fcis-25918	313	12	substation	substation	NOUN
fcis-25918	313	13	wheeled	wheel	VERB
fcis-25918	313	14	robot	robot	NOUN
fcis-25918	313	15	navigation	navigation	NOUN
fcis-25918	313	16	system	system	NOUN
fcis-25918	313	17	.	.	PUNCT
fcis-25918	314	1	electronics	electronic	NOUN
fcis-25918	314	2	,	,	PUNCT
fcis-25918	314	3	11(12	11(12	NUM
fcis-25918	314	4	)	)	PUNCT
fcis-25918	314	5	,	,	PUNCT
fcis-25918	314	6	1838	1838	NUM
fcis-25918	314	7	.	.	PUNCT
fcis-25918	315	1	[	[	X
fcis-25918	315	2	13	13	NUM
fcis-25918	315	3	]	]	SYM
fcis-25918	315	4	seder	seder	NOUN
fcis-25918	315	5	,	,	PUNCT
fcis-25918	315	6	m.	m.	NOUN
fcis-25918	315	7	,	,	PUNCT
fcis-25918	315	8	mostarac	mostarac	NOUN
fcis-25918	315	9	,	,	PUNCT
fcis-25918	315	10	p.	p.	NOUN
fcis-25918	315	11	,	,	PUNCT
fcis-25918	315	12	&	&	CCONJ
fcis-25918	315	13	petrović	petrović	PROPN
fcis-25918	315	14	,	,	PUNCT
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fcis-25918	315	16	(	(	PUNCT
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fcis-25918	315	18	)	)	PUNCT
fcis-25918	315	19	.	.	PUNCT
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fcis-25918	316	2	path	path	NOUN
fcis-25918	316	3	planning	planning	NOUN
fcis-25918	316	4	of	of	ADP
fcis-25918	316	5	mobile	mobile	ADJ
fcis-25918	316	6	robots	robot	NOUN
fcis-25918	316	7	in	in	ADP
fcis-25918	316	8	complex	complex	ADJ
fcis-25918	316	9	indoor	indoor	ADJ
fcis-25918	316	10	environments	environment	NOUN
fcis-25918	316	11	.	.	PUNCT
fcis-25918	317	1	transactions	transaction	NOUN
fcis-25918	317	2	of	of	ADP
fcis-25918	317	3	the	the	DET
fcis-25918	317	4	institute	institute	PROPN
fcis-25918	317	5	of	of	ADP
fcis-25918	317	6	measurement	measurement	NOUN
fcis-25918	317	7	and	and	CCONJ
fcis-25918	317	8	control	control	NOUN
fcis-25918	317	9	,	,	PUNCT
fcis-25918	317	10	33(3	33(3	NOUN
fcis-25918	317	11	-	-	SYM
fcis-25918	317	12	4	4	NUM
fcis-25918	317	13	)	)	PUNCT
fcis-25918	317	14	,	,	PUNCT
fcis-25918	317	15	332	332	NUM
fcis-25918	317	16	-	-	SYM
fcis-25918	317	17	358	358	NUM
fcis-25918	317	18	.	.	PUNCT
fcis-25918	318	1	[	[	X
fcis-25918	318	2	14	14	NUM
fcis-25918	318	3	]	]	X
fcis-25918	318	4	sun	sun	NOUN
fcis-25918	318	5	,	,	PUNCT
fcis-25918	318	6	y.	y.	PROPN
fcis-25918	318	7	,	,	PUNCT
fcis-25918	318	8	wang	wang	PROPN
fcis-25918	318	9	,	,	PUNCT
fcis-25918	318	10	j.	j.	PROPN
fcis-25918	318	11	,	,	PUNCT
fcis-25918	318	12	&	&	CCONJ
fcis-25918	318	13	duan	duan	PROPN
fcis-25918	318	14	,	,	PUNCT
fcis-25918	318	15	x.	x.	PROPN
fcis-25918	318	16	(	(	PUNCT
fcis-25918	318	17	2013	2013	NUM
fcis-25918	318	18	,	,	PUNCT
fcis-25918	318	19	december	december	PROPN
fcis-25918	318	20	)	)	PUNCT
fcis-25918	318	21	.	.	PUNCT
fcis-25918	319	1	research	research	NOUN
fcis-25918	319	2	on	on	ADP
fcis-25918	319	3	path	path	NOUN
fcis-25918	319	4	planning	planning	NOUN
fcis-25918	319	5	algorithm	algorithm	NOUN
fcis-25918	319	6	of	of	ADP
fcis-25918	319	7	indoor	indoor	ADJ
fcis-25918	319	8	mobile	mobile	ADJ
fcis-25918	319	9	robot	robot	NOUN
fcis-25918	319	10	.	.	PUNCT
fcis-25918	320	1	in	in	ADP
fcis-25918	320	2	proceedings	proceeding	NOUN
fcis-25918	320	3	2013	2013	NUM
fcis-25918	320	4	international	international	ADJ
fcis-25918	320	5	conference	conference	NOUN
fcis-25918	320	6	on	on	ADP
fcis-25918	320	7	mechatronic	mechatronic	ADJ
fcis-25918	320	8	sciences	science	NOUN
fcis-25918	320	9	,	,	PUNCT
fcis-25918	320	10	electric	electric	ADJ
fcis-25918	320	11	engineering	engineering	NOUN
fcis-25918	320	12	and	and	CCONJ
fcis-25918	320	13	computer	computer	NOUN
fcis-25918	320	14	(	(	PUNCT
fcis-25918	320	15	mec	mec	PROPN
fcis-25918	320	16	)	)	PUNCT
fcis-25918	320	17	(	(	PUNCT
fcis-25918	320	18	pp	pp	ADJ
fcis-25918	320	19	.	.	PUNCT
fcis-25918	321	1	1108	1108	NUM
fcis-25918	321	2	-	-	SYM
fcis-25918	321	3	1111	1111	NUM
fcis-25918	321	4	)	)	PUNCT
fcis-25918	321	5	.	.	PUNCT
fcis-25918	322	1	ieee	ieee	PROPN
fcis-25918	322	2	.	.	PUNCT