id	sid	tid	token	lemma	pos
fcis-26107	1	1	frontiers	frontier	NOUN
fcis-26107	1	2	in	in	ADP
fcis-26107	1	3	computing	computing	NOUN
fcis-26107	1	4	and	and	CCONJ
fcis-26107	1	5	intelligent	intelligent	ADJ
fcis-26107	1	6	systems	system	NOUN
fcis-26107	1	7	issn	issn	VERB
fcis-26107	1	8	:	:	PUNCT
fcis-26107	1	9	2832	2832	NUM
fcis-26107	1	10	-	-	SYM
fcis-26107	1	11	6024	6024	NUM
fcis-26107	1	12	|	|	NOUN
fcis-26107	1	13	vol	vol	NOUN
fcis-26107	1	14	.	.	PROPN
fcis-26107	2	1	10	10	NUM
fcis-26107	2	2	,	,	PUNCT
fcis-26107	2	3	no	no	INTJ
fcis-26107	2	4	.	.	NOUN
fcis-26107	2	5	1	1	NUM
fcis-26107	2	6	,	,	PUNCT
fcis-26107	2	7	2024	2024	NUM
fcis-26107	2	8	1	1	NUM
fcis-26107	2	9	research	research	NOUN
fcis-26107	2	10	on	on	ADP
fcis-26107	2	11	formation	formation	NOUN
fcis-26107	2	12	reorganization	reorganization	NOUN
fcis-26107	2	13	optimization	optimization	NOUN
fcis-26107	2	14	and	and	CCONJ
fcis-26107	2	15	trajectory	trajectory	NOUN
fcis-26107	2	16	planning	planning	NOUN
fcis-26107	2	17	for	for	ADP
fcis-26107	2	18	robotic	robotic	ADJ
fcis-26107	2	19	swan	swan	NOUN
fcis-26107	2	20	light	light	ADJ
fcis-26107	2	21	performance	performance	NOUN
fcis-26107	2	22	on	on	ADP
fcis-26107	2	23	water	water	NOUN
fcis-26107	2	24	surface	surface	NOUN
fcis-26107	2	25	zhanchong	zhanchong	PROPN
fcis-26107	2	26	zhou	zhou	PROPN
fcis-26107	2	27	,	,	PUNCT
fcis-26107	2	28	huailin	huailin	PROPN
fcis-26107	2	29	luo	luo	PROPN
fcis-26107	2	30	,	,	PUNCT
fcis-26107	2	31	tao	tao	PROPN
fcis-26107	2	32	zhang	zhang	PROPN
fcis-26107	2	33	school	school	PROPN
fcis-26107	2	34	of	of	ADP
fcis-26107	2	35	mechanical	mechanical	ADJ
fcis-26107	2	36	engineering	engineering	NOUN
fcis-26107	2	37	,	,	PUNCT
fcis-26107	2	38	sichuan	sichuan	PROPN
fcis-26107	2	39	university	university	PROPN
fcis-26107	2	40	of	of	ADP
fcis-26107	2	41	science	science	PROPN
fcis-26107	2	42	&	&	CCONJ
fcis-26107	2	43	engineering	engineering	PROPN
fcis-26107	2	44	,	,	PUNCT
fcis-26107	2	45	yibin	yibin	PROPN
fcis-26107	2	46	sichuan	sichuan	PROPN
fcis-26107	2	47	,	,	PUNCT
fcis-26107	2	48	644005	644005	NUM
fcis-26107	2	49	,	,	PUNCT
fcis-26107	2	50	china	china	PROPN
fcis-26107	2	51	abstract	abstract	NOUN
fcis-26107	2	52	:	:	PUNCT
fcis-26107	2	53	this	this	DET
fcis-26107	2	54	paper	paper	NOUN
fcis-26107	2	55	proposes	propose	VERB
fcis-26107	2	56	a	a	DET
fcis-26107	2	57	method	method	NOUN
fcis-26107	2	58	for	for	ADP
fcis-26107	2	59	a	a	DET
fcis-26107	2	60	robotic	robotic	ADJ
fcis-26107	2	61	swan	swan	NOUN
fcis-26107	2	62	light	light	ADJ
fcis-26107	2	63	performance	performance	NOUN
fcis-26107	2	64	on	on	ADP
fcis-26107	2	65	the	the	DET
fcis-26107	2	66	water	water	NOUN
fcis-26107	2	67	surface	surface	NOUN
fcis-26107	2	68	,	,	PUNCT
fcis-26107	2	69	conducting	conduct	VERB
fcis-26107	2	70	an	an	DET
fcis-26107	2	71	in	in	ADP
fcis-26107	2	72	-	-	PUNCT
fcis-26107	2	73	depth	depth	NOUN
fcis-26107	2	74	study	study	NOUN
fcis-26107	2	75	on	on	ADP
fcis-26107	2	76	the	the	DET
fcis-26107	2	77	reorganization	reorganization	NOUN
fcis-26107	2	78	and	and	CCONJ
fcis-26107	2	79	trajectory	trajectory	NOUN
fcis-26107	2	80	planning	planning	NOUN
fcis-26107	2	81	of	of	ADP
fcis-26107	2	82	the	the	DET
fcis-26107	2	83	formation	formation	NOUN
fcis-26107	2	84	.	.	PUNCT
fcis-26107	3	1	in	in	ADP
fcis-26107	3	2	response	response	NOUN
fcis-26107	3	3	to	to	ADP
fcis-26107	3	4	the	the	DET
fcis-26107	3	5	reorganization	reorganization	NOUN
fcis-26107	3	6	needs	need	NOUN
fcis-26107	3	7	of	of	ADP
fcis-26107	3	8	the	the	DET
fcis-26107	3	9	performance	performance	NOUN
fcis-26107	3	10	formation	formation	NOUN
fcis-26107	3	11	faced	face	VERB
fcis-26107	3	12	by	by	ADP
fcis-26107	3	13	the	the	DET
fcis-26107	3	14	water	water	NOUN
fcis-26107	3	15	surface	surface	PROPN
fcis-26107	3	16	robot	robot	NOUN
fcis-26107	3	17	group	group	NOUN
fcis-26107	3	18	,	,	PUNCT
fcis-26107	3	19	this	this	DET
fcis-26107	3	20	scheme	scheme	NOUN
fcis-26107	3	21	takes	take	VERB
fcis-26107	3	22	into	into	ADP
fcis-26107	3	23	account	account	NOUN
fcis-26107	3	24	the	the	DET
fcis-26107	3	25	performance	performance	NOUN
fcis-26107	3	26	requirements	requirement	NOUN
fcis-26107	3	27	of	of	ADP
fcis-26107	3	28	individual	individual	ADJ
fcis-26107	3	29	robots	robot	NOUN
fcis-26107	3	30	and	and	CCONJ
fcis-26107	3	31	the	the	DET
fcis-26107	3	32	collaborative	collaborative	ADJ
fcis-26107	3	33	effect	effect	NOUN
fcis-26107	3	34	of	of	ADP
fcis-26107	3	35	the	the	DET
fcis-26107	3	36	entire	entire	ADJ
fcis-26107	3	37	group	group	NOUN
fcis-26107	3	38	,	,	PUNCT
fcis-26107	3	39	realizing	realize	VERB
fcis-26107	3	40	optimal	optimal	ADJ
fcis-26107	3	41	aesthetic	aesthetic	ADJ
fcis-26107	3	42	adjustment	adjustment	NOUN
fcis-26107	3	43	of	of	ADP
fcis-26107	3	44	the	the	DET
fcis-26107	3	45	formation	formation	NOUN
fcis-26107	3	46	reorganization	reorganization	NOUN
fcis-26107	3	47	allocation	allocation	NOUN
fcis-26107	3	48	.	.	PUNCT
fcis-26107	4	1	at	at	ADP
fcis-26107	4	2	the	the	DET
fcis-26107	4	3	same	same	ADJ
fcis-26107	4	4	time	time	NOUN
fcis-26107	4	5	,	,	PUNCT
fcis-26107	4	6	the	the	DET
fcis-26107	4	7	scheme	scheme	NOUN
fcis-26107	4	8	also	also	ADV
fcis-26107	4	9	includes	include	VERB
fcis-26107	4	10	a	a	DET
fcis-26107	4	11	trajectory	trajectory	NOUN
fcis-26107	4	12	planning	planning	NOUN
fcis-26107	4	13	method	method	NOUN
fcis-26107	4	14	,	,	PUNCT
fcis-26107	4	15	which	which	PRON
fcis-26107	4	16	ensures	ensure	VERB
fcis-26107	4	17	the	the	DET
fcis-26107	4	18	smooth	smooth	ADJ
fcis-26107	4	19	and	and	CCONJ
fcis-26107	4	20	continuous	continuous	ADJ
fcis-26107	4	21	motion	motion	NOUN
fcis-26107	4	22	of	of	ADP
fcis-26107	4	23	the	the	DET
fcis-26107	4	24	swan	swan	NOUN
fcis-26107	4	25	water	water	NOUN
fcis-26107	4	26	surface	surface	NOUN
fcis-26107	4	27	robots	robot	NOUN
fcis-26107	4	28	on	on	ADP
fcis-26107	4	29	the	the	DET
fcis-26107	4	30	water	water	NOUN
fcis-26107	4	31	through	through	ADP
fcis-26107	4	32	the	the	DET
fcis-26107	4	33	distributed	distribute	VERB
fcis-26107	4	34	model	model	NOUN
fcis-26107	4	35	predictive	predictive	PROPN
fcis-26107	4	36	control	control	PROPN
fcis-26107	4	37	(	(	PUNCT
fcis-26107	4	38	dmpc	dmpc	NOUN
fcis-26107	4	39	)	)	PUNCT
fcis-26107	4	40	framework	framework	NOUN
fcis-26107	4	41	,	,	PUNCT
fcis-26107	4	42	while	while	SCONJ
fcis-26107	4	43	avoiding	avoid	VERB
fcis-26107	4	44	potential	potential	ADJ
fcis-26107	4	45	collisions	collision	NOUN
fcis-26107	4	46	,	,	PUNCT
fcis-26107	4	47	enhance	enhance	VERB
fcis-26107	4	48	the	the	DET
fcis-26107	4	49	lighting	lighting	NOUN
fcis-26107	4	50	effects	effect	NOUN
fcis-26107	4	51	of	of	ADP
fcis-26107	4	52	the	the	DET
fcis-26107	4	53	swan	swan	NOUN
fcis-26107	4	54	water	water	NOUN
fcis-26107	4	55	surface	surface	NOUN
fcis-26107	4	56	performance	performance	NOUN
fcis-26107	4	57	by	by	ADP
fcis-26107	4	58	the	the	DET
fcis-26107	4	59	robot	robot	NOUN
fcis-26107	4	60	swarm	swarm	NOUN
fcis-26107	4	61	.	.	PUNCT
fcis-26107	5	1	keywords	keyword	NOUN
fcis-26107	5	2	:	:	PUNCT
fcis-26107	5	3	collective	collective	ADJ
fcis-26107	5	4	performance	performance	NOUN
fcis-26107	5	5	;	;	PUNCT
fcis-26107	5	6	trajectory	trajectory	NOUN
fcis-26107	5	7	planning	planning	NOUN
fcis-26107	5	8	;	;	PUNCT
fcis-26107	5	9	formation	formation	NOUN
fcis-26107	5	10	reorganization	reorganization	NOUN
fcis-26107	5	11	allocation	allocation	NOUN
fcis-26107	5	12	;	;	PUNCT
fcis-26107	5	13	distributed	distribute	VERB
fcis-26107	5	14	model	model	NOUN
fcis-26107	5	15	predictive	predictive	PROPN
fcis-26107	5	16	control	control	NOUN
fcis-26107	5	17	.	.	PUNCT
fcis-26107	6	1	1	1	X
fcis-26107	6	2	.	.	X
fcis-26107	6	3	introduction	introduction	NOUN
fcis-26107	6	4	with	with	ADP
fcis-26107	6	5	the	the	DET
fcis-26107	6	6	rise	rise	NOUN
fcis-26107	6	7	of	of	ADP
fcis-26107	6	8	the	the	DET
fcis-26107	6	9	night	night	NOUN
fcis-26107	6	10	economy	economy	NOUN
fcis-26107	7	1	[	[	X
fcis-26107	7	2	1	1	NUM
fcis-26107	7	3	]	]	PUNCT
fcis-26107	7	4	,	,	PUNCT
fcis-26107	7	5	cities	city	NOUN
fcis-26107	7	6	are	be	AUX
fcis-26107	7	7	seeking	seek	VERB
fcis-26107	7	8	novel	novel	ADJ
fcis-26107	7	9	forms	form	NOUN
fcis-26107	7	10	of	of	ADP
fcis-26107	7	11	night	night	NOUN
fcis-26107	7	12	-	-	PUNCT
fcis-26107	7	13	time	time	NOUN
fcis-26107	7	14	entertainment	entertainment	NOUN
fcis-26107	7	15	to	to	PART
fcis-26107	7	16	attract	attract	VERB
fcis-26107	7	17	tourists	tourist	NOUN
fcis-26107	7	18	and	and	CCONJ
fcis-26107	7	19	enhance	enhance	VERB
fcis-26107	7	20	their	their	PRON
fcis-26107	7	21	image	image	NOUN
fcis-26107	7	22	.	.	PUNCT
fcis-26107	8	1	the	the	DET
fcis-26107	8	2	performance	performance	NOUN
fcis-26107	8	3	of	of	ADP
fcis-26107	8	4	a	a	DET
fcis-26107	8	5	group	group	NOUN
fcis-26107	8	6	of	of	ADP
fcis-26107	8	7	swan	swan	NOUN
fcis-26107	8	8	robots	robot	NOUN
fcis-26107	8	9	on	on	ADP
fcis-26107	8	10	the	the	DET
fcis-26107	8	11	water	water	NOUN
fcis-26107	8	12	surface	surface	NOUN
fcis-26107	8	13	,	,	PUNCT
fcis-26107	8	14	with	with	ADP
fcis-26107	8	15	its	its	PRON
fcis-26107	8	16	unique	unique	ADJ
fcis-26107	8	17	charm	charm	NOUN
fcis-26107	8	18	that	that	PRON
fcis-26107	8	19	combines	combine	VERB
fcis-26107	8	20	technology	technology	NOUN
fcis-26107	8	21	and	and	CCONJ
fcis-26107	8	22	art	art	NOUN
fcis-26107	8	23	,	,	PUNCT
fcis-26107	8	24	has	have	AUX
fcis-26107	8	25	become	become	VERB
fcis-26107	8	26	a	a	DET
fcis-26107	8	27	new	new	ADJ
fcis-26107	8	28	driving	driving	NOUN
fcis-26107	8	29	force	force	NOUN
fcis-26107	8	30	for	for	ADP
fcis-26107	8	31	the	the	DET
fcis-26107	8	32	development	development	NOUN
fcis-26107	8	33	of	of	ADP
fcis-26107	8	34	the	the	DET
fcis-26107	8	35	night	night	NOUN
fcis-26107	8	36	economy	economy	NOUN
fcis-26107	9	1	[	[	X
fcis-26107	9	2	2	2	NUM
fcis-26107	9	3	-	-	SYM
fcis-26107	9	4	3	3	NUM
fcis-26107	9	5	]	]	PUNCT
fcis-26107	9	6	.	.	PUNCT
fcis-26107	10	1	he	he	PRON
fcis-26107	10	2	performance	performance	NOUN
fcis-26107	10	3	of	of	ADP
fcis-26107	10	4	the	the	DET
fcis-26107	10	5	swan	swan	NOUN
fcis-26107	10	6	robot	robot	NOUN
fcis-26107	10	7	group	group	NOUN
fcis-26107	10	8	on	on	ADP
fcis-26107	10	9	the	the	DET
fcis-26107	10	10	water	water	NOUN
fcis-26107	10	11	surface	surface	NOUN
fcis-26107	10	12	creates	create	VERB
fcis-26107	10	13	dynamic	dynamic	ADJ
fcis-26107	10	14	visual	visual	ADJ
fcis-26107	10	15	art	art	NOUN
fcis-26107	10	16	through	through	ADP
fcis-26107	10	17	the	the	DET
fcis-26107	10	18	interaction	interaction	NOUN
fcis-26107	10	19	of	of	ADP
fcis-26107	10	20	lights	light	NOUN
fcis-26107	10	21	and	and	CCONJ
fcis-26107	10	22	water	water	NOUN
fcis-26107	10	23	,	,	PUNCT
fcis-26107	10	24	not	not	PART
fcis-26107	10	25	only	only	ADV
fcis-26107	10	26	enriching	enrich	VERB
fcis-26107	10	27	the	the	DET
fcis-26107	10	28	city	city	NOUN
fcis-26107	10	29	's	's	PART
fcis-26107	10	30	night	night	NOUN
fcis-26107	10	31	scene	scene	NOUN
fcis-26107	10	32	but	but	CCONJ
fcis-26107	10	33	also	also	ADV
fcis-26107	10	34	providing	provide	VERB
fcis-26107	10	35	a	a	DET
fcis-26107	10	36	new	new	ADJ
fcis-26107	10	37	audience	audience	NOUN
fcis-26107	10	38	experience	experience	NOUN
fcis-26107	10	39	.	.	PUNCT
fcis-26107	11	1	compared	compare	VERB
fcis-26107	11	2	with	with	ADP
fcis-26107	11	3	traditional	traditional	ADJ
fcis-26107	11	4	performances	performance	NOUN
fcis-26107	11	5	,	,	PUNCT
fcis-26107	11	6	the	the	DET
fcis-26107	11	7	light	light	ADJ
fcis-26107	11	8	swan	swan	PROPN
fcis-26107	11	9	robot	robot	NOUN
fcis-26107	11	10	group	group	NOUN
fcis-26107	11	11	performance	performance	NOUN
fcis-26107	11	12	on	on	ADP
fcis-26107	11	13	the	the	DET
fcis-26107	11	14	water	water	NOUN
fcis-26107	11	15	surface	surface	NOUN
fcis-26107	11	16	is	be	AUX
fcis-26107	11	17	safer	safe	ADJ
fcis-26107	11	18	,	,	PUNCT
fcis-26107	11	19	more	more	ADV
fcis-26107	11	20	environmentally	environmentally	ADV
fcis-26107	11	21	friendly	friendly	ADJ
fcis-26107	11	22	,	,	PUNCT
fcis-26107	11	23	and	and	CCONJ
fcis-26107	11	24	has	have	VERB
fcis-26107	11	25	high	high	ADJ
fcis-26107	11	26	flexibility	flexibility	NOUN
fcis-26107	11	27	and	and	CCONJ
fcis-26107	11	28	innovation	innovation	NOUN
fcis-26107	11	29	.	.	PUNCT
fcis-26107	12	1	in	in	ADP
fcis-26107	12	2	addition	addition	NOUN
fcis-26107	12	3	,	,	PUNCT
fcis-26107	12	4	they	they	PRON
fcis-26107	12	5	can	can	AUX
fcis-26107	12	6	quickly	quickly	ADV
fcis-26107	12	7	spread	spread	VERB
fcis-26107	12	8	through	through	ADP
fcis-26107	12	9	social	social	ADJ
fcis-26107	12	10	media	medium	NOUN
fcis-26107	12	11	,	,	PUNCT
fcis-26107	12	12	enhance	enhance	VERB
fcis-26107	12	13	the	the	DET
fcis-26107	12	14	promotional	promotional	ADJ
fcis-26107	12	15	effect	effect	NOUN
fcis-26107	12	16	of	of	ADP
fcis-26107	12	17	the	the	DET
fcis-26107	12	18	event	event	NOUN
fcis-26107	12	19	,	,	PUNCT
fcis-26107	12	20	attract	attract	VERB
fcis-26107	12	21	more	more	ADJ
fcis-26107	12	22	tourists	tourist	NOUN
fcis-26107	12	23	,	,	PUNCT
fcis-26107	12	24	and	and	CCONJ
fcis-26107	12	25	drive	drive	VERB
fcis-26107	12	26	the	the	DET
fcis-26107	12	27	development	development	NOUN
fcis-26107	12	28	of	of	ADP
fcis-26107	12	29	related	related	ADJ
fcis-26107	12	30	industries	industry	NOUN
fcis-26107	12	31	[	[	X
fcis-26107	12	32	4	4	NUM
fcis-26107	12	33	-	-	SYM
fcis-26107	12	34	5	5	NUM
fcis-26107	12	35	]	]	PUNCT
fcis-26107	12	36	.	.	PUNCT
fcis-26107	13	1	fig	fig	PROPN
fcis-26107	13	2	1	1	NUM
fcis-26107	13	3	.	.	PUNCT
fcis-26107	14	1	schematic	schematic	ADJ
fcis-26107	14	2	diagram	diagram	NOUN
fcis-26107	14	3	of	of	ADP
fcis-26107	14	4	the	the	DET
fcis-26107	14	5	lighting	lighting	NOUN
fcis-26107	14	6	swan	swan	PROPN
fcis-26107	14	7	water	water	PROPN
fcis-26107	14	8	surface	surface	PROPN
fcis-26107	14	9	robot	robot	NOUN
fcis-26107	14	10	group	group	NOUN
fcis-26107	14	11	performance	performance	NOUN
fcis-26107	14	12	effect	effect	NOUN
fcis-26107	14	13	this	this	DET
fcis-26107	14	14	paper	paper	NOUN
fcis-26107	14	15	proposes	propose	VERB
fcis-26107	14	16	a	a	DET
fcis-26107	14	17	formation	formation	NOUN
fcis-26107	14	18	reorganization	reorganization	NOUN
fcis-26107	14	19	allocation	allocation	NOUN
fcis-26107	14	20	scheme	scheme	NOUN
fcis-26107	14	21	and	and	CCONJ
fcis-26107	14	22	trajectory	trajectory	NOUN
fcis-26107	14	23	planning	planning	NOUN
fcis-26107	14	24	method	method	NOUN
fcis-26107	14	25	for	for	ADP
fcis-26107	14	26	the	the	DET
fcis-26107	14	27	performance	performance	NOUN
fcis-26107	14	28	of	of	ADP
fcis-26107	14	29	swan	swan	NOUN
fcis-26107	14	30	robots	robot	NOUN
fcis-26107	14	31	on	on	ADP
fcis-26107	14	32	the	the	DET
fcis-26107	14	33	water	water	NOUN
fcis-26107	14	34	surface	surface	NOUN
fcis-26107	14	35	,	,	PUNCT
fcis-26107	14	36	exploring	explore	VERB
fcis-26107	14	37	the	the	DET
fcis-26107	14	38	factors	factor	NOUN
fcis-26107	14	39	that	that	PRON
fcis-26107	14	40	affect	affect	VERB
fcis-26107	14	41	the	the	DET
fcis-26107	14	42	performance	performance	NOUN
fcis-26107	14	43	effect	effect	NOUN
fcis-26107	14	44	of	of	ADP
fcis-26107	14	45	formation	formation	NOUN
fcis-26107	14	46	reorganization	reorganization	NOUN
fcis-26107	14	47	and	and	CCONJ
fcis-26107	14	48	conducting	conduct	VERB
fcis-26107	14	49	multi	multi	ADJ
fcis-26107	14	50	-	-	ADJ
fcis-26107	14	51	objective	objective	ADJ
fcis-26107	14	52	optimization	optimization	NOUN
fcis-26107	14	53	.	.	PUNCT
fcis-26107	15	1	at	at	ADP
fcis-26107	15	2	the	the	DET
fcis-26107	15	3	same	same	ADJ
fcis-26107	15	4	time	time	NOUN
fcis-26107	15	5	,	,	PUNCT
fcis-26107	15	6	the	the	DET
fcis-26107	15	7	method	method	NOUN
fcis-26107	15	8	of	of	ADP
fcis-26107	15	9	distributed	distributed	ADJ
fcis-26107	15	10	model	model	NOUN
fcis-26107	15	11	predictive	predictive	ADJ
fcis-26107	15	12	control	control	NOUN
fcis-26107	15	13	[	[	X
fcis-26107	15	14	6	6	NUM
fcis-26107	15	15	]	]	PUNCT
fcis-26107	15	16	(	(	PUNCT
fcis-26107	15	17	dmpc	dmpc	NOUN
fcis-26107	15	18	)	)	PUNCT
fcis-26107	15	19	can	can	AUX
fcis-26107	15	20	effectively	effectively	ADV
fcis-26107	15	21	solve	solve	VERB
fcis-26107	15	22	the	the	DET
fcis-26107	15	23	path	path	NOUN
fcis-26107	15	24	planning	planning	NOUN
fcis-26107	15	25	problem	problem	NOUN
fcis-26107	15	26	of	of	ADP
fcis-26107	15	27	swan	swan	NOUN
fcis-26107	15	28	robots	robot	NOUN
fcis-26107	15	29	,	,	PUNCT
fcis-26107	15	30	ensuring	ensure	VERB
fcis-26107	15	31	the	the	DET
fcis-26107	15	32	coordinated	coordinated	ADJ
fcis-26107	15	33	movement	movement	NOUN
fcis-26107	15	34	of	of	ADP
fcis-26107	15	35	the	the	DET
fcis-26107	15	36	robot	robot	NOUN
fcis-26107	15	37	group	group	NOUN
fcis-26107	15	38	on	on	ADP
fcis-26107	15	39	the	the	DET
fcis-26107	15	40	water	water	NOUN
fcis-26107	15	41	.	.	PUNCT
fcis-26107	16	1	figure	figure	NOUN
fcis-26107	16	2	1	1	NUM
fcis-26107	16	3	shows	show	VERB
fcis-26107	16	4	the	the	DET
fcis-26107	16	5	rendering	rendering	NOUN
fcis-26107	16	6	effect	effect	NOUN
fcis-26107	16	7	of	of	ADP
fcis-26107	16	8	the	the	DET
fcis-26107	16	9	swan	swan	PROPN
fcis-26107	16	10	robot	robot	NOUN
fcis-26107	16	11	group	group	NOUN
fcis-26107	16	12	performance	performance	NOUN
fcis-26107	16	13	on	on	ADP
fcis-26107	16	14	the	the	DET
fcis-26107	16	15	water	water	NOUN
fcis-26107	16	16	surface	surface	NOUN
fcis-26107	16	17	using	use	VERB
fcis-26107	16	18	the	the	DET
fcis-26107	16	19	ue	ue	ADJ
fcis-26107	16	20	engine	engine	NOUN
fcis-26107	16	21	.	.	PUNCT
fcis-26107	17	1	2	2	X
fcis-26107	17	2	.	.	X
fcis-26107	17	3	problem	problem	NOUN
fcis-26107	17	4	description	description	NOUN
fcis-26107	17	5	fig	fig	NOUN
fcis-26107	17	6	2	2	NUM
fcis-26107	17	7	.	.	PUNCT
fcis-26107	17	8	schematic	schematic	ADJ
fcis-26107	17	9	diagram	diagram	NOUN
fcis-26107	17	10	of	of	ADP
fcis-26107	17	11	the	the	DET
fcis-26107	17	12	formation	formation	NOUN
fcis-26107	17	13	reorganization	reorganization	NOUN
fcis-26107	17	14	position	position	NOUN
fcis-26107	17	15	optimization	optimization	NOUN
fcis-26107	17	16	problem	problem	NOUN
fcis-26107	17	17	.	.	PUNCT
fcis-26107	18	1	compared	compare	VERB
fcis-26107	18	2	to	to	ADP
fcis-26107	18	3	drone	drone	NOUN
fcis-26107	18	4	swarm	swarm	NOUN
fcis-26107	18	5	control	control	NOUN
fcis-26107	18	6	for	for	ADP
fcis-26107	18	7	three	three	NUM
fcis-26107	18	8	-	-	PUNCT
fcis-26107	18	9	dimensional	dimensional	ADJ
fcis-26107	18	10	spatial	spatial	ADJ
fcis-26107	18	11	formation	formation	NOUN
fcis-26107	18	12	performances	performance	NOUN
fcis-26107	18	13	,	,	PUNCT
fcis-26107	18	14	the	the	DET
fcis-26107	18	15	swan	swan	PROPN
fcis-26107	18	16	water	water	PROPN
fcis-26107	18	17	surface	surface	PROPN
fcis-26107	18	18	robot	robot	NOUN
fcis-26107	18	19	group	group	NOUN
fcis-26107	18	20	performance	performance	NOUN
fcis-26107	18	21	is	be	AUX
fcis-26107	18	22	limited	limit	VERB
fcis-26107	18	23	to	to	ADP
fcis-26107	18	24	the	the	DET
fcis-26107	18	25	two	two	NUM
fcis-26107	18	26	-	-	PUNCT
fcis-26107	18	27	dimensional	dimensional	ADJ
fcis-26107	18	28	space	space	NOUN
fcis-26107	18	29	on	on	ADP
fcis-26107	18	30	the	the	DET
fcis-26107	18	31	water	water	NOUN
fcis-26107	18	32	surface	surface	NOUN
fcis-26107	18	33	,	,	PUNCT
fcis-26107	18	34	which	which	PRON
fcis-26107	18	35	restricts	restrict	VERB
fcis-26107	18	36	the	the	DET
fcis-26107	18	37	freedom	freedom	NOUN
fcis-26107	18	38	in	in	ADP
fcis-26107	18	39	constructing	construct	VERB
fcis-26107	18	40	2	2	NUM
fcis-26107	18	41	spatial	spatial	ADJ
fcis-26107	18	42	images	image	NOUN
fcis-26107	18	43	[	[	X
fcis-26107	18	44	7	7	NUM
fcis-26107	18	45	]	]	PUNCT
fcis-26107	18	46	.	.	PUNCT
fcis-26107	19	1	therefore	therefore	ADV
fcis-26107	19	2	,	,	PUNCT
fcis-26107	19	3	to	to	PART
fcis-26107	19	4	enhance	enhance	VERB
fcis-26107	19	5	the	the	DET
fcis-26107	19	6	viewing	view	VERB
fcis-26107	19	7	pleasure	pleasure	NOUN
fcis-26107	19	8	of	of	ADP
fcis-26107	19	9	the	the	DET
fcis-26107	19	10	performance	performance	NOUN
fcis-26107	19	11	,	,	PUNCT
fcis-26107	19	12	it	it	PRON
fcis-26107	19	13	is	be	AUX
fcis-26107	19	14	necessary	necessary	ADJ
fcis-26107	19	15	to	to	PART
fcis-26107	19	16	frequently	frequently	ADV
fcis-26107	19	17	reorganize	reorganize	VERB
fcis-26107	19	18	the	the	DET
fcis-26107	19	19	formation	formation	NOUN
fcis-26107	19	20	to	to	PART
fcis-26107	19	21	showcase	showcase	VERB
fcis-26107	19	22	the	the	DET
fcis-26107	19	23	dynamic	dynamic	ADJ
fcis-26107	19	24	beauty	beauty	NOUN
fcis-26107	19	25	and	and	CCONJ
fcis-26107	19	26	swan	swan	NOUN
fcis-26107	19	27	-	-	PUNCT
fcis-26107	19	28	like	like	ADJ
fcis-26107	19	29	autonomy	autonomy	NOUN
fcis-26107	19	30	of	of	ADP
fcis-26107	19	31	the	the	DET
fcis-26107	19	32	water	water	NOUN
fcis-26107	19	33	surface	surface	NOUN
fcis-26107	19	34	robots	robot	NOUN
fcis-26107	19	35	.	.	PUNCT
fcis-26107	20	1	by	by	ADP
fcis-26107	20	2	precisely	precisely	ADV
fcis-26107	20	3	controlling	control	VERB
fcis-26107	20	4	the	the	DET
fcis-26107	20	5	reorganization	reorganization	NOUN
fcis-26107	20	6	allocation	allocation	NOUN
fcis-26107	20	7	and	and	CCONJ
fcis-26107	20	8	the	the	DET
fcis-26107	20	9	coordinated	coordinate	VERB
fcis-26107	20	10	movements	movement	NOUN
fcis-26107	20	11	between	between	ADP
fcis-26107	20	12	robots	robot	NOUN
fcis-26107	20	13	,	,	PUNCT
fcis-26107	20	14	a	a	DET
fcis-26107	20	15	variety	variety	NOUN
fcis-26107	20	16	of	of	ADP
fcis-26107	20	17	visual	visual	ADJ
fcis-26107	20	18	effects	effect	NOUN
fcis-26107	20	19	can	can	AUX
fcis-26107	20	20	be	be	AUX
fcis-26107	20	21	created	create	VERB
fcis-26107	20	22	.	.	PUNCT
fcis-26107	21	1	frequent	frequent	ADJ
fcis-26107	21	2	formation	formation	NOUN
fcis-26107	21	3	reorganizations	reorganization	NOUN
fcis-26107	21	4	imply	imply	VERB
fcis-26107	21	5	the	the	DET
fcis-26107	21	6	need	need	NOUN
fcis-26107	21	7	for	for	ADP
fcis-26107	21	8	a	a	DET
fcis-26107	21	9	variety	variety	NOUN
fcis-26107	21	10	of	of	ADP
fcis-26107	21	11	formation	formation	NOUN
fcis-26107	21	12	shapes	shape	NOUN
fcis-26107	21	13	as	as	ADP
fcis-26107	21	14	support	support	NOUN
fcis-26107	21	15	.	.	PUNCT
fcis-26107	22	1	therefore	therefore	ADV
fcis-26107	22	2	,	,	PUNCT
fcis-26107	22	3	it	it	PRON
fcis-26107	22	4	is	be	AUX
fcis-26107	22	5	not	not	PART
fcis-26107	22	6	feasible	feasible	ADJ
fcis-26107	22	7	to	to	PART
fcis-26107	22	8	manually	manually	ADV
fcis-26107	22	9	set	set	VERB
fcis-26107	22	10	the	the	DET
fcis-26107	22	11	reorganization	reorganization	NOUN
fcis-26107	22	12	allocation	allocation	NOUN
fcis-26107	22	13	and	and	CCONJ
fcis-26107	22	14	trajectory	trajectory	NOUN
fcis-26107	22	15	planning	planning	NOUN
fcis-26107	22	16	for	for	ADP
fcis-26107	22	17	each	each	DET
fcis-26107	22	18	formation	formation	NOUN
fcis-26107	22	19	reorganization	reorganization	NOUN
fcis-26107	22	20	as	as	ADP
fcis-26107	22	21	in	in	ADP
fcis-26107	22	22	drone	drone	NOUN
fcis-26107	22	23	swarm	swarm	NOUN
fcis-26107	22	24	performances	performance	NOUN
fcis-26107	22	25	.	.	PUNCT
fcis-26107	23	1	it	it	PRON
fcis-26107	23	2	is	be	AUX
fcis-26107	23	3	necessary	necessary	ADJ
fcis-26107	23	4	to	to	PART
fcis-26107	23	5	develop	develop	VERB
fcis-26107	23	6	optimization	optimization	NOUN
fcis-26107	23	7	methods	method	NOUN
fcis-26107	23	8	for	for	ADP
fcis-26107	23	9	formation	formation	NOUN
fcis-26107	23	10	reorganization	reorganization	NOUN
fcis-26107	23	11	and	and	CCONJ
fcis-26107	23	12	trajectory	trajectory	NOUN
fcis-26107	23	13	planning	planning	NOUN
fcis-26107	23	14	to	to	PART
fcis-26107	23	15	achieve	achieve	VERB
fcis-26107	23	16	the	the	DET
fcis-26107	23	17	best	good	ADJ
fcis-26107	23	18	group	group	NOUN
fcis-26107	23	19	performance	performance	NOUN
fcis-26107	23	20	effect	effect	NOUN
fcis-26107	23	21	.	.	PUNCT
fcis-26107	24	1	taking	take	VERB
fcis-26107	24	2	a	a	DET
fcis-26107	24	3	group	group	NOUN
fcis-26107	24	4	of	of	ADP
fcis-26107	24	5	12	12	NUM
fcis-26107	24	6	water	water	NOUN
fcis-26107	24	7	surface	surface	NOUN
fcis-26107	24	8	swan	swan	NOUN
fcis-26107	24	9	robots	robot	NOUN
fcis-26107	24	10	as	as	ADP
fcis-26107	24	11	an	an	DET
fcis-26107	24	12	example	example	NOUN
fcis-26107	24	13	,	,	PUNCT
fcis-26107	24	14	let	let	VERB
fcis-26107	24	15	the	the	DET
fcis-26107	24	16	initial	initial	ADJ
fcis-26107	24	17	formation	formation	NOUN
fcis-26107	24	18	notation	notation	NOUN
fcis-26107	24	19	of	of	ADP
fcis-26107	24	20	each	each	DET
fcis-26107	24	21	swan	swan	NOUN
fcis-26107	24	22	robot	robot	NOUN
fcis-26107	24	23	be	be	VERB
fcis-26107	24	24	e1	e1	PROPN
fcis-26107	24	25	,	,	PUNCT
fcis-26107	24	26	e2	e2	PROPN
fcis-26107	24	27	,	,	PUNCT
fcis-26107	24	28	...	...	PUNCT
fcis-26107	24	29	,	,	PUNCT
fcis-26107	24	30	e12	e12	NOUN
fcis-26107	24	31	,	,	PUNCT
fcis-26107	24	32	and	and	CCONJ
fcis-26107	24	33	the	the	DET
fcis-26107	24	34	formation	formation	NOUN
fcis-26107	24	35	notation	notation	NOUN
fcis-26107	24	36	after	after	SCONJ
fcis-26107	24	37	reorganization	reorganization	NOUN
fcis-26107	24	38	be	be	VERB
fcis-26107	24	39	d1	d1	PROPN
fcis-26107	24	40	,	,	PUNCT
fcis-26107	24	41	d2	d2	PROPN
fcis-26107	24	42	,	,	PUNCT
fcis-26107	24	43	...	...	PUNCT
fcis-26107	24	44	,	,	PUNCT
fcis-26107	25	1	d12	d12	PROPN
fcis-26107	25	2	.	.	PUNCT
fcis-26107	25	3	figure	figure	NOUN
fcis-26107	25	4	2	2	NUM
fcis-26107	25	5	illustrates	illustrate	VERB
fcis-26107	25	6	the	the	DET
fcis-26107	25	7	optimization	optimization	NOUN
fcis-26107	25	8	problem	problem	NOUN
fcis-26107	25	9	of	of	ADP
fcis-26107	25	10	formation	formation	NOUN
fcis-26107	25	11	reorganization	reorganization	NOUN
fcis-26107	25	12	positions	position	NOUN
fcis-26107	25	13	.	.	PUNCT
fcis-26107	26	1	3	3	X
fcis-26107	26	2	.	.	X
fcis-26107	26	3	formation	formation	NOUN
fcis-26107	26	4	reconfiguration	reconfiguration	NOUN
fcis-26107	26	5	plan	plan	NOUN
fcis-26107	26	6	3.1	3.1	NUM
fcis-26107	26	7	.	.	PUNCT
fcis-26107	26	8	individual	individual	ADJ
fcis-26107	26	9	performance	performance	NOUN
fcis-26107	26	10	requirements	requirement	NOUN
fcis-26107	26	11	when	when	SCONJ
fcis-26107	26	12	individual	individual	ADJ
fcis-26107	26	13	swan	swan	NOUN
fcis-26107	26	14	surface	surface	NOUN
fcis-26107	26	15	robots	robot	NOUN
fcis-26107	26	16	move	move	VERB
fcis-26107	26	17	from	from	ADP
fcis-26107	26	18	their	their	PRON
fcis-26107	26	19	initial	initial	ADJ
fcis-26107	26	20	positions	position	NOUN
fcis-26107	26	21	to	to	ADP
fcis-26107	26	22	desired	desire	VERB
fcis-26107	26	23	positions	position	NOUN
fcis-26107	26	24	,	,	PUNCT
fcis-26107	26	25	it	it	PRON
fcis-26107	26	26	is	be	AUX
fcis-26107	26	27	important	important	ADJ
fcis-26107	26	28	to	to	PART
fcis-26107	26	29	consider	consider	VERB
fcis-26107	26	30	the	the	DET
fcis-26107	26	31	performance	performance	NOUN
fcis-26107	26	32	requirements	requirement	NOUN
fcis-26107	26	33	such	such	ADJ
fcis-26107	26	34	as	as	ADP
fcis-26107	26	35	energy	energy	NOUN
fcis-26107	26	36	consumption	consumption	NOUN
fcis-26107	26	37	and	and	CCONJ
fcis-26107	26	38	rotation	rotation	NOUN
fcis-26107	26	39	range	range	NOUN
fcis-26107	26	40	of	of	ADP
fcis-26107	26	41	the	the	DET
fcis-26107	26	42	robots	robot	NOUN
fcis-26107	26	43	.	.	PUNCT
fcis-26107	27	1	the	the	DET
fcis-26107	27	2	energy	energy	NOUN
fcis-26107	27	3	efficiency	efficiency	NOUN
fcis-26107	27	4	and	and	CCONJ
fcis-26107	27	5	the	the	DET
fcis-26107	27	6	extent	extent	NOUN
fcis-26107	27	7	of	of	ADP
fcis-26107	27	8	motion	motion	NOUN
fcis-26107	27	9	are	be	AUX
fcis-26107	27	10	crucial	crucial	ADJ
fcis-26107	27	11	factors	factor	NOUN
fcis-26107	27	12	that	that	PRON
fcis-26107	27	13	can	can	AUX
fcis-26107	27	14	affect	affect	VERB
fcis-26107	27	15	the	the	DET
fcis-26107	27	16	overall	overall	ADJ
fcis-26107	27	17	performance	performance	NOUN
fcis-26107	27	18	and	and	CCONJ
fcis-26107	27	19	longevity	longevity	NOUN
fcis-26107	27	20	of	of	ADP
fcis-26107	27	21	the	the	DET
fcis-26107	27	22	swan	swan	NOUN
fcis-26107	27	23	robots	robot	NOUN
fcis-26107	27	24	during	during	ADP
fcis-26107	27	25	their	their	PRON
fcis-26107	27	26	operation	operation	NOUN
fcis-26107	27	27	on	on	ADP
fcis-26107	27	28	the	the	DET
fcis-26107	27	29	water	water	NOUN
fcis-26107	27	30	surface	surface	NOUN
fcis-26107	27	31	.	.	PUNCT
fcis-26107	28	1	ensuring	ensure	VERB
fcis-26107	28	2	optimal	optimal	ADJ
fcis-26107	28	3	energy	energy	NOUN
fcis-26107	28	4	use	use	NOUN
fcis-26107	28	5	and	and	CCONJ
fcis-26107	28	6	a	a	DET
fcis-26107	28	7	wide	wide	ADJ
fcis-26107	28	8	range	range	NOUN
fcis-26107	28	9	of	of	ADP
fcis-26107	28	10	motion	motion	NOUN
fcis-26107	28	11	can	can	AUX
fcis-26107	28	12	enhance	enhance	VERB
fcis-26107	28	13	their	their	PRON
fcis-26107	28	14	ability	ability	NOUN
fcis-26107	28	15	to	to	PART
fcis-26107	28	16	perform	perform	VERB
fcis-26107	28	17	complex	complex	ADJ
fcis-26107	28	18	maneuvers	maneuver	NOUN
fcis-26107	28	19	and	and	CCONJ
fcis-26107	28	20	maintain	maintain	VERB
fcis-26107	28	21	prolonged	prolonged	ADJ
fcis-26107	28	22	operational	operational	ADJ
fcis-26107	28	23	times	time	NOUN
fcis-26107	28	24	.	.	PUNCT
fcis-26107	29	1	3.1.1	3.1.1	X
fcis-26107	29	2	.	.	PUNCT
fcis-26107	29	3	energy	energy	NOUN
fcis-26107	29	4	consumption	consumption	NOUN
fcis-26107	29	5	when	when	SCONJ
fcis-26107	29	6	allocating	allocate	VERB
fcis-26107	29	7	the	the	DET
fcis-26107	29	8	reorganization	reorganization	NOUN
fcis-26107	29	9	of	of	ADP
fcis-26107	29	10	the	the	DET
fcis-26107	29	11	formation	formation	NOUN
fcis-26107	29	12	for	for	ADP
fcis-26107	29	13	each	each	DET
fcis-26107	29	14	swan	swan	NOUN
fcis-26107	29	15	surface	surface	NOUN
fcis-26107	29	16	robot	robot	NOUN
fcis-26107	29	17	,	,	PUNCT
fcis-26107	29	18	it	it	PRON
fcis-26107	29	19	is	be	AUX
fcis-26107	29	20	necessary	necessary	ADJ
fcis-26107	29	21	to	to	PART
fcis-26107	29	22	reduce	reduce	VERB
fcis-26107	29	23	the	the	DET
fcis-26107	29	24	overall	overall	ADJ
fcis-26107	29	25	energy	energy	NOUN
fcis-26107	29	26	consumption	consumption	NOUN
fcis-26107	29	27	.	.	PUNCT
fcis-26107	30	1	the	the	DET
fcis-26107	30	2	total	total	ADJ
fcis-26107	30	3	distance	distance	NOUN
fcis-26107	30	4	each	each	DET
fcis-26107	30	5	swan	swan	NOUN
fcis-26107	30	6	surface	surface	NOUN
fcis-26107	30	7	robot	robot	NOUN
fcis-26107	30	8	travels	travel	VERB
fcis-26107	30	9	to	to	PART
fcis-26107	30	10	reach	reach	VERB
fcis-26107	30	11	the	the	DET
fcis-26107	30	12	designated	designate	VERB
fcis-26107	30	13	reorganization	reorganization	NOUN
fcis-26107	30	14	position	position	NOUN
fcis-26107	30	15	should	should	AUX
fcis-26107	30	16	be	be	AUX
fcis-26107	30	17	as	as	ADV
fcis-26107	30	18	small	small	ADJ
fcis-26107	30	19	as	as	ADP
fcis-26107	30	20	possible	possible	ADJ
fcis-26107	30	21	.	.	PUNCT
fcis-26107	31	1	this	this	PRON
fcis-26107	31	2	involves	involve	VERB
fcis-26107	31	3	calculating	calculate	VERB
fcis-26107	31	4	the	the	DET
fcis-26107	31	5	difference	difference	NOUN
fcis-26107	31	6	in	in	ADP
fcis-26107	31	7	distance	distance	NOUN
fcis-26107	31	8	between	between	ADP
fcis-26107	31	9	the	the	DET
fcis-26107	31	10	initial	initial	ADJ
fcis-26107	31	11	position	position	NOUN
fcis-26107	31	12	and	and	CCONJ
fcis-26107	31	13	the	the	DET
fcis-26107	31	14	designated	designate	VERB
fcis-26107	31	15	formation	formation	NOUN
fcis-26107	31	16	position	position	NOUN
fcis-26107	31	17	of	of	ADP
fcis-26107	31	18	the	the	DET
fcis-26107	31	19	swan	swan	NOUN
fcis-26107	31	20	surface	surface	NOUN
fcis-26107	31	21	robot	robot	NOUN
fcis-26107	31	22	,	,	PUNCT
fcis-26107	31	23	using	use	VERB
fcis-26107	31	24	the	the	DET
fcis-26107	31	25	chordal	chordal	ADJ
fcis-26107	31	26	distance	distance	NOUN
fcis-26107	31	27	for	for	ADP
fcis-26107	31	28	the	the	DET
fcis-26107	31	29	calculation	calculation	NOUN
fcis-26107	31	30	.	.	PUNCT
fcis-26107	32	1	the	the	DET
fcis-26107	32	2	chordal	chordal	ADJ
fcis-26107	32	3	distance	distance	NOUN
fcis-26107	32	4	is	be	AUX
fcis-26107	32	5	the	the	DET
fcis-26107	32	6	straight	straight	ADJ
fcis-26107	32	7	-	-	PUNCT
fcis-26107	32	8	line	line	NOUN
fcis-26107	32	9	distance	distance	NOUN
fcis-26107	32	10	between	between	ADP
fcis-26107	32	11	two	two	NUM
fcis-26107	32	12	points	point	NOUN
fcis-26107	32	13	on	on	ADP
fcis-26107	32	14	the	the	DET
fcis-26107	32	15	surface	surface	NOUN
fcis-26107	32	16	,	,	PUNCT
fcis-26107	32	17	which	which	PRON
fcis-26107	32	18	is	be	AUX
fcis-26107	32	19	an	an	DET
fcis-26107	32	20	important	important	ADJ
fcis-26107	32	21	factor	factor	NOUN
fcis-26107	32	22	in	in	ADP
fcis-26107	32	23	minimizing	minimize	VERB
fcis-26107	32	24	energy	energy	NOUN
fcis-26107	32	25	consumption	consumption	NOUN
fcis-26107	32	26	during	during	ADP
fcis-26107	32	27	the	the	DET
fcis-26107	32	28	movement	movement	NOUN
fcis-26107	32	29	of	of	ADP
fcis-26107	32	30	the	the	DET
fcis-26107	32	31	robots	robot	NOUN
fcis-26107	32	32	:	:	PUNCT
fcis-26107	32	33	,	,	PUNCT
fcis-26107	32	34	,	,	PUNCT
fcis-26107	32	35	,	,	PUNCT
fcis-26107	32	36	,	,	PUNCT
fcis-26107	32	37	(	(	PUNCT
fcis-26107	32	38	1	1	X
fcis-26107	32	39	)	)	PUNCT
fcis-26107	32	40	∑	∑	PUNCT
fcis-26107	32	41	(	(	PUNCT
fcis-26107	32	42	2	2	NUM
fcis-26107	32	43	)	)	PUNCT
fcis-26107	32	44	at	at	ADP
fcis-26107	32	45	the	the	DET
fcis-26107	32	46	same	same	ADJ
fcis-26107	32	47	time	time	NOUN
fcis-26107	32	48	,	,	PUNCT
fcis-26107	32	49	each	each	DET
fcis-26107	32	50	swan	swan	NOUN
fcis-26107	32	51	surface	surface	NOUN
fcis-26107	32	52	robot	robot	NOUN
fcis-26107	32	53	has	have	VERB
fcis-26107	32	54	a	a	DET
fcis-26107	32	55	limited	limited	ADJ
fcis-26107	32	56	and	and	CCONJ
fcis-26107	32	57	equal	equal	ADJ
fcis-26107	32	58	amount	amount	NOUN
fcis-26107	32	59	of	of	ADP
fcis-26107	32	60	energy	energy	NOUN
fcis-26107	32	61	.	.	PUNCT
fcis-26107	33	1	it	it	PRON
fcis-26107	33	2	is	be	AUX
fcis-26107	33	3	necessary	necessary	ADJ
fcis-26107	33	4	to	to	PART
fcis-26107	33	5	ensure	ensure	VERB
fcis-26107	33	6	that	that	SCONJ
fcis-26107	33	7	the	the	DET
fcis-26107	33	8	variance	variance	NOUN
fcis-26107	33	9	in	in	ADP
fcis-26107	33	10	the	the	DET
fcis-26107	33	11	distance	distance	NOUN
fcis-26107	33	12	each	each	DET
fcis-26107	33	13	swan	swan	NOUN
fcis-26107	33	14	surface	surface	NOUN
fcis-26107	33	15	robot	robot	NOUN
fcis-26107	33	16	travels	travel	VERB
fcis-26107	33	17	from	from	ADP
fcis-26107	33	18	its	its	PRON
fcis-26107	33	19	initial	initial	ADJ
fcis-26107	33	20	position	position	NOUN
fcis-26107	33	21	to	to	ADP
fcis-26107	33	22	the	the	DET
fcis-26107	33	23	designated	designate	VERB
fcis-26107	33	24	formation	formation	NOUN
fcis-26107	33	25	position	position	NOUN
fcis-26107	33	26	is	be	AUX
fcis-26107	33	27	minimized	minimize	VERB
fcis-26107	33	28	.	.	PUNCT
fcis-26107	34	1	this	this	PRON
fcis-26107	34	2	prevents	prevent	VERB
fcis-26107	34	3	an	an	DET
fcis-26107	34	4	individual	individual	ADJ
fcis-26107	34	5	robot	robot	NOUN
fcis-26107	34	6	from	from	ADP
fcis-26107	34	7	being	be	AUX
fcis-26107	34	8	repeatedly	repeatedly	ADV
fcis-26107	34	9	assigned	assign	VERB
fcis-26107	34	10	to	to	ADP
fcis-26107	34	11	a	a	DET
fcis-26107	34	12	distant	distant	ADJ
fcis-26107	34	13	desired	desire	VERB
fcis-26107	34	14	position	position	NOUN
fcis-26107	34	15	after	after	ADP
fcis-26107	34	16	multiple	multiple	ADJ
fcis-26107	34	17	reorganizations	reorganization	NOUN
fcis-26107	34	18	,	,	PUNCT
fcis-26107	34	19	which	which	PRON
fcis-26107	34	20	could	could	AUX
fcis-26107	34	21	lead	lead	VERB
fcis-26107	34	22	to	to	ADP
fcis-26107	34	23	excessive	excessive	ADJ
fcis-26107	34	24	energy	energy	NOUN
fcis-26107	34	25	consumption	consumption	NOUN
fcis-26107	34	26	,	,	PUNCT
fcis-26107	34	27	shutdown	shutdown	NOUN
fcis-26107	34	28	,	,	PUNCT
fcis-26107	34	29	and	and	CCONJ
fcis-26107	34	30	an	an	DET
fcis-26107	34	31	inability	inability	NOUN
fcis-26107	34	32	to	to	PART
fcis-26107	34	33	complete	complete	VERB
fcis-26107	34	34	subsequent	subsequent	ADJ
fcis-26107	34	35	group	group	NOUN
fcis-26107	34	36	performances	performance	NOUN
fcis-26107	34	37	,	,	PUNCT
fcis-26107	34	38	thereby	thereby	ADV
fcis-26107	34	39	affecting	affect	VERB
fcis-26107	34	40	the	the	DET
fcis-26107	34	41	performance	performance	NOUN
fcis-26107	34	42	effect	effect	NOUN
fcis-26107	34	43	.	.	PUNCT
fcis-26107	35	1	̅	̅	NOUN
fcis-26107	35	2	(	(	PUNCT
fcis-26107	35	3	3	3	NUM
fcis-26107	35	4	)	)	PUNCT
fcis-26107	35	5	in	in	ADP
fcis-26107	35	6	the	the	DET
fcis-26107	35	7	formula	formula	NOUN
fcis-26107	35	8	:	:	PUNCT
fcis-26107	35	9	represents	represent	VERB
fcis-26107	35	10	the	the	DET
fcis-26107	35	11	distance	distance	NOUN
fcis-26107	35	12	from	from	ADP
fcis-26107	35	13	the	the	DET
fcis-26107	35	14	initial	initial	ADJ
fcis-26107	35	15	position	position	NOUN
fcis-26107	35	16	to	to	ADP
fcis-26107	35	17	the	the	DET
fcis-26107	35	18	designated	designate	VERB
fcis-26107	35	19	reorganization	reorganization	NOUN
fcis-26107	35	20	position	position	NOUN
fcis-26107	35	21	for	for	ADP
fcis-26107	35	22	the	the	DET
fcis-26107	35	23	swan	swan	NOUN
fcis-26107	35	24	surface	surface	NOUN
fcis-26107	35	25	robot	robot	NOUN
fcis-26107	35	26	;	;	PUNCT
fcis-26107	35	27	represents	represent	VERB
fcis-26107	35	28	the	the	DET
fcis-26107	35	29	total	total	ADJ
fcis-26107	35	30	sum	sum	NOUN
fcis-26107	35	31	of	of	ADP
fcis-26107	35	32	the	the	DET
fcis-26107	35	33	chordal	chordal	ADJ
fcis-26107	35	34	distances	distance	NOUN
fcis-26107	35	35	;	;	PUNCT
fcis-26107	35	36	,	,	PUNCT
fcis-26107	35	37	,	,	PUNCT
fcis-26107	35	38	,	,	PUNCT
fcis-26107	35	39	are	be	AUX
fcis-26107	35	40	the	the	DET
fcis-26107	35	41	initial	initial	ADJ
fcis-26107	35	42	position	position	NOUN
fcis-26107	35	43	coordinates	coordinate	NOUN
fcis-26107	35	44	of	of	ADP
fcis-26107	35	45	the	the	DET
fcis-26107	35	46	swan	swan	NOUN
fcis-26107	35	47	surface	surface	NOUN
fcis-26107	35	48	robot	robot	NOUN
fcis-26107	35	49	;	;	PUNCT
fcis-26107	35	50	,	,	PUNCT
fcis-26107	35	51	,	,	PUNCT
fcis-26107	35	52	,	,	PUNCT
fcis-26107	35	53	are	be	AUX
fcis-26107	35	54	the	the	DET
fcis-26107	35	55	designated	designate	VERB
fcis-26107	35	56	formation	formation	NOUN
fcis-26107	35	57	position	position	NOUN
fcis-26107	35	58	coordinates	coordinate	NOUN
fcis-26107	35	59	of	of	ADP
fcis-26107	35	60	the	the	DET
fcis-26107	35	61	swan	swan	NOUN
fcis-26107	35	62	surface	surface	NOUN
fcis-26107	35	63	robot	robot	NOUN
fcis-26107	35	64	;	;	PUNCT
fcis-26107	35	65	is	be	AUX
fcis-26107	35	66	the	the	DET
fcis-26107	35	67	total	total	ADJ
fcis-26107	35	68	number	number	NOUN
fcis-26107	35	69	of	of	ADP
fcis-26107	35	70	swan	swan	NOUN
fcis-26107	35	71	surface	surface	NOUN
fcis-26107	35	72	robots	robot	NOUN
fcis-26107	35	73	participating	participate	VERB
fcis-26107	35	74	in	in	ADP
fcis-26107	35	75	the	the	DET
fcis-26107	35	76	group	group	NOUN
fcis-26107	35	77	performance	performance	NOUN
fcis-26107	35	78	;	;	PUNCT
fcis-26107	35	79	represents	represent	VERB
fcis-26107	35	80	the	the	DET
fcis-26107	35	81	variance	variance	NOUN
fcis-26107	35	82	of	of	ADP
fcis-26107	35	83	the	the	DET
fcis-26107	35	84	distances	distance	NOUN
fcis-26107	35	85	.	.	PUNCT
fcis-26107	36	1	3.1.2	3.1.2	X
fcis-26107	36	2	.	.	X
fcis-26107	37	1	turning	turn	VERB
fcis-26107	37	2	maneuver	maneuver	NOUN
fcis-26107	37	3	range	range	NOUN
fcis-26107	37	4	if	if	SCONJ
fcis-26107	37	5	the	the	DET
fcis-26107	37	6	swan	swan	NOUN
fcis-26107	37	7	surface	surface	NOUN
fcis-26107	37	8	robot	robot	NOUN
fcis-26107	37	9	is	be	AUX
fcis-26107	37	10	underactuated	underactuate	VERB
fcis-26107	37	11	,	,	PUNCT
fcis-26107	37	12	it	it	PRON
fcis-26107	37	13	can	can	AUX
fcis-26107	37	14	not	not	PART
fcis-26107	37	15	perform	perform	VERB
fcis-26107	37	16	rapid	rapid	ADJ
fcis-26107	37	17	large	large	ADJ
fcis-26107	37	18	turns	turn	NOUN
fcis-26107	37	19	,	,	PUNCT
fcis-26107	37	20	which	which	PRON
fcis-26107	37	21	will	will	AUX
fcis-26107	37	22	affect	affect	VERB
fcis-26107	37	23	the	the	DET
fcis-26107	37	24	overall	overall	ADJ
fcis-26107	37	25	fle	fle	NOUN
fcis-26107	37	26	xibility	xibility	NOUN
fcis-26107	37	27	and	and	CCONJ
fcis-26107	37	28	response	response	NOUN
fcis-26107	37	29	speed	speed	NOUN
fcis-26107	37	30	in	in	ADP
fcis-26107	37	31	the	the	DET
fcis-26107	37	32	group	group	NOUN
fcis-26107	37	33	performance	performance	NOUN
fcis-26107	37	34	.	.	PUNCT
fcis-26107	38	1	therefore	therefore	ADV
fcis-26107	38	2	,	,	PUNCT
fcis-26107	38	3	the	the	PRON
fcis-26107	38	4	smaller	small	ADJ
fcis-26107	38	5	the	the	DET
fcis-26107	38	6	turning	turn	VERB
fcis-26107	38	7	angle	angle	NOUN
fcis-26107	38	8	between	between	ADP
fcis-26107	38	9	the	the	DET
fcis-26107	38	10	initial	initial	ADJ
fcis-26107	38	11	position	position	NOUN
fcis-26107	38	12	and	and	CCONJ
fcis-26107	38	13	the	the	DET
fcis-26107	38	14	designated	designate	VERB
fcis-26107	38	15	formation	formation	NOUN
fcis-26107	38	16	position	position	NOUN
fcis-26107	38	17	of	of	ADP
fcis-26107	38	18	the	the	DET
fcis-26107	38	19	swan	swan	NOUN
fcis-26107	38	20	surface	surface	NOUN
fcis-26107	38	21	robot	robot	NOUN
fcis-26107	38	22	,	,	PUNCT
fcis-26107	38	23	the	the	DET
fcis-26107	38	24	less	less	ADJ
fcis-26107	38	25	time	time	NOUN
fcis-26107	38	26	is	be	AUX
fcis-26107	38	27	required	require	VERB
fcis-26107	38	28	for	for	ADP
fcis-26107	38	29	the	the	DET
fcis-26107	38	30	turning	turning	NOUN
fcis-26107	38	31	maneuver	maneuver	NOUN
fcis-26107	38	32	,	,	PUNCT
fcis-26107	38	33	reducing	reduce	VERB
fcis-26107	38	34	the	the	DET
fcis-26107	38	35	time	time	NOUN
fcis-26107	38	36	needed	need	VERB
fcis-26107	38	37	for	for	ADP
fcis-26107	38	38	formation	formation	NOUN
fcis-26107	38	39	reorganization	reorganization	NOUN
fcis-26107	38	40	and	and	CCONJ
fcis-26107	38	41	enhancing	enhance	VERB
fcis-26107	38	42	aesthetic	aesthetic	ADJ
fcis-26107	38	43	appeal	appeal	NOUN
fcis-26107	38	44	of	of	ADP
fcis-26107	38	45	the	the	DET
fcis-26107	38	46	performance	performance	NOUN
fcis-26107	38	47	.	.	PUNCT
fcis-26107	39	1	however	however	ADV
fcis-26107	39	2	,	,	PUNCT
fcis-26107	39	3	to	to	PART
fcis-26107	39	4	not	not	PART
fcis-26107	39	5	reduce	reduce	VERB
fcis-26107	39	6	the	the	DET
fcis-26107	39	7	flexibility	flexibility	NOUN
fcis-26107	39	8	of	of	ADP
fcis-26107	39	9	individual	individual	ADJ
fcis-26107	39	10	swan	swan	NOUN
fcis-26107	39	11	surface	surface	NOUN
fcis-26107	39	12	robots	robot	NOUN
fcis-26107	39	13	to	to	PART
fcis-26107	39	14	reach	reach	VERB
fcis-26107	39	15	various	various	ADJ
fcis-26107	39	16	expected	expect	VERB
fcis-26107	39	17	positions	position	NOUN
fcis-26107	39	18	,	,	PUNCT
fcis-26107	39	19	it	it	PRON
fcis-26107	39	20	is	be	AUX
fcis-26107	39	21	not	not	PART
fcis-26107	39	22	suitable	suitable	ADJ
fcis-26107	39	23	to	to	PART
fcis-26107	39	24	restrict	restrict	VERB
fcis-26107	39	25	the	the	DET
fcis-26107	39	26	maximum	maximum	ADJ
fcis-26107	39	27	turning	turn	VERB
fcis-26107	39	28	angle	angle	NOUN
fcis-26107	39	29	of	of	ADP
fcis-26107	39	30	individuals	individual	NOUN
fcis-26107	39	31	.	.	PUNCT
fcis-26107	40	1	instead	instead	ADV
fcis-26107	40	2	,	,	PUNCT
fcis-26107	40	3	the	the	DET
fcis-26107	40	4	sum	sum	NOUN
fcis-26107	40	5	of	of	ADP
fcis-26107	40	6	the	the	DET
fcis-26107	40	7	turning	turning	NOUN
fcis-26107	40	8	angles	angle	NOUN
fcis-26107	40	9	for	for	ADP
fcis-26107	40	10	each	each	DET
fcis-26107	40	11	individual	individual	NOUN
fcis-26107	40	12	will	will	AUX
fcis-26107	40	13	be	be	AUX
fcis-26107	40	14	calculated	calculate	VERB
fcis-26107	40	15	as	as	SCONJ
fcis-26107	40	16	follows	follow	VERB
fcis-26107	40	17	:	:	PUNCT
fcis-26107	40	18	θ	θ	PROPN
fcis-26107	40	19	arctan	arctan	PROPN
fcis-26107	40	20	,	,	PUNCT
fcis-26107	40	21	,	,	PUNCT
fcis-26107	40	22	,	,	PUNCT
fcis-26107	40	23	,	,	PUNCT
fcis-26107	40	24	(	(	PUNCT
fcis-26107	40	25	4	4	X
fcis-26107	40	26	)	)	PUNCT
fcis-26107	40	27	θ	θ	NOUN
fcis-26107	41	1	=	=	SYM
fcis-26107	41	2	∑	∑	SYM
fcis-26107	41	3	θ	θ	PROPN
fcis-26107	41	4	  	  	SPACE
fcis-26107	41	5	(	(	PUNCT
fcis-26107	41	6	5	5	NUM
fcis-26107	41	7	)	)	PUNCT
fcis-26107	41	8	3.2	3.2	NUM
fcis-26107	41	9	.	.	PUNCT
fcis-26107	42	1	coordination	coordination	NOUN
fcis-26107	42	2	requirement	requirement	NOUN
fcis-26107	42	3	during	during	ADP
fcis-26107	42	4	the	the	DET
fcis-26107	42	5	formation	formation	NOUN
fcis-26107	42	6	reorganization	reorganization	NOUN
fcis-26107	42	7	process	process	NOUN
fcis-26107	42	8	,	,	PUNCT
fcis-26107	42	9	it	it	PRON
fcis-26107	42	10	is	be	AUX
fcis-26107	42	11	necessary	necessary	ADJ
fcis-26107	42	12	for	for	SCONJ
fcis-26107	42	13	the	the	DET
fcis-26107	42	14	swan	swan	NOUN
fcis-26107	42	15	surface	surface	NOUN
fcis-26107	42	16	robots	robot	NOUN
fcis-26107	42	17	to	to	PART
fcis-26107	42	18	have	have	VERB
fcis-26107	42	19	the	the	DET
fcis-26107	42	20	best	good	ADJ
fcis-26107	42	21	possible	possible	ADJ
fcis-26107	42	22	collaborative	collaborative	ADJ
fcis-26107	42	23	effect	effect	NOUN
fcis-26107	42	24	,	,	PUNCT
fcis-26107	42	25	taking	take	VERB
fcis-26107	42	26	into	into	ADP
fcis-26107	42	27	account	account	NOUN
fcis-26107	42	28	the	the	DET
fcis-26107	42	29	influence	influence	NOUN
fcis-26107	42	30	between	between	ADP
fcis-26107	42	31	the	the	DET
fcis-26107	42	32	swan	swan	NOUN
fcis-26107	42	33	surface	surface	NOUN
fcis-26107	42	34	robots	robot	NOUN
fcis-26107	42	35	.	.	PUNCT
fcis-26107	43	1	3.2.1	3.2.1	NUM
fcis-26107	43	2	.	.	PUNCT
fcis-26107	43	3	reorganization	reorganization	NOUN
fcis-26107	43	4	time	time	NOUN
fcis-26107	43	5	coordination	coordination	NOUN
fcis-26107	43	6	during	during	ADP
fcis-26107	43	7	the	the	DET
fcis-26107	43	8	reorganization	reorganization	NOUN
fcis-26107	43	9	process	process	NOUN
fcis-26107	43	10	,	,	PUNCT
fcis-26107	43	11	the	the	DET
fcis-26107	43	12	time	time	NOUN
fcis-26107	43	13	difference	difference	NOUN
fcis-26107	43	14	for	for	SCONJ
fcis-26107	43	15	the	the	DET
fcis-26107	43	16	swan	swan	NOUN
fcis-26107	43	17	surface	surface	NOUN
fcis-26107	43	18	robots	robot	NOUN
fcis-26107	43	19	to	to	PART
fcis-26107	43	20	reach	reach	VERB
fcis-26107	43	21	their	their	PRON
fcis-26107	43	22	respective	respective	ADJ
fcis-26107	43	23	desired	desire	VERB
fcis-26107	43	24	positions	position	NOUN
fcis-26107	43	25	needs	need	VERB
fcis-26107	43	26	to	to	PART
fcis-26107	43	27	be	be	AUX
fcis-26107	43	28	as	as	ADV
fcis-26107	43	29	small	small	ADJ
fcis-26107	43	30	as	as	ADP
fcis-26107	43	31	possible	possible	ADJ
fcis-26107	43	32	.	.	PUNCT
fcis-26107	44	1	generally	generally	ADV
fcis-26107	44	2	speaking	speak	VERB
fcis-26107	44	3	,	,	PUNCT
fcis-26107	44	4	the	the	PRON
fcis-26107	44	5	smaller	small	ADJ
fcis-26107	44	6	the	the	DET
fcis-26107	44	7	time	time	NOUN
fcis-26107	44	8	difference	difference	NOUN
fcis-26107	44	9	,	,	PUNCT
fcis-26107	44	10	the	the	PRON
fcis-26107	44	11	faster	fast	ADV
fcis-26107	44	12	the	the	DET
fcis-26107	44	13	formation	formation	NOUN
fcis-26107	44	14	is	be	AUX
fcis-26107	44	15	formed	form	VERB
fcis-26107	44	16	,	,	PUNCT
fcis-26107	44	17	and	and	CCONJ
fcis-26107	44	18	the	the	PRON
fcis-26107	44	19	better	well	ADJ
fcis-26107	44	20	the	the	DET
fcis-26107	44	21	performance	performance	NOUN
fcis-26107	44	22	effect	effect	NOUN
fcis-26107	44	23	will	will	AUX
fcis-26107	44	24	be	be	AUX
fcis-26107	44	25	;	;	PUNCT
fcis-26107	44	26	(	(	PUNCT
fcis-26107	44	27	6	6	NUM
fcis-26107	44	28	)	)	PUNCT
fcis-26107	44	29	in	in	ADP
fcis-26107	44	30	the	the	DET
fcis-26107	44	31	formula	formula	NOUN
fcis-26107	44	32	:	:	PUNCT
fcis-26107	44	33	represents	represent	VERB
fcis-26107	44	34	the	the	DET
fcis-26107	44	35	time	time	NOUN
fcis-26107	44	36	difference	difference	NOUN
fcis-26107	44	37	;	;	PUNCT
fcis-26107	44	38	is	be	AUX
fcis-26107	44	39	the	the	DET
fcis-26107	44	40	time	time	NOUN
fcis-26107	44	41	when	when	SCONJ
fcis-26107	44	42	the	the	DET
fcis-26107	44	43	first	first	ADJ
fcis-26107	44	44	swan	swan	NOUN
fcis-26107	44	45	surface	surface	NOUN
fcis-26107	44	46	robot	robot	NOUN
fcis-26107	44	47	arrives	arrive	VERB
fcis-26107	44	48	at	at	ADP
fcis-26107	44	49	the	the	DET
fcis-26107	44	50	expected	expect	VERB
fcis-26107	44	51	designated	designate	VERB
fcis-26107	44	52	position	position	NOUN
fcis-26107	44	53	,	,	PUNCT
fcis-26107	44	54	is	be	AUX
fcis-26107	44	55	the	the	DET
fcis-26107	44	56	time	time	NOUN
fcis-26107	44	57	when	when	SCONJ
fcis-26107	44	58	the	the	DET
fcis-26107	44	59	last	last	ADJ
fcis-26107	44	60	swan	swan	NOUN
fcis-26107	44	61	surface	surface	NOUN
fcis-26107	44	62	robot	robot	NOUN
fcis-26107	44	63	arrives	arrive	VERB
fcis-26107	44	64	at	at	ADP
fcis-26107	44	65	the	the	DET
fcis-26107	44	66	expected	expect	VERB
fcis-26107	44	67	designated	designate	VERB
fcis-26107	44	68	position	position	NOUN
fcis-26107	44	69	.	.	PUNCT
fcis-26107	45	1	3.2.2	3.2.2	X
fcis-26107	45	2	.	.	PUNCT
fcis-26107	45	3	avoid	avoid	VERB
fcis-26107	45	4	intersecting	intersect	VERB
fcis-26107	45	5	coordination	coordination	NOUN
fcis-26107	45	6	during	during	ADP
fcis-26107	45	7	the	the	DET
fcis-26107	45	8	reorganization	reorganization	NOUN
fcis-26107	45	9	process	process	NOUN
fcis-26107	45	10	,	,	PUNCT
fcis-26107	45	11	to	to	PART
fcis-26107	45	12	reduce	reduce	VERB
fcis-26107	45	13	the	the	DET
fcis-26107	45	14	risk	risk	NOUN
fcis-26107	45	15	of	of	ADP
fcis-26107	45	16	collisions	collision	NOUN
fcis-26107	45	17	between	between	ADP
fcis-26107	45	18	the	the	DET
fcis-26107	45	19	swan	swan	NOUN
fcis-26107	45	20	surface	surface	NOUN
fcis-26107	45	21	robots	robot	NOUN
fcis-26107	45	22	,	,	PUNCT
fcis-26107	45	23	the	the	DET
fcis-26107	45	24	movement	movement	NOUN
fcis-26107	45	25	trajectories	trajectory	NOUN
fcis-26107	45	26	of	of	ADP
fcis-26107	45	27	each	each	DET
fcis-26107	45	28	individual	individual	NOUN
fcis-26107	45	29	should	should	AUX
fcis-26107	45	30	avoid	avoid	VERB
fcis-26107	45	31	intersections	intersection	NOUN
fcis-26107	45	32	.	.	PUNCT
fcis-26107	46	1	moreover	moreover	ADV
fcis-26107	46	2	,	,	PUNCT
fcis-26107	46	3	frequent	frequent	ADJ
fcis-26107	46	4	trajectory	trajectory	NOUN
fcis-26107	46	5	intersections	intersection	NOUN
fcis-26107	46	6	can	can	AUX
fcis-26107	46	7	cause	cause	VERB
fcis-26107	46	8	visual	visual	ADJ
fcis-26107	46	9	confusion	confusion	NOUN
fcis-26107	46	10	and	and	CCONJ
fcis-26107	46	11	degrade	degrade	VERB
fcis-26107	46	12	the	the	DET
fcis-26107	46	13	viewing	view	VERB
fcis-26107	46	14	experience	experience	NOUN
fcis-26107	46	15	[	[	X
fcis-26107	46	16	8	8	NUM
fcis-26107	46	17	]	]	PUNCT
fcis-26107	46	18	.	.	PUNCT
fcis-26107	47	1	the	the	DET
fcis-26107	47	2	calculation	calculation	NOUN
fcis-26107	47	3	method	method	NOUN
fcis-26107	47	4	for	for	ADP
fcis-26107	47	5	the	the	DET
fcis-26107	47	6	number	number	NOUN
fcis-26107	47	7	of	of	ADP
fcis-26107	47	8	trajectory	trajectory	NOUN
fcis-26107	47	9	intersections	intersection	NOUN
fcis-26107	47	10	is	be	AUX
fcis-26107	47	11	as	as	SCONJ
fcis-26107	47	12	follows	follow	VERB
fcis-26107	47	13	:	:	PUNCT
fcis-26107	47	14	1	1	X
fcis-26107	47	15	)	)	PUNCT
fcis-26107	47	16	arrange	arrange	VERB
fcis-26107	47	17	the	the	DET
fcis-26107	47	18	x	x	ADJ
fcis-26107	47	19	-	-	ADJ
fcis-26107	47	20	axis	axis	ADJ
fcis-26107	47	21	coordinates	coordinate	NOUN
fcis-26107	47	22	of	of	ADP
fcis-26107	47	23	the	the	DET
fcis-26107	47	24	initial	initial	ADJ
fcis-26107	47	25	positions	position	NOUN
fcis-26107	47	26	of	of	ADP
fcis-26107	47	27	the	the	DET
fcis-26107	47	28	swan	swan	NOUN
fcis-26107	47	29	surface	surface	NOUN
fcis-26107	47	30	robots	robot	NOUN
fcis-26107	47	31	in	in	ADP
fcis-26107	47	32	ascending	ascend	VERB
fcis-26107	47	33	order	order	NOUN
fcis-26107	47	34	from	from	ADP
fcis-26107	47	35	smallest	small	ADJ
fcis-26107	47	36	to	to	PART
fcis-26107	47	37	largest	large	ADJ
fcis-26107	47	38	to	to	PART
fcis-26107	47	39	obtain	obtain	VERB
fcis-26107	47	40	an	an	DET
fcis-26107	47	41	ordered	order	VERB
fcis-26107	47	42	matrix	matrix	NOUN
fcis-26107	47	43	:	:	PUNCT
fcis-26107	47	44	1	1	NUM
fcis-26107	47	45	2	2	NUM
fcis-26107	47	46	.	.	PUNCT
fcis-26107	47	47	.	.	PUNCT
fcis-26107	47	48	.	.	PUNCT
fcis-26107	47	49	.	.	PUNCT
fcis-26107	47	50	.	.	PUNCT
fcis-26107	47	51	.	.	PUNCT
fcis-26107	48	1	(	(	PUNCT
fcis-26107	48	2	7	7	X
fcis-26107	48	3	)	)	PUNCT
fcis-26107	48	4	2	2	NUM
fcis-26107	48	5	)	)	PUNCT
fcis-26107	48	6	obtain	obtain	VERB
fcis-26107	48	7	the	the	DET
fcis-26107	48	8	corresponding	corresponding	ADJ
fcis-26107	48	9	x	x	ADJ
fcis-26107	48	10	-	-	ADJ
fcis-26107	48	11	axis	axis	ADJ
fcis-26107	48	12	coordinate	coordinate	NOUN
fcis-26107	48	13	matrix	matrix	NOUN
fcis-26107	48	14	for	for	ADP
fcis-26107	48	15	the	the	DET
fcis-26107	48	16	expected	expect	VERB
fcis-26107	48	17	positions	position	NOUN
fcis-26107	48	18	:	:	PUNCT
fcis-26107	48	19	1	1	NUM
fcis-26107	48	20	2	2	NUM
fcis-26107	48	21	.	.	PUNCT
fcis-26107	48	22	.	.	PUNCT
fcis-26107	48	23	.	.	PUNCT
fcis-26107	48	24	.	.	PUNCT
fcis-26107	48	25	.	.	PUNCT
fcis-26107	48	26	.	.	PUNCT
fcis-26107	49	1	(	(	PUNCT
fcis-26107	49	2	8)	8)	NUM
fcis-26107	49	3	compare	compare	VERB
fcis-26107	49	4	the	the	DET
fcis-26107	49	5	positions	position	NOUN
fcis-26107	49	6	of	of	ADP
fcis-26107	49	7	the	the	DET
fcis-26107	49	8	(	(	PUNCT
fcis-26107	49	9	1≤	1≤	NUM
fcis-26107	49	10	≤n-1	≤n-1	PROPN
fcis-26107	49	11	)	)	PUNCT
fcis-26107	49	12	and	and	CCONJ
fcis-26107	49	13	(	(	PUNCT
fcis-26107	49	14	1≤	1≤	NUM
fcis-26107	49	15	≤n	≤n	PROPN
fcis-26107	49	16	)	)	PUNCT
fcis-26107	49	17	surface	surface	NOUN
fcis-26107	49	18	swan	swan	NOUN
fcis-26107	49	19	robots	robot	NOUN
fcis-26107	49	20	;	;	PUNCT
fcis-26107	49	21	if	if	SCONJ
fcis-26107	49	22	>	>	X
fcis-26107	49	23	,	,	PUNCT
fcis-26107	49	24	it	it	PRON
fcis-26107	49	25	is	be	AUX
fcis-26107	49	26	recorded	record	VERB
fcis-26107	49	27	as	as	ADP
fcis-26107	49	28	one	one	NUM
fcis-26107	49	29	instance	instance	NOUN
fcis-26107	49	30	of	of	ADP
fcis-26107	49	31	lateral	lateral	ADJ
fcis-26107	49	32	trajectory	trajectory	NOUN
fcis-26107	49	33	intersection	intersection	NOUN
fcis-26107	49	34	,	,	PUNCT
fcis-26107	49	35	and	and	CCONJ
fcis-26107	49	36	all	all	DET
fcis-26107	49	37	other	other	ADJ
fcis-26107	49	38	cases	case	NOUN
fcis-26107	49	39	are	be	AUX
fcis-26107	49	40	considered	consider	VERB
fcis-26107	49	41	non	non	ADJ
fcis-26107	49	42	-	-	ADJ
fcis-26107	49	43	intersecting	intersecting	ADJ
fcis-26107	49	44	.	.	PUNCT
fcis-26107	50	1	3	3	X
fcis-26107	50	2	)	)	PUNCT
fcis-26107	50	3	sequentially	sequentially	ADV
fcis-26107	50	4	judge	judge	VERB
fcis-26107	50	5	the	the	DET
fcis-26107	50	6	situations	situation	NOUN
fcis-26107	50	7	of	of	ADP
fcis-26107	50	8	,	,	PUNCT
fcis-26107	50	9	,	,	PUNCT
fcis-26107	50	10	.	.	PUNCT
fcis-26107	50	11	.	.	PUNCT
fcis-26107	51	1	.	.	PUNCT
fcis-26107	52	1	,	,	PUNCT
fcis-26107	52	2	and	and	CCONJ
fcis-26107	52	3	accumulate	accumulate	VERB
fcis-26107	52	4	to	to	PART
fcis-26107	52	5	obtain	obtain	VERB
fcis-26107	52	6	the	the	DET
fcis-26107	52	7	intersection	intersection	NOUN
fcis-26107	52	8	factor	factor	NOUN
fcis-26107	52	9	z.	z.	PROPN
fcis-26107	52	10	3	3	NUM
fcis-26107	52	11	4	4	X
fcis-26107	52	12	.	.	PUNCT
fcis-26107	52	13	formation	formation	NOUN
fcis-26107	52	14	reorganization	reorganization	NOUN
fcis-26107	52	15	optimization	optimization	NOUN
fcis-26107	52	16	in	in	ADP
fcis-26107	52	17	the	the	DET
fcis-26107	52	18	process	process	NOUN
fcis-26107	52	19	of	of	ADP
fcis-26107	52	20	optimizing	optimize	VERB
fcis-26107	52	21	the	the	DET
fcis-26107	52	22	reorganization	reorganization	NOUN
fcis-26107	52	23	of	of	ADP
fcis-26107	52	24	swan	swan	NOUN
fcis-26107	52	25	surface	surface	NOUN
fcis-26107	52	26	robot	robot	NOUN
fcis-26107	52	27	formations	formation	NOUN
fcis-26107	52	28	,	,	PUNCT
fcis-26107	52	29	various	various	ADJ
fcis-26107	52	30	factors	factor	NOUN
fcis-26107	52	31	such	such	ADJ
fcis-26107	52	32	as	as	ADP
fcis-26107	52	33	energy	energy	NOUN
fcis-26107	52	34	consumption	consumption	NOUN
fcis-26107	52	35	,	,	PUNCT
fcis-26107	52	36	turning	turn	VERB
fcis-26107	52	37	maneuver	maneuver	NOUN
fcis-26107	52	38	range	range	NOUN
fcis-26107	52	39	,	,	PUNCT
fcis-26107	52	40	time	time	NOUN
fcis-26107	52	41	coordination	coordination	NOUN
fcis-26107	52	42	,	,	PUNCT
fcis-26107	52	43	and	and	CCONJ
fcis-26107	52	44	avoiding	avoid	VERB
fcis-26107	52	45	intersecting	intersect	VERB
fcis-26107	52	46	coordination	coordination	NOUN
fcis-26107	52	47	must	must	AUX
fcis-26107	52	48	be	be	AUX
fcis-26107	52	49	considered	consider	VERB
fcis-26107	52	50	.	.	PUNCT
fcis-26107	53	1	therefore	therefore	ADV
fcis-26107	53	2	,	,	PUNCT
fcis-26107	53	3	the	the	DET
fcis-26107	53	4	formation	formation	NOUN
fcis-26107	53	5	reorganization	reorganization	NOUN
fcis-26107	53	6	allocation	allocation	NOUN
fcis-26107	53	7	optimization	optimization	NOUN
fcis-26107	53	8	problem	problem	NOUN
fcis-26107	53	9	is	be	AUX
fcis-26107	53	10	classified	classify	VERB
fcis-26107	53	11	as	as	ADP
fcis-26107	53	12	a	a	DET
fcis-26107	53	13	multi	multi	ADJ
fcis-26107	53	14	-	-	ADJ
fcis-26107	53	15	objective	objective	ADJ
fcis-26107	53	16	optimization	optimization	NOUN
fcis-26107	53	17	problem	problem	NOUN
fcis-26107	53	18	,	,	PUNCT
fcis-26107	53	19	which	which	PRON
fcis-26107	53	20	is	be	AUX
fcis-26107	53	21	solved	solve	VERB
fcis-26107	53	22	using	use	VERB
fcis-26107	53	23	the	the	DET
fcis-26107	53	24	nsag	nsag	PROPN
fcis-26107	53	25	-	-	PUNCT
fcis-26107	53	26	ii	ii	NOUN
fcis-26107	53	27	algorithm	algorithm	NOUN
fcis-26107	53	28	for	for	ADP
fcis-26107	53	29	multi	multi	ADJ
fcis-26107	53	30	-	-	ADJ
fcis-26107	53	31	objective	objective	ADJ
fcis-26107	53	32	optimization	optimization	NOUN
fcis-26107	53	33	.	.	PUNCT
fcis-26107	54	1	the	the	DET
fcis-26107	54	2	optimization	optimization	NOUN
fcis-26107	54	3	target	target	NOUN
fcis-26107	54	4	variables	variable	NOUN
fcis-26107	54	5	involved	involve	VERB
fcis-26107	54	6	are	be	AUX
fcis-26107	54	7	,	,	PUNCT
fcis-26107	54	8	,	,	PUNCT
fcis-26107	54	9	θ	θ	PROPN
fcis-26107	54	10	and	and	CCONJ
fcis-26107	54	11	z.	z.	PROPN
fcis-26107	54	12	since	since	SCONJ
fcis-26107	54	13	time	time	NOUN
fcis-26107	54	14	coordination	coordination	NOUN
fcis-26107	54	15	needs	need	VERB
fcis-26107	54	16	to	to	PART
fcis-26107	54	17	consider	consider	VERB
fcis-26107	54	18	collision	collision	NOUN
fcis-26107	54	19	avoidance	avoidance	NOUN
fcis-26107	54	20	and	and	CCONJ
fcis-26107	54	21	movement	movement	NOUN
fcis-26107	54	22	distance	distance	NOUN
fcis-26107	54	23	during	during	ADP
fcis-26107	54	24	the	the	DET
fcis-26107	54	25	motion	motion	NOUN
fcis-26107	54	26	process	process	NOUN
fcis-26107	54	27	,	,	PUNCT
fcis-26107	54	28	it	it	PRON
fcis-26107	54	29	is	be	AUX
fcis-26107	54	30	optimized	optimize	VERB
fcis-26107	54	31	in	in	ADP
fcis-26107	54	32	the	the	DET
fcis-26107	54	33	subsequent	subsequent	ADJ
fcis-26107	54	34	trajectory	trajectory	NOUN
fcis-26107	54	35	planning	planning	NOUN
fcis-26107	54	36	.	.	PUNCT
fcis-26107	55	1	thus	thus	ADV
fcis-26107	55	2	,	,	PUNCT
fcis-26107	55	3	the	the	DET
fcis-26107	55	4	formation	formation	NOUN
fcis-26107	55	5	reorganization	reorganization	NOUN
fcis-26107	55	6	allocation	allocation	NOUN
fcis-26107	55	7	is	be	AUX
fcis-26107	55	8	planned	plan	VERB
fcis-26107	55	9	under	under	ADP
fcis-26107	55	10	ideal	ideal	ADJ
fcis-26107	55	11	non	non	ADJ
fcis-26107	55	12	-	-	ADJ
fcis-26107	55	13	collision	collision	ADJ
fcis-26107	55	14	conditions	condition	NOUN
fcis-26107	55	15	,	,	PUNCT
fcis-26107	55	16	with	with	ADP
fcis-26107	55	17	a	a	DET
fcis-26107	55	18	constant	constant	ADJ
fcis-26107	55	19	speed	speed	NOUN
fcis-26107	55	20	,	,	PUNCT
fcis-26107	55	21	using	use	VERB
fcis-26107	55	22	the	the	DET
fcis-26107	55	23	distance	distance	NOUN
fcis-26107	55	24	variance	variance	NOUN
fcis-26107	55	25	as	as	ADP
fcis-26107	55	26	an	an	DET
fcis-26107	55	27	approximate	approximate	ADJ
fcis-26107	55	28	substitute	substitute	NOUN
fcis-26107	55	29	for	for	ADP
fcis-26107	55	30	the	the	DET
fcis-26107	55	31	time	time	NOUN
fcis-26107	55	32	coordination	coordination	NOUN
fcis-26107	55	33	optimization	optimization	NOUN
fcis-26107	55	34	target	target	NOUN
fcis-26107	55	35	.	.	PUNCT
fcis-26107	56	1	assuming	assume	VERB
fcis-26107	56	2	the	the	DET
fcis-26107	56	3	number	number	NOUN
fcis-26107	56	4	of	of	ADP
fcis-26107	56	5	swan	swan	NOUN
fcis-26107	56	6	surface	surface	NOUN
fcis-26107	56	7	robots	robot	NOUN
fcis-26107	56	8	and	and	CCONJ
fcis-26107	56	9	the	the	DET
fcis-26107	56	10	expected	expect	VERB
fcis-26107	56	11	positions	position	NOUN
fcis-26107	56	12	for	for	ADP
fcis-26107	56	13	reorganization	reorganization	NOUN
fcis-26107	56	14	are	be	AUX
fcis-26107	56	15	both	both	PRON
fcis-26107	56	16	,	,	PUNCT
fcis-26107	56	17	the	the	DET
fcis-26107	56	18	allocation	allocation	NOUN
fcis-26107	56	19	scheme	scheme	NOUN
fcis-26107	56	20	is	be	AUX
fcis-26107	56	21	defined	define	VERB
fcis-26107	56	22	as	as	ADP
fcis-26107	56	23	the	the	DET
fcis-26107	56	24	following	follow	VERB
fcis-26107	56	25	matrix	matrix	NOUN
fcis-26107	56	26	:	:	PUNCT
fcis-26107	56	27	:	:	PUNCT
fcis-26107	56	28	⋯	⋯	X
fcis-26107	56	29	(	(	PUNCT
fcis-26107	56	30	9	9	NUM
fcis-26107	56	31	)	)	PUNCT
fcis-26107	56	32	(	(	PUNCT
fcis-26107	56	33	9)in	9)in	INTJ
fcis-26107	56	34	the	the	DET
fcis-26107	56	35	formula	formula	NOUN
fcis-26107	56	36	,	,	PUNCT
fcis-26107	56	37	the	the	DET
fcis-26107	56	38	element	element	NOUN
fcis-26107	56	39	in	in	ADP
fcis-26107	56	40	the	the	DET
fcis-26107	56	41	first	first	ADJ
fcis-26107	56	42	row	row	NOUN
fcis-26107	56	43	and	and	CCONJ
fcis-26107	56	44	first	first	ADJ
fcis-26107	56	45	column	column	NOUN
fcis-26107	56	46	of	of	ADP
fcis-26107	56	47	the	the	DET
fcis-26107	56	48	matrix	matrix	NOUN
fcis-26107	56	49	represents	represent	VERB
fcis-26107	56	50	the	the	DET
fcis-26107	56	51	allocation	allocation	NOUN
fcis-26107	56	52	of	of	ADP
fcis-26107	56	53	the	the	DET
fcis-26107	56	54	swan	swan	NOUN
fcis-26107	56	55	surface	surface	NOUN
fcis-26107	56	56	robot	robot	NOUN
fcis-26107	56	57	numbered	number	VERB
fcis-26107	56	58	1	1	NUM
fcis-26107	56	59	to	to	ADP
fcis-26107	56	60	the	the	DET
fcis-26107	56	61	designation	designation	NOUN
fcis-26107	56	62	in	in	ADP
fcis-26107	56	63	the	the	DET
fcis-26107	56	64	expected	expect	VERB
fcis-26107	56	65	formation	formation	NOUN
fcis-26107	56	66	,	,	PUNCT
fcis-26107	56	67	the	the	DET
fcis-26107	56	68	element	element	NOUN
fcis-26107	56	69	in	in	ADP
fcis-26107	56	70	the	the	DET
fcis-26107	56	71	first	first	ADJ
fcis-26107	56	72	row	row	NOUN
fcis-26107	56	73	and	and	CCONJ
fcis-26107	56	74	second	second	ADJ
fcis-26107	56	75	column	column	NOUN
fcis-26107	56	76	represents	represent	VERB
fcis-26107	56	77	the	the	DET
fcis-26107	56	78	allocation	allocation	NOUN
fcis-26107	56	79	of	of	ADP
fcis-26107	56	80	the	the	DET
fcis-26107	56	81	swan	swan	NOUN
fcis-26107	56	82	surface	surface	NOUN
fcis-26107	56	83	robot	robot	NOUN
fcis-26107	56	84	numbered	number	VERB
fcis-26107	56	85	2	2	NUM
fcis-26107	56	86	to	to	ADP
fcis-26107	56	87	the	the	DET
fcis-26107	56	88	designation	designation	NOUN
fcis-26107	56	89	in	in	ADP
fcis-26107	56	90	the	the	DET
fcis-26107	56	91	expected	expect	VERB
fcis-26107	56	92	formation	formation	NOUN
fcis-26107	56	93	,	,	PUNCT
fcis-26107	56	94	and	and	CCONJ
fcis-26107	56	95	so	so	ADV
fcis-26107	56	96	on	on	ADV
fcis-26107	56	97	,	,	PUNCT
fcis-26107	56	98	∈	∈	PROPN
fcis-26107	56	99	1,2,3	1,2,3	NUM
fcis-26107	56	100	,	,	PUNCT
fcis-26107	56	101	…	…	PUNCT
fcis-26107	56	102	,	,	PUNCT
fcis-26107	56	103	12	12	NUM
fcis-26107	56	104	.	.	PUNCT
fcis-26107	57	1	4.1	4.1	NUM
fcis-26107	57	2	.	.	PUNCT
fcis-26107	58	1	the	the	DET
fcis-26107	58	2	nsga	nsga	NOUN
fcis-26107	58	3	-	-	PUNCT
fcis-26107	58	4	ii	ii	NOUN
fcis-26107	58	5	multi	multi	ADJ
fcis-26107	58	6	-	-	ADJ
fcis-26107	58	7	objective	objective	ADJ
fcis-26107	58	8	optimization	optimization	NOUN
fcis-26107	58	9	solution	solution	NOUN
fcis-26107	58	10	process	process	NOUN
fcis-26107	58	11	1	1	NUM
fcis-26107	58	12	)	)	PUNCT
fcis-26107	58	13	define	define	VERB
fcis-26107	58	14	initial	initial	ADJ
fcis-26107	58	15	parameters	parameter	NOUN
fcis-26107	58	16	:	:	PUNCT
fcis-26107	58	17	including	include	VERB
fcis-26107	58	18	population	population	NOUN
fcis-26107	58	19	size	size	NOUN
fcis-26107	58	20	,	,	PUNCT
fcis-26107	58	21	number	number	NOUN
fcis-26107	58	22	of	of	ADP
fcis-26107	58	23	variables	variable	NOUN
fcis-26107	58	24	,	,	PUNCT
fcis-26107	58	25	variable	variable	ADJ
fcis-26107	58	26	ranges	range	NOUN
fcis-26107	58	27	,	,	PUNCT
fcis-26107	58	28	number	number	NOUN
fcis-26107	58	29	of	of	ADP
fcis-26107	58	30	iterations	iteration	NOUN
fcis-26107	58	31	,	,	PUNCT
fcis-26107	58	32	initial	initial	ADJ
fcis-26107	58	33	crossover	crossover	NOUN
fcis-26107	58	34	,	,	PUNCT
fcis-26107	58	35	mutation	mutation	NOUN
fcis-26107	58	36	probability	probability	NOUN
fcis-26107	58	37	;	;	PUNCT
fcis-26107	58	38	2	2	X
fcis-26107	58	39	)	)	PUNCT
fcis-26107	58	40	define	define	VERB
fcis-26107	58	41	the	the	DET
fcis-26107	58	42	optimization	optimization	NOUN
fcis-26107	58	43	objective	objective	ADJ
fcis-26107	58	44	function	function	NOUN
fcis-26107	58	45	;	;	PUNCT
fcis-26107	58	46	3	3	X
fcis-26107	58	47	)	)	PUNCT
fcis-26107	58	48	randomly	randomly	ADV
fcis-26107	58	49	initialize	initialize	VERB
fcis-26107	58	50	the	the	DET
fcis-26107	58	51	population	population	NOUN
fcis-26107	58	52	:	:	PUNCT
fcis-26107	58	53	randomly	randomly	ADV
fcis-26107	58	54	generate	generate	VERB
fcis-26107	58	55	the	the	DET
fcis-26107	58	56	allocation	allocation	NOUN
fcis-26107	58	57	scheme	scheme	NOUN
fcis-26107	58	58	p	p	NOUN
fcis-26107	58	59	matrix	matrix	NOUN
fcis-26107	58	60	,	,	PUNCT
fcis-26107	58	61	and	and	CCONJ
fcis-26107	58	62	calculate	calculate	VERB
fcis-26107	58	63	the	the	DET
fcis-26107	58	64	objective	objective	ADJ
fcis-26107	58	65	function	function	NOUN
fcis-26107	58	66	value	value	NOUN
fcis-26107	58	67	for	for	ADP
fcis-26107	58	68	each	each	DET
fcis-26107	58	69	individual	individual	NOUN
fcis-26107	58	70	;	;	PUNCT
fcis-26107	58	71	4	4	X
fcis-26107	58	72	)	)	PUNCT
fcis-26107	58	73	perform	perform	VERB
fcis-26107	58	74	genetic	genetic	ADJ
fcis-26107	58	75	iterative	iterative	NOUN
fcis-26107	58	76	computation	computation	NOUN
fcis-26107	58	77	and	and	CCONJ
fcis-26107	58	78	merge	merge	VERB
fcis-26107	58	79	:	:	PUNCT
fcis-26107	58	80	including	include	VERB
fcis-26107	58	81	selection	selection	NOUN
fcis-26107	58	82	,	,	PUNCT
fcis-26107	58	83	crossover	crossover	NOUN
fcis-26107	58	84	,	,	PUNCT
fcis-26107	58	85	and	and	CCONJ
fcis-26107	58	86	mutation	mutation	NOUN
fcis-26107	58	87	operations	operation	NOUN
fcis-26107	58	88	to	to	PART
fcis-26107	58	89	generate	generate	VERB
fcis-26107	58	90	a	a	DET
fcis-26107	58	91	new	new	ADJ
fcis-26107	58	92	offspring	offspring	NOUN
fcis-26107	58	93	population	population	NOUN
fcis-26107	58	94	,	,	PUNCT
fcis-26107	58	95	and	and	CCONJ
fcis-26107	58	96	merge	merge	VERB
fcis-26107	58	97	the	the	DET
fcis-26107	58	98	parent	parent	NOUN
fcis-26107	58	99	and	and	CCONJ
fcis-26107	58	100	offspring	offspring	NOUN
fcis-26107	58	101	to	to	PART
fcis-26107	58	102	form	form	VERB
fcis-26107	58	103	a	a	DET
fcis-26107	58	104	new	new	ADJ
fcis-26107	58	105	population	population	NOUN
fcis-26107	58	106	;	;	PUNCT
fcis-26107	58	107	5	5	X
fcis-26107	58	108	)	)	PUNCT
fcis-26107	58	109	conduct	conduct	NOUN
fcis-26107	58	110	nondominated	nondominated	ADJ
fcis-26107	58	111	sorting	sorting	NOUN
fcis-26107	58	112	:	:	PUNCT
fcis-26107	58	113	quickly	quickly	ADV
fcis-26107	58	114	sort	sort	VERB
fcis-26107	58	115	the	the	DET
fcis-26107	58	116	new	new	ADJ
fcis-26107	58	117	population	population	NOUN
fcis-26107	58	118	based	base	VERB
fcis-26107	58	119	on	on	ADP
fcis-26107	58	120	the	the	DET
fcis-26107	58	121	objective	objective	ADJ
fcis-26107	58	122	function	function	NOUN
fcis-26107	58	123	values	value	NOUN
fcis-26107	58	124	,	,	PUNCT
fcis-26107	58	125	calculate	calculate	VERB
fcis-26107	58	126	the	the	DET
fcis-26107	58	127	crowding	crowd	VERB
fcis-26107	58	128	distance	distance	NOUN
fcis-26107	58	129	,	,	PUNCT
fcis-26107	58	130	and	and	CCONJ
fcis-26107	58	131	select	select	VERB
fcis-26107	58	132	individuals	individual	NOUN
fcis-26107	58	133	to	to	PART
fcis-26107	58	134	enter	enter	VERB
fcis-26107	58	135	the	the	DET
fcis-26107	58	136	next	next	ADJ
fcis-26107	58	137	generation	generation	NOUN
fcis-26107	58	138	based	base	VERB
fcis-26107	58	139	on	on	ADP
fcis-26107	58	140	the	the	DET
fcis-26107	58	141	sorting	sorting	NOUN
fcis-26107	58	142	and	and	CCONJ
fcis-26107	58	143	crowding	crowd	VERB
fcis-26107	58	144	distance	distance	NOUN
fcis-26107	58	145	;	;	PUNCT
fcis-26107	58	146	7	7	X
fcis-26107	58	147	)	)	PUNCT
fcis-26107	58	148	return	return	NOUN
fcis-26107	58	149	to	to	PART
fcis-26107	58	150	step	step	VERB
fcis-26107	58	151	4	4	NUM
fcis-26107	58	152	for	for	ADP
fcis-26107	58	153	computation	computation	NOUN
fcis-26107	58	154	,	,	PUNCT
fcis-26107	58	155	and	and	CCONJ
fcis-26107	58	156	so	so	ADV
fcis-26107	58	157	on	on	ADV
fcis-26107	58	158	until	until	SCONJ
fcis-26107	58	159	the	the	DET
fcis-26107	58	160	set	set	VERB
fcis-26107	58	161	termination	termination	NOUN
fcis-26107	58	162	conditions	condition	NOUN
fcis-26107	58	163	are	be	AUX
fcis-26107	58	164	met	meet	VERB
fcis-26107	58	165	and	and	CCONJ
fcis-26107	58	166	the	the	DET
fcis-26107	58	167	pareto	pareto	ADJ
fcis-26107	58	168	solution	solution	NOUN
fcis-26107	58	169	set	set	VERB
fcis-26107	58	170	is	be	AUX
fcis-26107	58	171	generated	generate	VERB
fcis-26107	58	172	.	.	PUNCT
fcis-26107	59	1	fig	fig	PROPN
fcis-26107	59	2	3	3	NUM
fcis-26107	59	3	.	.	PUNCT
fcis-26107	60	1	flowchart	flowchart	NOUN
fcis-26107	60	2	of	of	ADP
fcis-26107	60	3	the	the	DET
fcis-26107	60	4	nsga	nsga	NOUN
fcis-26107	60	5	-	-	PUNCT
fcis-26107	60	6	ii	ii	NOUN
fcis-26107	60	7	algorithm	algorithm	NOUN
fcis-26107	60	8	.	.	PUNCT
fcis-26107	61	1	5	5	X
fcis-26107	61	2	.	.	X
fcis-26107	61	3	formation	formation	NOUN
fcis-26107	61	4	reorganization	reorganization	NOUN
fcis-26107	61	5	simulation	simulation	NOUN
fcis-26107	61	6	results	result	NOUN
fcis-26107	61	7	and	and	CCONJ
fcis-26107	61	8	data	datum	NOUN
fcis-26107	61	9	analysis	analysis	NOUN
fcis-26107	61	10	5.1	5.1	NUM
fcis-26107	61	11	.	.	PUNCT
fcis-26107	62	1	simulation	simulation	NOUN
fcis-26107	62	2	the	the	DET
fcis-26107	62	3	initial	initial	ADJ
fcis-26107	62	4	formation	formation	NOUN
fcis-26107	62	5	coordinates	coordinate	NOUN
fcis-26107	62	6	of	of	ADP
fcis-26107	62	7	the	the	DET
fcis-26107	62	8	swan	swan	NOUN
fcis-26107	62	9	surface	surface	NOUN
fcis-26107	62	10	robots	robot	NOUN
fcis-26107	62	11	and	and	CCONJ
fcis-26107	62	12	the	the	DET
fcis-26107	62	13	expected	expect	VERB
fcis-26107	62	14	formation	formation	NOUN
fcis-26107	62	15	coordinates	coordinate	NOUN
fcis-26107	62	16	are	be	AUX
fcis-26107	62	17	set	set	VERB
fcis-26107	62	18	as	as	SCONJ
fcis-26107	62	19	shown	show	VERB
fcis-26107	62	20	in	in	ADP
fcis-26107	62	21	table	table	NOUN
fcis-26107	62	22	1	1	NUM
fcis-26107	62	23	,	,	PUNCT
fcis-26107	62	24	and	and	CCONJ
fcis-26107	62	25	the	the	DET
fcis-26107	62	26	corresponding	correspond	VERB
fcis-26107	62	27	two	two	NUM
fcis-26107	62	28	-	-	PUNCT
fcis-26107	62	29	dimensional	dimensional	ADJ
fcis-26107	62	30	coordinate	coordinate	NOUN
fcis-26107	62	31	graph	graph	NOUN
fcis-26107	62	32	is	be	AUX
fcis-26107	62	33	shown	show	VERB
fcis-26107	62	34	in	in	ADP
fcis-26107	62	35	figure	figure	NOUN
fcis-26107	62	36	4	4	NUM
fcis-26107	62	37	.	.	PUNCT
fcis-26107	62	38	table	table	NOUN
fcis-26107	62	39	1	1	NUM
fcis-26107	62	40	.	.	PUNCT
fcis-26107	62	41	corresponding	correspond	VERB
fcis-26107	62	42	coordinates	coordinate	NOUN
fcis-26107	62	43	of	of	ADP
fcis-26107	62	44	initial	initial	ADJ
fcis-26107	62	45	and	and	CCONJ
fcis-26107	62	46	desired	desire	VERB
fcis-26107	62	47	formations	formation	NOUN
fcis-26107	62	48	initial	initial	ADJ
fcis-26107	62	49	formation	formation	NOUN
fcis-26107	62	50	designation	designation	NOUN
fcis-26107	62	51	corresponding	correspond	VERB
fcis-26107	62	52	coordinates	coordinate	NOUN
fcis-26107	62	53	desired	desire	VERB
fcis-26107	62	54	formation	formation	NOUN
fcis-26107	62	55	designation	designation	NOUN
fcis-26107	62	56	corresponding	correspond	VERB
fcis-26107	62	57	coordinates	coordinate	NOUN
fcis-26107	62	58	e1	e1	PROPN
fcis-26107	62	59	(	(	PUNCT
fcis-26107	62	60	0,13	0,13	NOUN
fcis-26107	62	61	)	)	PUNCT
fcis-26107	62	62	d1	d1	NOUN
fcis-26107	62	63	(	(	PUNCT
fcis-26107	62	64	20,-9.5	20,-9.5	NUM
fcis-26107	62	65	)	)	PUNCT
fcis-26107	62	66	e2	e2	NOUN
fcis-26107	62	67	(	(	PUNCT
fcis-26107	62	68	5,13	5,13	NUM
fcis-26107	62	69	)	)	PUNCT
fcis-26107	62	70	d2	d2	PROPN
fcis-26107	62	71	(	(	PUNCT
fcis-26107	62	72	18.6,-4.5	18.6,-4.5	NUM
fcis-26107	62	73	)	)	PUNCT
fcis-26107	62	74	e3	e3	NOUN
fcis-26107	62	75	(	(	PUNCT
fcis-26107	62	76	10,13	10,13	NUM
fcis-26107	62	77	)	)	PUNCT
fcis-26107	62	78	d3	d3	PROPN
fcis-26107	62	79	(	(	PUNCT
fcis-26107	62	80	15,-0.8	15,-0.8	NUM
fcis-26107	62	81	)	)	PUNCT
fcis-26107	62	82	e4	e4	PROPN
fcis-26107	62	83	(	(	PUNCT
fcis-26107	62	84	15,13	15,13	NUM
fcis-26107	62	85	)	)	PUNCT
fcis-26107	62	86	d4	d4	PROPN
fcis-26107	62	87	(	(	PUNCT
fcis-26107	62	88	10,0.5	10,0.5	NUM
fcis-26107	62	89	)	)	PUNCT
fcis-26107	62	90	e5	e5	NOUN
fcis-26107	62	91	(	(	PUNCT
fcis-26107	62	92	20,13	20,13	NUM
fcis-26107	62	93	)	)	PUNCT
fcis-26107	62	94	d5	d5	NOUN
fcis-26107	62	95	(	(	PUNCT
fcis-26107	62	96	5,-0.8	5,-0.8	PROPN
fcis-26107	62	97	)	)	PUNCT
fcis-26107	62	98	e6	e6	PROPN
fcis-26107	62	99	(	(	PUNCT
fcis-26107	62	100	25,13	25,13	NUM
fcis-26107	62	101	)	)	PUNCT
fcis-26107	62	102	d6	d6	NOUN
fcis-26107	62	103	(	(	PUNCT
fcis-26107	62	104	1.3,-4.5	1.3,-4.5	NUM
fcis-26107	62	105	)	)	PUNCT
fcis-26107	62	106	e7	e7	PROPN
fcis-26107	62	107	(	(	PUNCT
fcis-26107	62	108	-5,80	-5,80	PROPN
fcis-26107	62	109	)	)	PUNCT
fcis-26107	62	110	d7	d7	PROPN
fcis-26107	62	111	(	(	PUNCT
fcis-26107	62	112	0,-9.5	0,-9.5	PROPN
fcis-26107	62	113	)	)	PUNCT
fcis-26107	62	114	e8	e8	PROPN
fcis-26107	62	115	(	(	PUNCT
fcis-26107	62	116	0,80	0,80	NOUN
fcis-26107	62	117	)	)	PUNCT
fcis-26107	62	118	d8	d8	PROPN
fcis-26107	62	119	(	(	PUNCT
fcis-26107	62	120	1.3,-14.5	1.3,-14.5	NUM
fcis-26107	62	121	)	)	PUNCT
fcis-26107	63	1	e9	e9	PROPN
fcis-26107	63	2	(	(	PUNCT
fcis-26107	63	3	5,80	5,80	ADV
fcis-26107	63	4	)	)	PUNCT
fcis-26107	63	5	d9	d9	PROPN
fcis-26107	63	6	(	(	PUNCT
fcis-26107	63	7	5,-18.1	5,-18.1	NUM
fcis-26107	63	8	)	)	PUNCT
fcis-26107	63	9	e10	e10	PROPN
fcis-26107	63	10	(	(	PUNCT
fcis-26107	63	11	10,80	10,80	NUM
fcis-26107	63	12	)	)	PUNCT
fcis-26107	63	13	d10	d10	PROPN
fcis-26107	63	14	(	(	PUNCT
fcis-26107	63	15	10,-19.5	10,-19.5	NUM
fcis-26107	63	16	)	)	PUNCT
fcis-26107	63	17	e11	e11	NOUN
fcis-26107	63	18	(	(	PUNCT
fcis-26107	63	19	15,80	15,80	NUM
fcis-26107	63	20	)	)	PUNCT
fcis-26107	63	21	d11	d11	NOUN
fcis-26107	63	22	(	(	PUNCT
fcis-26107	63	23	15,-18.1	15,-18.1	NUM
fcis-26107	63	24	)	)	PUNCT
fcis-26107	63	25	e12	e12	NOUN
fcis-26107	63	26	(	(	PUNCT
fcis-26107	63	27	20,80	20,80	NUM
fcis-26107	63	28	)	)	PUNCT
fcis-26107	63	29	d12	d12	NOUN
fcis-26107	63	30	(	(	PUNCT
fcis-26107	63	31	18.6,14.5	18.6,14.5	NUM
fcis-26107	63	32	)	)	PUNCT
fcis-26107	63	33	4	4	NUM
fcis-26107	63	34	fig	fig	NOUN
fcis-26107	63	35	4	4	NUM
fcis-26107	63	36	.	.	PUNCT
fcis-26107	63	37	diagram	diagram	NOUN
fcis-26107	63	38	of	of	ADP
fcis-26107	63	39	initial	initial	ADJ
fcis-26107	63	40	formation	formation	NOUN
fcis-26107	63	41	coordinates	coordinate	NOUN
fcis-26107	63	42	and	and	CCONJ
fcis-26107	63	43	the	the	DET
fcis-26107	63	44	distribution	distribution	NOUN
fcis-26107	63	45	of	of	ADP
fcis-26107	63	46	desired	desire	VERB
fcis-26107	63	47	formation	formation	NOUN
fcis-26107	63	48	coordinates	coordinate	NOUN
fcis-26107	63	49	.	.	PUNCT
fcis-26107	63	50	table	table	NOUN
fcis-26107	64	1	2	2	NUM
fcis-26107	64	2	.	.	PUNCT
fcis-26107	65	1	parameter	parameter	NOUN
fcis-26107	65	2	settings	setting	NOUN
fcis-26107	65	3	for	for	ADP
fcis-26107	65	4	the	the	DET
fcis-26107	65	5	nsga	nsga	NOUN
fcis-26107	65	6	-	-	PUNCT
fcis-26107	65	7	ii	ii	PROPN
fcis-26107	65	8	algorithm	algorithm	NOUN
fcis-26107	65	9	parameters	parameter	NOUN
fcis-26107	65	10	parameter	parameter	NOUN
fcis-26107	65	11	values	value	NOUN
fcis-26107	65	12	population	population	NOUN
fcis-26107	65	13	size	size	NOUN
fcis-26107	65	14	100	100	NUM
fcis-26107	65	15	number	number	NOUN
fcis-26107	65	16	of	of	ADP
fcis-26107	65	17	iterations	iteration	NOUN
fcis-26107	65	18	200	200	NUM
fcis-26107	65	19	crossover	crossover	NOUN
fcis-26107	65	20	probability	probability	NOUN
fcis-26107	65	21	0.8	0.8	NUM
fcis-26107	65	22	mutation	mutation	NOUN
fcis-26107	65	23	probability	probability	NOUN
fcis-26107	65	24	0.2	0.2	NUM
fcis-26107	65	25	variables	variable	NOUN
fcis-26107	65	26	1	1	NUM
fcis-26107	65	27	-	-	SYM
fcis-26107	65	28	12	12	NUM
fcis-26107	65	29	permutations	permutation	NOUN
fcis-26107	65	30	the	the	DET
fcis-26107	65	31	resulting	result	VERB
fcis-26107	65	32	three	three	NUM
fcis-26107	65	33	-	-	PUNCT
fcis-26107	65	34	dimensional	dimensional	ADJ
fcis-26107	65	35	pareto	pareto	ADJ
fcis-26107	65	36	solution	solution	NOUN
fcis-26107	65	37	set	set	NOUN
fcis-26107	65	38	graph	graph	NOUN
fcis-26107	65	39	is	be	AUX
fcis-26107	65	40	as	as	SCONJ
fcis-26107	65	41	follows	follow	VERB
fcis-26107	65	42	:	:	PUNCT
fcis-26107	65	43	fig	fig	NOUN
fcis-26107	65	44	5	5	NUM
fcis-26107	65	45	.	.	PUNCT
fcis-26107	66	1	pareto	pareto	VERB
fcis-26107	66	2	front	front	ADJ
fcis-26107	66	3	diagram	diagram	NOUN
fcis-26107	66	4	5	5	NUM
fcis-26107	66	5	5.2	5.2	NUM
fcis-26107	66	6	.	.	PUNCT
fcis-26107	67	1	team	team	NOUN
fcis-26107	67	2	formation	formation	NOUN
fcis-26107	67	3	simulation	simulation	NOUN
fcis-26107	67	4	optimization	optimization	NOUN
fcis-26107	67	5	data	data	VERB
fcis-26107	67	6	analysis	analysis	NOUN
fcis-26107	67	7	in	in	ADP
fcis-26107	67	8	order	order	NOUN
fcis-26107	67	9	to	to	PART
fcis-26107	67	10	intuitively	intuitively	ADV
fcis-26107	67	11	analyze	analyze	VERB
fcis-26107	67	12	the	the	DET
fcis-26107	67	13	high	high	ADV
fcis-26107	67	14	-	-	PUNCT
fcis-26107	67	15	dimensional	dimensional	ADJ
fcis-26107	67	16	pareto	pareto	ADJ
fcis-26107	67	17	solutions	solution	NOUN
fcis-26107	67	18	optimized	optimize	VERB
fcis-26107	67	19	by	by	ADP
fcis-26107	67	20	nsga	nsga	NOUN
fcis-26107	67	21	-	-	PUNCT
fcis-26107	67	22	ii	ii	PROPN
fcis-26107	67	23	,	,	PUNCT
fcis-26107	67	24	pca	pca	PROPN
fcis-26107	68	1	[	[	X
fcis-26107	68	2	9	9	NUM
fcis-26107	68	3	-	-	SYM
fcis-26107	68	4	10	10	NUM
fcis-26107	68	5	]	]	PUNCT
fcis-26107	68	6	(	(	PUNCT
fcis-26107	68	7	principal	principal	ADJ
fcis-26107	68	8	component	component	NOUN
fcis-26107	68	9	analysis	analysis	NOUN
fcis-26107	68	10	)	)	PUNCT
fcis-26107	68	11	is	be	AUX
fcis-26107	68	12	used	use	VERB
fcis-26107	68	13	,	,	PUNCT
fcis-26107	68	14	which	which	PRON
fcis-26107	68	15	is	be	AUX
fcis-26107	68	16	a	a	DET
fcis-26107	68	17	method	method	NOUN
fcis-26107	68	18	of	of	ADP
fcis-26107	68	19	dimensionality	dimensionality	NOUN
fcis-26107	68	20	reduction	reduction	NOUN
fcis-26107	68	21	and	and	CCONJ
fcis-26107	68	22	dimensionless	dimensionless	NOUN
fcis-26107	68	23	processing	processing	NOUN
fcis-26107	68	24	for	for	ADP
fcis-26107	68	25	the	the	DET
fcis-26107	68	26	data	datum	NOUN
fcis-26107	68	27	on	on	ADP
fcis-26107	68	28	the	the	DET
fcis-26107	68	29	pareto	pareto	ADJ
fcis-26107	68	30	front	front	NOUN
fcis-26107	68	31	.	.	PUNCT
fcis-26107	69	1	at	at	ADP
fcis-26107	69	2	the	the	DET
fcis-26107	69	3	same	same	ADJ
fcis-26107	69	4	time	time	NOUN
fcis-26107	69	5	,	,	PUNCT
fcis-26107	69	6	the	the	DET
fcis-26107	69	7	k	k	NOUN
fcis-26107	69	8	-	-	PUNCT
fcis-26107	69	9	means	mean	VERB
fcis-26107	69	10	clustering	clustering	ADJ
fcis-26107	69	11	algorithm	algorithm	NOUN
fcis-26107	69	12	is	be	AUX
fcis-26107	69	13	applied	apply	VERB
fcis-26107	69	14	to	to	ADP
fcis-26107	69	15	the	the	DET
fcis-26107	69	16	reduced	reduce	VERB
fcis-26107	69	17	data	datum	NOUN
fcis-26107	69	18	to	to	PART
fcis-26107	69	19	categorize	categorize	VERB
fcis-26107	69	20	the	the	DET
fcis-26107	69	21	data	datum	NOUN
fcis-26107	69	22	into	into	ADP
fcis-26107	69	23	4	4	NUM
fcis-26107	69	24	clusters	cluster	NOUN
fcis-26107	69	25	as	as	SCONJ
fcis-26107	69	26	shown	show	VERB
fcis-26107	69	27	in	in	ADP
fcis-26107	69	28	figure	figure	NOUN
fcis-26107	69	29	6	6	NUM
fcis-26107	69	30	,	,	PUNCT
fcis-26107	69	31	and	and	CCONJ
fcis-26107	69	32	the	the	DET
fcis-26107	69	33	number	number	NOUN
fcis-26107	69	34	of	of	ADP
fcis-26107	69	35	clusters	cluster	NOUN
fcis-26107	69	36	in	in	ADP
fcis-26107	69	37	each	each	DET
fcis-26107	69	38	category	category	NOUN
fcis-26107	69	39	is	be	AUX
fcis-26107	69	40	calculated	calculate	VERB
fcis-26107	69	41	as	as	SCONJ
fcis-26107	69	42	shown	show	VERB
fcis-26107	69	43	in	in	ADP
fcis-26107	69	44	figure	figure	NOUN
fcis-26107	69	45	7	7	NUM
fcis-26107	69	46	.	.	PUNCT
fcis-26107	69	47	fig	fig	NOUN
fcis-26107	69	48	6	6	NUM
fcis-26107	69	49	.	.	PUNCT
fcis-26107	69	50	two	two	NUM
fcis-26107	69	51	-	-	PUNCT
fcis-26107	69	52	dimensional	dimensional	ADJ
fcis-26107	69	53	dimensionality	dimensionality	NOUN
fcis-26107	69	54	reduction	reduction	NOUN
fcis-26107	69	55	clustering	clustering	NOUN
fcis-26107	69	56	diagram	diagram	NOUN
fcis-26107	69	57	of	of	ADP
fcis-26107	69	58	pareto	pareto	ADJ
fcis-26107	69	59	solutions	solution	NOUN
fcis-26107	69	60	.	.	PUNCT
fcis-26107	70	1	fig	fig	NOUN
fcis-26107	70	2	7	7	NUM
fcis-26107	70	3	.	.	PUNCT
fcis-26107	70	4	cluster	cluster	NOUN
fcis-26107	70	5	count	count	NOUN
fcis-26107	70	6	statistical	statistical	ADJ
fcis-26107	70	7	chart	chart	NOUN
fcis-26107	70	8	to	to	PART
fcis-26107	70	9	assess	assess	VERB
fcis-26107	70	10	whether	whether	SCONJ
fcis-26107	70	11	the	the	DET
fcis-26107	70	12	division	division	NOUN
fcis-26107	70	13	of	of	ADP
fcis-26107	70	14	data	datum	NOUN
fcis-26107	70	15	into	into	ADP
fcis-26107	70	16	4	4	NUM
fcis-26107	70	17	cluster	cluster	NOUN
fcis-26107	70	18	groups	group	NOUN
fcis-26107	70	19	aligns	align	VERB
fcis-26107	70	20	with	with	ADP
fcis-26107	70	21	the	the	DET
fcis-26107	70	22	characteristics	characteristic	NOUN
fcis-26107	70	23	of	of	ADP
fcis-26107	70	24	the	the	DET
fcis-26107	70	25	4	4	NUM
fcis-26107	70	26	optimization	optimization	NOUN
fcis-26107	70	27	objectives	objective	NOUN
fcis-26107	70	28	of	of	ADP
fcis-26107	70	29	the	the	DET
fcis-26107	70	30	data	datum	NOUN
fcis-26107	70	31	,	,	PUNCT
fcis-26107	70	32	the	the	DET
fcis-26107	70	33	silhouette	silhouette	NOUN
fcis-26107	70	34	coefficient	coefficient	NOUN
fcis-26107	70	35	curve	curve	NOUN
fcis-26107	70	36	of	of	ADP
fcis-26107	70	37	the	the	DET
fcis-26107	70	38	clusters	cluster	NOUN
fcis-26107	70	39	was	be	AUX
fcis-26107	70	40	calculated	calculate	VERB
fcis-26107	70	41	,	,	PUNCT
fcis-26107	70	42	as	as	SCONJ
fcis-26107	70	43	shown	show	VERB
fcis-26107	70	44	in	in	ADP
fcis-26107	70	45	figure	figure	NOUN
fcis-26107	70	46	8	8	NUM
fcis-26107	70	47	.	.	PUNCT
fcis-26107	71	1	it	it	PRON
fcis-26107	71	2	was	be	AUX
fcis-26107	71	3	found	find	VERB
fcis-26107	71	4	that	that	SCONJ
fcis-26107	71	5	the	the	DET
fcis-26107	71	6	optimal	optimal	ADJ
fcis-26107	71	7	number	number	NOUN
fcis-26107	71	8	of	of	ADP
fcis-26107	71	9	cluster	cluster	NOUN
fcis-26107	71	10	groups	group	NOUN
fcis-26107	71	11	is	be	AUX
fcis-26107	71	12	3	3	NUM
fcis-26107	71	13	with	with	ADP
fcis-26107	71	14	a	a	DET
fcis-26107	71	15	silhouette	silhouette	NOUN
fcis-26107	71	16	coefficient	coefficient	NOUN
fcis-26107	71	17	of	of	ADP
fcis-26107	71	18	0.773	0.773	NUM
fcis-26107	71	19	,	,	PUNCT
fcis-26107	71	20	and	and	CCONJ
fcis-26107	71	21	the	the	DET
fcis-26107	71	22	second	second	ADV
fcis-26107	71	23	-	-	PUNCT
fcis-26107	71	24	best	good	ADJ
fcis-26107	71	25	allocation	allocation	NOUN
fcis-26107	71	26	of	of	ADP
fcis-26107	71	27	cluster	cluster	NOUN
fcis-26107	71	28	groups	group	NOUN
fcis-26107	71	29	is	be	AUX
fcis-26107	71	30	4	4	NUM
fcis-26107	71	31	with	with	ADP
fcis-26107	71	32	a	a	DET
fcis-26107	71	33	silhouette	silhouette	NOUN
fcis-26107	71	34	coefficient	coefficient	NOUN
fcis-26107	71	35	of	of	ADP
fcis-26107	71	36	0.755	0.755	NUM
fcis-26107	71	37	.	.	PUNCT
fcis-26107	72	1	the	the	DET
fcis-26107	72	2	difference	difference	NOUN
fcis-26107	72	3	is	be	AUX
fcis-26107	72	4	small	small	ADJ
fcis-26107	72	5	,	,	PUNCT
fcis-26107	72	6	which	which	PRON
fcis-26107	72	7	is	be	AUX
fcis-26107	72	8	quite	quite	ADV
fcis-26107	72	9	consistent	consistent	ADJ
fcis-26107	72	10	with	with	ADP
fcis-26107	72	11	the	the	DET
fcis-26107	72	12	4	4	NUM
fcis-26107	72	13	target	target	NOUN
fcis-26107	72	14	optimization	optimization	NOUN
fcis-26107	72	15	characteristics	characteristic	NOUN
fcis-26107	72	16	of	of	ADP
fcis-26107	72	17	the	the	DET
fcis-26107	72	18	data	datum	NOUN
fcis-26107	72	19	.	.	PUNCT
fcis-26107	73	1	fig	fig	NOUN
fcis-26107	73	2	8	8	NUM
fcis-26107	73	3	.	.	PUNCT
fcis-26107	74	1	silhouette	silhouette	NOUN
fcis-26107	74	2	coefficient	coefficient	PROPN
fcis-26107	74	3	curve	curve	NOUN
fcis-26107	74	4	chart	chart	NOUN
fcis-26107	74	5	calculate	calculate	VERB
fcis-26107	74	6	the	the	DET
fcis-26107	74	7	average	average	ADJ
fcis-26107	74	8	values	value	NOUN
fcis-26107	74	9	of	of	ADP
fcis-26107	74	10	the	the	DET
fcis-26107	74	11	four	four	NUM
fcis-26107	74	12	target	target	NOUN
fcis-26107	74	13	values	value	NOUN
fcis-26107	74	14	,	,	PUNCT
fcis-26107	74	15	,	,	PUNCT
fcis-26107	74	16	θ	θ	PROPN
fcis-26107	74	17	and	and	CCONJ
fcis-26107	74	18	z	z	PROPN
fcis-26107	74	19	for	for	ADP
fcis-26107	74	20	each	each	DET
fcis-26107	74	21	cluster	cluster	NOUN
fcis-26107	74	22	as	as	SCONJ
fcis-26107	74	23	shown	show	VERB
fcis-26107	74	24	in	in	ADP
fcis-26107	74	25	table	table	NOUN
fcis-26107	74	26	2,the	2,the	PRON
fcis-26107	74	27	analysis	analysis	NOUN
fcis-26107	74	28	shows	show	VERB
fcis-26107	74	29	that	that	SCONJ
fcis-26107	74	30	clusters	cluster	NOUN
fcis-26107	74	31	1	1	NUM
fcis-26107	74	32	,	,	PUNCT
fcis-26107	74	33	2	2	NUM
fcis-26107	74	34	,	,	PUNCT
fcis-26107	74	35	and	and	CCONJ
fcis-26107	74	36	3	3	NUM
fcis-26107	74	37	have	have	VERB
fcis-26107	74	38	advantageous	advantageous	ADJ
fcis-26107	74	39	performance	performance	NOUN
fcis-26107	74	40	in	in	ADP
fcis-26107	74	41	the	the	DET
fcis-26107	74	42	target	target	NOUN
fcis-26107	74	43	values	value	NOUN
fcis-26107	74	44	of	of	ADP
fcis-26107	74	45	,	,	PUNCT
fcis-26107	74	46	z	z	PROPN
fcis-26107	74	47	,	,	PUNCT
fcis-26107	74	48	θ	θ	PROPN
fcis-26107	74	49	respectively	respectively	ADV
fcis-26107	74	50	,	,	PUNCT
fcis-26107	74	51	cluster	cluster	NOUN
fcis-26107	74	52	4	4	NUM
fcis-26107	74	53	data	datum	NOUN
fcis-26107	74	54	shows	show	VERB
fcis-26107	74	55	superior	superior	ADJ
fcis-26107	74	56	performance	performance	NOUN
fcis-26107	74	57	in	in	ADP
fcis-26107	74	58	the	the	DET
fcis-26107	74	59	other	other	ADJ
fcis-26107	74	60	target	target	NOUN
fcis-26107	74	61	values	value	NOUN
fcis-26107	74	62	while	while	SCONJ
fcis-26107	74	63	having	have	VERB
fcis-26107	74	64	a	a	DET
fcis-26107	74	65	high	high	ADJ
fcis-26107	74	66	interlacing	interlace	VERB
fcis-26107	74	67	frequency	frequency	NOUN
fcis-26107	74	68	z.	z.	PROPN
fcis-26107	74	69	randomly	randomly	ADV
fcis-26107	74	70	select	select	ADJ
fcis-26107	74	71	data	datum	NOUN
fcis-26107	74	72	from	from	ADP
fcis-26107	74	73	cluster	cluster	NOUN
fcis-26107	74	74	1	1	NUM
fcis-26107	74	75	,	,	PUNCT
fcis-26107	74	76	and	and	CCONJ
fcis-26107	74	77	its	its	PRON
fcis-26107	74	78	formation	formation	NOUN
fcis-26107	74	79	reorganization	reorganization	NOUN
fcis-26107	74	80	optimization	optimization	NOUN
fcis-26107	74	81	allocation	allocation	NOUN
fcis-26107	74	82	plan	plan	NOUN
fcis-26107	74	83	and	and	CCONJ
fcis-26107	74	84	its	its	PRON
fcis-26107	74	85	allocation	allocation	NOUN
fcis-26107	74	86	plan	plan	NOUN
fcis-26107	74	87	diagram	diagram	NOUN
fcis-26107	74	88	are	be	AUX
fcis-26107	74	89	shown	show	VERB
fcis-26107	74	90	in	in	ADP
fcis-26107	74	91	figure	figure	NOUN
fcis-26107	74	92	9	9	NUM
fcis-26107	74	93	.	.	NOUN
fcis-26107	74	94	6	6	NUM
fcis-26107	74	95	7	7	NUM
fcis-26107	74	96	3	3	NUM
fcis-26107	74	97	2	2	NUM
fcis-26107	74	98	1	1	NUM
fcis-26107	74	99	4	4	NUM
fcis-26107	74	100	5	5	NUM
fcis-26107	74	101	8	8	NUM
fcis-26107	74	102	9	9	NUM
fcis-26107	74	103	10	10	NUM
fcis-26107	74	104	11	11	NUM
fcis-26107	74	105	12	12	NUM
fcis-26107	74	106	(	(	PUNCT
fcis-26107	74	107	10	10	NUM
fcis-26107	74	108	)	)	PUNCT
fcis-26107	74	109	fig	fig	NOUN
fcis-26107	74	110	9	9	NUM
fcis-26107	74	111	.	.	PUNCT
fcis-26107	75	1	formation	formation	NOUN
fcis-26107	75	2	reorganization	reorganization	NOUN
fcis-26107	75	3	allocation	allocation	NOUN
fcis-26107	75	4	scheme	scheme	NOUN
fcis-26107	75	5	diagram	diagram	NOUN
fcis-26107	75	6	for	for	ADP
fcis-26107	75	7	category	category	NOUN
fcis-26107	75	8	1	1	NUM
fcis-26107	75	9	data	datum	NOUN
fcis-26107	75	10	table	table	NOUN
fcis-26107	75	11	3	3	NUM
fcis-26107	75	12	.	.	PUNCT
fcis-26107	76	1	average	average	ADJ
fcis-26107	76	2	objective	objective	ADJ
fcis-26107	76	3	values	value	NOUN
fcis-26107	76	4	for	for	ADP
fcis-26107	76	5	each	each	DET
fcis-26107	76	6	cluster	cluster	NOUN
fcis-26107	76	7	category	category	NOUN
fcis-26107	76	8	(	(	PUNCT
fcis-26107	76	9	m	m	NOUN
fcis-26107	76	10	)	)	PUNCT
fcis-26107	76	11	z(times	z(time	NOUN
fcis-26107	76	12	)	)	PUNCT
fcis-26107	76	13	θ	θ	PROPN
fcis-26107	76	14	(	(	PUNCT
fcis-26107	76	15	rad	rad	NOUN
fcis-26107	76	16	)	)	PUNCT
fcis-26107	76	17	category	category	NOUN
fcis-26107	76	18	1	1	NUM
fcis-26107	76	19	360.46	360.46	NUM
fcis-26107	76	20	3.61	3.61	NUM
fcis-26107	76	21	1.54	1.54	NUM
fcis-26107	76	22	37.57	37.57	NUM
fcis-26107	76	23	category	category	NOUN
fcis-26107	76	24	2	2	NUM
fcis-26107	76	25	383.98	383.98	NUM
fcis-26107	76	26	3.21	3.21	NUM
fcis-26107	76	27	3.30	3.30	NUM
fcis-26107	76	28	16.13	16.13	NUM
fcis-26107	76	29	category	category	NOUN
fcis-26107	76	30	3	3	NUM
fcis-26107	76	31	365.05	365.05	NUM
fcis-26107	76	32	4.36	4.36	NUM
fcis-26107	76	33	1.24	1.24	NUM
fcis-26107	76	34	55.26	55.26	NUM
fcis-26107	76	35	category	category	NOUN
fcis-26107	76	36	4	4	NUM
fcis-26107	76	37	363.31	363.31	NUM
fcis-26107	76	38	5.42	5.42	NUM
fcis-26107	76	39	1.57	1.57	NUM
fcis-26107	76	40	21.93	21.93	NUM
fcis-26107	76	41	randomly	randomly	ADV
fcis-26107	76	42	select	select	ADJ
fcis-26107	76	43	data	datum	NOUN
fcis-26107	76	44	from	from	ADP
fcis-26107	76	45	cluster	cluster	NOUN
fcis-26107	76	46	2	2	NUM
fcis-26107	76	47	,	,	PUNCT
fcis-26107	76	48	and	and	CCONJ
fcis-26107	76	49	its	its	PRON
fcis-26107	76	50	formation	formation	NOUN
fcis-26107	76	51	reorganization	reorganization	NOUN
fcis-26107	76	52	optimization	optimization	NOUN
fcis-26107	76	53	allocation	allocation	NOUN
fcis-26107	76	54	plan	plan	NOUN
fcis-26107	76	55	and	and	CCONJ
fcis-26107	76	56	its	its	PRON
fcis-26107	76	57	allocation	allocation	NOUN
fcis-26107	76	58	plan	plan	NOUN
fcis-26107	76	59	diagram	diagram	NOUN
fcis-26107	76	60	are	be	AUX
fcis-26107	76	61	shown	show	VERB
fcis-26107	76	62	in	in	ADP
fcis-26107	76	63	figure	figure	NOUN
fcis-26107	76	64	10	10	NUM
fcis-26107	76	65	.	.	NOUN
fcis-26107	77	1	5	5	NUM
fcis-26107	77	2	6	6	NUM
fcis-26107	77	3	2	2	NUM
fcis-26107	77	4	4	4	NUM
fcis-26107	77	5	1	1	NUM
fcis-26107	77	6	3	3	NUM
fcis-26107	77	7	7	7	NUM
fcis-26107	77	8	8	8	NUM
fcis-26107	77	9	9	9	NUM
fcis-26107	77	10	10	10	NUM
fcis-26107	77	11	11	11	NUM
fcis-26107	77	12	12	12	NUM
fcis-26107	77	13	(	(	PUNCT
fcis-26107	77	14	11	11	NUM
fcis-26107	77	15	)	)	PUNCT
fcis-26107	77	16	randomly	randomly	ADV
fcis-26107	77	17	select	select	ADJ
fcis-26107	77	18	data	datum	NOUN
fcis-26107	77	19	from	from	ADP
fcis-26107	77	20	cluster	cluster	NOUN
fcis-26107	77	21	3	3	NUM
fcis-26107	77	22	,	,	PUNCT
fcis-26107	77	23	and	and	CCONJ
fcis-26107	77	24	its	its	PRON
fcis-26107	77	25	formation	formation	NOUN
fcis-26107	77	26	reorganization	reorganization	NOUN
fcis-26107	77	27	optimization	optimization	NOUN
fcis-26107	77	28	allocation	allocation	NOUN
fcis-26107	77	29	plan	plan	NOUN
fcis-26107	77	30	and	and	CCONJ
fcis-26107	77	31	its	its	PRON
fcis-26107	77	32	6	6	NUM
fcis-26107	77	33	allocation	allocation	NOUN
fcis-26107	77	34	plan	plan	NOUN
fcis-26107	77	35	diagram	diagram	NOUN
fcis-26107	77	36	are	be	AUX
fcis-26107	77	37	shown	show	VERB
fcis-26107	77	38	in	in	ADP
fcis-26107	77	39	figure	figure	NOUN
fcis-26107	77	40	11	11	NUM
fcis-26107	77	41	.	.	NOUN
fcis-26107	78	1	6	6	NUM
fcis-26107	78	2	5	5	NUM
fcis-26107	78	3	4	4	NUM
fcis-26107	78	4	12	12	NUM
fcis-26107	78	5	1	1	NUM
fcis-26107	78	6	3	3	NUM
fcis-26107	78	7	9	9	NUM
fcis-26107	78	8	7	7	NUM
fcis-26107	78	9	8	8	NUM
fcis-26107	78	10	10	10	NUM
fcis-26107	78	11	11	11	NUM
fcis-26107	78	12	2	2	NUM
fcis-26107	78	13	(	(	PUNCT
fcis-26107	78	14	12	12	NUM
fcis-26107	78	15	)	)	PUNCT
fcis-26107	78	16	fig	fig	NOUN
fcis-26107	78	17	10	10	NUM
fcis-26107	78	18	.	.	PUNCT
fcis-26107	79	1	formation	formation	NOUN
fcis-26107	79	2	reorganization	reorganization	NOUN
fcis-26107	79	3	allocation	allocation	NOUN
fcis-26107	79	4	scheme	scheme	NOUN
fcis-26107	79	5	diagram	diagram	NOUN
fcis-26107	79	6	for	for	ADP
fcis-26107	79	7	category3	category3	PROPN
fcis-26107	79	8	data	data	PROPN
fcis-26107	79	9	fig	fig	NOUN
fcis-26107	79	10	11	11	NUM
fcis-26107	79	11	.	.	PUNCT
fcis-26107	80	1	formation	formation	NOUN
fcis-26107	80	2	reorganization	reorganization	NOUN
fcis-26107	80	3	allocation	allocation	NOUN
fcis-26107	80	4	scheme	scheme	NOUN
fcis-26107	80	5	diagram	diagram	NOUN
fcis-26107	80	6	for	for	ADP
fcis-26107	80	7	category	category	NOUN
fcis-26107	80	8	3	3	NUM
fcis-26107	80	9	data	datum	NOUN
fcis-26107	80	10	randomly	randomly	ADV
fcis-26107	80	11	select	select	ADJ
fcis-26107	80	12	data	datum	NOUN
fcis-26107	80	13	from	from	ADP
fcis-26107	80	14	cluster	cluster	NOUN
fcis-26107	80	15	3	3	NUM
fcis-26107	80	16	,	,	PUNCT
fcis-26107	80	17	and	and	CCONJ
fcis-26107	80	18	its	its	PRON
fcis-26107	80	19	formation	formation	NOUN
fcis-26107	80	20	reorganization	reorganization	NOUN
fcis-26107	80	21	optimization	optimization	NOUN
fcis-26107	80	22	allocation	allocation	NOUN
fcis-26107	80	23	plan	plan	NOUN
fcis-26107	80	24	and	and	CCONJ
fcis-26107	80	25	its	its	PRON
fcis-26107	80	26	allocation	allocation	NOUN
fcis-26107	80	27	plan	plan	NOUN
fcis-26107	80	28	diagram	diagram	NOUN
fcis-26107	80	29	are	be	AUX
fcis-26107	80	30	shown	show	VERB
fcis-26107	80	31	in	in	ADP
fcis-26107	80	32	figure	figure	NOUN
fcis-26107	80	33	12	12	NUM
fcis-26107	80	34	.	.	NOUN
fcis-26107	80	35	6	6	NUM
fcis-26107	80	36	5	5	NUM
fcis-26107	80	37	2	2	NUM
fcis-26107	80	38	3	3	NUM
fcis-26107	80	39	4	4	NUM
fcis-26107	80	40	1	1	NUM
fcis-26107	80	41	9	9	NUM
fcis-26107	80	42	7	7	NUM
fcis-26107	80	43	8	8	NUM
fcis-26107	80	44	10	10	NUM
fcis-26107	80	45	11	11	NUM
fcis-26107	80	46	12	12	NUM
fcis-26107	80	47	(	(	PUNCT
fcis-26107	80	48	13	13	NUM
fcis-26107	80	49	)	)	PUNCT
fcis-26107	80	50	fig	fig	NOUN
fcis-26107	80	51	12	12	NUM
fcis-26107	80	52	.	.	PUNCT
fcis-26107	81	1	formation	formation	NOUN
fcis-26107	81	2	reorganization	reorganization	NOUN
fcis-26107	81	3	allocation	allocation	NOUN
fcis-26107	81	4	scheme	scheme	NOUN
fcis-26107	81	5	diagram	diagram	NOUN
fcis-26107	81	6	for	for	ADP
fcis-26107	81	7	category	category	NOUN
fcis-26107	81	8	4	4	NUM
fcis-26107	81	9	data	datum	NOUN
fcis-26107	81	10	6	6	NUM
fcis-26107	81	11	.	.	PUNCT
fcis-26107	82	1	trajectory	trajectory	NOUN
fcis-26107	82	2	motion	motion	NOUN
fcis-26107	82	3	planning	planning	NOUN
fcis-26107	82	4	model	model	NOUN
fcis-26107	82	5	establishment	establishment	NOUN
fcis-26107	82	6	6.1	6.1	NUM
fcis-26107	82	7	.	.	PUNCT
fcis-26107	83	1	distributed	distribute	VERB
fcis-26107	83	2	model	model	NOUN
fcis-26107	83	3	predictive	predictive	PROPN
fcis-26107	83	4	control	control	PROPN
fcis-26107	83	5	(	(	PUNCT
fcis-26107	83	6	dmpc	dmpc	NOUN
fcis-26107	83	7	)	)	PUNCT
fcis-26107	83	8	distributed	distribute	VERB
fcis-26107	83	9	model	model	NOUN
fcis-26107	83	10	predictive	predictive	PROPN
fcis-26107	83	11	control	control	PROPN
fcis-26107	83	12	(	(	PUNCT
fcis-26107	83	13	dmpc	dmpc	PROPN
fcis-26107	83	14	)	)	PUNCT
fcis-26107	83	15	is	be	AUX
fcis-26107	83	16	an	an	DET
fcis-26107	83	17	advanced	advanced	ADJ
fcis-26107	83	18	control	control	NOUN
fcis-26107	83	19	strategy	strategy	NOUN
fcis-26107	83	20	that	that	PRON
fcis-26107	83	21	allows	allow	VERB
fcis-26107	83	22	multiple	multiple	ADJ
fcis-26107	83	23	agents	agent	NOUN
fcis-26107	83	24	,	,	PUNCT
fcis-26107	83	25	such	such	ADJ
fcis-26107	83	26	as	as	ADP
fcis-26107	83	27	drones	drone	NOUN
fcis-26107	83	28	or	or	CCONJ
fcis-26107	83	29	robots	robot	NOUN
fcis-26107	83	30	,	,	PUNCT
fcis-26107	83	31	to	to	PART
fcis-26107	83	32	independently	independently	ADV
fcis-26107	83	33	plan	plan	VERB
fcis-26107	83	34	and	and	CCONJ
fcis-26107	83	35	execute	execute	VERB
fcis-26107	83	36	their	their	PRON
fcis-26107	83	37	trajectories	trajectory	NOUN
fcis-26107	83	38	from	from	ADP
fcis-26107	83	39	an	an	DET
fcis-26107	83	40	initial	initial	ADJ
fcis-26107	83	41	position	position	NOUN
fcis-26107	83	42	to	to	ADP
fcis-26107	83	43	a	a	DET
fcis-26107	83	44	target	target	NOUN
fcis-26107	83	45	position	position	NOUN
fcis-26107	83	46	without	without	ADP
fcis-26107	83	47	a	a	DET
fcis-26107	83	48	central	central	ADJ
fcis-26107	83	49	coordinator	coordinator	NOUN
fcis-26107	83	50	.	.	PUNCT
fcis-26107	84	1	the	the	DET
fcis-26107	84	2	core	core	NOUN
fcis-26107	84	3	of	of	ADP
fcis-26107	84	4	this	this	DET
fcis-26107	84	5	method	method	NOUN
fcis-26107	84	6	lies	lie	VERB
fcis-26107	84	7	in	in	ADP
fcis-26107	84	8	each	each	DET
fcis-26107	84	9	agent	agent	NOUN
fcis-26107	84	10	's	's	PART
fcis-26107	84	11	ability	ability	NOUN
fcis-26107	84	12	to	to	PART
fcis-26107	84	13	solve	solve	VERB
fcis-26107	84	14	an	an	DET
fcis-26107	84	15	optimization	optimization	NOUN
fcis-26107	84	16	problem	problem	NOUN
fcis-26107	84	17	based	base	VERB
fcis-26107	84	18	on	on	ADP
fcis-26107	84	19	its	its	PRON
fcis-26107	84	20	own	own	ADJ
fcis-26107	84	21	dynamic	dynamic	ADJ
fcis-26107	84	22	model	model	NOUN
fcis-26107	84	23	and	and	CCONJ
fcis-26107	84	24	predictive	predictive	ADJ
fcis-26107	84	25	capabilities	capability	NOUN
fcis-26107	84	26	to	to	PART
fcis-26107	84	27	find	find	VERB
fcis-26107	84	28	the	the	DET
fcis-26107	84	29	best	good	ADJ
fcis-26107	84	30	control	control	NOUN
fcis-26107	84	31	input	input	NOUN
fcis-26107	84	32	sequence	sequence	NOUN
fcis-26107	84	33	.	.	PUNCT
fcis-26107	85	1	at	at	ADP
fcis-26107	85	2	each	each	DET
fcis-26107	85	3	time	time	NOUN
fcis-26107	85	4	step	step	NOUN
fcis-26107	85	5	,	,	PUNCT
fcis-26107	85	6	each	each	DET
fcis-26107	85	7	agent	agent	NOUN
fcis-26107	85	8	will	will	AUX
fcis-26107	85	9	share	share	VERB
fcis-26107	85	10	its	its	PRON
fcis-26107	85	11	predicted	predict	VERB
fcis-26107	85	12	future	future	ADJ
fcis-26107	85	13	state	state	NOUN
fcis-26107	85	14	with	with	ADP
fcis-26107	85	15	other	other	ADJ
fcis-26107	85	16	agents	agent	NOUN
fcis-26107	85	17	.	.	PUNCT
fcis-26107	86	1	using	use	VERB
fcis-26107	86	2	this	this	DET
fcis-26107	86	3	shared	share	VERB
fcis-26107	86	4	information	information	NOUN
fcis-26107	86	5	,	,	PUNCT
fcis-26107	86	6	agents	agent	NOUN
fcis-26107	86	7	can	can	AUX
fcis-26107	86	8	predict	predict	VERB
fcis-26107	86	9	and	and	CCONJ
fcis-26107	86	10	detect	detect	VERB
fcis-26107	86	11	potential	potential	ADJ
fcis-26107	86	12	collisions	collision	NOUN
fcis-26107	86	13	.	.	PUNCT
fcis-26107	87	1	moreover	moreover	ADV
fcis-26107	87	2	,	,	PUNCT
fcis-26107	87	3	dmpc	dmpc	PROPN
fcis-26107	87	4	has	have	VERB
fcis-26107	87	5	high	high	ADJ
fcis-26107	87	6	scalability	scalability	NOUN
fcis-26107	87	7	and	and	CCONJ
fcis-26107	87	8	is	be	AUX
fcis-26107	87	9	adaptable	adaptable	ADJ
fcis-26107	87	10	for	for	ADP
fcis-26107	87	11	controlling	control	VERB
fcis-26107	87	12	the	the	DET
fcis-26107	87	13	reorganization	reorganization	NOUN
fcis-26107	87	14	performance	performance	NOUN
fcis-26107	87	15	of	of	ADP
fcis-26107	87	16	different	different	ADJ
fcis-26107	87	17	numbers	number	NOUN
fcis-26107	87	18	of	of	ADP
fcis-26107	87	19	swan	swan	NOUN
fcis-26107	87	20	water	water	NOUN
fcis-26107	87	21	surface	surface	NOUN
fcis-26107	87	22	robot	robot	NOUN
fcis-26107	87	23	formations	formation	NOUN
fcis-26107	87	24	.	.	PUNCT
fcis-26107	88	1	6.2	6.2	NUM
fcis-26107	88	2	.	.	PUNCT
fcis-26107	88	3	model	model	NOUN
fcis-26107	88	4	establishment	establishment	NOUN
fcis-26107	88	5	6.2.1	6.2.1	NOUN
fcis-26107	88	6	.	.	PUNCT
fcis-26107	89	1	state	state	NOUN
fcis-26107	89	2	description	description	NOUN
fcis-26107	89	3	the	the	DET
fcis-26107	89	4	model	model	NOUN
fcis-26107	89	5	's	's	PART
fcis-26107	89	6	objective	objective	NOUN
fcis-26107	89	7	is	be	AUX
fcis-26107	89	8	to	to	PART
fcis-26107	89	9	generate	generate	VERB
fcis-26107	89	10	collision	collision	NOUN
fcis-26107	89	11	-	-	PUNCT
fcis-26107	89	12	free	free	ADJ
fcis-26107	89	13	trajectories	trajectory	NOUN
fcis-26107	89	14	that	that	PRON
fcis-26107	89	15	will	will	AUX
fcis-26107	89	16	drive	drive	VERB
fcis-26107	89	17	n	n	DET
fcis-26107	89	18	agents	agent	NOUN
fcis-26107	89	19	from	from	ADP
fcis-26107	89	20	their	their	PRON
fcis-26107	89	21	initial	initial	ADJ
fcis-26107	89	22	positions	position	NOUN
fcis-26107	89	23	to	to	ADP
fcis-26107	89	24	their	their	PRON
fcis-26107	89	25	final	final	ADJ
fcis-26107	89	26	positions	position	NOUN
fcis-26107	89	27	while	while	SCONJ
fcis-26107	89	28	being	be	AUX
fcis-26107	89	29	subject	subject	ADJ
fcis-26107	89	30	to	to	ADP
fcis-26107	89	31	constraints	constraint	NOUN
fcis-26107	89	32	on	on	ADP
fcis-26107	89	33	state	state	NOUN
fcis-26107	89	34	and	and	CCONJ
fcis-26107	89	35	actuation	actuation	NOUN
fcis-26107	89	36	.	.	PUNCT
fcis-26107	90	1	the	the	DET
fcis-26107	90	2	swan	swan	PROPN
fcis-26107	90	3	water	water	PROPN
fcis-26107	90	4	surface	surface	NOUN
fcis-26107	90	5	robots	robot	NOUN
fcis-26107	90	6	are	be	AUX
fcis-26107	90	7	modeled	model	VERB
fcis-26107	90	8	as	as	ADP
fcis-26107	90	9	unit	unit	NOUN
fcis-26107	90	10	mass	mass	NOUN
fcis-26107	90	11	points	point	NOUN
fcis-26107	90	12	in	in	ADP
fcis-26107	90	13	two	two	NUM
fcis-26107	90	14	-	-	PUNCT
fcis-26107	90	15	dimensional	dimensional	ADJ
fcis-26107	90	16	space	space	NOUN
fcis-26107	90	17	,	,	PUNCT
fcis-26107	90	18	with	with	ADP
fcis-26107	90	19	each	each	DET
fcis-26107	90	20	swan	swan	NOUN
fcis-26107	90	21	water	water	NOUN
fcis-26107	90	22	surface	surface	PROPN
fcis-26107	90	23	robot	robot	NOUN
fcis-26107	90	24	's	's	PART
fcis-26107	90	25	motion	motion	NOUN
fcis-26107	90	26	described	describe	VERB
fcis-26107	90	27	by	by	ADP
fcis-26107	90	28	position	position	NOUN
fcis-26107	90	29	,	,	PUNCT
fcis-26107	90	30	velocity	velocity	NOUN
fcis-26107	90	31	,	,	PUNCT
fcis-26107	90	32	and	and	CCONJ
fcis-26107	90	33	acceleration	acceleration	NOUN
fcis-26107	90	34	.	.	PUNCT
fcis-26107	91	1	the	the	DET
fcis-26107	91	2	dynamic	dynamic	ADJ
fcis-26107	91	3	equations	equation	NOUN
fcis-26107	91	4	are	be	AUX
fcis-26107	91	5	as	as	SCONJ
fcis-26107	91	6	follows	follow	VERB
fcis-26107	91	7	:	:	PUNCT
fcis-26107	91	8	1	1	NUM
fcis-26107	91	9	v	v	NOUN
fcis-26107	91	10	a	a	DET
fcis-26107	91	11	(	(	PUNCT
fcis-26107	91	12	14	14	NUM
fcis-26107	91	13	)	)	PUNCT
fcis-26107	91	14	v	v	NOUN
fcis-26107	91	15	1	1	NUM
fcis-26107	91	16	v	v	NOUN
fcis-26107	91	17	a	a	DET
fcis-26107	91	18	(	(	PUNCT
fcis-26107	91	19	15	15	NUM
fcis-26107	91	20	)	)	PUNCT
fcis-26107	91	21	equation(14)describes	equation(14)describe	NOUN
fcis-26107	91	22	the	the	DET
fcis-26107	91	23	position	position	NOUN
fcis-26107	91	24	update	update	NOUN
fcis-26107	91	25	,	,	PUNCT
fcis-26107	91	26	where	where	SCONJ
fcis-26107	91	27	,	,	PUNCT
fcis-26107	91	28	,	,	PUNCT
fcis-26107	91	29	a	a	PRON
fcis-26107	91	30	are	be	AUX
fcis-26107	91	31	the	the	DET
fcis-26107	91	32	position	position	NOUN
fcis-26107	91	33	,	,	PUNCT
fcis-26107	91	34	velocity	velocity	NOUN
fcis-26107	91	35	,	,	PUNCT
fcis-26107	91	36	and	and	CCONJ
fcis-26107	91	37	acceleration	acceleration	NOUN
fcis-26107	91	38	of	of	ADP
fcis-26107	91	39	the	the	DET
fcis-26107	91	40	swan	swan	NOUN
fcis-26107	91	41	water	water	PROPN
fcis-26107	91	42	surface	surface	NOUN
fcis-26107	91	43	robot	robot	NOUN
fcis-26107	91	44	at	at	ADP
fcis-26107	91	45	time	time	NOUN
fcis-26107	91	46	step	step	NOUN
fcis-26107	91	47	,	,	PUNCT
fcis-26107	91	48	respectively	respectively	ADV
fcis-26107	91	49	,	,	PUNCT
fcis-26107	91	50	with	with	ADP
fcis-26107	91	51	being	be	AUX
fcis-26107	91	52	the	the	DET
fcis-26107	91	53	discretized	discretized	ADJ
fcis-26107	91	54	time	time	NOUN
fcis-26107	91	55	step	step	NOUN
fcis-26107	91	56	;	;	PUNCT
fcis-26107	91	57	equation	equation	NOUN
fcis-26107	91	58	(	(	PUNCT
fcis-26107	91	59	15	15	NUM
fcis-26107	91	60	)	)	PUNCT
fcis-26107	91	61	describes	describe	VERB
fcis-26107	91	62	the	the	DET
fcis-26107	91	63	change	change	NOUN
fcis-26107	91	64	in	in	ADP
fcis-26107	91	65	the	the	DET
fcis-26107	91	66	velocity	velocity	NOUN
fcis-26107	91	67	of	of	ADP
fcis-26107	91	68	the	the	DET
fcis-26107	91	69	swan	swan	NOUN
fcis-26107	91	70	water	water	PROPN
fcis-26107	91	71	surface	surface	NOUN
fcis-26107	91	72	robot	robot	NOUN
fcis-26107	91	73	as	as	ADP
fcis-26107	91	74	a	a	DET
fcis-26107	91	75	function	function	NOUN
fcis-26107	91	76	of	of	ADP
fcis-26107	91	77	acceleration	acceleration	NOUN
fcis-26107	91	78	and	and	CCONJ
fcis-26107	91	79	time	time	NOUN
fcis-26107	91	80	.	.	PUNCT
fcis-26107	92	1	when	when	SCONJ
fcis-26107	92	2	generating	generate	VERB
fcis-26107	92	3	trajectories	trajectory	NOUN
fcis-26107	92	4	for	for	ADP
fcis-26107	92	5	multiple	multiple	ADJ
fcis-26107	92	6	swan	swan	NOUN
fcis-26107	92	7	water	water	NOUN
fcis-26107	92	8	surface	surface	NOUN
fcis-26107	92	9	robots	robot	NOUN
fcis-26107	92	10	and	and	CCONJ
fcis-26107	92	11	humans	human	NOUN
fcis-26107	92	12	,	,	PUNCT
fcis-26107	92	13	various	various	ADJ
fcis-26107	92	14	constraints	constraint	NOUN
fcis-26107	92	15	need	need	VERB
fcis-26107	92	16	to	to	PART
fcis-26107	92	17	be	be	AUX
fcis-26107	92	18	considered	consider	VERB
fcis-26107	92	19	.	.	PUNCT
fcis-26107	93	1	the	the	DET
fcis-26107	93	2	actuation	actuation	NOUN
fcis-26107	93	3	capacity	capacity	NOUN
fcis-26107	93	4	of	of	ADP
fcis-26107	93	5	the	the	DET
fcis-26107	93	6	swan	swan	NOUN
fcis-26107	93	7	water	water	NOUN
fcis-26107	93	8	surface	surface	NOUN
fcis-26107	93	9	robots	robot	NOUN
fcis-26107	93	10	is	be	AUX
fcis-26107	93	11	limited	limit	VERB
fcis-26107	93	12	,	,	PUNCT
fcis-26107	93	13	with	with	ADP
fcis-26107	93	14	maximum	maximum	ADJ
fcis-26107	93	15	and	and	CCONJ
fcis-26107	93	16	minimum	minimum	NOUN
fcis-26107	93	17	value	value	NOUN
fcis-26107	93	18	restrictions	restriction	NOUN
fcis-26107	93	19	imposed	impose	VERB
fcis-26107	93	20	on	on	ADP
fcis-26107	93	21	acceleration	acceleration	NOUN
fcis-26107	93	22	[	[	X
fcis-26107	93	23	13	13	NUM
fcis-26107	93	24	]	]	PUNCT
fcis-26107	93	25	,	,	PUNCT
fcis-26107	93	26	as	as	SCONJ
fcis-26107	93	27	followers	follower	NOUN
fcis-26107	93	28	:	:	PUNCT
fcis-26107	93	29	a	a	DET
fcis-26107	93	30	a	a	DET
fcis-26107	93	31	a	a	DET
fcis-26107	93	32	(	(	PUNCT
fcis-26107	93	33	16	16	NUM
fcis-26107	93	34	)	)	PUNCT
fcis-26107	93	35	during	during	ADP
fcis-26107	93	36	the	the	DET
fcis-26107	93	37	performance	performance	NOUN
fcis-26107	93	38	formation	formation	NOUN
fcis-26107	93	39	reorganization	reorganization	NOUN
fcis-26107	93	40	process	process	NOUN
fcis-26107	93	41	,	,	PUNCT
fcis-26107	93	42	facing	face	VERB
fcis-26107	93	43	different	different	ADJ
fcis-26107	93	44	water	water	NOUN
fcis-26107	93	45	surface	surface	NOUN
fcis-26107	93	46	environments	environment	NOUN
fcis-26107	93	47	,	,	PUNCT
fcis-26107	93	48	the	the	DET
fcis-26107	93	49	available	available	ADJ
fcis-26107	93	50	space	space	NOUN
fcis-26107	93	51	for	for	ADP
fcis-26107	93	52	movement	movement	NOUN
fcis-26107	93	53	varies	vary	VERB
fcis-26107	93	54	,	,	PUNCT
fcis-26107	93	55	and	and	CCONJ
fcis-26107	93	56	it	it	PRON
fcis-26107	93	57	is	be	AUX
fcis-26107	93	58	necessary	necessary	ADJ
fcis-26107	93	59	to	to	PART
fcis-26107	93	60	complete	complete	VERB
fcis-26107	93	61	the	the	DET
fcis-26107	93	62	reorganization	reorganization	NOUN
fcis-26107	93	63	within	within	ADP
fcis-26107	93	64	the	the	DET
fcis-26107	93	65	designated	designate	VERB
fcis-26107	93	66	water	water	NOUN
fcis-26107	93	67	surface	surface	NOUN
fcis-26107	93	68	area	area	NOUN
fcis-26107	93	69	.	.	PUNCT
fcis-26107	94	1	the	the	DET
fcis-26107	94	2	position	position	NOUN
fcis-26107	94	3	state	state	NOUN
fcis-26107	94	4	p	p	NOUN
fcis-26107	94	5	is	be	AUX
fcis-26107	94	6	subject	subject	ADJ
fcis-26107	94	7	to	to	ADP
fcis-26107	94	8	constraints	constraint	NOUN
fcis-26107	94	9	,	,	PUNCT
fcis-26107	94	10	as	as	SCONJ
fcis-26107	94	11	follows	follow	VERB
fcis-26107	94	12	:	:	PUNCT
fcis-26107	94	13	(	(	PUNCT
fcis-26107	94	14	17	17	NUM
fcis-26107	94	15	)	)	PUNCT
fcis-26107	94	16	to	to	PART
fcis-26107	94	17	avoid	avoid	VERB
fcis-26107	94	18	collisions	collision	NOUN
fcis-26107	94	19	between	between	ADP
fcis-26107	94	20	the	the	DET
fcis-26107	94	21	motion	motion	NOUN
fcis-26107	94	22	trajectories	trajectory	NOUN
fcis-26107	94	23	of	of	ADP
fcis-26107	94	24	swan	swan	NOUN
fcis-26107	94	25	water	water	NOUN
fcis-26107	94	26	surface	surface	NOUN
fcis-26107	94	27	robots	robot	NOUN
fcis-26107	94	28	and	and	CCONJ
fcis-26107	94	29	other	other	ADJ
fcis-26107	94	30	individuals	individual	NOUN
fcis-26107	94	31	,	,	PUNCT
fcis-26107	94	32	a	a	DET
fcis-26107	94	33	scaling	scale	VERB
fcis-26107	94	34	matrix	matrix	NOUN
fcis-26107	94	35	θ	θ	NOUN
fcis-26107	94	36	is	be	AUX
fcis-26107	94	37	used	use	VERB
fcis-26107	94	38	to	to	PART
fcis-26107	94	39	define	define	VERB
fcis-26107	94	40	the	the	DET
fcis-26107	94	41	collision[14	collision[14	PROPN
fcis-26107	94	42	-	-	SYM
fcis-26107	94	43	15	15	NUM
fcis-26107	94	44	]	]	PUNCT
fcis-26107	94	45	constraint	constraint	NOUN
fcis-26107	94	46	between	between	ADP
fcis-26107	94	47	water	water	NOUN
fcis-26107	94	48	surface	surface	NOUN
fcis-26107	94	49	swan	swan	NOUN
fcis-26107	94	50	robot	robot	NOUN
fcis-26107	94	51	and	and	CCONJ
fcis-26107	94	52	.this	.this	PRON
fcis-26107	94	53	constraint	constraint	NOUN
fcis-26107	94	54	ensures	ensure	VERB
fcis-26107	94	55	that	that	SCONJ
fcis-26107	94	56	the	the	DET
fcis-26107	94	57	distance	distance	NOUN
fcis-26107	94	58	between	between	ADP
fcis-26107	94	59	the	the	DET
fcis-26107	94	60	agents	agent	NOUN
fcis-26107	94	61	is	be	AUX
fcis-26107	94	62	greater	great	ADJ
fcis-26107	94	63	than	than	ADP
fcis-26107	94	64	a	a	DET
fcis-26107	94	65	certain	certain	ADJ
fcis-26107	94	66	minimum	minimum	NOUN
fcis-26107	94	67	distance	distance	NOUN
fcis-26107	94	68	within	within	ADP
fcis-26107	94	69	the	the	DET
fcis-26107	94	70	predicted	predict	VERB
fcis-26107	94	71	time	time	NOUN
fcis-26107	94	72	steps	step	NOUN
fcis-26107	94	73	.	.	PUNCT
fcis-26107	95	1	the	the	DET
fcis-26107	95	2	expression	expression	NOUN
fcis-26107	95	3	for	for	ADP
fcis-26107	95	4	the	the	DET
fcis-26107	95	5	collision	collision	NOUN
fcis-26107	95	6	constraint	constraint	NOUN
fcis-26107	95	7	is	be	AUX
fcis-26107	95	8	as	as	SCONJ
fcis-26107	95	9	follows	follow	VERB
fcis-26107	95	10	:	:	PUNCT
fcis-26107	95	11	θ	θ	NOUN
fcis-26107	95	12	0	0	NUM
fcis-26107	95	13	0	0	NUM
fcis-26107	95	14	(	(	PUNCT
fcis-26107	95	15	18	18	NUM
fcis-26107	95	16	)	)	PUNCT
fcis-26107	95	17	∥∥θ	∥∥θ	NOUN
fcis-26107	95	18	∥∥	∥∥	PUNCT
fcis-26107	95	19	(	(	PUNCT
fcis-26107	95	20	19	19	NUM
fcis-26107	95	21	)	)	PUNCT
fcis-26107	95	22	in	in	ADP
fcis-26107	95	23	equation(18	equation(18	NOUN
fcis-26107	95	24	)	)	PUNCT
fcis-26107	95	25	and	and	CCONJ
fcis-26107	95	26	are	be	AUX
fcis-26107	95	27	the	the	DET
fcis-26107	95	28	scaling	scale	VERB
fcis-26107	95	29	factors	factor	NOUN
fcis-26107	95	30	along	along	ADP
fcis-26107	95	31	the	the	DET
fcis-26107	95	32	x	x	NOUN
fcis-26107	95	33	-	-	NOUN
fcis-26107	95	34	axis	axis	ADJ
fcis-26107	95	35	and	and	CCONJ
fcis-26107	95	36	y	y	NOUN
fcis-26107	95	37	-	-	PUNCT
fcis-26107	95	38	axis	axis	NOUN
fcis-26107	95	39	,	,	PUNCT
fcis-26107	95	40	respectively	respectively	ADV
fcis-26107	95	41	.	.	PUNCT
fcis-26107	96	1	by	by	ADP
fcis-26107	96	2	adjusting	adjust	VERB
fcis-26107	96	3	the	the	DET
fcis-26107	96	4	values	value	NOUN
fcis-26107	96	5	of	of	ADP
fcis-26107	96	6	and	and	CCONJ
fcis-26107	96	7	,	,	PUNCT
fcis-26107	96	8	the	the	DET
fcis-26107	96	9	collision	collision	NOUN
fcis-26107	96	10	distance	distance	NOUN
fcis-26107	96	11	boundaries	boundary	NOUN
fcis-26107	96	12	of	of	ADP
fcis-26107	96	13	the	the	DET
fcis-26107	96	14	swan	swan	NOUN
fcis-26107	96	15	surface	surface	NOUN
fcis-26107	96	16	7	7	NUM
fcis-26107	96	17	robot	robot	NOUN
fcis-26107	96	18	can	can	AUX
fcis-26107	96	19	be	be	AUX
fcis-26107	96	20	modified	modify	VERB
fcis-26107	96	21	in	in	ADP
fcis-26107	96	22	the	the	DET
fcis-26107	96	23	corresponding	corresponding	ADJ
fcis-26107	96	24	axis	axis	NOUN
fcis-26107	96	25	directions	direction	NOUN
fcis-26107	96	26	to	to	PART
fcis-26107	96	27	meet	meet	VERB
fcis-26107	96	28	the	the	DET
fcis-26107	96	29	requirements	requirement	NOUN
fcis-26107	96	30	of	of	ADP
fcis-26107	96	31	various	various	ADJ
fcis-26107	96	32	performance	performance	NOUN
fcis-26107	96	33	environments	environment	NOUN
fcis-26107	96	34	.	.	PUNCT
fcis-26107	97	1	6.2.2	6.2.2	X
fcis-26107	97	2	.	.	PUNCT
fcis-26107	98	1	distributed	distribute	VERB
fcis-26107	98	2	model	model	NOUN
fcis-26107	98	3	predictive	predictive	PROPN
fcis-26107	98	4	control	control	PROPN
fcis-26107	98	5	model	model	NOUN
fcis-26107	98	6	establishment	establishment	NOUN
fcis-26107	98	7	use	use	NOUN
fcis-26107	98	8	equations(13)and(14)to	equations(13)and(14)to	PUNCT
fcis-26107	98	9	establish	establish	VERB
fcis-26107	98	10	a	a	DET
fcis-26107	98	11	linear	linear	ADJ
fcis-26107	98	12	model[1617],expressing	model[1617],expressing	NOUN
fcis-26107	98	13	the	the	DET
fcis-26107	98	14	state	state	NOUN
fcis-26107	98	15	of	of	ADP
fcis-26107	98	16	the	the	DET
fcis-26107	98	17	swan	swan	NOUN
fcis-26107	98	18	surface	surface	NOUN
fcis-26107	98	19	robot	robot	NOUN
fcis-26107	98	20	within	within	ADP
fcis-26107	98	21	a	a	DET
fcis-26107	98	22	prediction	prediction	NOUN
fcis-26107	98	23	range	range	NOUN
fcis-26107	98	24	of	of	ADP
fcis-26107	98	25	length	length	NOUN
fcis-26107	98	26	,	,	PUNCT
fcis-26107	98	27	|	|	ADV
fcis-26107	98	28	,	,	PUNCT
fcis-26107	98	29	|	|	ADV
fcis-26107	98	30	,	,	PUNCT
fcis-26107	98	31	|	|	ADV
fcis-26107	98	32	represent	represent	VERB
fcis-26107	98	33	the	the	DET
fcis-26107	98	34	predicted	predict	VERB
fcis-26107	98	35	values	value	NOUN
fcis-26107	98	36	of	of	ADP
fcis-26107	98	37	,	,	PUNCT
fcis-26107	98	38	,	,	PUNCT
fcis-26107	98	39	based	base	VERB
fcis-26107	98	40	on	on	ADP
fcis-26107	98	41	the	the	DET
fcis-26107	98	42	available	available	ADJ
fcis-26107	98	43	state	state	NOUN
fcis-26107	98	44	information	information	NOUN
fcis-26107	98	45	at	at	ADP
fcis-26107	98	46	time	time	NOUN
fcis-26107	98	47	,	,	PUNCT
fcis-26107	98	48	∈	∈	PROPN
fcis-26107	98	49	0,1,2	0,1,2	NOUN
fcis-26107	98	50	,	,	PUNCT
fcis-26107	98	51	…	…	PUNCT
fcis-26107	98	52	,	,	PUNCT
fcis-26107	98	53	1	1	NUM
fcis-26107	98	54	,	,	PUNCT
fcis-26107	98	55	the	the	DET
fcis-26107	98	56	model	model	NOUN
fcis-26107	98	57	equations	equation	NOUN
fcis-26107	98	58	are	be	AUX
fcis-26107	98	59	as	as	SCONJ
fcis-26107	98	60	follows	follow	VERB
fcis-26107	98	61	:	:	PUNCT
fcis-26107	98	62	1|	1|	NUM
fcis-26107	98	63	1|	1|	NUM
fcis-26107	98	64	0	0	NUM
fcis-26107	99	1	|	|	ADV
fcis-26107	99	2	|	|	ADV
fcis-26107	99	3	/2	/2	NOUN
fcis-26107	100	1	|	|	INTJ
fcis-26107	100	2	(	(	PUNCT
fcis-26107	100	3	20	20	NUM
fcis-26107	100	4	)	)	PUNCT
fcis-26107	100	5	where	where	SCONJ
fcis-26107	100	6	is	be	AUX
fcis-26107	100	7	the	the	DET
fcis-26107	100	8	3×3	3×3	NUM
fcis-26107	100	9	identity	identity	NOUN
fcis-26107	100	10	matrix	matrix	NOUN
fcis-26107	100	11	,	,	PUNCT
fcis-26107	100	12	and	and	CCONJ
fcis-26107	100	13	0	0	NUM
fcis-26107	100	14	is	be	AUX
fcis-26107	100	15	the	the	DET
fcis-26107	100	16	3×3	3×3	NUM
fcis-26107	100	17	zero	zero	NUM
fcis-26107	100	18	matrix	matrix	NOUN
fcis-26107	100	19	,	,	PUNCT
fcis-26107	100	20	the	the	DET
fcis-26107	100	21	acceleration	acceleration	NOUN
fcis-26107	100	22	is	be	AUX
fcis-26107	100	23	chosen	choose	VERB
fcis-26107	100	24	as	as	ADP
fcis-26107	100	25	the	the	DET
fcis-26107	100	26	input	input	NOUN
fcis-26107	100	27	of	of	ADP
fcis-26107	100	28	our	our	PRON
fcis-26107	100	29	model	model	NOUN
fcis-26107	100	30	system	system	NOUN
fcis-26107	100	31	.	.	PUNCT
fcis-26107	101	1	6.2.3	6.2.3	X
fcis-26107	101	2	.	.	PUNCT
fcis-26107	102	1	establishment	establishment	NOUN
fcis-26107	102	2	of	of	ADP
fcis-26107	102	3	the	the	DET
fcis-26107	102	4	cost	cost	NOUN
fcis-26107	102	5	function	function	NOUN
fcis-26107	102	6	in	in	ADP
fcis-26107	102	7	order	order	NOUN
fcis-26107	102	8	to	to	PART
fcis-26107	102	9	enable	enable	VERB
fcis-26107	102	10	the	the	DET
fcis-26107	102	11	group	group	NOUN
fcis-26107	102	12	of	of	ADP
fcis-26107	102	13	swan	swan	PROPN
fcis-26107	102	14	surface	surface	NOUN
fcis-26107	102	15	robots	robot	NOUN
fcis-26107	102	16	to	to	PART
fcis-26107	102	17	achieve	achieve	VERB
fcis-26107	102	18	continuous	continuous	ADJ
fcis-26107	102	19	,	,	PUNCT
fcis-26107	102	20	smooth	smooth	ADJ
fcis-26107	102	21	,	,	PUNCT
fcis-26107	102	22	and	and	CCONJ
fcis-26107	102	23	elegant	elegant	ADJ
fcis-26107	102	24	motion	motion	NOUN
fcis-26107	102	25	trajectories	trajectory	NOUN
fcis-26107	102	26	and	and	CCONJ
fcis-26107	102	27	reach	reach	VERB
fcis-26107	102	28	the	the	DET
fcis-26107	102	29	desired	desire	VERB
fcis-26107	102	30	target	target	NOUN
fcis-26107	102	31	positions	position	NOUN
fcis-26107	102	32	with	with	ADP
fcis-26107	102	33	minimal	minimal	ADJ
fcis-26107	102	34	time	time	NOUN
fcis-26107	102	35	differences	difference	NOUN
fcis-26107	102	36	during	during	ADP
fcis-26107	102	37	formation	formation	NOUN
fcis-26107	102	38	reconfiguration	reconfiguration	NOUN
fcis-26107	102	39	,	,	PUNCT
fcis-26107	102	40	the	the	DET
fcis-26107	102	41	following	follow	VERB
fcis-26107	102	42	cost	cost	NOUN
fcis-26107	102	43	function	function	NOUN
fcis-26107	102	44	is	be	AUX
fcis-26107	102	45	established	establish	VERB
fcis-26107	102	46	:	:	PUNCT
fcis-26107	102	47	1)target	1)target	NUM
fcis-26107	102	48	distance	distance	NOUN
fcis-26107	102	49	cost	cost	NOUN
fcis-26107	102	50	function	function	NOUN
fcis-26107	102	51	:	:	PUNCT
fcis-26107	102	52	the	the	DET
fcis-26107	102	53	objective	objective	NOUN
fcis-26107	102	54	is	be	AUX
fcis-26107	102	55	to	to	PART
fcis-26107	102	56	continuously	continuously	ADV
fcis-26107	102	57	drive	drive	VERB
fcis-26107	102	58	our	our	PRON
fcis-26107	102	59	surface	surface	NOUN
fcis-26107	102	60	swan	swan	NOUN
fcis-26107	102	61	robot	robot	NOUN
fcis-26107	102	62	to	to	ADP
fcis-26107	102	63	the	the	DET
fcis-26107	102	64	desired	desire	VERB
fcis-26107	102	65	position	position	NOUN
fcis-26107	102	66	,	,	PUNCT
fcis-26107	102	67	,	,	PUNCT
fcis-26107	102	68	over	over	ADP
fcis-26107	102	69	the	the	DET
fcis-26107	102	70	remaining	remain	VERB
fcis-26107	102	71	time	time	NOUN
fcis-26107	102	72	steps	step	NOUN
fcis-26107	102	73	.	.	PUNCT
fcis-26107	103	1	the	the	DET
fcis-26107	103	2	cost	cost	NOUN
fcis-26107	103	3	function	function	NOUN
fcis-26107	103	4	is	be	AUX
fcis-26107	103	5	defined	define	VERB
fcis-26107	103	6	as	as	SCONJ
fcis-26107	103	7	follows	follow	VERB
fcis-26107	103	8	:	:	PUNCT
fcis-26107	103	9	,	,	PUNCT
fcis-26107	103	10	∑	∑	ADP
fcis-26107	103	11	  	  	SPACE
fcis-26107	103	12	∥∥	∥∥	AUX
fcis-26107	103	13	|	|	ADV
fcis-26107	103	14	,	,	PUNCT
fcis-26107	103	15	∥∥	∥∥	X
fcis-26107	103	16	(	(	PUNCT
fcis-26107	103	17	21	21	NUM
fcis-26107	103	18	)	)	PUNCT
fcis-26107	103	19	2)control	2)control	NUM
fcis-26107	103	20	input	input	NOUN
fcis-26107	103	21	variation	variation	NOUN
fcis-26107	103	22	cost	cost	NOUN
fcis-26107	103	23	function	function	NOUN
fcis-26107	103	24	:	:	PUNCT
fcis-26107	103	25	the	the	DET
fcis-26107	103	26	objective	objective	NOUN
fcis-26107	103	27	is	be	AUX
fcis-26107	103	28	to	to	PART
fcis-26107	103	29	minimize	minimize	VERB
fcis-26107	103	30	the	the	DET
fcis-26107	103	31	variation	variation	NOUN
fcis-26107	103	32	of	of	ADP
fcis-26107	103	33	acceleration	acceleration	NOUN
fcis-26107	103	34	and	and	CCONJ
fcis-26107	103	35	smooth	smooth	VERB
fcis-26107	103	36	the	the	DET
fcis-26107	103	37	trajectory	trajectory	NOUN
fcis-26107	103	38	.	.	PUNCT
fcis-26107	104	1	the	the	DET
fcis-26107	104	2	cost	cost	NOUN
fcis-26107	104	3	function	function	NOUN
fcis-26107	104	4	is	be	AUX
fcis-26107	104	5	defined	define	VERB
fcis-26107	104	6	as	as	SCONJ
fcis-26107	104	7	follows	follow	VERB
fcis-26107	104	8	:	:	PUNCT
fcis-26107	104	9	,	,	PUNCT
fcis-26107	104	10	∑	∑	ADP
fcis-26107	104	11	  	  	SPACE
fcis-26107	104	12	∥	∥	PUNCT
fcis-26107	105	1	|	|	ADV
fcis-26107	105	2	1|	1|	NUM
fcis-26107	105	3	∥	∥	NOUN
fcis-26107	105	4	(	(	PUNCT
fcis-26107	105	5	22	22	NUM
fcis-26107	105	6	)	)	PUNCT
fcis-26107	106	1	3)temporal	3)temporal	NUM
fcis-26107	106	2	coordination	coordination	NOUN
fcis-26107	106	3	cost	cost	NOUN
fcis-26107	106	4	function	function	NOUN
fcis-26107	106	5	:	:	PUNCT
fcis-26107	106	6	the	the	DET
fcis-26107	106	7	objective	objective	NOUN
fcis-26107	106	8	is	be	AUX
fcis-26107	106	9	to	to	PART
fcis-26107	106	10	achieve	achieve	VERB
fcis-26107	106	11	temporal	temporal	ADJ
fcis-26107	106	12	coordination	coordination	NOUN
fcis-26107	106	13	among	among	ADP
fcis-26107	106	14	the	the	DET
fcis-26107	106	15	surface	surface	NOUN
fcis-26107	106	16	swan	swan	NOUN
fcis-26107	106	17	robots	robot	NOUN
fcis-26107	106	18	during	during	ADP
fcis-26107	106	19	formation	formation	NOUN
fcis-26107	106	20	reconfiguration	reconfiguration	NOUN
fcis-26107	106	21	,	,	PUNCT
fcis-26107	106	22	such	such	ADJ
fcis-26107	106	23	that	that	SCONJ
fcis-26107	106	24	the	the	DET
fcis-26107	106	25	difference	difference	NOUN
fcis-26107	106	26	in	in	ADP
fcis-26107	106	27	distances	distance	NOUN
fcis-26107	106	28	each	each	DET
fcis-26107	106	29	surface	surface	NOUN
fcis-26107	106	30	swan	swan	NOUN
fcis-26107	106	31	robot	robot	NOUN
fcis-26107	106	32	covers	cover	VERB
fcis-26107	106	33	to	to	PART
fcis-26107	106	34	reach	reach	VERB
fcis-26107	106	35	the	the	DET
fcis-26107	106	36	desired	desire	VERB
fcis-26107	106	37	formation	formation	NOUN
fcis-26107	106	38	position	position	NOUN
fcis-26107	106	39	is	be	AUX
fcis-26107	106	40	minimal	minimal	ADJ
fcis-26107	106	41	at	at	ADP
fcis-26107	106	42	every	every	DET
fcis-26107	106	43	moment	moment	NOUN
fcis-26107	106	44	:	:	PUNCT
fcis-26107	106	45	∑	∑	ADV
fcis-26107	106	46	  	  	SPACE
fcis-26107	106	47	∥∥	∥∥	AUX
fcis-26107	106	48	|	|	ADV
fcis-26107	106	49	,	,	PUNCT
fcis-26107	106	50	∥∥	∥∥	X
fcis-26107	106	51	(	(	PUNCT
fcis-26107	106	52	23	23	NUM
fcis-26107	106	53	)	)	PUNCT
fcis-26107	106	54	,	,	PUNCT
fcis-26107	106	55	∑	∑	ADP
fcis-26107	106	56	  	  	SPACE
fcis-26107	106	57	∥∥	∥∥	AUX
fcis-26107	106	58	|	|	ADV
fcis-26107	106	59	,	,	PUNCT
fcis-26107	106	60	∥∥	∥∥	X
fcis-26107	106	61	(	(	PUNCT
fcis-26107	106	62	24	24	NUM
fcis-26107	106	63	)	)	PUNCT
fcis-26107	106	64	where	where	SCONJ
fcis-26107	106	65	and	and	CCONJ
fcis-26107	106	66	are	be	AUX
fcis-26107	106	67	symmetric	symmetric	ADJ
fcis-26107	106	68	positive	positive	ADJ
fcis-26107	106	69	definite	definite	ADJ
fcis-26107	106	70	weight	weight	NOUN
fcis-26107	106	71	matrices	matrix	NOUN
fcis-26107	106	72	,	,	PUNCT
fcis-26107	106	73	and	and	CCONJ
fcis-26107	106	74	the	the	DET
fcis-26107	106	75	total	total	ADJ
fcis-26107	106	76	cost	cost	NOUN
fcis-26107	106	77	function	function	NOUN
fcis-26107	106	78	is	be	AUX
fcis-26107	106	79	the	the	DET
fcis-26107	106	80	sum	sum	NOUN
fcis-26107	106	81	of	of	ADP
fcis-26107	106	82	equations(22	equations(22	NOUN
fcis-26107	106	83	)	)	PUNCT
fcis-26107	106	84	,	,	PUNCT
fcis-26107	106	85	(	(	PUNCT
fcis-26107	106	86	23)and(24)as	23)and(24)as	NUM
fcis-26107	106	87	follows	follow	VERB
fcis-26107	106	88	:	:	PUNCT
fcis-26107	106	89	,	,	PUNCT
fcis-26107	106	90	,	,	PUNCT
fcis-26107	106	91	,	,	PUNCT
fcis-26107	106	92	(	(	PUNCT
fcis-26107	106	93	25	25	NUM
fcis-26107	106	94	)	)	PUNCT
fcis-26107	106	95	6.2.4	6.2.4	NUM
fcis-26107	106	96	.	.	PUNCT
fcis-26107	107	1	model	model	PROPN
fcis-26107	107	2	simulation	simulation	PROPN
fcis-26107	107	3	verification	verification	PROPN
fcis-26107	107	4	fig	fig	PROPN
fcis-26107	107	5	13	13	NUM
fcis-26107	107	6	.	.	PUNCT
fcis-26107	108	1	scheme	scheme	NOUN
fcis-26107	108	2	trajectory	trajectory	NOUN
fcis-26107	108	3	distribution	distribution	NOUN
fcis-26107	108	4	char	char	NOUN
fcis-26107	108	5	choose	choose	VERB
fcis-26107	108	6	the	the	DET
fcis-26107	108	7	p_4	p_4	ADV
fcis-26107	108	8	high	high	ADJ
fcis-26107	108	9	interleaved	interleaved	ADJ
fcis-26107	108	10	allocation	allocation	NOUN
fcis-26107	108	11	scheme	scheme	NOUN
fcis-26107	108	12	for	for	ADP
fcis-26107	108	13	motion	motion	NOUN
fcis-26107	108	14	trajectory	trajectory	NOUN
fcis-26107	108	15	model	model	NOUN
fcis-26107	108	16	simulation	simulation	NOUN
fcis-26107	108	17	verification	verification	NOUN
fcis-26107	108	18	,	,	PUNCT
fcis-26107	108	19	resulting	result	VERB
fcis-26107	108	20	in	in	ADP
fcis-26107	108	21	an	an	DET
fcis-26107	108	22	effective	effective	ADJ
fcis-26107	108	23	collision	collision	NOUN
fcis-26107	108	24	avoidance	avoidance	NOUN
fcis-26107	108	25	trajectory	trajectory	NOUN
fcis-26107	108	26	,	,	PUNCT
fcis-26107	108	27	as	as	SCONJ
fcis-26107	108	28	shown	show	VERB
fcis-26107	108	29	in	in	ADP
fcis-26107	108	30	figure	figure	NOUN
fcis-26107	108	31	13	13	NUM
fcis-26107	108	32	:	:	PUNCT
fcis-26107	108	33	analysis	analysis	NOUN
fcis-26107	108	34	of	of	ADP
fcis-26107	108	35	the	the	DET
fcis-26107	108	36	trajectory	trajectory	NOUN
fcis-26107	108	37	distribution	distribution	NOUN
fcis-26107	108	38	diagram	diagram	NOUN
fcis-26107	108	39	shows	show	VERB
fcis-26107	108	40	that	that	SCONJ
fcis-26107	108	41	the	the	DET
fcis-26107	108	42	trajectory	trajectory	NOUN
fcis-26107	108	43	of	of	ADP
fcis-26107	108	44	individual	individual	ADJ
fcis-26107	108	45	5	5	NUM
fcis-26107	108	46	has	have	VERB
fcis-26107	108	47	more	more	ADJ
fcis-26107	108	48	interweaving	interweaving	NOUN
fcis-26107	108	49	with	with	ADP
fcis-26107	108	50	individuals	individual	NOUN
fcis-26107	108	51	3	3	NUM
fcis-26107	108	52	,	,	PUNCT
fcis-26107	108	53	4	4	NUM
fcis-26107	108	54	,	,	PUNCT
fcis-26107	108	55	10	10	NUM
fcis-26107	108	56	,	,	PUNCT
fcis-26107	108	57	and	and	CCONJ
fcis-26107	108	58	11	11	NUM
fcis-26107	108	59	.	.	PUNCT
fcis-26107	109	1	the	the	DET
fcis-26107	109	2	following	follow	VERB
fcis-26107	109	3	are	be	AUX
fcis-26107	109	4	the	the	DET
fcis-26107	109	5	distance	distance	NOUN
fcis-26107	109	6	difference	difference	NOUN
fcis-26107	109	7	diagrams	diagram	NOUN
fcis-26107	109	8	for	for	ADP
fcis-26107	109	9	each	each	DET
fcis-26107	109	10	time	time	NOUN
fcis-26107	109	11	step	step	NOUN
fcis-26107	109	12	between	between	ADP
fcis-26107	109	13	individual	individual	ADJ
fcis-26107	109	14	5	5	NUM
fcis-26107	109	15	and	and	CCONJ
fcis-26107	109	16	individuals	individual	NOUN
fcis-26107	109	17	3	3	NUM
fcis-26107	109	18	,	,	PUNCT
fcis-26107	109	19	4	4	NUM
fcis-26107	109	20	,	,	PUNCT
fcis-26107	109	21	10	10	NUM
fcis-26107	109	22	,	,	PUNCT
fcis-26107	109	23	and	and	CCONJ
fcis-26107	109	24	11	11	NUM
fcis-26107	109	25	:	:	PUNCT
fcis-26107	109	26	fig	fig	NOUN
fcis-26107	109	27	14	14	NUM
fcis-26107	109	28	.	.	PUNCT
fcis-26107	110	1	distance	distance	NOUN
fcis-26107	110	2	difference	difference	NOUN
fcis-26107	110	3	chart	chart	NOUN
fcis-26107	110	4	between	between	ADP
fcis-26107	110	5	individual	individual	ADJ
fcis-26107	110	6	5	5	NUM
fcis-26107	110	7	and	and	CCONJ
fcis-26107	110	8	individuals	individual	NOUN
fcis-26107	110	9	3	3	NUM
fcis-26107	110	10	,	,	PUNCT
fcis-26107	110	11	4	4	NUM
fcis-26107	110	12	,	,	PUNCT
fcis-26107	110	13	10	10	NUM
fcis-26107	110	14	,	,	PUNCT
fcis-26107	110	15	11	11	NUM
fcis-26107	110	16	7	7	NUM
fcis-26107	110	17	.	.	PUNCT
fcis-26107	111	1	conclusion	conclusion	NOUN
fcis-26107	111	2	this	this	DET
fcis-26107	111	3	article	article	NOUN
fcis-26107	111	4	addresses	address	VERB
fcis-26107	111	5	the	the	DET
fcis-26107	111	6	group	group	NOUN
fcis-26107	111	7	performance	performance	NOUN
fcis-26107	111	8	of	of	ADP
fcis-26107	111	9	swan	swan	NOUN
fcis-26107	111	10	surface	surface	NOUN
fcis-26107	111	11	robots	robot	NOUN
fcis-26107	111	12	,	,	PUNCT
fcis-26107	111	13	proposing	propose	VERB
fcis-26107	111	14	factors	factor	NOUN
fcis-26107	111	15	that	that	PRON
fcis-26107	111	16	affect	affect	VERB
fcis-26107	111	17	the	the	DET
fcis-26107	111	18	performance	performance	NOUN
fcis-26107	111	19	of	of	ADP
fcis-26107	111	20	formation	formation	NOUN
fcis-26107	111	21	reconfiguration	reconfiguration	NOUN
fcis-26107	111	22	:	:	PUNCT
fcis-26107	111	23	energy	energy	NOUN
fcis-26107	111	24	consumption	consumption	NOUN
fcis-26107	111	25	,	,	PUNCT
fcis-26107	111	26	turning	turn	VERB
fcis-26107	111	27	maneuver	maneuver	NOUN
fcis-26107	111	28	range	range	NOUN
fcis-26107	111	29	,	,	PUNCT
fcis-26107	111	30	reconfiguration	reconfiguration	NOUN
fcis-26107	111	31	time	time	NOUN
fcis-26107	111	32	coordination	coordination	NOUN
fcis-26107	111	33	,	,	PUNCT
fcis-26107	111	34	and	and	CCONJ
fcis-26107	111	35	avoidance	avoidance	NOUN
fcis-26107	111	36	of	of	ADP
fcis-26107	111	37	interweaving	interweave	VERB
fcis-26107	111	38	coordination	coordination	NOUN
fcis-26107	111	39	.	.	PUNCT
fcis-26107	112	1	these	these	DET
fcis-26107	112	2	factors	factor	NOUN
fcis-26107	112	3	are	be	AUX
fcis-26107	112	4	classified	classify	VERB
fcis-26107	112	5	as	as	ADP
fcis-26107	112	6	a	a	DET
fcis-26107	112	7	multi	multi	ADJ
fcis-26107	112	8	-	-	ADJ
fcis-26107	112	9	objective	objective	ADJ
fcis-26107	112	10	optimization	optimization	NOUN
fcis-26107	112	11	problem	problem	NOUN
fcis-26107	112	12	and	and	CCONJ
fcis-26107	112	13	optimized	optimize	VERB
fcis-26107	112	14	using	use	VERB
fcis-26107	112	15	the	the	DET
fcis-26107	112	16	nsga	nsga	NOUN
fcis-26107	112	17	-	-	PUNCT
fcis-26107	112	18	ii	ii	NOUN
fcis-26107	112	19	algorithm	algorithm	NOUN
fcis-26107	112	20	to	to	PART
fcis-26107	112	21	obtain	obtain	VERB
fcis-26107	112	22	the	the	DET
fcis-26107	112	23	pareto	pareto	ADJ
fcis-26107	112	24	solution	solution	NOUN
fcis-26107	112	25	set	set	VERB
fcis-26107	112	26	.	.	PUNCT
fcis-26107	113	1	pca	pca	PROPN
fcis-26107	113	2	and	and	CCONJ
fcis-26107	113	3	k	k	PROPN
fcis-26107	113	4	-	-	PUNCT
fcis-26107	113	5	means	mean	VERB
fcis-26107	113	6	clustering	clustering	NOUN
fcis-26107	113	7	algorithms	algorithm	NOUN
fcis-26107	113	8	are	be	AUX
fcis-26107	113	9	used	use	VERB
fcis-26107	113	10	to	to	PART
fcis-26107	113	11	cluster	cluster	VERB
fcis-26107	113	12	the	the	DET
fcis-26107	113	13	allocation	allocation	NOUN
fcis-26107	113	14	schemes	scheme	NOUN
fcis-26107	113	15	with	with	ADP
fcis-26107	113	16	different	different	ADJ
fcis-26107	113	17	dominant	dominant	ADJ
fcis-26107	113	18	factors	factor	NOUN
fcis-26107	113	19	,	,	PUNCT
fcis-26107	113	20	allowing	allow	VERB
fcis-26107	113	21	the	the	DET
fcis-26107	113	22	selection	selection	NOUN
fcis-26107	113	23	of	of	ADP
fcis-26107	113	24	different	different	ADJ
fcis-26107	113	25	types	type	NOUN
fcis-26107	113	26	of	of	ADP
fcis-26107	113	27	allocation	allocation	NOUN
fcis-26107	113	28	schemes	scheme	NOUN
fcis-26107	113	29	according	accord	VERB
fcis-26107	113	30	to	to	ADP
fcis-26107	113	31	various	various	ADJ
fcis-26107	113	32	performance	performance	NOUN
fcis-26107	113	33	requirements	requirement	NOUN
fcis-26107	113	34	.	.	PUNCT
fcis-26107	114	1	at	at	ADP
fcis-26107	114	2	the	the	DET
fcis-26107	114	3	same	same	ADJ
fcis-26107	114	4	time	time	NOUN
fcis-26107	114	5	,	,	PUNCT
fcis-26107	114	6	a	a	DET
fcis-26107	114	7	smooth	smooth	ADJ
fcis-26107	114	8	and	and	CCONJ
fcis-26107	114	9	continuous	continuous	ADJ
fcis-26107	114	10	elegant	elegant	ADJ
fcis-26107	114	11	motion	motion	NOUN
fcis-26107	114	12	trajectory	trajectory	NOUN
fcis-26107	114	13	for	for	ADP
fcis-26107	114	14	the	the	DET
fcis-26107	114	15	swan	swan	NOUN
fcis-26107	114	16	surface	surface	NOUN
fcis-26107	114	17	robot	robot	NOUN
fcis-26107	114	18	is	be	AUX
fcis-26107	114	19	established	establish	VERB
fcis-26107	114	20	based	base	VERB
fcis-26107	114	21	on	on	ADP
fcis-26107	114	22	distributed	distributed	ADJ
fcis-26107	114	23	model	model	NOUN
fcis-26107	114	24	predictive	predictive	PROPN
fcis-26107	114	25	control	control	NOUN
fcis-26107	114	26	,	,	PUNCT
fcis-26107	114	27	avoiding	avoid	VERB
fcis-26107	114	28	potential	potential	ADJ
fcis-26107	114	29	collisions	collision	NOUN
fcis-26107	114	30	and	and	CCONJ
fcis-26107	114	31	enhancing	enhance	VERB
fcis-26107	114	32	the	the	DET
fcis-26107	114	33	performance	performance	NOUN
fcis-26107	114	34	effect	effect	NOUN
fcis-26107	114	35	of	of	ADP
fcis-26107	114	36	the	the	DET
fcis-26107	114	37	lighted	light	VERB
fcis-26107	114	38	swan	swan	NOUN
fcis-26107	114	39	surface	surface	PROPN
fcis-26107	114	40	robot	robot	NOUN
fcis-26107	114	41	group	group	NOUN
fcis-26107	114	42	.	.	PUNCT
fcis-26107	115	1	references	reference	NOUN
fcis-26107	115	2	[	[	X
fcis-26107	115	3	1	1	NUM
fcis-26107	115	4	]	]	X
fcis-26107	115	5	gao	gao	PROPN
fcis-26107	115	6	shunli	shunli	PROPN
fcis-26107	115	7	.	.	PUNCT
fcis-26107	116	1	"	"	PUNCT
fcis-26107	116	2	how	how	SCONJ
fcis-26107	116	3	to	to	PART
fcis-26107	116	4	expand	expand	VERB
fcis-26107	116	5	'	'	NOUN
fcis-26107	116	6	night	night	NOUN
fcis-26107	116	7	scenery	scenery	NOUN
fcis-26107	116	8	'	'	PUNCT
fcis-26107	116	9	and	and	CCONJ
fcis-26107	116	10	'	'	PUNCT
fcis-26107	116	11	night	night	NOUN
fcis-26107	116	12	tours	tour	NOUN
fcis-26107	116	13	'	'	PUNCT
fcis-26107	116	14	into	into	ADP
fcis-26107	116	15	the	the	DET
fcis-26107	116	16	night	night	NOUN
fcis-26107	116	17	-	-	PUNCT
fcis-26107	116	18	time	time	NOUN
fcis-26107	116	19	economy	economy	NOUN
fcis-26107	116	20	"	"	PUNCT
fcis-26107	117	1	[	[	X
fcis-26107	117	2	j	j	X
fcis-26107	117	3	]	]	X
fcis-26107	117	4	.	.	PUNCT
fcis-26107	118	1	china	china	PROPN
fcis-26107	118	2	economic	economic	ADJ
fcis-26107	118	3	weekly	weekly	NOUN
fcis-26107	118	4	,	,	PUNCT
fcis-26107	118	5	2024	2024	NUM
fcis-26107	118	6	,	,	PUNCT
fcis-26107	118	7	(	(	PUNCT
fcis-26107	118	8	01	01	NUM
fcis-26107	118	9	):	):	PUNCT
fcis-26107	118	10	108	108	NUM
fcis-26107	118	11	-	-	SYM
fcis-26107	118	12	110	110	NUM
fcis-26107	118	13	.	.	PUNCT
fcis-26107	119	1	[	[	X
fcis-26107	119	2	2	2	X
fcis-26107	119	3	]	]	PUNCT
fcis-26107	119	4	du	du	X
fcis-26107	119	5	haiyi	haiyi	PROPN
fcis-26107	119	6	.	.	PUNCT
fcis-26107	120	1	preliminary	preliminary	ADJ
fcis-26107	120	2	exploration	exploration	NOUN
fcis-26107	120	3	of	of	ADP
fcis-26107	120	4	the	the	DET
fcis-26107	120	5	development	development	NOUN
fcis-26107	120	6	model	model	NOUN
fcis-26107	120	7	of	of	ADP
fcis-26107	120	8	night	night	NOUN
fcis-26107	120	9	scene	scene	PROPN
fcis-26107	120	10	economy	economy	NOUN
fcis-26107	120	11	in	in	ADP
fcis-26107	120	12	cultural	cultural	ADJ
fcis-26107	120	13	tourism	tourism	NOUN
fcis-26107	121	1	[	[	X
fcis-26107	121	2	j	j	X
fcis-26107	121	3	]	]	X
fcis-26107	121	4	.	.	PUNCT
fcis-26107	122	1	modern	modern	ADJ
fcis-26107	122	2	marketing	marketing	NOUN
fcis-26107	122	3	(	(	PUNCT
fcis-26107	122	4	end	end	NOUN
fcis-26107	122	5	of	of	ADP
fcis-26107	122	6	the	the	DET
fcis-26107	122	7	month	month	NOUN
fcis-26107	122	8	edition	edition	NOUN
fcis-26107	122	9	)	)	PUNCT
fcis-26107	122	10	,	,	PUNCT
fcis-26107	122	11	2020	2020	NUM
fcis-26107	122	12	,	,	PUNCT
fcis-26107	122	13	(	(	PUNCT
fcis-26107	122	14	10	10	NUM
fcis-26107	122	15	):	):	PUNCT
fcis-26107	122	16	22	22	NUM
fcis-26107	122	17	-	-	SYM
fcis-26107	122	18	1256/	1256/	NUM
fcis-26107	122	19	f.2020.10.087	f.2020.10.087	NOUN
fcis-26107	122	20	.	.	PUNCT
fcis-26107	123	1	[	[	X
fcis-26107	123	2	3	3	NUM
fcis-26107	123	3	]	]	X
fcis-26107	123	4	zhu	zhu	PROPN
fcis-26107	123	5	lei	lei	PROPN
fcis-26107	123	6	.	.	PROPN
fcis-26107	123	7	research	research	NOUN
fcis-26107	123	8	on	on	ADP
fcis-26107	123	9	the	the	DET
fcis-26107	123	10	product	product	NOUN
fcis-26107	123	11	design	design	NOUN
fcis-26107	123	12	of	of	ADP
fcis-26107	123	13	intelligent	intelligent	ADJ
fcis-26107	123	14	landscape	landscape	NOUN
fcis-26107	123	15	lighting	lighting	NOUN
fcis-26107	123	16	for	for	ADP
fcis-26107	123	17	bochi	bochi	PROPN
fcis-26107	123	18	mountain	mountain	NOUN
fcis-26107	123	19	park	park	NOUN
fcis-26107	123	20	under	under	ADP
fcis-26107	123	21	the	the	DET
fcis-26107	123	22	night	night	NOUN
fcis-26107	123	23	economy	economy	NOUN
fcis-26107	124	1	[	[	X
fcis-26107	124	2	d	d	X
fcis-26107	124	3	]	]	X
fcis-26107	124	4	.	.	PUNCT
fcis-26107	125	1	guangdong	guangdong	PROPN
fcis-26107	125	2	university	university	PROPN
fcis-26107	125	3	of	of	ADP
fcis-26107	125	4	technology	technology	NOUN
fcis-26107	125	5	,	,	PUNCT
fcis-26107	125	6	2021	2021	NUM
fcis-26107	125	7	.	.	PUNCT
fcis-26107	125	8	00119	00119	NUM
fcis-26107	125	9	.	.	PUNCT
fcis-26107	126	1	[	[	X
fcis-26107	126	2	4	4	X
fcis-26107	126	3	]	]	PUNCT
fcis-26107	126	4	du	du	X
fcis-26107	126	5	haiyi	haiyi	PROPN
fcis-26107	126	6	.	.	PUNCT
fcis-26107	127	1	preliminary	preliminary	ADJ
fcis-26107	127	2	exploration	exploration	NOUN
fcis-26107	127	3	of	of	ADP
fcis-26107	127	4	the	the	DET
fcis-26107	127	5	night	night	NOUN
fcis-26107	127	6	scene	scene	PROPN
fcis-26107	127	7	economy	economy	NOUN
fcis-26107	127	8	development	development	NOUN
fcis-26107	127	9	model	model	NOUN
fcis-26107	127	10	in	in	ADP
fcis-26107	127	11	cultural	cultural	ADJ
fcis-26107	127	12	tourism	tourism	NOUN
fcis-26107	128	1	[	[	X
fcis-26107	128	2	j	j	X
fcis-26107	128	3	]	]	X
fcis-26107	128	4	.	.	PUNCT
fcis-26107	129	1	modern	modern	ADJ
fcis-26107	129	2	marketing	marketing	NOUN
fcis-26107	129	3	(	(	PUNCT
fcis-26107	129	4	end	end	NOUN
fcis-26107	129	5	of	of	ADP
fcis-26107	129	6	the	the	DET
fcis-26107	129	7	month	month	NOUN
fcis-26107	129	8	issue	issue	NOUN
fcis-26107	129	9	)	)	PUNCT
fcis-26107	129	10	,	,	PUNCT
fcis-26107	129	11	2020	2020	NUM
fcis-26107	129	12	,	,	PUNCT
fcis-26107	129	13	(	(	PUNCT
fcis-26107	129	14	10	10	NUM
fcis-26107	129	15	):	):	PUNCT
fcis-26107	129	16	221256/	221256/	NUM
fcis-26107	129	17	f.2020.10.087	f.2020.10.087	PROPN
fcis-26107	129	18	.	.	PUNCT
fcis-26107	129	19	8	8	NUM
fcis-26107	130	1	[	[	SYM
fcis-26107	130	2	5	5	NUM
fcis-26107	130	3	]	]	X
fcis-26107	130	4	light	light	NOUN
fcis-26107	130	5	up	up	ADP
fcis-26107	130	6	2020	2020	NUM
fcis-26107	130	7	!	!	PUNCT
fcis-26107	131	1	new	new	ADJ
fcis-26107	131	2	year	year	NOUN
fcis-26107	131	3	's	's	PART
fcis-26107	131	4	eve	eve	NOUN
fcis-26107	131	5	light	light	NOUN
fcis-26107	131	6	shows	show	VERB
fcis-26107	131	7	across	across	ADP
fcis-26107	131	8	the	the	DET
fcis-26107	131	9	globe	globe	NOUN
fcis-26107	131	10	"	"	PUNCT
fcis-26107	132	1	[	[	X
fcis-26107	132	2	j	j	X
fcis-26107	132	3	]	]	X
fcis-26107	132	4	.	.	PUNCT
fcis-26107	133	1	journal	journal	PROPN
fcis-26107	133	2	of	of	ADP
fcis-26107	133	3	lighting	lighting	NOUN
fcis-26107	133	4	engineering	engineering	NOUN
fcis-26107	133	5	,	,	PUNCT
fcis-26107	133	6	2020	2020	NUM
fcis-26107	133	7	,	,	PUNCT
fcis-26107	133	8	31(01	31(01	NUM
fcis-26107	133	9	):	):	PUNCT
fcis-26107	133	10	92	92	NUM
fcis-26107	133	11	.	.	PUNCT
fcis-26107	134	1	[	[	X
fcis-26107	134	2	6	6	NUM
fcis-26107	134	3	]	]	PUNCT
fcis-26107	134	4	shu	shu	PROPN
fcis-26107	134	5	y.-p	y.-p	PROPN
fcis-26107	134	6	.	.	PROPN
fcis-26107	134	7	,	,	PUNCT
fcis-26107	134	8	liu	liu	PROPN
fcis-26107	134	9	c.	c.	PROPN
fcis-26107	134	10	,	,	PUNCT
fcis-26107	134	11	meng	meng	PROPN
fcis-26107	134	12	y.-z	y.-z	PROPN
fcis-26107	134	13	.	.	PUNCT
fcis-26107	135	1	fault	fault	NOUN
fcis-26107	135	2	-	-	PUNCT
fcis-26107	135	3	tolerant	tolerant	ADJ
fcis-26107	135	4	collision	collision	NOUN
fcis-26107	135	5	avoidance	avoidance	NOUN
fcis-26107	135	6	and	and	CCONJ
fcis-26107	135	7	obstacle	obstacle	NOUN
fcis-26107	135	8	avoidance	avoidance	NOUN
fcis-26107	135	9	control	control	NOUN
fcis-26107	135	10	for	for	ADP
fcis-26107	135	11	quadrotor	quadrotor	PROPN
fcis-26107	135	12	uav	uav	PROPN
fcis-26107	135	13	formation	formation	NOUN
fcis-26107	135	14	based	base	VERB
fcis-26107	135	15	on	on	ADP
fcis-26107	135	16	dmpc	dmpc	PROPN
fcis-26107	136	1	[	[	X
fcis-26107	136	2	j	j	X
fcis-26107	136	3	]	]	X
fcis-26107	136	4	.	.	PUNCT
fcis-26107	137	1	journal	journal	PROPN
fcis-26107	137	2	of	of	ADP
fcis-26107	137	3	control	control	NOUN
fcis-26107	137	4	and	and	CCONJ
fcis-26107	137	5	detection	detection	NOUN
fcis-26107	137	6	,	,	PUNCT
fcis-26107	137	7	2024	2024	NUM
fcis-26107	137	8	,	,	PUNCT
fcis-26107	137	9	7(01	7(01	NUM
fcis-26107	137	10	):	):	PUNCT
fcis-26107	137	11	21	21	NUM
fcis-26107	137	12	-	-	SYM
fcis-26107	137	13	31	31	NUM
fcis-26107	137	14	.	.	PUNCT
fcis-26107	138	1	[	[	X
fcis-26107	138	2	7	7	X
fcis-26107	138	3	]	]	X
fcis-26107	138	4	wang	wang	PROPN
fcis-26107	138	5	yingchun	yingchun	PROPN
fcis-26107	138	6	.	.	PUNCT
fcis-26107	139	1	unveiling	unveil	VERB
fcis-26107	139	2	the	the	DET
fcis-26107	139	3	secrets	secret	NOUN
fcis-26107	139	4	behind	behind	ADP
fcis-26107	139	5	drone	drone	NOUN
fcis-26107	139	6	performances	performance	NOUN
fcis-26107	139	7	[	[	X
fcis-26107	139	8	n	n	X
fcis-26107	139	9	]	]	PUNCT
fcis-26107	139	10	.	.	PUNCT
fcis-26107	140	1	hainan	hainan	PROPN
fcis-26107	140	2	daily,2022	daily,2022	PROPN
fcis-26107	140	3	-	-	PUNCT
fcis-26107	140	4	02	02	NUM
fcis-26107	140	5	-	-	PUNCT
fcis-26107	140	6	21(b11).2022	21(b11).2022	NUM
fcis-26107	140	7	.	.	PUNCT
fcis-26107	140	8	001025	001025	NUM
fcis-26107	140	9	.	.	PUNCT
fcis-26107	141	1	[	[	X
fcis-26107	141	2	8	8	NUM
fcis-26107	141	3	]	]	X
fcis-26107	141	4	chen	chen	PROPN
fcis-26107	141	5	xi	xi	PROPN
fcis-26107	141	6	,	,	PUNCT
fcis-26107	141	7	chen	chen	PROPN
fcis-26107	141	8	leiyin	leiyin	PROPN
fcis-26107	141	9	.	.	PUNCT
fcis-26107	142	1	a	a	DET
fcis-26107	142	2	study	study	NOUN
fcis-26107	142	3	on	on	ADP
fcis-26107	142	4	the	the	DET
fcis-26107	142	5	integration	integration	NOUN
fcis-26107	142	6	of	of	ADP
fcis-26107	142	7	interactive	interactive	ADJ
fcis-26107	142	8	light	light	ADJ
fcis-26107	142	9	art	art	NOUN
fcis-26107	142	10	installations	installation	NOUN
fcis-26107	142	11	into	into	ADP
fcis-26107	142	12	public	public	ADJ
fcis-26107	142	13	spaces	space	NOUN
fcis-26107	143	1	[	[	X
fcis-26107	143	2	j	j	X
fcis-26107	143	3	]	]	X
fcis-26107	143	4	.	.	PUNCT
fcis-26107	144	1	screen	screen	NOUN
fcis-26107	144	2	printing	printing	NOUN
fcis-26107	144	3	,	,	PUNCT
fcis-26107	144	4	2023	2023	NUM
fcis-26107	144	5	,	,	PUNCT
fcis-26107	144	6	(	(	PUNCT
fcis-26107	144	7	18	18	NUM
fcis-26107	144	8	):	):	PUNCT
fcis-26107	144	9	99	99	NUM
fcis-26107	144	10	-	-	SYM
fcis-26107	144	11	101	101	NUM
fcis-26107	144	12	.	.	PUNCT
fcis-26107	145	1	2023.18.029	2023.18.029	NOUN
fcis-26107	145	2	.	.	PUNCT
fcis-26107	146	1	[	[	X
fcis-26107	146	2	9	9	NUM
fcis-26107	146	3	]	]	X
fcis-26107	146	4	tian	tian	ADJ
fcis-26107	146	5	yuezong	yuezong	PROPN
fcis-26107	146	6	.	.	PUNCT
fcis-26107	147	1	a	a	DET
fcis-26107	147	2	study	study	NOUN
fcis-26107	147	3	on	on	ADP
fcis-26107	147	4	fault	fault	NOUN
fcis-26107	147	5	diagnosis	diagnosis	NOUN
fcis-26107	147	6	method	method	NOUN
fcis-26107	147	7	for	for	ADP
fcis-26107	147	8	electrical	electrical	ADJ
fcis-26107	147	9	equipment	equipment	NOUN
fcis-26107	147	10	in	in	ADP
fcis-26107	147	11	thermal	thermal	ADJ
fcis-26107	147	12	power	power	NOUN
fcis-26107	147	13	plants	plant	NOUN
fcis-26107	147	14	based	base	VERB
fcis-26107	147	15	on	on	ADP
fcis-26107	147	16	pca	pca	PROPN
fcis-26107	148	1	[	[	X
fcis-26107	148	2	j	j	X
fcis-26107	148	3	]	]	X
fcis-26107	148	4	.	.	PUNCT
fcis-26107	149	1	popular	popular	ADJ
fcis-26107	149	2	electricity	electricity	NOUN
fcis-26107	149	3	,	,	PUNCT
fcis-26107	149	4	2024	2024	NUM
fcis-26107	149	5	,	,	PUNCT
fcis-26107	149	6	39(07	39(07	NUM
fcis-26107	149	7	):	):	PUNCT
fcis-26107	149	8	46	46	NUM
fcis-26107	149	9	-	-	SYM
fcis-26107	149	10	48	48	NUM
fcis-26107	149	11	.	.	PUNCT
fcis-26107	150	1	[	[	X
fcis-26107	150	2	10	10	NUM
fcis-26107	150	3	]	]	X
fcis-26107	150	4	wang	wang	PROPN
fcis-26107	150	5	qiuping	qiuping	PROPN
fcis-26107	150	6	.	.	PUNCT
fcis-26107	151	1	analysis	analysis	NOUN
fcis-26107	151	2	of	of	ADP
fcis-26107	151	3	influencing	influence	VERB
fcis-26107	151	4	parameters	parameter	NOUN
fcis-26107	151	5	in	in	ADP
fcis-26107	151	6	the	the	DET
fcis-26107	151	7	hot	hot	ADJ
fcis-26107	151	8	rolling	rolling	NOUN
fcis-26107	151	9	process	process	NOUN
fcis-26107	151	10	based	base	VERB
fcis-26107	151	11	on	on	ADP
fcis-26107	151	12	principal	principal	ADJ
fcis-26107	151	13	component	component	NOUN
fcis-26107	151	14	analysis	analysis	NOUN
fcis-26107	151	15	[	[	X
fcis-26107	151	16	j	j	X
fcis-26107	151	17	]	]	X
fcis-26107	151	18	.	.	PUNCT
fcis-26107	152	1	shanxi	shanxi	PROPN
fcis-26107	152	2	metallurgy	metallurgy	PROPN
fcis-26107	152	3	,	,	PUNCT
fcis-26107	152	4	2024	2024	NUM
fcis-26107	152	5	,	,	PUNCT
fcis-26107	152	6	47(06	47(06	NUM
fcis-26107	152	7	):	):	PUNCT
fcis-26107	152	8	39	39	NUM
fcis-26107	152	9	-	-	SYM
fcis-26107	152	10	41	41	NUM
fcis-26107	152	11	.	.	PUNCT
fcis-26107	153	1	[	[	X
fcis-26107	153	2	11	11	NUM
fcis-26107	153	3	]	]	X
fcis-26107	153	4	zhang	zhang	PROPN
fcis-26107	153	5	yalin	yalin	PROPN
fcis-26107	153	6	.	.	PUNCT
fcis-26107	154	1	research	research	NOUN
fcis-26107	154	2	on	on	ADP
fcis-26107	154	3	the	the	DET
fcis-26107	154	4	customization	customization	NOUN
fcis-26107	154	5	of	of	ADP
fcis-26107	154	6	the	the	DET
fcis-26107	154	7	best	good	ADJ
fcis-26107	154	8	tourist	tourist	NOUN
fcis-26107	154	9	route	route	NOUN
fcis-26107	154	10	in	in	ADP
fcis-26107	154	11	scenic	scenic	ADJ
fcis-26107	154	12	spots	spot	NOUN
fcis-26107	154	13	based	base	VERB
fcis-26107	154	14	on	on	ADP
fcis-26107	154	15	the	the	DET
fcis-26107	154	16	k	k	NOUN
fcis-26107	154	17	-	-	PUNCT
fcis-26107	154	18	means	mean	VERB
fcis-26107	154	19	clustering	cluster	VERB
fcis-26107	154	20	algorithm	algorithm	NOUN
fcis-26107	155	1	[	[	X
fcis-26107	155	2	j	j	X
fcis-26107	155	3	]	]	X
fcis-26107	155	4	.	.	PUNCT
fcis-26107	156	1	computer	computer	NOUN
fcis-26107	156	2	programming	programming	NOUN
fcis-26107	156	3	skills	skill	NOUN
fcis-26107	156	4	and	and	CCONJ
fcis-26107	156	5	maintenance	maintenance	NOUN
fcis-26107	156	6	,	,	PUNCT
fcis-26107	156	7	2023	2023	NUM
fcis-26107	156	8	,	,	PUNCT
fcis-26107	156	9	(	(	PUNCT
fcis-26107	156	10	11	11	NUM
fcis-26107	156	11	):	):	PUNCT
fcis-26107	156	12	65	65	NUM
fcis-26107	156	13	-	-	SYM
fcis-26107	156	14	68	68	NUM
fcis-26107	156	15	.	.	PUNCT
fcis-26107	157	1	2023.11.018	2023.11.018	NOUN
fcis-26107	157	2	.	.	PUNCT
fcis-26107	158	1	[	[	X
fcis-26107	158	2	12	12	NUM
fcis-26107	158	3	]	]	X
fcis-26107	158	4	zhou	zhou	PROPN
fcis-26107	158	5	rongrong	rongrong	PROPN
fcis-26107	158	6	,	,	PUNCT
fcis-26107	158	7	chen	chen	PROPN
fcis-26107	158	8	dong	dong	PROPN
fcis-26107	158	9	,	,	PUNCT
fcis-26107	158	10	liu	liu	PROPN
fcis-26107	158	11	siyuan	siyuan	PROPN
fcis-26107	158	12	.	.	PUNCT
fcis-26107	159	1	research	research	NOUN
fcis-26107	159	2	on	on	ADP
fcis-26107	159	3	the	the	DET
fcis-26107	159	4	optimization	optimization	NOUN
fcis-26107	159	5	model	model	NOUN
fcis-26107	159	6	of	of	ADP
fcis-26107	159	7	fresh	fresh	ADJ
fcis-26107	159	8	food	food	NOUN
fcis-26107	159	9	transportation	transportation	NOUN
fcis-26107	159	10	path	path	NOUN
fcis-26107	159	11	based	base	VERB
fcis-26107	159	12	on	on	ADP
fcis-26107	159	13	k	k	PROPN
fcis-26107	159	14	-	-	PUNCT
fcis-26107	159	15	means	mean	VERB
fcis-26107	159	16	clustering	cluster	VERB
fcis-26107	159	17	algorithm	algorithm	NOUN
fcis-26107	160	1	[	[	X
fcis-26107	160	2	j	j	X
fcis-26107	160	3	]	]	X
fcis-26107	160	4	.	.	PUNCT
fcis-26107	161	1	journal	journal	PROPN
fcis-26107	161	2	of	of	ADP
fcis-26107	161	3	agricultural	agricultural	ADJ
fcis-26107	161	4	big	big	ADJ
fcis-26107	161	5	data	datum	NOUN
fcis-26107	161	6	,	,	PUNCT
fcis-26107	161	7	2022	2022	NUM
fcis-26107	161	8	,	,	PUNCT
fcis-26107	161	9	4(01	4(01	NUM
fcis-26107	161	10	):	):	PUNCT
fcis-26107	161	11	89	89	NUM
fcis-26107	161	12	-	-	SYM
fcis-26107	161	13	97	97	NUM
fcis-26107	161	14	.	.	PUNCT
fcis-26107	162	1	[	[	X
fcis-26107	162	2	13	13	NUM
fcis-26107	162	3	]	]	X
fcis-26107	162	4	hao	hao	PROPN
fcis-26107	162	5	wenkang	wenkang	PROPN
fcis-26107	162	6	,	,	PUNCT
fcis-26107	162	7	chen	chen	PROPN
fcis-26107	162	8	qifeng	qifeng	PROPN
fcis-26107	162	9	.	.	PUNCT
fcis-26107	163	1	energy	energy	NOUN
fcis-26107	163	2	-	-	PUNCT
fcis-26107	163	3	saving	save	VERB
fcis-26107	163	4	control	control	NOUN
fcis-26107	163	5	of	of	ADP
fcis-26107	163	6	uav	uav	PROPN
fcis-26107	163	7	formation	formation	NOUN
fcis-26107	163	8	based	base	VERB
fcis-26107	163	9	on	on	ADP
fcis-26107	163	10	fuzzy	fuzzy	ADJ
fcis-26107	163	11	constrained	constrain	VERB
fcis-26107	163	12	distributed	distribute	VERB
fcis-26107	163	13	model	model	NOUN
fcis-26107	163	14	predictive	predictive	ADJ
fcis-26107	163	15	control	control	NOUN
fcis-26107	164	1	[	[	X
fcis-26107	164	2	j	j	X
fcis-26107	164	3	]	]	X
fcis-26107	164	4	.	.	PUNCT
fcis-26107	165	1	systems	system	NOUN
fcis-26107	165	2	engineering	engineering	NOUN
fcis-26107	165	3	and	and	CCONJ
fcis-26107	165	4	electronics	electronic	NOUN
fcis-26107	165	5	,	,	PUNCT
fcis-26107	165	6	2024	2024	NUM
fcis-26107	165	7	,	,	PUNCT
fcis-26107	165	8	46(03	46(03	NUM
fcis-26107	165	9	):	):	PUNCT
fcis-26107	165	10	1021	1021	NUM
fcis-26107	165	11	-	-	SYM
fcis-26107	165	12	1030	1030	NUM
fcis-26107	165	13	.	.	PUNCT
fcis-26107	166	1	[	[	X
fcis-26107	166	2	14	14	NUM
fcis-26107	166	3	]	]	X
fcis-26107	166	4	wei	wei	PROPN
fcis-26107	166	5	ruixuan	ruixuan	PROPN
fcis-26107	166	6	,	,	PUNCT
fcis-26107	166	7	lv	lv	PROPN
fcis-26107	166	8	minghai	minghai	PROPN
fcis-26107	166	9	,	,	PUNCT
fcis-26107	166	10	ru	ru	NOUN
fcis-26107	166	11	changjian	changjian	NOUN
fcis-26107	166	12	,	,	PUNCT
fcis-26107	166	13	et	et	PROPN
fcis-26107	166	14	al	al	PROPN
fcis-26107	166	15	.	.	PROPN
fcis-26107	166	16	research	research	NOUN
fcis-26107	166	17	on	on	ADP
fcis-26107	166	18	collision	collision	NOUN
fcis-26107	166	19	avoidance	avoidance	NOUN
fcis-26107	166	20	control	control	NOUN
fcis-26107	166	21	for	for	ADP
fcis-26107	166	22	uav	uav	PROPN
fcis-26107	166	23	formation	formation	NOUN
fcis-26107	166	24	reconstruction	reconstruction	NOUN
fcis-26107	166	25	based	base	VERB
fcis-26107	166	26	on	on	ADP
fcis-26107	166	27	de	de	NOUN
fcis-26107	166	28	-	-	NOUN
fcis-26107	166	29	dmpc	dmpc	NOUN
fcis-26107	166	30	[	[	X
fcis-26107	166	31	j	j	X
fcis-26107	166	32	]	]	X
fcis-26107	166	33	.	.	PUNCT
fcis-26107	167	1	systems	system	NOUN
fcis-26107	167	2	engineering	engineering	NOUN
fcis-26107	167	3	and	and	CCONJ
fcis-26107	167	4	electronics	electronic	NOUN
fcis-26107	167	5	,	,	PUNCT
fcis-26107	167	6	2014	2014	NUM
fcis-26107	167	7	,	,	PUNCT
fcis-26107	167	8	36(12	36(12	NUM
fcis-26107	167	9	):	):	PUNCT
fcis-26107	167	10	2473	2473	NUM
fcis-26107	167	11	-	-	SYM
fcis-26107	167	12	2478	2478	NUM
fcis-26107	167	13	.	.	PUNCT
fcis-26107	168	1	[	[	X
fcis-26107	168	2	15	15	NUM
fcis-26107	168	3	]	]	X
fcis-26107	168	4	li	li	PROPN
fcis-26107	168	5	bo	bo	PROPN
fcis-26107	168	6	,	,	PUNCT
fcis-26107	168	7	qu	qu	PROPN
fcis-26107	168	8	yuan	yuan	PROPN
fcis-26107	168	9	,	,	PUNCT
fcis-26107	168	10	xu	xu	PROPN
fcis-26107	168	11	jing	jing	PROPN
fcis-26107	168	12	.	.	PUNCT
fcis-26107	169	1	research	research	NOUN
fcis-26107	169	2	on	on	ADP
fcis-26107	169	3	online	online	ADJ
fcis-26107	169	4	trajectory	trajectory	NOUN
fcis-26107	169	5	planning	planning	NOUN
fcis-26107	169	6	for	for	ADP
fcis-26107	169	7	multiple	multiple	ADJ
fcis-26107	169	8	uavs	uavs	NOUN
fcis-26107	169	9	based	base	VERB
fcis-26107	169	10	on	on	ADP
fcis-26107	169	11	dmpc	dmpc	NOUN
fcis-26107	169	12	-	-	PUNCT
fcis-26107	169	13	pso	pso	NOUN
fcis-26107	169	14	in	in	ADP
fcis-26107	169	15	complex	complex	ADJ
fcis-26107	169	16	dynamic	dynamic	ADJ
fcis-26107	169	17	environment	environment	NOUN
fcis-26107	170	1	[	[	X
fcis-26107	170	2	j	j	X
fcis-26107	170	3	]	]	X
fcis-26107	170	4	.	.	PUNCT
fcis-26107	171	1	journal	journal	PROPN
fcis-26107	171	2	of	of	ADP
fcis-26107	171	3	inner	inner	PROPN
fcis-26107	171	4	mongolia	mongolia	PROPN
fcis-26107	171	5	normal	normal	ADJ
fcis-26107	171	6	university	university	PROPN
fcis-26107	171	7	(	(	PUNCT
fcis-26107	171	8	natural	natural	ADJ
fcis-26107	171	9	science	science	NOUN
fcis-26107	171	10	edition	edition	NOUN
fcis-26107	171	11	)	)	PUNCT
fcis-26107	171	12	,	,	PUNCT
fcis-26107	171	13	2018	2018	NUM
fcis-26107	171	14	,	,	PUNCT
fcis-26107	171	15	47(06	47(06	NUM
fcis-26107	171	16	):	):	PUNCT
fcis-26107	171	17	491	491	NUM
fcis-26107	171	18	-	-	NUM
fcis-26107	171	19	498	498	NUM
fcis-26107	171	20	.	.	PUNCT
fcis-26107	172	1	[	[	X
fcis-26107	172	2	16	16	NUM
fcis-26107	172	3	]	]	X
fcis-26107	172	4	wang	wang	PROPN
fcis-26107	172	5	p	p	PROPN
fcis-26107	172	6	,	,	PUNCT
fcis-26107	172	7	ding	ding	NOUN
fcis-26107	172	8	b.a	b.a	NOUN
fcis-26107	172	9	synthesis	synthesis	NOUN
fcis-26107	172	10	approach	approach	NOUN
fcis-26107	172	11	of	of	ADP
fcis-26107	172	12	distributed	distribute	VERB
fcis-26107	172	13	-	-	PUNCT
fcis-26107	172	14	model	model	NOUN
fcis-26107	172	15	predictive	predictive	ADJ
fcis-26107	172	16	control	control	NOUN
fcis-26107	172	17	for	for	ADP
fcis-26107	172	18	homogeneous	homogeneous	ADJ
fcis-26107	172	19	multi	multi	ADJ
fcis-26107	172	20	-	-	ADJ
fcis-26107	172	21	agent	agent	ADJ
fcis-26107	172	22	system	system	NOUN
fcis-26107	172	23	with	with	ADP
fcis-26107	172	24	collision	collision	NOUN
fcis-26107	172	25	avoidance[j	avoidance[j	NOUN
fcis-26107	172	26	]	]	PUNCT
fcis-26107	172	27	.	.	PUNCT
fcis-26107	173	1	international	international	ADJ
fcis-26107	173	2	journal	journal	PROPN
fcis-26107	173	3	of	of	ADP
fcis-26107	173	4	control	control	PROPN
fcis-26107	173	5	,	,	PUNCT
fcis-26107	173	6	2014	2014	NUM
fcis-26107	173	7	,	,	PUNCT
fcis-26107	173	8	87(1	87(1	NUM
fcis-26107	173	9	):	):	PUNCT
fcis-26107	173	10	52	52	NUM
fcis-26107	173	11	-	-	SYM
fcis-26107	173	12	63	63	NUM
fcis-26107	173	13	.	.	PUNCT
fcis-26107	174	1	[	[	X
fcis-26107	174	2	17	17	NUM
fcis-26107	174	3	]	]	X
fcis-26107	174	4	p.	p.	PROPN
fcis-26107	174	5	ru	ru	PROPN
fcis-26107	174	6	,	,	PUNCT
fcis-26107	174	7	“	"	PUNCT
fcis-26107	174	8	nonlinear	nonlinear	ADJ
fcis-26107	174	9	model	model	NOUN
fcis-26107	174	10	predictive	predictive	PROPN
fcis-26107	174	11	control	control	NOUN
fcis-26107	174	12	for	for	ADP
fcis-26107	174	13	cooperative	cooperative	ADJ
fcis-26107	174	14	control	control	NOUN
fcis-26107	174	15	and	and	CCONJ
fcis-26107	174	16	estimation	estimation	NOUN
fcis-26107	174	17	,	,	PUNCT
fcis-26107	174	18	”	"	PUNCT
fcis-26107	174	19	ph.d	ph.d	PROPN
fcis-26107	174	20	.	.	PUNCT
fcis-26107	175	1	dissertation	dissertation	NOUN
fcis-26107	175	2	,	,	PUNCT
fcis-26107	175	3	2017	2017	NUM
fcis-26107	175	4	.	.	PUNCT