id	sid	tid	token	lemma	pos
fcis-27189	1	1	frontiers	frontier	NOUN
fcis-27189	1	2	in	in	ADP
fcis-27189	1	3	computing	computing	NOUN
fcis-27189	1	4	and	and	CCONJ
fcis-27189	1	5	intelligent	intelligent	ADJ
fcis-27189	1	6	systems	system	NOUN
fcis-27189	1	7	issn	issn	VERB
fcis-27189	1	8	:	:	PUNCT
fcis-27189	1	9	2832	2832	NUM
fcis-27189	1	10	-	-	SYM
fcis-27189	1	11	6024	6024	NUM
fcis-27189	1	12	|	|	NOUN
fcis-27189	1	13	vol	vol	NOUN
fcis-27189	1	14	.	.	PROPN
fcis-27189	2	1	10	10	NUM
fcis-27189	2	2	,	,	PUNCT
fcis-27189	2	3	no	no	INTJ
fcis-27189	2	4	.	.	NOUN
fcis-27189	2	5	2	2	NUM
fcis-27189	2	6	,	,	PUNCT
fcis-27189	2	7	2024	2024	NUM
fcis-27189	2	8	34	34	NUM
fcis-27189	2	9	the	the	DET
fcis-27189	2	10	intelligent	intelligent	ADJ
fcis-27189	2	11	decision‐making	decision‐making	NOUN
fcis-27189	2	12	and	and	CCONJ
fcis-27189	2	13	collaboration	collaboration	NOUN
fcis-27189	2	14	mechanism	mechanism	NOUN
fcis-27189	2	15	design	design	NOUN
fcis-27189	2	16	of	of	ADP
fcis-27189	2	17	the	the	DET
fcis-27189	2	18	soccer	soccer	NOUN
fcis-27189	2	19	robot	robot	NOUN
fcis-27189	2	20	system	system	NOUN
fcis-27189	2	21	huangkun	huangkun	VERB
fcis-27189	2	22	chen	chen	PROPN
fcis-27189	2	23	,	,	PUNCT
fcis-27189	2	24	liangxu	liangxu	PROPN
fcis-27189	2	25	sun	sun	PROPN
fcis-27189	2	26	*	*	PUNCT
fcis-27189	2	27	university	university	PROPN
fcis-27189	2	28	of	of	ADP
fcis-27189	2	29	science	science	NOUN
fcis-27189	2	30	and	and	CCONJ
fcis-27189	2	31	technology	technology	NOUN
fcis-27189	2	32	liaoning	liaoning	NOUN
fcis-27189	2	33	,	,	PUNCT
fcis-27189	2	34	anshan	anshan	PROPN
fcis-27189	2	35	liaoning	liaoning	NOUN
fcis-27189	2	36	,	,	PUNCT
fcis-27189	2	37	114051	114051	NUM
fcis-27189	2	38	,	,	PUNCT
fcis-27189	2	39	china	china	PROPN
fcis-27189	2	40	*	*	PUNCT
fcis-27189	2	41	corresponding	correspond	VERB
fcis-27189	2	42	author	author	NOUN
fcis-27189	2	43	:	:	PUNCT
fcis-27189	2	44	liangxu	liangxu	PROPN
fcis-27189	2	45	sun	sun	PROPN
fcis-27189	2	46	abstract	abstract	NOUN
fcis-27189	2	47	:	:	PUNCT
fcis-27189	2	48	the	the	DET
fcis-27189	2	49	robot	robot	NOUN
fcis-27189	2	50	soccer	soccer	NOUN
fcis-27189	2	51	competition	competition	NOUN
fcis-27189	2	52	integrates	integrate	VERB
fcis-27189	2	53	technologies	technology	NOUN
fcis-27189	2	54	such	such	ADJ
fcis-27189	2	55	as	as	ADP
fcis-27189	2	56	vision	vision	NOUN
fcis-27189	2	57	,	,	PUNCT
fcis-27189	2	58	wireless	wireless	ADJ
fcis-27189	2	59	communication	communication	NOUN
fcis-27189	2	60	,	,	PUNCT
fcis-27189	2	61	control	control	NOUN
fcis-27189	2	62	,	,	PUNCT
fcis-27189	2	63	multi	multi	ADJ
fcis-27189	2	64	-	-	ADJ
fcis-27189	2	65	sensor	sensor	ADJ
fcis-27189	2	66	fusion	fusion	NOUN
fcis-27189	2	67	,	,	PUNCT
fcis-27189	2	68	strategy	strategy	NOUN
fcis-27189	2	69	,	,	PUNCT
fcis-27189	2	70	and	and	CCONJ
fcis-27189	2	71	simulation	simulation	NOUN
fcis-27189	2	72	,	,	PUNCT
fcis-27189	2	73	with	with	ADP
fcis-27189	2	74	a	a	DET
fcis-27189	2	75	focus	focus	NOUN
fcis-27189	2	76	on	on	ADP
fcis-27189	2	77	the	the	DET
fcis-27189	2	78	intelligent	intelligent	ADJ
fcis-27189	2	79	soccer	soccer	NOUN
fcis-27189	2	80	robot	robot	NOUN
fcis-27189	2	81	path	path	NOUN
fcis-27189	2	82	decision	decision	NOUN
fcis-27189	2	83	-	-	PUNCT
fcis-27189	2	84	making	make	VERB
fcis-27189	2	85	subsystem	subsystem	NOUN
fcis-27189	2	86	.	.	PUNCT
fcis-27189	3	1	this	this	DET
fcis-27189	3	2	paper	paper	NOUN
fcis-27189	3	3	briefly	briefly	NOUN
fcis-27189	3	4	analyzes	analyze	VERB
fcis-27189	3	5	decision	decision	NOUN
fcis-27189	3	6	-	-	PUNCT
fcis-27189	3	7	making	make	VERB
fcis-27189	3	8	methods	method	NOUN
fcis-27189	3	9	such	such	ADJ
fcis-27189	3	10	as	as	ADP
fcis-27189	3	11	role	role	NOUN
fcis-27189	3	12	allocation	allocation	NOUN
fcis-27189	3	13	,	,	PUNCT
fcis-27189	3	14	time	time	NOUN
fcis-27189	3	15	-	-	PUNCT
fcis-27189	3	16	region	region	NOUN
fcis-27189	3	17	control	control	NOUN
fcis-27189	3	18	,	,	PUNCT
fcis-27189	3	19	and	and	CCONJ
fcis-27189	3	20	self	self	NOUN
fcis-27189	3	21	-	-	PUNCT
fcis-27189	3	22	tactics	tactic	NOUN
fcis-27189	3	23	,	,	PUNCT
fcis-27189	3	24	with	with	ADP
fcis-27189	3	25	a	a	DET
fcis-27189	3	26	primary	primary	ADJ
fcis-27189	3	27	focus	focus	NOUN
fcis-27189	3	28	on	on	ADP
fcis-27189	3	29	the	the	DET
fcis-27189	3	30	topdown	topdown	ADJ
fcis-27189	3	31	hierarchical	hierarchical	ADJ
fcis-27189	3	32	reasoning	reasoning	NOUN
fcis-27189	3	33	model	model	NOUN
fcis-27189	3	34	,	,	PUNCT
fcis-27189	3	35	emphasizing	emphasize	VERB
fcis-27189	3	36	robot	robot	NOUN
fcis-27189	3	37	collaboration	collaboration	NOUN
fcis-27189	3	38	and	and	CCONJ
fcis-27189	3	39	reflecting	reflect	VERB
fcis-27189	3	40	the	the	DET
fcis-27189	3	41	concept	concept	NOUN
fcis-27189	3	42	of	of	ADP
fcis-27189	3	43	multi	multi	ADJ
fcis-27189	3	44	-	-	ADJ
fcis-27189	3	45	agent	agent	ADJ
fcis-27189	3	46	cooperation	cooperation	NOUN
fcis-27189	3	47	.	.	PUNCT
fcis-27189	4	1	during	during	ADP
fcis-27189	4	2	the	the	DET
fcis-27189	4	3	implementation	implementation	NOUN
fcis-27189	4	4	process	process	NOUN
fcis-27189	4	5	,	,	PUNCT
fcis-27189	4	6	the	the	DET
fcis-27189	4	7	code	code	NOUN
fcis-27189	4	8	and	and	CCONJ
fcis-27189	4	9	functions	function	NOUN
fcis-27189	4	10	of	of	ADP
fcis-27189	4	11	the	the	DET
fcis-27189	4	12	decision	decision	NOUN
fcis-27189	4	13	subsystem	subsystem	NOUN
fcis-27189	4	14	are	be	AUX
fcis-27189	4	15	described	describe	VERB
fcis-27189	4	16	in	in	ADP
fcis-27189	4	17	detail	detail	NOUN
fcis-27189	4	18	,	,	PUNCT
fcis-27189	4	19	and	and	CCONJ
fcis-27189	4	20	examples	example	NOUN
fcis-27189	4	21	are	be	AUX
fcis-27189	4	22	provided	provide	VERB
fcis-27189	4	23	to	to	PART
fcis-27189	4	24	demonstrate	demonstrate	VERB
fcis-27189	4	25	how	how	SCONJ
fcis-27189	4	26	to	to	PART
fcis-27189	4	27	achieve	achieve	VERB
fcis-27189	4	28	robot	robot	NOUN
fcis-27189	4	29	decision	decision	NOUN
fcis-27189	4	30	-	-	PUNCT
fcis-27189	4	31	making	making	NOUN
fcis-27189	4	32	,	,	PUNCT
fcis-27189	4	33	tactical	tactical	ADJ
fcis-27189	4	34	applications	application	NOUN
fcis-27189	4	35	,	,	PUNCT
fcis-27189	4	36	and	and	CCONJ
fcis-27189	4	37	movement	movement	NOUN
fcis-27189	4	38	.	.	PUNCT
fcis-27189	5	1	additionally	additionally	ADV
fcis-27189	5	2	,	,	PUNCT
fcis-27189	5	3	the	the	DET
fcis-27189	5	4	effectiveness	effectiveness	NOUN
fcis-27189	5	5	and	and	CCONJ
fcis-27189	5	6	performance	performance	NOUN
fcis-27189	5	7	of	of	ADP
fcis-27189	5	8	the	the	DET
fcis-27189	5	9	system	system	NOUN
fcis-27189	5	10	are	be	AUX
fcis-27189	5	11	verified	verify	VERB
fcis-27189	5	12	through	through	ADP
fcis-27189	5	13	algorithm	algorithm	NOUN
fcis-27189	5	14	testing	testing	NOUN
fcis-27189	5	15	.	.	PUNCT
fcis-27189	6	1	keywords	keyword	NOUN
fcis-27189	6	2	:	:	PUNCT
fcis-27189	6	3	decision	decision	NOUN
fcis-27189	6	4	-	-	PUNCT
fcis-27189	6	5	making	making	NOUN
fcis-27189	6	6	;	;	PUNCT
fcis-27189	6	7	collaboration	collaboration	NOUN
fcis-27189	6	8	;	;	PUNCT
fcis-27189	6	9	soccer	soccer	NOUN
fcis-27189	6	10	robot	robot	NOUN
fcis-27189	6	11	.	.	PUNCT
fcis-27189	7	1	1	1	X
fcis-27189	7	2	.	.	X
fcis-27189	7	3	introduction	introduction	NOUN
fcis-27189	7	4	the	the	DET
fcis-27189	7	5	robot	robot	NOUN
fcis-27189	7	6	soccer	soccer	NOUN
fcis-27189	7	7	system	system	NOUN
fcis-27189	7	8	is	be	AUX
fcis-27189	7	9	an	an	DET
fcis-27189	7	10	interdisciplinary	interdisciplinary	ADJ
fcis-27189	7	11	high	high	ADJ
fcis-27189	7	12	-	-	PUNCT
fcis-27189	7	13	tech	tech	NOUN
fcis-27189	7	14	field	field	NOUN
fcis-27189	7	15	that	that	PRON
fcis-27189	7	16	combines	combine	VERB
fcis-27189	7	17	mechanical	mechanical	ADJ
fcis-27189	7	18	electronics	electronic	NOUN
fcis-27189	7	19	,	,	PUNCT
fcis-27189	7	20	robotics	robotic	NOUN
fcis-27189	7	21	,	,	PUNCT
fcis-27189	7	22	intelligent	intelligent	ADJ
fcis-27189	7	23	control	control	NOUN
fcis-27189	7	24	,	,	PUNCT
fcis-27189	7	25	and	and	CCONJ
fcis-27189	7	26	computer	computer	NOUN
fcis-27189	7	27	vision	vision	NOUN
fcis-27189	7	28	,	,	PUNCT
fcis-27189	7	29	driving	drive	VERB
fcis-27189	7	30	research	research	NOUN
fcis-27189	7	31	in	in	ADP
fcis-27189	7	32	artificial	artificial	ADJ
fcis-27189	7	33	intelligence	intelligence	NOUN
fcis-27189	7	34	and	and	CCONJ
fcis-27189	7	35	robotics[1	robotics[1	PROPN
fcis-27189	7	36	]	]	PUNCT
fcis-27189	7	37	.	.	PUNCT
fcis-27189	8	1	it	it	PRON
fcis-27189	8	2	involves	involve	VERB
fcis-27189	8	3	vehicle	vehicle	NOUN
fcis-27189	8	4	mechanics	mechanic	NOUN
fcis-27189	8	5	,	,	PUNCT
fcis-27189	8	6	motor	motor	NOUN
fcis-27189	8	7	integration	integration	NOUN
fcis-27189	8	8	,	,	PUNCT
fcis-27189	8	9	data	datum	NOUN
fcis-27189	8	10	fusion	fusion	NOUN
fcis-27189	8	11	,	,	PUNCT
fcis-27189	8	12	and	and	CCONJ
fcis-27189	8	13	image	image	NOUN
fcis-27189	8	14	recognition	recognition	NOUN
fcis-27189	8	15	,	,	PUNCT
fcis-27189	8	16	while	while	SCONJ
fcis-27189	8	17	promoting	promote	VERB
fcis-27189	8	18	advancements	advancement	NOUN
fcis-27189	8	19	in	in	ADP
fcis-27189	8	20	multiple	multiple	ADJ
fcis-27189	8	21	technologies	technology	NOUN
fcis-27189	8	22	and	and	CCONJ
fcis-27189	8	23	potentially	potentially	ADV
fcis-27189	8	24	impacting	impact	VERB
fcis-27189	8	25	social	social	ADJ
fcis-27189	8	26	,	,	PUNCT
fcis-27189	8	27	economic	economic	ADJ
fcis-27189	8	28	,	,	PUNCT
fcis-27189	8	29	and	and	CCONJ
fcis-27189	8	30	cultural	cultural	ADJ
fcis-27189	8	31	development.[2	development.[2	ADV
fcis-27189	8	32	]	]	PUNCT
fcis-27189	8	33	2	2	X
fcis-27189	8	34	.	.	X
fcis-27189	8	35	system	system	NOUN
fcis-27189	8	36	architecture	architecture	NOUN
fcis-27189	8	37	of	of	ADP
fcis-27189	8	38	soccer	soccer	NOUN
fcis-27189	8	39	robots	robot	NOUN
fcis-27189	8	40	the	the	DET
fcis-27189	8	41	robot	robot	NOUN
fcis-27189	8	42	soccer	soccer	NOUN
fcis-27189	8	43	system	system	NOUN
fcis-27189	8	44	involves	involve	VERB
fcis-27189	8	45	multiple	multiple	ADJ
fcis-27189	8	46	robots	robot	NOUN
fcis-27189	8	47	working	work	VERB
fcis-27189	8	48	together	together	ADV
fcis-27189	8	49	,	,	PUNCT
fcis-27189	8	50	similar	similar	ADJ
fcis-27189	8	51	to	to	ADP
fcis-27189	8	52	human	human	ADJ
fcis-27189	8	53	soccer	soccer	NOUN
fcis-27189	8	54	teams	team	NOUN
fcis-27189	8	55	'	'	PART
fcis-27189	8	56	perception	perception	NOUN
fcis-27189	8	57	,	,	PUNCT
fcis-27189	8	58	decisionmaking	decisionmake	VERB
fcis-27189	8	59	,	,	PUNCT
fcis-27189	8	60	communication	communication	NOUN
fcis-27189	8	61	,	,	PUNCT
fcis-27189	8	62	and	and	CCONJ
fcis-27189	8	63	action[3	action[3	PROPN
fcis-27189	8	64	]	]	X
fcis-27189	8	65	.	.	PUNCT
fcis-27189	9	1	the	the	DET
fcis-27189	9	2	dynamic	dynamic	ADJ
fcis-27189	9	3	and	and	CCONJ
fcis-27189	9	4	unpredictable	unpredictable	ADJ
fcis-27189	9	5	environment	environment	NOUN
fcis-27189	9	6	demands	demand	VERB
fcis-27189	9	7	advanced	advanced	ADJ
fcis-27189	9	8	technologies	technology	NOUN
fcis-27189	9	9	[	[	X
fcis-27189	9	10	4	4	X
fcis-27189	9	11	]	]	X
fcis-27189	9	12	[	[	X
fcis-27189	9	13	5	5	NUM
fcis-27189	9	14	]	]	PUNCT
fcis-27189	9	15	.	.	PUNCT
fcis-27189	10	1	with	with	ADP
fcis-27189	10	2	uneven	uneven	ADJ
fcis-27189	10	3	development	development	NOUN
fcis-27189	10	4	,	,	PUNCT
fcis-27189	10	5	robots	robot	NOUN
fcis-27189	10	6	can	can	AUX
fcis-27189	10	7	not	not	PART
fcis-27189	10	8	instantly	instantly	ADV
fcis-27189	10	9	achieve	achieve	VERB
fcis-27189	10	10	human	human	ADJ
fcis-27189	10	11	-	-	PUNCT
fcis-27189	10	12	level	level	NOUN
fcis-27189	10	13	intelligence	intelligence	NOUN
fcis-27189	10	14	and	and	CCONJ
fcis-27189	10	15	need	need	VERB
fcis-27189	10	16	gradual	gradual	ADJ
fcis-27189	10	17	improvement	improvement	NOUN
fcis-27189	10	18	.	.	PUNCT
fcis-27189	11	1	2.1	2.1	NUM
fcis-27189	11	2	.	.	PUNCT
fcis-27189	11	3	classification	classification	NOUN
fcis-27189	11	4	and	and	CCONJ
fcis-27189	11	5	implementation	implementation	NOUN
fcis-27189	11	6	solutions	solution	NOUN
fcis-27189	11	7	of	of	ADP
fcis-27189	11	8	soccer	soccer	NOUN
fcis-27189	11	9	robots	robot	NOUN
fcis-27189	11	10	the	the	DET
fcis-27189	11	11	robot	robot	NOUN
fcis-27189	11	12	soccer	soccer	NOUN
fcis-27189	11	13	system	system	NOUN
fcis-27189	11	14	mainly	mainly	ADV
fcis-27189	11	15	consists	consist	VERB
fcis-27189	11	16	of	of	ADP
fcis-27189	11	17	robots	robot	NOUN
fcis-27189	11	18	,	,	PUNCT
fcis-27189	11	19	vision	vision	NOUN
fcis-27189	11	20	systems	system	NOUN
fcis-27189	11	21	,	,	PUNCT
fcis-27189	11	22	computers	computer	NOUN
fcis-27189	11	23	,	,	PUNCT
fcis-27189	11	24	and	and	CCONJ
fcis-27189	11	25	communication	communication	NOUN
fcis-27189	11	26	systems	system	NOUN
fcis-27189	11	27	.	.	PUNCT
fcis-27189	12	1	its	its	PRON
fcis-27189	12	2	operational	operational	ADJ
fcis-27189	12	3	modes	mode	NOUN
fcis-27189	12	4	can	can	AUX
fcis-27189	12	5	be	be	AUX
fcis-27189	12	6	classified	classify	VERB
fcis-27189	12	7	into	into	ADP
fcis-27189	12	8	three	three	NUM
fcis-27189	12	9	types	type	NOUN
fcis-27189	12	10	based	base	VERB
fcis-27189	12	11	on	on	ADP
fcis-27189	12	12	the	the	DET
fcis-27189	12	13	perception	perception	NOUN
fcis-27189	12	14	system	system	NOUN
fcis-27189	12	15	implementation	implementation	NOUN
fcis-27189	12	16	and	and	CCONJ
fcis-27189	12	17	strategy	strategy	NOUN
fcis-27189	12	18	decisionmaking	decisionmake	VERB
fcis-27189	12	19	location	location	NOUN
fcis-27189	12	20	:	:	PUNCT
fcis-27189	12	21	1.vision	1.vision	NUM
fcis-27189	12	22	-	-	PUNCT
fcis-27189	12	23	based	base	VERB
fcis-27189	12	24	remote	remote	NOUN
fcis-27189	12	25	-	-	PUNCT
fcis-27189	12	26	controlled	control	VERB
fcis-27189	12	27	robot	robot	NOUN
fcis-27189	12	28	soccer	soccer	NOUN
fcis-27189	12	29	system	system	NOUN
fcis-27189	12	30	:	:	PUNCT
fcis-27189	12	31	each	each	DET
fcis-27189	12	32	robot	robot	NOUN
fcis-27189	12	33	is	be	AUX
fcis-27189	12	34	equipped	equip	VERB
fcis-27189	12	35	with	with	ADP
fcis-27189	12	36	a	a	DET
fcis-27189	12	37	driving	drive	VERB
fcis-27189	12	38	agent	agent	NOUN
fcis-27189	12	39	,	,	PUNCT
fcis-27189	12	40	communication	communication	NOUN
fcis-27189	12	41	module	module	NOUN
fcis-27189	12	42	,	,	PUNCT
fcis-27189	12	43	and	and	CCONJ
fcis-27189	12	44	cpu	cpu	PROPN
fcis-27189	12	45	board	board	NOUN
fcis-27189	12	46	,	,	PUNCT
fcis-27189	12	47	while	while	SCONJ
fcis-27189	12	48	visual	visual	ADJ
fcis-27189	12	49	data	datum	NOUN
fcis-27189	12	50	processing	processing	NOUN
fcis-27189	12	51	,	,	PUNCT
fcis-27189	12	52	strategy	strategy	NOUN
fcis-27189	12	53	decision	decision	NOUN
fcis-27189	12	54	-	-	PUNCT
fcis-27189	12	55	making	making	NOUN
fcis-27189	12	56	,	,	PUNCT
fcis-27189	12	57	and	and	CCONJ
fcis-27189	12	58	position	position	NOUN
fcis-27189	12	59	control	control	NOUN
fcis-27189	12	60	are	be	AUX
fcis-27189	12	61	handled	handle	VERB
fcis-27189	12	62	by	by	ADP
fcis-27189	12	63	the	the	DET
fcis-27189	12	64	main	main	ADJ
fcis-27189	12	65	computer	computer	NOUN
fcis-27189	12	66	.	.	PUNCT
fcis-27189	13	1	2.vision	2.vision	NUM
fcis-27189	13	2	-	-	PUNCT
fcis-27189	13	3	based	base	VERB
fcis-27189	13	4	intelligent	intelligent	ADJ
fcis-27189	13	5	robot	robot	NOUN
fcis-27189	13	6	soccer	soccer	NOUN
fcis-27189	13	7	system	system	NOUN
fcis-27189	13	8	:	:	PUNCT
fcis-27189	13	9	robots	robot	NOUN
fcis-27189	13	10	are	be	AUX
fcis-27189	13	11	equipped	equip	VERB
fcis-27189	13	12	with	with	ADP
fcis-27189	13	13	functions	function	NOUN
fcis-27189	13	14	such	such	ADJ
fcis-27189	13	15	as	as	ADP
fcis-27189	13	16	speed	speed	NOUN
fcis-27189	13	17	control	control	NOUN
fcis-27189	13	18	,	,	PUNCT
fcis-27189	13	19	position	position	NOUN
fcis-27189	13	20	control	control	NOUN
fcis-27189	13	21	,	,	PUNCT
fcis-27189	13	22	and	and	CCONJ
fcis-27189	13	23	automatic	automatic	ADJ
fcis-27189	13	24	obstacle	obstacle	NOUN
fcis-27189	13	25	avoidance	avoidance	NOUN
fcis-27189	13	26	.	.	PUNCT
fcis-27189	14	1	the	the	DET
fcis-27189	14	2	main	main	ADJ
fcis-27189	14	3	computer	computer	NOUN
fcis-27189	14	4	makes	make	VERB
fcis-27189	14	5	decisions	decision	NOUN
fcis-27189	14	6	based	base	VERB
fcis-27189	14	7	on	on	ADP
fcis-27189	14	8	visual	visual	ADJ
fcis-27189	14	9	data	datum	NOUN
fcis-27189	14	10	and	and	CCONJ
fcis-27189	14	11	sends	send	VERB
fcis-27189	14	12	commands	command	NOUN
fcis-27189	14	13	to	to	ADP
fcis-27189	14	14	the	the	DET
fcis-27189	14	15	robots	robot	NOUN
fcis-27189	14	16	,	,	PUNCT
fcis-27189	14	17	which	which	PRON
fcis-27189	14	18	are	be	AUX
fcis-27189	14	19	equipped	equip	VERB
fcis-27189	14	20	with	with	ADP
fcis-27189	14	21	sensors	sensor	NOUN
fcis-27189	14	22	.	.	PUNCT
fcis-27189	15	1	3	3	X
fcis-27189	15	2	.	.	X
fcis-27189	15	3	autonomous	autonomous	PROPN
fcis-27189	15	4	robot	robot	NOUN
fcis-27189	15	5	soccer	soccer	NOUN
fcis-27189	15	6	system	system	NOUN
fcis-27189	15	7	:	:	PUNCT
fcis-27189	15	8	robots	robot	NOUN
fcis-27189	15	9	exhibit	exhibit	VERB
fcis-27189	15	10	autonomous	autonomous	ADJ
fcis-27189	15	11	behavior	behavior	NOUN
fcis-27189	15	12	,	,	PUNCT
fcis-27189	15	13	with	with	ADP
fcis-27189	15	14	all	all	DET
fcis-27189	15	15	computations	computation	NOUN
fcis-27189	15	16	and	and	CCONJ
fcis-27189	15	17	decisions	decision	NOUN
fcis-27189	15	18	made	make	VERB
fcis-27189	15	19	by	by	ADP
fcis-27189	15	20	the	the	DET
fcis-27189	15	21	robots	robot	NOUN
fcis-27189	15	22	themselves	themselves	PRON
fcis-27189	15	23	.	.	PUNCT
fcis-27189	16	1	the	the	DET
fcis-27189	16	2	main	main	ADJ
fcis-27189	16	3	computer	computer	NOUN
fcis-27189	16	4	only	only	ADV
fcis-27189	16	5	processes	process	VERB
fcis-27189	16	6	visual	visual	ADJ
fcis-27189	16	7	data	datum	NOUN
fcis-27189	16	8	and	and	CCONJ
fcis-27189	16	9	transmits	transmit	VERB
fcis-27189	16	10	positional	positional	ADJ
fcis-27189	16	11	information	information	NOUN
fcis-27189	16	12	.	.	PUNCT
fcis-27189	17	1	implementation	implementation	NOUN
fcis-27189	17	2	solutions	solution	NOUN
fcis-27189	17	3	for	for	ADP
fcis-27189	17	4	robot	robot	NOUN
fcis-27189	17	5	soccer	soccer	NOUN
fcis-27189	17	6	include	include	VERB
fcis-27189	17	7	:	:	PUNCT
fcis-27189	17	8	robot	robot	NOUN
fcis-27189	17	9	soccer	soccer	NOUN
fcis-27189	17	10	simulation	simulation	NOUN
fcis-27189	17	11	competitions	competition	NOUN
fcis-27189	17	12	,	,	PUNCT
fcis-27189	17	13	vision	vision	NOUN
fcis-27189	17	14	-	-	PUNCT
fcis-27189	17	15	based	base	VERB
fcis-27189	17	16	remotecontrolled	remotecontrolle	VERB
fcis-27189	17	17	robot	robot	NOUN
fcis-27189	17	18	soccer	soccer	NOUN
fcis-27189	17	19	systems	system	NOUN
fcis-27189	17	20	,	,	PUNCT
fcis-27189	17	21	vision	vision	NOUN
fcis-27189	17	22	-	-	PUNCT
fcis-27189	17	23	based	base	VERB
fcis-27189	17	24	robot	robot	NOUN
fcis-27189	17	25	soccer	soccer	NOUN
fcis-27189	17	26	systems	system	NOUN
fcis-27189	17	27	,	,	PUNCT
fcis-27189	17	28	and	and	CCONJ
fcis-27189	17	29	fully	fully	ADV
fcis-27189	17	30	autonomous	autonomous	ADJ
fcis-27189	17	31	robot	robot	NOUN
fcis-27189	17	32	soccer	soccer	NOUN
fcis-27189	17	33	systems[5	systems[5	PROPN
fcis-27189	17	34	]	]	PUNCT
fcis-27189	17	35	.	.	PUNCT
fcis-27189	18	1	simulation	simulation	NOUN
fcis-27189	18	2	competitions	competition	NOUN
fcis-27189	18	3	implement	implement	VERB
fcis-27189	18	4	all	all	DET
fcis-27189	18	5	intelligent	intelligent	ADJ
fcis-27189	18	6	functions	function	NOUN
fcis-27189	18	7	through	through	ADP
fcis-27189	18	8	software	software	NOUN
fcis-27189	18	9	on	on	ADP
fcis-27189	18	10	a	a	DET
fcis-27189	18	11	computer	computer	NOUN
fcis-27189	18	12	,	,	PUNCT
fcis-27189	18	13	emphasizing	emphasize	VERB
fcis-27189	18	14	thinking	thinking	NOUN
fcis-27189	18	15	and	and	CCONJ
fcis-27189	18	16	collaboration	collaboration	NOUN
fcis-27189	18	17	.	.	PUNCT
fcis-27189	19	1	the	the	DET
fcis-27189	19	2	vision	vision	NOUN
fcis-27189	19	3	-	-	PUNCT
fcis-27189	19	4	based	base	VERB
fcis-27189	19	5	remote	remote	NOUN
fcis-27189	19	6	-	-	PUNCT
fcis-27189	19	7	controlled	control	VERB
fcis-27189	19	8	robot	robot	NOUN
fcis-27189	19	9	soccer	soccer	NOUN
fcis-27189	19	10	system	system	NOUN
fcis-27189	19	11	involves	involve	VERB
fcis-27189	19	12	a	a	DET
fcis-27189	19	13	team	team	NOUN
fcis-27189	19	14	of	of	ADP
fcis-27189	19	15	robots	robot	NOUN
fcis-27189	19	16	performing	perform	VERB
fcis-27189	19	17	specific	specific	ADJ
fcis-27189	19	18	functions	function	NOUN
fcis-27189	19	19	,	,	PUNCT
fcis-27189	19	20	with	with	ADP
fcis-27189	19	21	particular	particular	ADJ
fcis-27189	19	22	hardware	hardware	NOUN
fcis-27189	19	23	components	component	NOUN
fcis-27189	19	24	responsible	responsible	ADJ
fcis-27189	19	25	for	for	ADP
fcis-27189	19	26	certain	certain	ADJ
fcis-27189	19	27	tasks	task	NOUN
fcis-27189	19	28	,	,	PUNCT
fcis-27189	19	29	such	such	ADJ
fcis-27189	19	30	as	as	ADP
fcis-27189	19	31	in	in	ADP
fcis-27189	19	32	fira	fira	PROPN
fcis-27189	19	33	micro	micro	NOUN
fcis-27189	19	34	-	-	NOUN
fcis-27189	19	35	robot	robot	NOUN
fcis-27189	19	36	competitions[7	competitions[7	NOUN
fcis-27189	19	37	]	]	X
fcis-27189	19	38	.	.	PUNCT
fcis-27189	20	1	this	this	DET
fcis-27189	20	2	vision	vision	NOUN
fcis-27189	20	3	-	-	PUNCT
fcis-27189	20	4	based	base	VERB
fcis-27189	20	5	robot	robot	NOUN
fcis-27189	20	6	soccer	soccer	NOUN
fcis-27189	20	7	system	system	NOUN
fcis-27189	20	8	serves	serve	VERB
fcis-27189	20	9	as	as	ADP
fcis-27189	20	10	an	an	DET
fcis-27189	20	11	intermediate	intermediate	ADJ
fcis-27189	20	12	solution	solution	NOUN
fcis-27189	20	13	toward	toward	ADP
fcis-27189	20	14	full	full	ADJ
fcis-27189	20	15	autonomy	autonomy	NOUN
fcis-27189	20	16	,	,	PUNCT
fcis-27189	20	17	where	where	SCONJ
fcis-27189	20	18	the	the	DET
fcis-27189	20	19	decision	decision	NOUN
fcis-27189	20	20	-	-	PUNCT
fcis-27189	20	21	making	make	VERB
fcis-27189	20	22	subsystem	subsystem	NOUN
fcis-27189	20	23	is	be	AUX
fcis-27189	20	24	loaded	load	VERB
fcis-27189	20	25	onto	onto	ADP
fcis-27189	20	26	the	the	DET
fcis-27189	20	27	onboard	onboard	ADJ
fcis-27189	20	28	microcontroller	microcontroller	NOUN
fcis-27189	20	29	,	,	PUNCT
fcis-27189	20	30	addressing	address	VERB
fcis-27189	20	31	multi	multi	ADJ
fcis-27189	20	32	-	-	ADJ
fcis-27189	20	33	agent	agent	ADJ
fcis-27189	20	34	coordination	coordination	NOUN
fcis-27189	20	35	challenges[8	challenges[8	PROPN
fcis-27189	20	36	]	]	PUNCT
fcis-27189	20	37	.	.	PUNCT
fcis-27189	21	1	in	in	ADP
fcis-27189	21	2	the	the	DET
fcis-27189	21	3	fully	fully	ADV
fcis-27189	21	4	autonomous	autonomous	ADJ
fcis-27189	21	5	robot	robot	NOUN
fcis-27189	21	6	soccer	soccer	NOUN
fcis-27189	21	7	system	system	NOUN
fcis-27189	21	8	,	,	PUNCT
fcis-27189	21	9	all	all	DET
fcis-27189	21	10	functions	function	NOUN
fcis-27189	21	11	are	be	AUX
fcis-27189	21	12	performed	perform	VERB
fcis-27189	21	13	independently	independently	ADV
fcis-27189	21	14	by	by	ADP
fcis-27189	21	15	the	the	DET
fcis-27189	21	16	robots	robot	NOUN
fcis-27189	21	17	,	,	PUNCT
fcis-27189	21	18	with	with	ADP
fcis-27189	21	19	information	information	NOUN
fcis-27189	21	20	fusion	fusion	NOUN
fcis-27189	21	21	and	and	CCONJ
fcis-27189	21	22	wireless	wireless	ADJ
fcis-27189	21	23	communication	communication	NOUN
fcis-27189	21	24	networks	network	NOUN
fcis-27189	21	25	emerging	emerge	VERB
fcis-27189	21	26	as	as	ADP
fcis-27189	21	27	key	key	ADJ
fcis-27189	21	28	technologies	technology	NOUN
fcis-27189	21	29	.	.	PUNCT
fcis-27189	22	1	2.2	2.2	NUM
fcis-27189	22	2	.	.	PUNCT
fcis-27189	22	3	design	design	NOUN
fcis-27189	22	4	of	of	ADP
fcis-27189	22	5	the	the	DET
fcis-27189	22	6	soccer	soccer	NOUN
fcis-27189	22	7	robot	robot	NOUN
fcis-27189	22	8	system	system	NOUN
fcis-27189	22	9	architecture	architecture	VERB
fcis-27189	22	10	the	the	DET
fcis-27189	22	11	robot	robot	NOUN
fcis-27189	22	12	soccer	soccer	NOUN
fcis-27189	22	13	system	system	NOUN
fcis-27189	22	14	is	be	AUX
fcis-27189	22	15	typically	typically	ADV
fcis-27189	22	16	composed	compose	VERB
fcis-27189	22	17	of	of	ADP
fcis-27189	22	18	four	four	NUM
fcis-27189	22	19	parts	part	NOUN
fcis-27189	22	20	:	:	PUNCT
fcis-27189	22	21	the	the	DET
fcis-27189	22	22	robot	robot	NOUN
fcis-27189	22	23	chassis	chassis	NOUN
fcis-27189	22	24	subsystem	subsystem	NOUN
fcis-27189	22	25	,	,	PUNCT
fcis-27189	22	26	the	the	DET
fcis-27189	22	27	vision	vision	NOUN
fcis-27189	22	28	subsystem	subsystem	NOUN
fcis-27189	22	29	,	,	PUNCT
fcis-27189	22	30	the	the	DET
fcis-27189	22	31	wireless	wireless	ADJ
fcis-27189	22	32	communication	communication	NOUN
fcis-27189	22	33	subsystem	subsystem	NOUN
fcis-27189	22	34	,	,	PUNCT
fcis-27189	22	35	and	and	CCONJ
fcis-27189	22	36	the	the	DET
fcis-27189	22	37	decision	decision	NOUN
fcis-27189	22	38	-	-	PUNCT
fcis-27189	22	39	making	make	VERB
fcis-27189	22	40	subsystem[9][10	subsystem[9][10	NOUN
fcis-27189	22	41	]	]	PUNCT
fcis-27189	22	42	.	.	PUNCT
fcis-27189	23	1	the	the	DET
fcis-27189	23	2	vision	vision	NOUN
fcis-27189	23	3	subsystem	subsystem	NOUN
fcis-27189	23	4	implements	implement	VERB
fcis-27189	23	5	closedloop	closedloop	NOUN
fcis-27189	23	6	control	control	NOUN
fcis-27189	23	7	,	,	PUNCT
fcis-27189	23	8	emphasizing	emphasize	VERB
fcis-27189	23	9	computer	computer	NOUN
fcis-27189	23	10	vision	vision	NOUN
fcis-27189	23	11	and	and	CCONJ
fcis-27189	23	12	mechanics	mechanic	NOUN
fcis-27189	23	13	issues	issue	NOUN
fcis-27189	23	14	,	,	PUNCT
fcis-27189	23	15	laying	lay	VERB
fcis-27189	23	16	the	the	DET
fcis-27189	23	17	foundation	foundation	NOUN
fcis-27189	23	18	for	for	ADP
fcis-27189	23	19	robot	robot	NOUN
fcis-27189	23	20	soccer	soccer	NOUN
fcis-27189	23	21	competitions	competition	NOUN
fcis-27189	23	22	.	.	PUNCT
fcis-27189	24	1	1	1	X
fcis-27189	24	2	.	.	X
fcis-27189	24	3	robot	robot	NOUN
fcis-27189	24	4	chassis	chassis	NOUN
fcis-27189	24	5	subsystem	subsystem	NOUN
fcis-27189	24	6	:	:	PUNCT
fcis-27189	24	7	composed	compose	VERB
fcis-27189	24	8	of	of	ADP
fcis-27189	24	9	communication	communication	NOUN
fcis-27189	24	10	,	,	PUNCT
fcis-27189	24	11	cpu	cpu	NOUN
fcis-27189	24	12	,	,	PUNCT
fcis-27189	24	13	power	power	NOUN
fcis-27189	24	14	supply	supply	NOUN
fcis-27189	24	15	,	,	PUNCT
fcis-27189	24	16	control	control	NOUN
fcis-27189	24	17	,	,	PUNCT
fcis-27189	24	18	and	and	CCONJ
fcis-27189	24	19	execution	execution	NOUN
fcis-27189	24	20	modules	module	NOUN
fcis-27189	24	21	,	,	PUNCT
fcis-27189	24	22	it	it	PRON
fcis-27189	24	23	is	be	AUX
fcis-27189	24	24	primarily	primarily	ADV
fcis-27189	24	25	responsible	responsible	ADJ
fcis-27189	24	26	for	for	ADP
fcis-27189	24	27	task	task	NOUN
fcis-27189	24	28	execution	execution	NOUN
fcis-27189	24	29	.	.	PUNCT
fcis-27189	25	1	the	the	DET
fcis-27189	25	2	design	design	NOUN
fcis-27189	25	3	needs	need	VERB
fcis-27189	25	4	to	to	PART
fcis-27189	25	5	balance	balance	VERB
fcis-27189	25	6	speed	speed	NOUN
fcis-27189	25	7	and	and	CCONJ
fcis-27189	25	8	quality	quality	NOUN
fcis-27189	25	9	,	,	PUNCT
fcis-27189	25	10	ensuring	ensure	VERB
fcis-27189	25	11	that	that	SCONJ
fcis-27189	25	12	the	the	DET
fcis-27189	25	13	robot	robot	NOUN
fcis-27189	25	14	does	do	AUX
fcis-27189	25	15	not	not	PART
fcis-27189	25	16	deviate	deviate	VERB
fcis-27189	25	17	from	from	ADP
fcis-27189	25	18	its	its	PRON
fcis-27189	25	19	planned	plan	VERB
fcis-27189	25	20	path	path	NOUN
fcis-27189	25	21	due	due	ADP
fcis-27189	25	22	to	to	ADP
fcis-27189	25	23	being	be	AUX
fcis-27189	25	24	too	too	ADV
fcis-27189	25	25	light	light	NOUN
fcis-27189	25	26	in	in	ADP
fcis-27189	25	27	weight	weight	NOUN
fcis-27189	25	28	during	during	ADP
fcis-27189	25	29	the	the	DET
fcis-27189	25	30	competition	competition	NOUN
fcis-27189	25	31	.	.	PUNCT
fcis-27189	26	1	2	2	X
fcis-27189	26	2	.	.	X
fcis-27189	26	3	vision	vision	NOUN
fcis-27189	26	4	subsystem	subsystem	NOUN
fcis-27189	26	5	:	:	PUNCT
fcis-27189	26	6	composed	compose	VERB
fcis-27189	26	7	of	of	ADP
fcis-27189	26	8	cameras	camera	NOUN
fcis-27189	26	9	,	,	PUNCT
fcis-27189	26	10	image	image	NOUN
fcis-27189	26	11	capture	capture	NOUN
fcis-27189	26	12	cards	card	NOUN
fcis-27189	26	13	,	,	PUNCT
fcis-27189	26	14	and	and	CCONJ
fcis-27189	26	15	computers	computer	NOUN
fcis-27189	26	16	,	,	PUNCT
fcis-27189	26	17	it	it	PRON
fcis-27189	26	18	is	be	AUX
fcis-27189	26	19	responsible	responsible	ADJ
fcis-27189	26	20	for	for	ADP
fcis-27189	26	21	real	real	ADJ
fcis-27189	26	22	-	-	PUNCT
fcis-27189	26	23	time	time	NOUN
fcis-27189	26	24	acquisition	acquisition	NOUN
fcis-27189	26	25	and	and	CCONJ
fcis-27189	26	26	processing	processing	NOUN
fcis-27189	26	27	of	of	ADP
fcis-27189	26	28	field	field	NOUN
fcis-27189	26	29	images	image	NOUN
fcis-27189	26	30	,	,	PUNCT
fcis-27189	26	31	identifying	identify	VERB
fcis-27189	26	32	the	the	DET
fcis-27189	26	33	position	position	NOUN
fcis-27189	26	34	of	of	ADP
fcis-27189	26	35	the	the	DET
fcis-27189	26	36	robots	robot	NOUN
fcis-27189	26	37	and	and	CCONJ
fcis-27189	26	38	ball	ball	NOUN
fcis-27189	26	39	,	,	PUNCT
fcis-27189	26	40	and	and	CCONJ
fcis-27189	26	41	transmitting	transmit	VERB
fcis-27189	26	42	the	the	DET
fcis-27189	26	43	information	information	NOUN
fcis-27189	26	44	to	to	ADP
fcis-27189	26	45	the	the	DET
fcis-27189	26	46	decision	decision	NOUN
fcis-27189	26	47	-	-	PUNCT
fcis-27189	26	48	making	make	VERB
fcis-27189	26	49	subsystem	subsystem	NOUN
fcis-27189	26	50	.	.	PUNCT
fcis-27189	27	1	its	its	PRON
fcis-27189	27	2	task	task	NOUN
fcis-27189	27	3	is	be	AUX
fcis-27189	27	4	to	to	PART
fcis-27189	27	5	quickly	quickly	ADV
fcis-27189	27	6	recognize	recognize	VERB
fcis-27189	27	7	images	image	NOUN
fcis-27189	27	8	and	and	CCONJ
fcis-27189	27	9	provide	provide	VERB
fcis-27189	27	10	precise	precise	ADJ
fcis-27189	27	11	positional	positional	ADJ
fcis-27189	27	12	and	and	CCONJ
fcis-27189	27	13	35	35	NUM
fcis-27189	27	14	orientation	orientation	NOUN
fcis-27189	27	15	data	datum	NOUN
fcis-27189	27	16	for	for	ADP
fcis-27189	27	17	the	the	DET
fcis-27189	27	18	entities	entity	NOUN
fcis-27189	27	19	.	.	PUNCT
fcis-27189	28	1	3	3	X
fcis-27189	28	2	.	.	X
fcis-27189	28	3	wireless	wireless	ADJ
fcis-27189	28	4	communication	communication	NOUN
fcis-27189	28	5	subsystem	subsystem	NOUN
fcis-27189	28	6	:	:	PUNCT
fcis-27189	28	7	uses	use	VERB
fcis-27189	28	8	radio	radio	NOUN
fcis-27189	28	9	communication	communication	NOUN
fcis-27189	28	10	technology	technology	NOUN
fcis-27189	28	11	,	,	PUNCT
fcis-27189	28	12	with	with	ADP
fcis-27189	28	13	the	the	DET
fcis-27189	28	14	robot	robot	NOUN
fcis-27189	28	15	and	and	CCONJ
fcis-27189	28	16	host	host	NOUN
fcis-27189	28	17	connected	connect	VERB
fcis-27189	28	18	via	via	ADP
fcis-27189	28	19	wireless	wireless	ADJ
fcis-27189	28	20	communication	communication	NOUN
fcis-27189	28	21	.	.	PUNCT
fcis-27189	29	1	the	the	DET
fcis-27189	29	2	choice	choice	NOUN
fcis-27189	29	3	of	of	ADP
fcis-27189	29	4	communication	communication	NOUN
fcis-27189	29	5	method	method	NOUN
fcis-27189	29	6	is	be	AUX
fcis-27189	29	7	crucial	crucial	ADJ
fcis-27189	29	8	to	to	ADP
fcis-27189	29	9	the	the	DET
fcis-27189	29	10	system	system	NOUN
fcis-27189	29	11	's	's	PART
fcis-27189	29	12	performance	performance	NOUN
fcis-27189	29	13	,	,	PUNCT
fcis-27189	29	14	ensuring	ensure	VERB
fcis-27189	29	15	efficient	efficient	ADJ
fcis-27189	29	16	communication	communication	NOUN
fcis-27189	29	17	speed	speed	NOUN
fcis-27189	29	18	and	and	CCONJ
fcis-27189	29	19	interference	interference	NOUN
fcis-27189	29	20	resistance	resistance	NOUN
fcis-27189	29	21	.	.	PUNCT
fcis-27189	30	1	4	4	X
fcis-27189	30	2	.	.	X
fcis-27189	30	3	decision	decision	NOUN
fcis-27189	30	4	-	-	PUNCT
fcis-27189	30	5	making	make	VERB
fcis-27189	30	6	subsystem	subsystem	NOUN
fcis-27189	30	7	:	:	PUNCT
fcis-27189	30	8	responsible	responsible	ADJ
fcis-27189	30	9	for	for	ADP
fcis-27189	30	10	formulating	formulate	VERB
fcis-27189	30	11	strategies	strategy	NOUN
fcis-27189	30	12	and	and	CCONJ
fcis-27189	30	13	issuing	issue	VERB
fcis-27189	30	14	commands	command	NOUN
fcis-27189	30	15	based	base	VERB
fcis-27189	30	16	on	on	ADP
fcis-27189	30	17	the	the	DET
fcis-27189	30	18	match	match	NOUN
fcis-27189	30	19	situation	situation	NOUN
fcis-27189	30	20	,	,	PUNCT
fcis-27189	30	21	similar	similar	ADJ
fcis-27189	30	22	to	to	ADP
fcis-27189	30	23	the	the	DET
fcis-27189	30	24	role	role	NOUN
fcis-27189	30	25	of	of	ADP
fcis-27189	30	26	a	a	DET
fcis-27189	30	27	coach	coach	NOUN
fcis-27189	30	28	.	.	PUNCT
fcis-27189	31	1	it	it	PRON
fcis-27189	31	2	makes	make	VERB
fcis-27189	31	3	decisions	decision	NOUN
fcis-27189	31	4	based	base	VERB
fcis-27189	31	5	on	on	ADP
fcis-27189	31	6	real	real	ADJ
fcis-27189	31	7	-	-	PUNCT
fcis-27189	31	8	time	time	NOUN
fcis-27189	31	9	data	datum	NOUN
fcis-27189	31	10	and	and	CCONJ
fcis-27189	31	11	controls	control	VERB
fcis-27189	31	12	the	the	DET
fcis-27189	31	13	robot	robot	NOUN
fcis-27189	31	14	's	's	PART
fcis-27189	31	15	technical	technical	ADJ
fcis-27189	31	16	movements	movement	NOUN
fcis-27189	31	17	,	,	PUNCT
fcis-27189	31	18	such	such	ADJ
fcis-27189	31	19	as	as	ADP
fcis-27189	31	20	smooth	smooth	ADJ
fcis-27189	31	21	transitions	transition	NOUN
fcis-27189	31	22	and	and	CCONJ
fcis-27189	31	23	action	action	NOUN
fcis-27189	31	24	combinations	combination	NOUN
fcis-27189	31	25	,	,	PUNCT
fcis-27189	31	26	ensuring	ensure	VERB
fcis-27189	31	27	the	the	DET
fcis-27189	31	28	system	system	NOUN
fcis-27189	31	29	has	have	VERB
fcis-27189	31	30	good	good	ADJ
fcis-27189	31	31	robustness	robustness	NOUN
fcis-27189	31	32	,	,	PUNCT
fcis-27189	31	33	control	control	NOUN
fcis-27189	31	34	,	,	PUNCT
fcis-27189	31	35	and	and	CCONJ
fcis-27189	31	36	fault	fault	VERB
fcis-27189	31	37	tolerance	tolerance	NOUN
fcis-27189	31	38	,	,	PUNCT
fcis-27189	31	39	while	while	SCONJ
fcis-27189	31	40	also	also	ADV
fcis-27189	31	41	offering	offer	VERB
fcis-27189	31	42	flexibility	flexibility	NOUN
fcis-27189	31	43	for	for	ADP
fcis-27189	31	44	scalability	scalability	NOUN
fcis-27189	31	45	and	and	CCONJ
fcis-27189	31	46	self	self	NOUN
fcis-27189	31	47	-	-	PUNCT
fcis-27189	31	48	learning	learn	VERB
fcis-27189	31	49	capabilities	capability	NOUN
fcis-27189	31	50	.	.	PUNCT
fcis-27189	32	1	figure	figure	NOUN
fcis-27189	32	2	1	1	NUM
fcis-27189	32	3	.	.	PUNCT
fcis-27189	32	4	decision	decision	NOUN
fcis-27189	32	5	-	-	PUNCT
fcis-27189	32	6	making	make	VERB
fcis-27189	32	7	subsystem	subsystem	NOUN
fcis-27189	32	8	input	input	NOUN
fcis-27189	32	9	-	-	PUNCT
fcis-27189	32	10	output	output	NOUN
fcis-27189	32	11	module	module	NOUN
fcis-27189	32	12	diagram	diagram	NOUN
fcis-27189	32	13	3	3	NUM
fcis-27189	32	14	.	.	PUNCT
fcis-27189	33	1	research	research	NOUN
fcis-27189	33	2	on	on	ADP
fcis-27189	33	3	decision	decision	NOUN
fcis-27189	33	4	subsystem	subsystem	NOUN
fcis-27189	33	5	model	model	NOUN
fcis-27189	33	6	as	as	ADP
fcis-27189	33	7	the	the	DET
fcis-27189	33	8	intelligent	intelligent	ADJ
fcis-27189	33	9	core	core	NOUN
fcis-27189	33	10	of	of	ADP
fcis-27189	33	11	the	the	DET
fcis-27189	33	12	soccer	soccer	NOUN
fcis-27189	33	13	robot	robot	NOUN
fcis-27189	33	14	system	system	NOUN
fcis-27189	33	15	,	,	PUNCT
fcis-27189	33	16	the	the	DET
fcis-27189	33	17	decision	decision	NOUN
fcis-27189	33	18	subsystem	subsystem	NOUN
fcis-27189	33	19	must	must	AUX
fcis-27189	33	20	be	be	AUX
fcis-27189	33	21	capable	capable	ADJ
fcis-27189	33	22	of	of	ADP
fcis-27189	33	23	autonomous	autonomous	ADJ
fcis-27189	33	24	task	task	NOUN
fcis-27189	33	25	planning	planning	NOUN
fcis-27189	33	26	and	and	CCONJ
fcis-27189	33	27	decision	decision	NOUN
fcis-27189	33	28	-	-	PUNCT
fcis-27189	33	29	making	making	NOUN
fcis-27189	33	30	,	,	PUNCT
fcis-27189	33	31	reacting	react	VERB
fcis-27189	33	32	quickly	quickly	ADV
fcis-27189	33	33	to	to	ADP
fcis-27189	33	34	the	the	DET
fcis-27189	33	35	dynamics	dynamic	NOUN
fcis-27189	33	36	of	of	ADP
fcis-27189	33	37	the	the	DET
fcis-27189	33	38	game	game	NOUN
fcis-27189	33	39	,	,	PUNCT
fcis-27189	33	40	avoiding	avoid	VERB
fcis-27189	33	41	obstacles	obstacle	NOUN
fcis-27189	33	42	,	,	PUNCT
fcis-27189	33	43	and	and	CCONJ
fcis-27189	33	44	reaching	reach	VERB
fcis-27189	33	45	target	target	NOUN
fcis-27189	33	46	positions	position	NOUN
fcis-27189	33	47	.	.	PUNCT
fcis-27189	34	1	3.1	3.1	NUM
fcis-27189	34	2	.	.	PUNCT
fcis-27189	35	1	role	role	NOUN
fcis-27189	35	2	assignment	assignment	NOUN
fcis-27189	35	3	method	method	NOUN
fcis-27189	35	4	the	the	DET
fcis-27189	35	5	role	role	NOUN
fcis-27189	35	6	assignment	assignment	NOUN
fcis-27189	35	7	method	method	NOUN
fcis-27189	35	8	can	can	AUX
fcis-27189	35	9	be	be	AUX
fcis-27189	35	10	divided	divide	VERB
fcis-27189	35	11	into	into	ADP
fcis-27189	35	12	two	two	NUM
fcis-27189	35	13	types	type	NOUN
fcis-27189	35	14	:	:	PUNCT
fcis-27189	35	15	based	base	VERB
fcis-27189	35	16	on	on	ADP
fcis-27189	35	17	the	the	DET
fcis-27189	35	18	on	on	ADP
fcis-27189	35	19	-	-	PUNCT
fcis-27189	35	20	field	field	NOUN
fcis-27189	35	21	situation	situation	NOUN
fcis-27189	35	22	and	and	CCONJ
fcis-27189	35	23	based	base	VERB
fcis-27189	35	24	on	on	ADP
fcis-27189	35	25	regions	region	NOUN
fcis-27189	35	26	.	.	PUNCT
fcis-27189	36	1	the	the	DET
fcis-27189	36	2	situational	situational	NOUN
fcis-27189	36	3	-	-	PUNCT
fcis-27189	36	4	based	base	VERB
fcis-27189	36	5	assignment	assignment	NOUN
fcis-27189	36	6	determines	determine	VERB
fcis-27189	36	7	the	the	DET
fcis-27189	36	8	robot	robot	NOUN
fcis-27189	36	9	's	's	PART
fcis-27189	36	10	role	role	NOUN
fcis-27189	36	11	,	,	PUNCT
fcis-27189	36	12	such	such	ADJ
fcis-27189	36	13	as	as	ADP
fcis-27189	36	14	defense	defense	NOUN
fcis-27189	36	15	or	or	CCONJ
fcis-27189	36	16	attack	attack	NOUN
fcis-27189	36	17	,	,	PUNCT
fcis-27189	36	18	depending	depend	VERB
fcis-27189	36	19	on	on	ADP
fcis-27189	36	20	factors	factor	NOUN
fcis-27189	36	21	like	like	ADP
fcis-27189	36	22	the	the	DET
fcis-27189	36	23	opponent	opponent	NOUN
fcis-27189	36	24	's	's	PART
fcis-27189	36	25	strength	strength	NOUN
fcis-27189	36	26	.	.	PUNCT
fcis-27189	37	1	the	the	DET
fcis-27189	37	2	region	region	NOUN
fcis-27189	37	3	-	-	PUNCT
fcis-27189	37	4	based	base	VERB
fcis-27189	37	5	assignment	assignment	NOUN
fcis-27189	37	6	divides	divide	VERB
fcis-27189	37	7	the	the	DET
fcis-27189	37	8	field	field	NOUN
fcis-27189	37	9	into	into	ADP
fcis-27189	37	10	different	different	ADJ
fcis-27189	37	11	zones	zone	NOUN
fcis-27189	37	12	,	,	PUNCT
fcis-27189	37	13	with	with	ADP
fcis-27189	37	14	higher	high	ADJ
fcis-27189	37	15	-	-	PUNCT
fcis-27189	37	16	priority	priority	NOUN
fcis-27189	37	17	robots	robot	NOUN
fcis-27189	37	18	leading	lead	VERB
fcis-27189	37	19	actions	action	NOUN
fcis-27189	37	20	and	and	CCONJ
fcis-27189	37	21	others	other	NOUN
fcis-27189	37	22	coordinating	coordinate	VERB
fcis-27189	37	23	to	to	PART
fcis-27189	37	24	avoid	avoid	VERB
fcis-27189	37	25	conflict	conflict	NOUN
fcis-27189	37	26	.	.	PUNCT
fcis-27189	38	1	the	the	DET
fcis-27189	38	2	advantage	advantage	NOUN
fcis-27189	38	3	of	of	ADP
fcis-27189	38	4	this	this	DET
fcis-27189	38	5	method	method	NOUN
fcis-27189	38	6	is	be	AUX
fcis-27189	38	7	that	that	SCONJ
fcis-27189	38	8	each	each	DET
fcis-27189	38	9	robot	robot	NOUN
fcis-27189	38	10	has	have	VERB
fcis-27189	38	11	a	a	DET
fcis-27189	38	12	fixed	fix	VERB
fcis-27189	38	13	role	role	NOUN
fcis-27189	38	14	and	and	CCONJ
fcis-27189	38	15	clear	clear	ADJ
fcis-27189	38	16	tasks	task	NOUN
fcis-27189	38	17	,	,	PUNCT
fcis-27189	38	18	but	but	CCONJ
fcis-27189	38	19	the	the	DET
fcis-27189	38	20	drawback	drawback	NOUN
fcis-27189	38	21	is	be	AUX
fcis-27189	38	22	that	that	SCONJ
fcis-27189	38	23	the	the	DET
fcis-27189	38	24	strategy	strategy	NOUN
fcis-27189	38	25	becomes	become	VERB
fcis-27189	38	26	rigid	rigid	ADJ
fcis-27189	38	27	,	,	PUNCT
fcis-27189	38	28	especially	especially	ADV
fcis-27189	38	29	in	in	ADP
fcis-27189	38	30	region	region	NOUN
fcis-27189	38	31	-	-	PUNCT
fcis-27189	38	32	based	base	VERB
fcis-27189	38	33	assignment	assignment	NOUN
fcis-27189	38	34	where	where	SCONJ
fcis-27189	38	35	robots	robot	NOUN
fcis-27189	38	36	are	be	AUX
fcis-27189	38	37	confined	confine	VERB
fcis-27189	38	38	to	to	ADP
fcis-27189	38	39	specific	specific	ADJ
fcis-27189	38	40	areas	area	NOUN
fcis-27189	38	41	,	,	PUNCT
fcis-27189	38	42	limiting	limit	VERB
fcis-27189	38	43	their	their	PRON
fcis-27189	38	44	flexibility	flexibility	NOUN
fcis-27189	38	45	in	in	ADP
fcis-27189	38	46	responding	respond	VERB
fcis-27189	38	47	to	to	ADP
fcis-27189	38	48	changes	change	NOUN
fcis-27189	38	49	on	on	ADP
fcis-27189	38	50	the	the	DET
fcis-27189	38	51	field	field	NOUN
fcis-27189	38	52	.	.	PUNCT
fcis-27189	39	1	3.2	3.2	NUM
fcis-27189	39	2	.	.	PUNCT
fcis-27189	39	3	time	time	NOUN
fcis-27189	39	4	-	-	PUNCT
fcis-27189	39	5	based	base	VERB
fcis-27189	39	6	region	region	NOUN
fcis-27189	39	7	control	control	NOUN
fcis-27189	39	8	method	method	NOUN
fcis-27189	39	9	this	this	DET
fcis-27189	39	10	method	method	NOUN
fcis-27189	39	11	determines	determine	VERB
fcis-27189	39	12	the	the	DET
fcis-27189	39	13	strategy	strategy	NOUN
fcis-27189	39	14	based	base	VERB
fcis-27189	39	15	on	on	ADP
fcis-27189	39	16	the	the	DET
fcis-27189	39	17	ball	ball	NOUN
fcis-27189	39	18	holder	holder	NOUN
fcis-27189	39	19	.	.	PUNCT
fcis-27189	40	1	by	by	ADP
fcis-27189	40	2	calculating	calculate	VERB
fcis-27189	40	3	the	the	DET
fcis-27189	40	4	time	time	NOUN
fcis-27189	40	5	and	and	CCONJ
fcis-27189	40	6	path	path	NOUN
fcis-27189	40	7	of	of	ADP
fcis-27189	40	8	the	the	DET
fcis-27189	40	9	ball	ball	NOUN
fcis-27189	40	10	within	within	ADP
fcis-27189	40	11	the	the	DET
fcis-27189	40	12	control	control	NOUN
fcis-27189	40	13	area	area	NOUN
fcis-27189	40	14	,	,	PUNCT
fcis-27189	40	15	it	it	PRON
fcis-27189	40	16	determines	determine	VERB
fcis-27189	40	17	control	control	NOUN
fcis-27189	40	18	over	over	ADP
fcis-27189	40	19	the	the	DET
fcis-27189	40	20	ball	ball	NOUN
fcis-27189	40	21	.	.	PUNCT
fcis-27189	41	1	when	when	SCONJ
fcis-27189	41	2	no	no	DET
fcis-27189	41	3	one	one	NOUN
fcis-27189	41	4	holds	hold	VERB
fcis-27189	41	5	the	the	DET
fcis-27189	41	6	ball	ball	NOUN
fcis-27189	41	7	,	,	PUNCT
fcis-27189	41	8	the	the	DET
fcis-27189	41	9	nearest	near	ADJ
fcis-27189	41	10	robot	robot	NOUN
fcis-27189	41	11	will	will	AUX
fcis-27189	41	12	chase	chase	VERB
fcis-27189	41	13	it	it	PRON
fcis-27189	41	14	.	.	PUNCT
fcis-27189	42	1	this	this	DET
fcis-27189	42	2	method	method	NOUN
fcis-27189	42	3	can	can	AUX
fcis-27189	42	4	accurately	accurately	ADV
fcis-27189	42	5	assess	assess	VERB
fcis-27189	42	6	ball	ball	NOUN
fcis-27189	42	7	control	control	NOUN
fcis-27189	42	8	,	,	PUNCT
fcis-27189	42	9	but	but	CCONJ
fcis-27189	42	10	due	due	ADP
fcis-27189	42	11	to	to	ADP
fcis-27189	42	12	the	the	DET
fcis-27189	42	13	robot	robot	NOUN
fcis-27189	42	14	's	's	PART
fcis-27189	42	15	shape	shape	NOUN
fcis-27189	42	16	and	and	CCONJ
fcis-27189	42	17	the	the	DET
fcis-27189	42	18	ball	ball	NOUN
fcis-27189	42	19	's	's	PART
fcis-27189	42	20	movement	movement	NOUN
fcis-27189	42	21	characteristics	characteristic	NOUN
fcis-27189	42	22	,	,	PUNCT
fcis-27189	42	23	predicting	predict	VERB
fcis-27189	42	24	the	the	DET
fcis-27189	42	25	ball	ball	NOUN
fcis-27189	42	26	's	's	PART
fcis-27189	42	27	trajectory	trajectory	NOUN
fcis-27189	42	28	is	be	AUX
fcis-27189	42	29	difficult	difficult	ADJ
fcis-27189	42	30	,	,	PUNCT
fcis-27189	42	31	and	and	CCONJ
fcis-27189	42	32	it	it	PRON
fcis-27189	42	33	adds	add	VERB
fcis-27189	42	34	computational	computational	ADJ
fcis-27189	42	35	time	time	NOUN
fcis-27189	42	36	for	for	ADP
fcis-27189	42	37	strategy	strategy	NOUN
fcis-27189	42	38	implementation	implementation	NOUN
fcis-27189	42	39	.	.	PUNCT
fcis-27189	43	1	3.3	3.3	NUM
fcis-27189	43	2	.	.	PUNCT
fcis-27189	44	1	individual	individual	ADJ
fcis-27189	44	2	combat	combat	NOUN
fcis-27189	44	3	strategy	strategy	NOUN
fcis-27189	44	4	this	this	DET
fcis-27189	44	5	method	method	NOUN
fcis-27189	44	6	determines	determine	VERB
fcis-27189	44	7	the	the	DET
fcis-27189	44	8	transition	transition	NOUN
fcis-27189	44	9	between	between	ADP
fcis-27189	44	10	offense	offense	NOUN
fcis-27189	44	11	and	and	CCONJ
fcis-27189	44	12	defense	defense	NOUN
fcis-27189	44	13	based	base	VERB
fcis-27189	44	14	on	on	ADP
fcis-27189	44	15	ball	ball	NOUN
fcis-27189	44	16	possession	possession	NOUN
fcis-27189	44	17	:	:	PUNCT
fcis-27189	44	18	if	if	SCONJ
fcis-27189	44	19	the	the	DET
fcis-27189	44	20	ball	ball	NOUN
fcis-27189	44	21	holder	holder	NOUN
fcis-27189	44	22	gains	gain	VERB
fcis-27189	44	23	control	control	NOUN
fcis-27189	44	24	,	,	PUNCT
fcis-27189	44	25	the	the	DET
fcis-27189	44	26	team	team	NOUN
fcis-27189	44	27	is	be	AUX
fcis-27189	44	28	on	on	ADP
fcis-27189	44	29	offense	offense	NOUN
fcis-27189	44	30	;	;	PUNCT
fcis-27189	44	31	if	if	SCONJ
fcis-27189	44	32	the	the	DET
fcis-27189	44	33	possession	possession	NOUN
fcis-27189	44	34	is	be	AUX
fcis-27189	44	35	lost	lose	VERB
fcis-27189	44	36	,	,	PUNCT
fcis-27189	44	37	the	the	DET
fcis-27189	44	38	team	team	NOUN
fcis-27189	44	39	switches	switch	VERB
fcis-27189	44	40	to	to	ADP
fcis-27189	44	41	defense	defense	NOUN
fcis-27189	44	42	.	.	PUNCT
fcis-27189	45	1	the	the	DET
fcis-27189	45	2	advantage	advantage	NOUN
fcis-27189	45	3	of	of	ADP
fcis-27189	45	4	this	this	DET
fcis-27189	45	5	method	method	NOUN
fcis-27189	45	6	is	be	AUX
fcis-27189	45	7	its	its	PRON
fcis-27189	45	8	simplicity	simplicity	NOUN
fcis-27189	45	9	and	and	CCONJ
fcis-27189	45	10	ease	ease	NOUN
fcis-27189	45	11	of	of	ADP
fcis-27189	45	12	implementation	implementation	NOUN
fcis-27189	45	13	,	,	PUNCT
fcis-27189	45	14	but	but	CCONJ
fcis-27189	45	15	frequent	frequent	ADJ
fcis-27189	45	16	transitions	transition	NOUN
fcis-27189	45	17	between	between	ADP
fcis-27189	45	18	offense	offense	NOUN
fcis-27189	45	19	and	and	CCONJ
fcis-27189	45	20	defense	defense	NOUN
fcis-27189	45	21	can	can	AUX
fcis-27189	45	22	lead	lead	VERB
fcis-27189	45	23	to	to	ADP
fcis-27189	45	24	increased	increase	VERB
fcis-27189	45	25	energy	energy	NOUN
fcis-27189	45	26	consumption	consumption	NOUN
fcis-27189	45	27	for	for	ADP
fcis-27189	45	28	the	the	DET
fcis-27189	45	29	robots	robot	NOUN
fcis-27189	45	30	and	and	CCONJ
fcis-27189	45	31	coordination	coordination	NOUN
fcis-27189	45	32	issues	issue	NOUN
fcis-27189	45	33	.	.	PUNCT
fcis-27189	46	1	3.4	3.4	NUM
fcis-27189	46	2	.	.	PUNCT
fcis-27189	46	3	top	top	ADJ
fcis-27189	46	4	-	-	PUNCT
fcis-27189	46	5	down	down	ADP
fcis-27189	46	6	hierarchical	hierarchical	ADJ
fcis-27189	46	7	decision	decision	NOUN
fcis-27189	46	8	-	-	PUNCT
fcis-27189	46	9	making	make	VERB
fcis-27189	46	10	and	and	CCONJ
fcis-27189	46	11	inference	inference	NOUN
fcis-27189	46	12	model	model	NOUN
fcis-27189	46	13	in	in	ADP
fcis-27189	46	14	robot	robot	NOUN
fcis-27189	46	15	soccer	soccer	NOUN
fcis-27189	46	16	,	,	PUNCT
fcis-27189	46	17	the	the	DET
fcis-27189	46	18	environment	environment	NOUN
fcis-27189	46	19	is	be	AUX
fcis-27189	46	20	complex	complex	ADJ
fcis-27189	46	21	,	,	PUNCT
fcis-27189	46	22	and	and	CCONJ
fcis-27189	46	23	information	information	NOUN
fcis-27189	46	24	is	be	AUX
fcis-27189	46	25	uncertain	uncertain	ADJ
fcis-27189	46	26	,	,	PUNCT
fcis-27189	46	27	making	make	VERB
fcis-27189	46	28	stability	stability	NOUN
fcis-27189	46	29	,	,	PUNCT
fcis-27189	46	30	reliability	reliability	NOUN
fcis-27189	46	31	,	,	PUNCT
fcis-27189	46	32	and	and	CCONJ
fcis-27189	46	33	efficiency	efficiency	NOUN
fcis-27189	46	34	in	in	ADP
fcis-27189	46	35	the	the	DET
fcis-27189	46	36	decision	decision	NOUN
fcis-27189	46	37	subsystem	subsystem	NOUN
fcis-27189	46	38	critical	critical	ADJ
fcis-27189	46	39	.	.	PUNCT
fcis-27189	47	1	unlike	unlike	ADP
fcis-27189	47	2	human	human	ADJ
fcis-27189	47	3	coaches	coach	NOUN
fcis-27189	47	4	who	who	PRON
fcis-27189	47	5	rely	rely	VERB
fcis-27189	47	6	on	on	ADP
fcis-27189	47	7	intuitive	intuitive	ADJ
fcis-27189	47	8	thinking	thinking	NOUN
fcis-27189	47	9	,	,	PUNCT
fcis-27189	47	10	robot	robot	NOUN
fcis-27189	47	11	decisionmaking	decisionmaking	NOUN
fcis-27189	47	12	depends	depend	VERB
fcis-27189	47	13	on	on	ADP
fcis-27189	47	14	precise	precise	ADJ
fcis-27189	47	15	data	datum	NOUN
fcis-27189	47	16	and	and	CCONJ
fcis-27189	47	17	programmatic	programmatic	ADJ
fcis-27189	47	18	language	language	NOUN
fcis-27189	47	19	,	,	PUNCT
fcis-27189	47	20	with	with	ADP
fcis-27189	47	21	the	the	DET
fcis-27189	47	22	reasoning	reasoning	NOUN
fcis-27189	47	23	process	process	NOUN
fcis-27189	47	24	divided	divide	VERB
fcis-27189	47	25	into	into	ADP
fcis-27189	47	26	multiple	multiple	ADJ
fcis-27189	47	27	levels	level	NOUN
fcis-27189	47	28	,	,	PUNCT
fcis-27189	47	29	relying	rely	VERB
fcis-27189	47	30	mainly	mainly	ADV
fcis-27189	47	31	on	on	ADP
fcis-27189	47	32	logical	logical	ADJ
fcis-27189	47	33	thinking	thinking	NOUN
fcis-27189	47	34	to	to	PART
fcis-27189	47	35	make	make	VERB
fcis-27189	47	36	decisions	decision	NOUN
fcis-27189	47	37	.	.	PUNCT
fcis-27189	48	1	3.4.1	3.4.1	NUM
fcis-27189	48	2	.	.	X
fcis-27189	48	3	six	six	NUM
fcis-27189	48	4	-	-	PUNCT
fcis-27189	48	5	step	step	NOUN
fcis-27189	48	6	reasoning	reasoning	NOUN
fcis-27189	48	7	model	model	NOUN
fcis-27189	48	8	professor	professor	PROPN
fcis-27189	48	9	xu	xu	PROPN
fcis-27189	48	10	xinha	xinha	PROPN
fcis-27189	48	11	and	and	CCONJ
fcis-27189	48	12	his	his	PRON
fcis-27189	48	13	team	team	NOUN
fcis-27189	48	14	proposed	propose	VERB
fcis-27189	48	15	a	a	DET
fcis-27189	48	16	six	six	NUM
fcis-27189	48	17	-	-	PUNCT
fcis-27189	48	18	step	step	NOUN
fcis-27189	48	19	reasoning	reasoning	NOUN
fcis-27189	48	20	model	model	NOUN
fcis-27189	48	21	,	,	PUNCT
fcis-27189	48	22	which	which	PRON
fcis-27189	48	23	represents	represent	VERB
fcis-27189	48	24	a	a	DET
fcis-27189	48	25	top	top	ADJ
fcis-27189	48	26	-	-	PUNCT
fcis-27189	48	27	down	down	ADP
fcis-27189	48	28	hierarchical	hierarchical	ADJ
fcis-27189	48	29	deductive	deductive	ADJ
fcis-27189	48	30	reasoning	reasoning	NOUN
fcis-27189	48	31	model	model	NOUN
fcis-27189	48	32	for	for	ADP
fcis-27189	48	33	the	the	DET
fcis-27189	48	34	decision	decision	NOUN
fcis-27189	48	35	subsystem	subsystem	NOUN
fcis-27189	48	36	.	.	PUNCT
fcis-27189	49	1	the	the	DET
fcis-27189	49	2	six	six	NUM
fcis-27189	49	3	steps	step	NOUN
fcis-27189	49	4	are	be	AUX
fcis-27189	49	5	as	as	SCONJ
fcis-27189	49	6	follows	follow	VERB
fcis-27189	49	7	:	:	PUNCT
fcis-27189	49	8	the	the	DET
fcis-27189	49	9	first	first	ADJ
fcis-27189	49	10	step	step	NOUN
fcis-27189	49	11	is	be	AUX
fcis-27189	49	12	field	field	NOUN
fcis-27189	49	13	information	information	NOUN
fcis-27189	49	14	prepossessing	prepossessing	NOUN
fcis-27189	49	15	,	,	PUNCT
fcis-27189	49	16	which	which	PRON
fcis-27189	49	17	involves	involve	VERB
fcis-27189	49	18	calculating	calculate	VERB
fcis-27189	49	19	the	the	DET
fcis-27189	49	20	linear	linear	ADJ
fcis-27189	49	21	and	and	CCONJ
fcis-27189	49	22	angular	angular	ADJ
fcis-27189	49	23	velocities	velocity	NOUN
fcis-27189	49	24	of	of	ADP
fcis-27189	49	25	various	various	ADJ
fcis-27189	49	26	entities	entity	NOUN
fcis-27189	49	27	(	(	PUNCT
fcis-27189	49	28	robots	robot	NOUN
fcis-27189	49	29	and	and	CCONJ
fcis-27189	49	30	the	the	DET
fcis-27189	49	31	soccer	soccer	NOUN
fcis-27189	49	32	ball	ball	NOUN
fcis-27189	49	33	)	)	PUNCT
fcis-27189	49	34	and	and	CCONJ
fcis-27189	49	35	the	the	DET
fcis-27189	49	36	relative	relative	ADJ
fcis-27189	49	37	distances	distance	NOUN
fcis-27189	49	38	between	between	ADP
fcis-27189	49	39	these	these	DET
fcis-27189	49	40	entities	entity	NOUN
fcis-27189	49	41	.	.	PUNCT
fcis-27189	50	1	this	this	DET
fcis-27189	50	2	step	step	NOUN
fcis-27189	50	3	provides	provide	VERB
fcis-27189	50	4	the	the	DET
fcis-27189	50	5	foundational	foundational	ADJ
fcis-27189	50	6	dynamic	dynamic	ADJ
fcis-27189	50	7	information	information	NOUN
fcis-27189	50	8	for	for	ADP
fcis-27189	50	9	subsequent	subsequent	ADJ
fcis-27189	50	10	decisionmaking	decisionmaking	NOUN
fcis-27189	50	11	.	.	PUNCT
fcis-27189	51	1	the	the	DET
fcis-27189	51	2	second	second	ADJ
fcis-27189	51	3	step	step	NOUN
fcis-27189	51	4	is	be	AUX
fcis-27189	51	5	offensive	offensive	ADJ
fcis-27189	51	6	and	and	CCONJ
fcis-27189	51	7	defensive	defensive	ADJ
fcis-27189	51	8	situation	situation	NOUN
fcis-27189	51	9	analysis	analysis	NOUN
fcis-27189	51	10	and	and	CCONJ
fcis-27189	51	11	strategy	strategy	NOUN
fcis-27189	51	12	selection	selection	NOUN
fcis-27189	51	13	,	,	PUNCT
fcis-27189	51	14	where	where	SCONJ
fcis-27189	51	15	,	,	PUNCT
fcis-27189	51	16	based	base	VERB
fcis-27189	51	17	on	on	ADP
fcis-27189	51	18	the	the	DET
fcis-27189	51	19	information	information	NOUN
fcis-27189	51	20	obtained	obtain	VERB
fcis-27189	51	21	in	in	ADP
fcis-27189	51	22	the	the	DET
fcis-27189	51	23	first	first	ADJ
fcis-27189	51	24	step	step	NOUN
fcis-27189	51	25	,	,	PUNCT
fcis-27189	51	26	the	the	DET
fcis-27189	51	27	decision	decision	NOUN
fcis-27189	51	28	is	be	AUX
fcis-27189	51	29	made	make	VERB
fcis-27189	51	30	on	on	ADP
fcis-27189	51	31	whether	whether	SCONJ
fcis-27189	51	32	to	to	PART
fcis-27189	51	33	adopt	adopt	VERB
fcis-27189	51	34	an	an	DET
fcis-27189	51	35	offensive	offensive	ADJ
fcis-27189	51	36	or	or	CCONJ
fcis-27189	51	37	defensive	defensive	ADJ
fcis-27189	51	38	strategy	strategy	NOUN
fcis-27189	51	39	.	.	PUNCT
fcis-27189	52	1	factors	factor	NOUN
fcis-27189	52	2	such	such	ADJ
fcis-27189	52	3	as	as	ADP
fcis-27189	52	4	the	the	DET
fcis-27189	52	5	ball	ball	NOUN
fcis-27189	52	6	's	's	PART
fcis-27189	52	7	position	position	NOUN
fcis-27189	52	8	,	,	PUNCT
fcis-27189	52	9	movement	movement	NOUN
fcis-27189	52	10	direction	direction	NOUN
fcis-27189	52	11	,	,	PUNCT
fcis-27189	52	12	and	and	CCONJ
fcis-27189	52	13	the	the	DET
fcis-27189	52	14	relative	relative	ADJ
fcis-27189	52	15	positions	position	NOUN
fcis-27189	52	16	of	of	ADP
fcis-27189	52	17	players	player	NOUN
fcis-27189	52	18	need	need	VERB
fcis-27189	52	19	to	to	PART
fcis-27189	52	20	be	be	AUX
fcis-27189	52	21	considered	consider	VERB
fcis-27189	52	22	in	in	ADP
fcis-27189	52	23	order	order	NOUN
fcis-27189	52	24	to	to	PART
fcis-27189	52	25	determine	determine	VERB
fcis-27189	52	26	the	the	DET
fcis-27189	52	27	appropriate	appropriate	ADJ
fcis-27189	52	28	strategy	strategy	NOUN
fcis-27189	52	29	.	.	PUNCT
fcis-27189	53	1	the	the	DET
fcis-27189	53	2	third	third	ADJ
fcis-27189	53	3	step	step	NOUN
fcis-27189	53	4	is	be	AUX
fcis-27189	53	5	robot	robot	NOUN
fcis-27189	53	6	formation	formation	NOUN
fcis-27189	53	7	determination	determination	NOUN
fcis-27189	53	8	and	and	CCONJ
fcis-27189	53	9	role	role	NOUN
fcis-27189	53	10	assignment	assignment	NOUN
fcis-27189	53	11	.	.	PUNCT
fcis-27189	54	1	to	to	PART
fcis-27189	54	2	ensure	ensure	VERB
fcis-27189	54	3	coordination	coordination	NOUN
fcis-27189	54	4	and	and	CCONJ
fcis-27189	54	5	successful	successful	ADJ
fcis-27189	54	6	task	task	NOUN
fcis-27189	54	7	completion	completion	NOUN
fcis-27189	54	8	among	among	ADP
fcis-27189	54	9	robots	robot	NOUN
fcis-27189	54	10	,	,	PUNCT
fcis-27189	54	11	the	the	DET
fcis-27189	54	12	formation	formation	NOUN
fcis-27189	54	13	needs	need	VERB
fcis-27189	54	14	to	to	PART
fcis-27189	54	15	be	be	AUX
fcis-27189	54	16	determined	determine	VERB
fcis-27189	54	17	,	,	PUNCT
fcis-27189	54	18	and	and	CCONJ
fcis-27189	54	19	the	the	DET
fcis-27189	54	20	robots	robot	NOUN
fcis-27189	54	21	’	’	PART
fcis-27189	54	22	roles	role	NOUN
fcis-27189	54	23	should	should	AUX
fcis-27189	54	24	be	be	AUX
fcis-27189	54	25	adjusted	adjust	VERB
fcis-27189	54	26	based	base	VERB
fcis-27189	54	27	on	on	ADP
fcis-27189	54	28	the	the	DET
fcis-27189	54	29	current	current	ADJ
fcis-27189	54	30	task	task	NOUN
fcis-27189	54	31	.	.	PUNCT
fcis-27189	55	1	role	role	NOUN
fcis-27189	55	2	assignment	assignment	NOUN
fcis-27189	55	3	must	must	AUX
fcis-27189	55	4	take	take	VERB
fcis-27189	55	5	into	into	ADP
fcis-27189	55	6	account	account	NOUN
fcis-27189	55	7	the	the	DET
fcis-27189	55	8	information	information	NOUN
fcis-27189	55	9	on	on	ADP
fcis-27189	55	10	the	the	DET
fcis-27189	55	11	field	field	NOUN
fcis-27189	55	12	and	and	CCONJ
fcis-27189	55	13	dynamically	dynamically	ADV
fcis-27189	55	14	adjust	adjust	VERB
fcis-27189	55	15	according	accord	VERB
fcis-27189	55	16	to	to	ADP
fcis-27189	55	17	the	the	DET
fcis-27189	55	18	situation	situation	NOUN
fcis-27189	55	19	.	.	PUNCT
fcis-27189	56	1	for	for	ADP
fcis-27189	56	2	example	example	NOUN
fcis-27189	56	3	,	,	PUNCT
fcis-27189	56	4	in	in	ADP
fcis-27189	56	5	an	an	DET
fcis-27189	56	6	offensive	offensive	ADJ
fcis-27189	56	7	strategy	strategy	NOUN
fcis-27189	56	8	,	,	PUNCT
fcis-27189	56	9	the	the	DET
fcis-27189	56	10	role	role	NOUN
fcis-27189	56	11	of	of	ADP
fcis-27189	56	12	players	player	NOUN
fcis-27189	56	13	may	may	AUX
fcis-27189	56	14	be	be	AUX
fcis-27189	56	15	adjusted	adjust	VERB
fcis-27189	56	16	based	base	VERB
fcis-27189	56	17	on	on	ADP
fcis-27189	56	18	their	their	PRON
fcis-27189	56	19	position	position	NOUN
fcis-27189	56	20	on	on	ADP
fcis-27189	56	21	the	the	DET
fcis-27189	56	22	field	field	NOUN
fcis-27189	56	23	.	.	PUNCT
fcis-27189	57	1	the	the	DET
fcis-27189	57	2	fourth	fourth	ADJ
fcis-27189	57	3	step	step	NOUN
fcis-27189	57	4	is	be	AUX
fcis-27189	57	5	targeting	target	VERB
fcis-27189	57	6	position	position	NOUN
fcis-27189	57	7	determination	determination	NOUN
fcis-27189	57	8	and	and	CCONJ
fcis-27189	57	9	action	action	NOUN
fcis-27189	57	10	selection	selection	NOUN
fcis-27189	57	11	.	.	PUNCT
fcis-27189	58	1	once	once	SCONJ
fcis-27189	58	2	the	the	DET
fcis-27189	58	3	strategy	strategy	NOUN
fcis-27189	58	4	is	be	AUX
fcis-27189	58	5	decided	decide	VERB
fcis-27189	58	6	,	,	PUNCT
fcis-27189	58	7	robots	robot	NOUN
fcis-27189	58	8	need	need	VERB
fcis-27189	58	9	to	to	PART
fcis-27189	58	10	move	move	VERB
fcis-27189	58	11	quickly	quickly	ADV
fcis-27189	58	12	to	to	ADP
fcis-27189	58	13	the	the	DET
fcis-27189	58	14	designated	designate	VERB
fcis-27189	58	15	positions	position	NOUN
fcis-27189	58	16	and	and	CCONJ
fcis-27189	58	17	perform	perform	VERB
fcis-27189	58	18	tasks	task	NOUN
fcis-27189	58	19	.	.	PUNCT
fcis-27189	59	1	actions	action	NOUN
fcis-27189	59	2	are	be	AUX
fcis-27189	59	3	divided	divide	VERB
fcis-27189	59	4	into	into	ADP
fcis-27189	59	5	three	three	NUM
fcis-27189	59	6	levels	level	NOUN
fcis-27189	59	7	:	:	PUNCT
fcis-27189	59	8	basic	basic	ADJ
fcis-27189	59	9	actions	action	NOUN
fcis-27189	59	10	(	(	PUNCT
fcis-27189	59	11	such	such	ADJ
fcis-27189	59	12	as	as	ADP
fcis-27189	59	13	turning	turn	VERB
fcis-27189	59	14	and	and	CCONJ
fcis-27189	59	15	moving	move	VERB
fcis-27189	59	16	)	)	PUNCT
fcis-27189	59	17	,	,	PUNCT
fcis-27189	59	18	technical	technical	ADJ
fcis-27189	59	19	actions	action	NOUN
fcis-27189	59	20	(	(	PUNCT
fcis-27189	59	21	such	such	ADJ
fcis-27189	59	22	as	as	ADP
fcis-27189	59	23	goalkeeping	goalkeepe	VERB
fcis-27189	59	24	,	,	PUNCT
fcis-27189	59	25	shooting	shooting	NOUN
fcis-27189	59	26	)	)	PUNCT
fcis-27189	59	27	,	,	PUNCT
fcis-27189	59	28	and	and	CCONJ
fcis-27189	59	29	tactical	tactical	ADJ
fcis-27189	59	30	actions	action	NOUN
fcis-27189	59	31	(	(	PUNCT
fcis-27189	59	32	such	such	ADJ
fcis-27189	59	33	as	as	ADP
fcis-27189	59	34	team	team	NOUN
fcis-27189	59	35	coordination	coordination	NOUN
fcis-27189	59	36	)	)	PUNCT
fcis-27189	59	37	.	.	PUNCT
fcis-27189	60	1	this	this	DET
fcis-27189	60	2	structure	structure	NOUN
fcis-27189	60	3	ensures	ensure	VERB
fcis-27189	60	4	that	that	SCONJ
fcis-27189	60	5	each	each	DET
fcis-27189	60	6	robot	robot	NOUN
fcis-27189	60	7	can	can	AUX
fcis-27189	60	8	complete	complete	VERB
fcis-27189	60	9	its	its	PRON
fcis-27189	60	10	assigned	assign	VERB
fcis-27189	60	11	task	task	NOUN
fcis-27189	60	12	.	.	PUNCT
fcis-27189	61	1	the	the	DET
fcis-27189	61	2	fifth	fifth	ADJ
fcis-27189	61	3	step	step	NOUN
fcis-27189	61	4	is	be	AUX
fcis-27189	61	5	robot	robot	NOUN
fcis-27189	61	6	trajectory	trajectory	NOUN
fcis-27189	61	7	planning	planning	NOUN
fcis-27189	61	8	,	,	PUNCT
fcis-27189	61	9	where	where	SCONJ
fcis-27189	61	10	the	the	DET
fcis-27189	61	11	movement	movement	NOUN
fcis-27189	61	12	path	path	NOUN
fcis-27189	61	13	of	of	ADP
fcis-27189	61	14	the	the	DET
fcis-27189	61	15	robot	robot	NOUN
fcis-27189	61	16	is	be	AUX
fcis-27189	61	17	designed	design	VERB
fcis-27189	61	18	.	.	PUNCT
fcis-27189	62	1	this	this	PRON
fcis-27189	62	2	includes	include	VERB
fcis-27189	62	3	decisions	decision	NOUN
fcis-27189	62	4	on	on	ADP
fcis-27189	62	5	when	when	SCONJ
fcis-27189	62	6	to	to	PART
fcis-27189	62	7	travel	travel	VERB
fcis-27189	62	8	in	in	ADP
fcis-27189	62	9	a	a	DET
fcis-27189	62	10	straight	straight	ADJ
fcis-27189	62	11	line	line	NOUN
fcis-27189	62	12	,	,	PUNCT
fcis-27189	62	13	when	when	SCONJ
fcis-27189	62	14	to	to	PART
fcis-27189	62	15	turn	turn	VERB
fcis-27189	62	16	,	,	PUNCT
fcis-27189	62	17	and	and	CCONJ
fcis-27189	62	18	how	how	SCONJ
fcis-27189	62	19	to	to	PART
fcis-27189	62	20	avoid	avoid	VERB
fcis-27189	62	21	obstacles	obstacle	NOUN
fcis-27189	62	22	.	.	PUNCT
fcis-27189	63	1	various	various	ADJ
fcis-27189	63	2	path	path	NOUN
fcis-27189	63	3	-	-	PUNCT
fcis-27189	63	4	planning	planning	NOUN
fcis-27189	63	5	methods	method	NOUN
fcis-27189	63	6	,	,	PUNCT
fcis-27189	63	7	such	such	ADJ
fcis-27189	63	8	as	as	ADP
fcis-27189	63	9	the	the	DET
fcis-27189	63	10	artificial	artificial	ADJ
fcis-27189	63	11	potential	potential	ADJ
fcis-27189	63	12	field	field	NOUN
fcis-27189	63	13	method	method	NOUN
fcis-27189	63	14	,	,	PUNCT
fcis-27189	63	15	genetic	genetic	ADJ
fcis-27189	63	16	algorithms	algorithm	NOUN
fcis-27189	63	17	,	,	PUNCT
fcis-27189	63	18	and	and	CCONJ
fcis-27189	63	19	others	other	NOUN
fcis-27189	63	20	,	,	PUNCT
fcis-27189	63	21	are	be	AUX
fcis-27189	63	22	used	use	VERB
fcis-27189	63	23	in	in	ADP
fcis-27189	63	24	this	this	DET
fcis-27189	63	25	step	step	NOUN
fcis-27189	63	26	.	.	PUNCT
fcis-27189	64	1	the	the	DET
fcis-27189	64	2	sixth	sixth	ADJ
fcis-27189	64	3	step	step	NOUN
fcis-27189	64	4	is	be	AUX
fcis-27189	64	5	determination	determination	NOUN
fcis-27189	64	6	of	of	ADP
fcis-27189	64	7	the	the	DET
fcis-27189	64	8	left	left	ADJ
fcis-27189	64	9	and	and	CCONJ
fcis-27189	64	10	right	right	ADJ
fcis-27189	64	11	wheel	wheel	NOUN
fcis-27189	64	12	speeds	speed	NOUN
fcis-27189	64	13	.	.	PUNCT
fcis-27189	65	1	after	after	ADP
fcis-27189	65	2	determining	determine	VERB
fcis-27189	65	3	the	the	DET
fcis-27189	65	4	movement	movement	NOUN
fcis-27189	65	5	trajectory	trajectory	NOUN
fcis-27189	65	6	,	,	PUNCT
fcis-27189	65	7	the	the	DET
fcis-27189	65	8	speeds	speed	NOUN
fcis-27189	65	9	of	of	ADP
fcis-27189	65	10	the	the	DET
fcis-27189	65	11	left	left	ADJ
fcis-27189	65	12	and	and	CCONJ
fcis-27189	65	13	right	right	ADJ
fcis-27189	65	14	wheels	wheel	NOUN
fcis-27189	65	15	are	be	AUX
fcis-27189	65	16	calculated	calculate	VERB
fcis-27189	65	17	to	to	PART
fcis-27189	65	18	ensure	ensure	VERB
fcis-27189	65	19	the	the	DET
fcis-27189	65	20	robot	robot	NOUN
fcis-27189	65	21	moves	move	VERB
fcis-27189	65	22	precisely	precisely	ADV
fcis-27189	65	23	along	along	ADP
fcis-27189	65	24	the	the	DET
fcis-27189	65	25	planned	planned	ADJ
fcis-27189	65	26	path	path	NOUN
fcis-27189	65	27	.	.	PUNCT
fcis-27189	66	1	the	the	DET
fcis-27189	66	2	wheel	wheel	NOUN
fcis-27189	66	3	speed	speed	NOUN
fcis-27189	66	4	calculations	calculation	NOUN
fcis-27189	66	5	must	must	AUX
fcis-27189	66	6	take	take	VERB
fcis-27189	66	7	into	into	ADP
fcis-27189	66	8	account	account	NOUN
fcis-27189	66	9	the	the	DET
fcis-27189	66	10	mechanical	mechanical	ADJ
fcis-27189	66	11	and	and	CCONJ
fcis-27189	66	12	platform	platform	NOUN
fcis-27189	66	13	characteristics	characteristic	NOUN
fcis-27189	66	14	of	of	ADP
fcis-27189	66	15	the	the	DET
fcis-27189	66	16	robot	robot	NOUN
fcis-27189	66	17	,	,	PUNCT
fcis-27189	66	18	as	as	ADV
fcis-27189	66	19	well	well	ADV
fcis-27189	66	20	as	as	ADP
fcis-27189	66	21	the	the	DET
fcis-27189	66	22	underlying	underlie	VERB
fcis-27189	66	23	motion	motion	NOUN
fcis-27189	66	24	control	control	NOUN
fcis-27189	66	25	methods	method	NOUN
fcis-27189	66	26	.	.	PUNCT
fcis-27189	67	1	overall	overall	ADV
fcis-27189	67	2	,	,	PUNCT
fcis-27189	67	3	the	the	DET
fcis-27189	67	4	first	first	ADJ
fcis-27189	67	5	,	,	PUNCT
fcis-27189	67	6	fourth	fourth	ADJ
fcis-27189	67	7	,	,	PUNCT
fcis-27189	67	8	fifth	fifth	ADJ
fcis-27189	67	9	,	,	PUNCT
fcis-27189	67	10	and	and	CCONJ
fcis-27189	67	11	sixth	sixth	ADJ
fcis-27189	67	12	steps	step	NOUN
fcis-27189	67	13	belong	belong	VERB
fcis-27189	67	14	to	to	ADP
fcis-27189	67	15	deductive	deductive	ADJ
fcis-27189	67	16	reasoning	reasoning	NOUN
fcis-27189	67	17	,	,	PUNCT
fcis-27189	67	18	which	which	PRON
fcis-27189	67	19	can	can	AUX
fcis-27189	67	20	be	be	AUX
fcis-27189	67	21	computed	compute	VERB
fcis-27189	67	22	using	use	VERB
fcis-27189	67	23	mathematical	mathematical	ADJ
fcis-27189	67	24	models	model	NOUN
fcis-27189	67	25	.	.	PUNCT
fcis-27189	68	1	the	the	DET
fcis-27189	68	2	second	second	ADJ
fcis-27189	68	3	and	and	CCONJ
fcis-27189	68	4	third	third	ADJ
fcis-27189	68	5	steps	step	NOUN
fcis-27189	68	6	rely	rely	VERB
fcis-27189	68	7	on	on	ADP
fcis-27189	68	8	36	36	NUM
fcis-27189	68	9	heuristic	heuristic	ADJ
fcis-27189	68	10	reasoning	reasoning	NOUN
fcis-27189	68	11	,	,	PUNCT
fcis-27189	68	12	such	such	ADJ
fcis-27189	68	13	as	as	ADP
fcis-27189	68	14	fuzzy	fuzzy	ADJ
fcis-27189	68	15	logic	logic	NOUN
fcis-27189	68	16	and	and	CCONJ
fcis-27189	68	17	expert	expert	NOUN
fcis-27189	68	18	systems	system	NOUN
fcis-27189	68	19	,	,	PUNCT
fcis-27189	68	20	to	to	PART
fcis-27189	68	21	implement	implement	VERB
fcis-27189	68	22	intelligent	intelligent	ADJ
fcis-27189	68	23	decision	decision	NOUN
fcis-27189	68	24	-	-	PUNCT
fcis-27189	68	25	making	making	NOUN
fcis-27189	68	26	.	.	PUNCT
fcis-27189	69	1	3.4.2	3.4.2	X
fcis-27189	69	2	.	.	PUNCT
fcis-27189	69	3	simplified	simplified	ADJ
fcis-27189	69	4	reasoning	reasoning	NOUN
fcis-27189	69	5	model	model	NOUN
fcis-27189	69	6	step	step	NOUN
fcis-27189	69	7	1	1	NUM
fcis-27189	69	8	:	:	PUNCT
fcis-27189	69	9	prepossessing	prepossess	VERB
fcis-27189	69	10	of	of	ADP
fcis-27189	69	11	input	input	NOUN
fcis-27189	69	12	information	information	NOUN
fcis-27189	69	13	step	step	NOUN
fcis-27189	69	14	2	2	NUM
fcis-27189	69	15	:	:	PUNCT
fcis-27189	69	16	situation	situation	NOUN
fcis-27189	69	17	assessment	assessment	NOUN
fcis-27189	69	18	step	step	NOUN
fcis-27189	69	19	3	3	NUM
fcis-27189	69	20	:	:	PUNCT
fcis-27189	69	21	role	role	NOUN
fcis-27189	69	22	assignment	assignment	NOUN
fcis-27189	69	23	step	step	NOUN
fcis-27189	69	24	4	4	NUM
fcis-27189	69	25	:	:	PUNCT
fcis-27189	69	26	action	action	NOUN
fcis-27189	69	27	execution	execution	NOUN
fcis-27189	69	28	this	this	DET
fcis-27189	69	29	simplified	simplified	ADJ
fcis-27189	69	30	model	model	NOUN
fcis-27189	69	31	makes	make	VERB
fcis-27189	69	32	the	the	DET
fcis-27189	69	33	subsystem	subsystem	NOUN
fcis-27189	69	34	structure	structure	NOUN
fcis-27189	69	35	more	more	ADV
fcis-27189	69	36	compact	compact	ADJ
fcis-27189	69	37	and	and	CCONJ
fcis-27189	69	38	easier	easy	ADJ
fcis-27189	69	39	to	to	PART
fcis-27189	69	40	implement	implement	VERB
fcis-27189	69	41	while	while	SCONJ
fcis-27189	69	42	saving	save	VERB
fcis-27189	69	43	system	system	NOUN
fcis-27189	69	44	time	time	NOUN
fcis-27189	69	45	.	.	PUNCT
fcis-27189	70	1	this	this	DET
fcis-27189	70	2	hierarchical	hierarchical	ADJ
fcis-27189	70	3	model	model	NOUN
fcis-27189	70	4	for	for	ADP
fcis-27189	70	5	soccer	soccer	NOUN
fcis-27189	70	6	robots	robot	NOUN
fcis-27189	70	7	has	have	VERB
fcis-27189	70	8	two	two	NUM
fcis-27189	70	9	notable	notable	ADJ
fcis-27189	70	10	characteristics	characteristic	NOUN
fcis-27189	70	11	:	:	PUNCT
fcis-27189	70	12	for	for	ADP
fcis-27189	70	13	control	control	NOUN
fcis-27189	70	14	,	,	PUNCT
fcis-27189	70	15	the	the	DET
fcis-27189	70	16	precision	precision	NOUN
fcis-27189	70	17	increases	increase	VERB
fcis-27189	70	18	from	from	ADP
fcis-27189	70	19	top	top	NOUN
fcis-27189	70	20	to	to	ADP
fcis-27189	70	21	bottom	bottom	NOUN
fcis-27189	70	22	,	,	PUNCT
fcis-27189	70	23	and	and	CCONJ
fcis-27189	70	24	for	for	ADP
fcis-27189	70	25	information	information	NOUN
fcis-27189	70	26	feedback	feedback	NOUN
fcis-27189	70	27	,	,	PUNCT
fcis-27189	70	28	the	the	DET
fcis-27189	70	29	feedback	feedback	NOUN
fcis-27189	70	30	becomes	become	VERB
fcis-27189	70	31	increasingly	increasingly	ADV
fcis-27189	70	32	coarse	coarse	ADJ
fcis-27189	70	33	from	from	ADP
fcis-27189	70	34	bottom	bottom	NOUN
fcis-27189	70	35	to	to	ADP
fcis-27189	70	36	top	top	NOUN
fcis-27189	70	37	,	,	PUNCT
fcis-27189	70	38	with	with	ADP
fcis-27189	70	39	the	the	DET
fcis-27189	70	40	level	level	NOUN
fcis-27189	70	41	of	of	ADP
fcis-27189	70	42	intelligence	intelligence	NOUN
fcis-27189	70	43	rising	rise	VERB
fcis-27189	70	44	correspondingly	correspondingly	ADV
fcis-27189	70	45	.	.	PUNCT
fcis-27189	71	1	as	as	ADP
fcis-27189	71	2	a	a	DET
fcis-27189	71	3	research	research	NOUN
fcis-27189	71	4	platform	platform	NOUN
fcis-27189	71	5	for	for	ADP
fcis-27189	71	6	multi	multi	ADJ
fcis-27189	71	7	-	-	ADJ
fcis-27189	71	8	agent	agent	ADJ
fcis-27189	71	9	systems	system	NOUN
fcis-27189	71	10	,	,	PUNCT
fcis-27189	71	11	soccer	soccer	NOUN
fcis-27189	71	12	robots	robot	NOUN
fcis-27189	71	13	must	must	AUX
fcis-27189	71	14	enable	enable	VERB
fcis-27189	71	15	cooperation	cooperation	NOUN
fcis-27189	71	16	among	among	ADP
fcis-27189	71	17	multiple	multiple	ADJ
fcis-27189	71	18	players	player	NOUN
fcis-27189	71	19	.	.	PUNCT
fcis-27189	72	1	thus	thus	ADV
fcis-27189	72	2	,	,	PUNCT
fcis-27189	72	3	the	the	DET
fcis-27189	72	4	team	team	NOUN
fcis-27189	72	5	’s	’s	PART
fcis-27189	72	6	organizational	organizational	ADJ
fcis-27189	72	7	capability	capability	NOUN
fcis-27189	72	8	is	be	AUX
fcis-27189	72	9	more	more	ADV
fcis-27189	72	10	important	important	ADJ
fcis-27189	72	11	than	than	ADP
fcis-27189	72	12	individual	individual	ADJ
fcis-27189	72	13	player	player	NOUN
fcis-27189	72	14	skills	skill	NOUN
fcis-27189	72	15	.	.	PUNCT
fcis-27189	73	1	this	this	DET
fcis-27189	73	2	top	top	ADJ
fcis-27189	73	3	-	-	PUNCT
fcis-27189	73	4	down	down	ADP
fcis-27189	73	5	hierarchical	hierarchical	ADJ
fcis-27189	73	6	reasoning	reasoning	NOUN
fcis-27189	73	7	model	model	NOUN
fcis-27189	73	8	fully	fully	ADV
fcis-27189	73	9	reflects	reflect	VERB
fcis-27189	73	10	the	the	DET
fcis-27189	73	11	collaborative	collaborative	ADJ
fcis-27189	73	12	spirit	spirit	NOUN
fcis-27189	73	13	of	of	ADP
fcis-27189	73	14	the	the	DET
fcis-27189	73	15	decision	decision	NOUN
fcis-27189	73	16	-	-	PUNCT
fcis-27189	73	17	making	make	VERB
fcis-27189	73	18	system	system	NOUN
fcis-27189	73	19	.	.	PUNCT
fcis-27189	74	1	3.4.3	3.4.3	X
fcis-27189	74	2	.	.	PUNCT
fcis-27189	75	1	decision	decision	NOUN
fcis-27189	75	2	subsystem	subsystem	NOUN
fcis-27189	75	3	reasoning	reasoning	NOUN
fcis-27189	75	4	framework	framework	NOUN
fcis-27189	75	5	before	before	ADP
fcis-27189	75	6	the	the	DET
fcis-27189	75	7	decision	decision	NOUN
fcis-27189	75	8	system	system	NOUN
fcis-27189	75	9	selects	select	NOUN
fcis-27189	75	10	between	between	ADP
fcis-27189	75	11	attack	attack	NOUN
fcis-27189	75	12	and	and	CCONJ
fcis-27189	75	13	defense	defense	NOUN
fcis-27189	75	14	,	,	PUNCT
fcis-27189	75	15	the	the	DET
fcis-27189	75	16	system	system	NOUN
fcis-27189	75	17	must	must	AUX
fcis-27189	75	18	complete	complete	VERB
fcis-27189	75	19	visual	visual	ADJ
fcis-27189	75	20	prepossessing	prepossessing	NOUN
fcis-27189	75	21	.	.	PUNCT
fcis-27189	76	1	this	this	PRON
fcis-27189	76	2	includes	include	VERB
fcis-27189	76	3	calculating	calculate	VERB
fcis-27189	76	4	the	the	DET
fcis-27189	76	5	linear	linear	ADJ
fcis-27189	76	6	velocity	velocity	NOUN
fcis-27189	76	7	,	,	PUNCT
fcis-27189	76	8	angular	angular	ADJ
fcis-27189	76	9	velocity	velocity	NOUN
fcis-27189	76	10	,	,	PUNCT
fcis-27189	76	11	direction	direction	NOUN
fcis-27189	76	12	angle	angle	NOUN
fcis-27189	76	13	,	,	PUNCT
fcis-27189	76	14	and	and	CCONJ
fcis-27189	76	15	the	the	DET
fcis-27189	76	16	relative	relative	ADJ
fcis-27189	76	17	distance	distance	NOUN
fcis-27189	76	18	between	between	ADP
fcis-27189	76	19	each	each	DET
fcis-27189	76	20	robot	robot	NOUN
fcis-27189	76	21	and	and	CCONJ
fcis-27189	76	22	the	the	DET
fcis-27189	76	23	ball	ball	NOUN
fcis-27189	76	24	.	.	PUNCT
fcis-27189	77	1	the	the	DET
fcis-27189	77	2	structure	structure	NOUN
fcis-27189	77	3	of	of	ADP
fcis-27189	77	4	the	the	DET
fcis-27189	77	5	soccer	soccer	NOUN
fcis-27189	77	6	robot	robot	NOUN
fcis-27189	77	7	decision	decision	NOUN
fcis-27189	77	8	system	system	NOUN
fcis-27189	77	9	,	,	PUNCT
fcis-27189	77	10	constructed	construct	VERB
fcis-27189	77	11	based	base	VERB
fcis-27189	77	12	on	on	ADP
fcis-27189	77	13	the	the	DET
fcis-27189	77	14	simplified	simplified	ADJ
fcis-27189	77	15	model	model	NOUN
fcis-27189	77	16	,	,	PUNCT
fcis-27189	77	17	is	be	AUX
fcis-27189	77	18	shown	show	VERB
fcis-27189	77	19	in	in	ADP
fcis-27189	77	20	figure	figure	NOUN
fcis-27189	77	21	2	2	NUM
fcis-27189	77	22	.	.	PUNCT
fcis-27189	78	1	in	in	ADP
fcis-27189	78	2	the	the	DET
fcis-27189	78	3	diagram	diagram	NOUN
fcis-27189	78	4	,	,	PUNCT
fcis-27189	78	5	each	each	DET
fcis-27189	78	6	robot	robot	NOUN
fcis-27189	78	7	selects	select	VERB
fcis-27189	78	8	the	the	DET
fcis-27189	78	9	corresponding	corresponding	ADJ
fcis-27189	78	10	action	action	NOUN
fcis-27189	78	11	based	base	VERB
fcis-27189	78	12	on	on	ADP
fcis-27189	78	13	its	its	PRON
fcis-27189	78	14	role	role	NOUN
fcis-27189	78	15	,	,	PUNCT
fcis-27189	78	16	coordinating	coordinate	VERB
fcis-27189	78	17	and	and	CCONJ
fcis-27189	78	18	collaborating	collaborate	VERB
fcis-27189	78	19	to	to	PART
fcis-27189	78	20	complete	complete	VERB
fcis-27189	78	21	the	the	DET
fcis-27189	78	22	match	match	NOUN
fcis-27189	78	23	.	.	PUNCT
fcis-27189	79	1	figure	figure	NOUN
fcis-27189	79	2	2	2	NUM
fcis-27189	79	3	.	.	PUNCT
fcis-27189	79	4	decision	decision	NOUN
fcis-27189	79	5	system	system	NOUN
fcis-27189	79	6	reasoning	reasoning	NOUN
fcis-27189	79	7	structure	structure	NOUN
fcis-27189	79	8	4	4	NUM
fcis-27189	79	9	.	.	PUNCT
fcis-27189	79	10	decision	decision	NOUN
fcis-27189	79	11	subsystem	subsystem	NOUN
fcis-27189	79	12	design	design	NOUN
fcis-27189	79	13	and	and	CCONJ
fcis-27189	79	14	implementation	implementation	NOUN
fcis-27189	79	15	in	in	ADP
fcis-27189	79	16	human	human	ADJ
fcis-27189	79	17	soccer	soccer	NOUN
fcis-27189	79	18	matches	match	NOUN
fcis-27189	79	19	,	,	PUNCT
fcis-27189	79	20	the	the	DET
fcis-27189	79	21	strategic	strategic	ADJ
fcis-27189	79	22	thinking	thinking	NOUN
fcis-27189	79	23	and	and	CCONJ
fcis-27189	79	24	tactical	tactical	ADJ
fcis-27189	79	25	arrangements	arrangement	NOUN
fcis-27189	79	26	of	of	ADP
fcis-27189	79	27	the	the	DET
fcis-27189	79	28	coach	coach	NOUN
fcis-27189	79	29	are	be	AUX
fcis-27189	79	30	crucial	crucial	ADJ
fcis-27189	79	31	.	.	PUNCT
fcis-27189	80	1	similarly	similarly	ADV
fcis-27189	80	2	,	,	PUNCT
fcis-27189	80	3	the	the	DET
fcis-27189	80	4	decision	decision	NOUN
fcis-27189	80	5	subsystem	subsystem	NOUN
fcis-27189	80	6	is	be	AUX
fcis-27189	80	7	the	the	DET
fcis-27189	80	8	strategic	strategic	ADJ
fcis-27189	80	9	thought	thought	NOUN
fcis-27189	80	10	behind	behind	ADP
fcis-27189	80	11	soccer	soccer	NOUN
fcis-27189	80	12	robot	robot	NOUN
fcis-27189	80	13	matches	match	NOUN
fcis-27189	80	14	.	.	PUNCT
fcis-27189	81	1	it	it	PRON
fcis-27189	81	2	interfaces	interface	VERB
fcis-27189	81	3	with	with	ADP
fcis-27189	81	4	the	the	DET
fcis-27189	81	5	visual	visual	ADJ
fcis-27189	81	6	subsystem	subsystem	NOUN
fcis-27189	81	7	above	above	ADV
fcis-27189	81	8	and	and	CCONJ
fcis-27189	81	9	the	the	DET
fcis-27189	81	10	communication	communication	NOUN
fcis-27189	81	11	subsystem	subsystem	NOUN
fcis-27189	81	12	below	below	ADV
fcis-27189	81	13	,	,	PUNCT
fcis-27189	81	14	serving	serve	VERB
fcis-27189	81	15	as	as	ADP
fcis-27189	81	16	the	the	DET
fcis-27189	81	17	central	central	ADJ
fcis-27189	81	18	hub	hub	NOUN
fcis-27189	81	19	of	of	ADP
fcis-27189	81	20	the	the	DET
fcis-27189	81	21	entire	entire	ADJ
fcis-27189	81	22	system	system	NOUN
fcis-27189	81	23	.	.	PUNCT
fcis-27189	82	1	the	the	DET
fcis-27189	82	2	design	design	NOUN
fcis-27189	82	3	of	of	ADP
fcis-27189	82	4	the	the	DET
fcis-27189	82	5	decision	decision	NOUN
fcis-27189	82	6	subsystem	subsystem	NOUN
fcis-27189	82	7	directly	directly	ADV
fcis-27189	82	8	impacts	impact	VERB
fcis-27189	82	9	the	the	DET
fcis-27189	82	10	outcome	outcome	NOUN
fcis-27189	82	11	of	of	ADP
fcis-27189	82	12	the	the	DET
fcis-27189	82	13	match	match	NOUN
fcis-27189	82	14	.	.	PUNCT
fcis-27189	83	1	the	the	DET
fcis-27189	83	2	position	position	NOUN
fcis-27189	83	3	coordinates	coordinate	NOUN
fcis-27189	83	4	,	,	PUNCT
fcis-27189	83	5	direction	direction	NOUN
fcis-27189	83	6	angles	angle	NOUN
fcis-27189	83	7	,	,	PUNCT
fcis-27189	83	8	and	and	CCONJ
fcis-27189	83	9	other	other	ADJ
fcis-27189	83	10	information	information	NOUN
fcis-27189	83	11	received	receive	VERB
fcis-27189	83	12	from	from	ADP
fcis-27189	83	13	the	the	DET
fcis-27189	83	14	visual	visual	ADJ
fcis-27189	83	15	subsystem	subsystem	NOUN
fcis-27189	83	16	serve	serve	VERB
fcis-27189	83	17	as	as	ADP
fcis-27189	83	18	inputs	input	NOUN
fcis-27189	83	19	,	,	PUNCT
fcis-27189	83	20	and	and	CCONJ
fcis-27189	83	21	after	after	ADP
fcis-27189	83	22	processing	processing	NOUN
fcis-27189	83	23	,	,	PUNCT
fcis-27189	83	24	the	the	DET
fcis-27189	83	25	decision	decision	NOUN
fcis-27189	83	26	subsystem	subsystem	NOUN
fcis-27189	83	27	generates	generate	VERB
fcis-27189	83	28	motion	motion	NOUN
fcis-27189	83	29	control	control	NOUN
fcis-27189	83	30	commands	command	NOUN
fcis-27189	83	31	for	for	ADP
fcis-27189	83	32	the	the	DET
fcis-27189	83	33	robots	robot	NOUN
fcis-27189	83	34	and	and	CCONJ
fcis-27189	83	35	sends	send	VERB
fcis-27189	83	36	them	they	PRON
fcis-27189	83	37	through	through	ADP
fcis-27189	83	38	the	the	DET
fcis-27189	83	39	communication	communication	NOUN
fcis-27189	83	40	subsystem	subsystem	NOUN
fcis-27189	83	41	.	.	PUNCT
fcis-27189	84	1	4.1	4.1	NUM
fcis-27189	84	2	.	.	PUNCT
fcis-27189	84	3	decision	decision	NOUN
fcis-27189	84	4	subsystem	subsystem	NOUN
fcis-27189	84	5	environmental	environmental	ADJ
fcis-27189	84	6	code	code	PROPN
fcis-27189	84	7	the	the	DET
fcis-27189	84	8	code	code	NOUN
fcis-27189	84	9	defines	define	VERB
fcis-27189	84	10	several	several	ADJ
fcis-27189	84	11	structures	structure	NOUN
fcis-27189	84	12	,	,	PUNCT
fcis-27189	84	13	including	include	VERB
fcis-27189	84	14	the	the	DET
fcis-27189	84	15	coordinate	coordinate	ADJ
fcis-27189	84	16	variable	variable	ADJ
fcis-27189	84	17	structure	structure	NOUN
fcis-27189	84	18	`	`	PUNCT
fcis-27189	84	19	vector3d	vector3d	NOUN
fcis-27189	84	20	`	`	PUNCT
fcis-27189	84	21	,	,	PUNCT
fcis-27189	84	22	the	the	DET
fcis-27189	84	23	boundary	boundary	ADJ
fcis-27189	84	24	structure	structure	NOUN
fcis-27189	84	25	`	`	PUNCT
fcis-27189	84	26	bounds	bound	NOUN
fcis-27189	84	27	`	`	PUNCT
fcis-27189	84	28	,	,	PUNCT
fcis-27189	84	29	the	the	DET
fcis-27189	84	30	team	team	NOUN
fcis-27189	84	31	robot	robot	NOUN
fcis-27189	84	32	structure	structure	NOUN
fcis-27189	84	33	`	`	PUNCT
fcis-27189	84	34	robot	robot	NOUN
fcis-27189	84	35	`	`	PUNCT
fcis-27189	84	36	,	,	PUNCT
fcis-27189	84	37	the	the	DET
fcis-27189	84	38	opponent	opponent	NOUN
fcis-27189	84	39	robot	robot	NOUN
fcis-27189	84	40	structure	structure	NOUN
fcis-27189	84	41	`	`	PUNCT
fcis-27189	84	42	opponentrobot	opponentrobot	PROPN
fcis-27189	84	43	`	`	PUNCT
fcis-27189	84	44	,	,	PUNCT
fcis-27189	84	45	the	the	DET
fcis-27189	84	46	ball	ball	NOUN
fcis-27189	84	47	structure	structure	NOUN
fcis-27189	84	48	`	`	PUNCT
fcis-27189	84	49	ball	ball	NOUN
fcis-27189	84	50	`	`	PUNCT
fcis-27189	84	51	,	,	PUNCT
fcis-27189	84	52	and	and	CCONJ
fcis-27189	84	53	the	the	DET
fcis-27189	84	54	`	`	PUNCT
fcis-27189	84	55	environment	environment	NOUN
fcis-27189	84	56	`	`	PUNCT
fcis-27189	84	57	structure	structure	NOUN
fcis-27189	84	58	,	,	PUNCT
fcis-27189	84	59	which	which	PRON
fcis-27189	84	60	contains	contain	VERB
fcis-27189	84	61	various	various	ADJ
fcis-27189	84	62	match	match	NOUN
fcis-27189	84	63	elements	element	NOUN
fcis-27189	84	64	.	.	PUNCT
fcis-27189	85	1	these	these	DET
fcis-27189	85	2	structures	structure	NOUN
fcis-27189	85	3	provide	provide	VERB
fcis-27189	85	4	the	the	DET
fcis-27189	85	5	foundation	foundation	NOUN
fcis-27189	85	6	for	for	ADP
fcis-27189	85	7	the	the	DET
fcis-27189	85	8	simulator	simulator	NOUN
fcis-27189	85	9	's	's	PART
fcis-27189	85	10	operation	operation	NOUN
fcis-27189	85	11	and	and	CCONJ
fcis-27189	85	12	the	the	DET
fcis-27189	85	13	simulation	simulation	NOUN
fcis-27189	85	14	group	group	NOUN
fcis-27189	85	15	's	's	PART
fcis-27189	85	16	robot	robot	NOUN
fcis-27189	85	17	execution	execution	NOUN
fcis-27189	85	18	.	.	PUNCT
fcis-27189	86	1	the	the	DET
fcis-27189	86	2	following	follow	VERB
fcis-27189	86	3	code	code	NOUN
fcis-27189	86	4	snippet	snippet	NOUN
fcis-27189	86	5	shows	show	VERB
fcis-27189	86	6	an	an	DET
fcis-27189	86	7	example	example	NOUN
fcis-27189	86	8	of	of	ADP
fcis-27189	86	9	the	the	DET
fcis-27189	86	10	`	`	PUNCT
fcis-27189	86	11	environment	environment	NOUN
fcis-27189	86	12	`	`	PUNCT
fcis-27189	86	13	structure	structure	NOUN
fcis-27189	86	14	:	:	PUNCT
fcis-27189	86	15	typedef	typedef	PROPN
fcis-27189	86	16	struct	struct	NOUN
fcis-27189	86	17	{	{	PUNCT
fcis-27189	86	18	robot	robot	NOUN
fcis-27189	86	19	home[players_per_side	home[players_per_side	PROPN
fcis-27189	86	20	]	]	PUNCT
fcis-27189	86	21	;	;	PUNCT
fcis-27189	86	22	opponentrobot	opponentrobot	PROPN
fcis-27189	86	23	opponent[players_per_side	opponent[players_per_side	ADP
fcis-27189	86	24	]	]	PUNCT
fcis-27189	86	25	;	;	PUNCT
fcis-27189	86	26	ball	ball	NOUN
fcis-27189	86	27	currentball	currentball	PROPN
fcis-27189	86	28	,	,	PUNCT
fcis-27189	86	29	lastball	lastball	PROPN
fcis-27189	86	30	,	,	PUNCT
fcis-27189	86	31	predictedball	predictedball	PROPN
fcis-27189	86	32	;	;	PUNCT
fcis-27189	86	33	bounds	bound	VERB
fcis-27189	86	34	fieldbounds	fieldbound	NOUN
fcis-27189	86	35	,	,	PUNCT
fcis-27189	86	36	goalbounds	goalbound	NOUN
fcis-27189	86	37	;	;	PUNCT
fcis-27189	86	38	long	long	ADJ
fcis-27189	86	39	gamestate	gamestate	NOUN
fcis-27189	86	40	;	;	PUNCT
fcis-27189	86	41	long	long	ADJ
fcis-27189	86	42	whosball	whosball	NOUN
fcis-27189	86	43	;	;	PUNCT
fcis-27189	86	44	void	void	ADJ
fcis-27189	86	45	*	*	PUNCT
fcis-27189	86	46	userdata	userdata	NOUN
fcis-27189	86	47	;	;	PUNCT
fcis-27189	86	48	}	}	PUNCT
fcis-27189	86	49	environment	environment	NOUN
fcis-27189	86	50	;	;	PUNCT
fcis-27189	87	1	4.2	4.2	NUM
fcis-27189	87	2	.	.	PUNCT
fcis-27189	88	1	algorithm	algorithm	NOUN
fcis-27189	88	2	introduction	introduction	NOUN
fcis-27189	88	3	1	1	NUM
fcis-27189	88	4	.	.	PUNCT
fcis-27189	88	5	potential	potential	ADJ
fcis-27189	88	6	field	field	NOUN
fcis-27189	88	7	method	method	NOUN
fcis-27189	88	8	:	:	PUNCT
fcis-27189	88	9	in	in	ADP
fcis-27189	88	10	this	this	DET
fcis-27189	88	11	method	method	NOUN
fcis-27189	88	12	,	,	PUNCT
fcis-27189	88	13	repulsive	repulsive	ADJ
fcis-27189	88	14	potential	potential	ADJ
fcis-27189	88	15	fields	field	NOUN
fcis-27189	88	16	are	be	AUX
fcis-27189	88	17	created	create	VERB
fcis-27189	88	18	for	for	ADP
fcis-27189	88	19	obstacles	obstacle	NOUN
fcis-27189	88	20	,	,	PUNCT
fcis-27189	88	21	and	and	CCONJ
fcis-27189	88	22	attractive	attractive	ADJ
fcis-27189	88	23	potential	potential	ADJ
fcis-27189	88	24	fields	field	NOUN
fcis-27189	88	25	are	be	AUX
fcis-27189	88	26	created	create	VERB
fcis-27189	88	27	for	for	ADP
fcis-27189	88	28	the	the	DET
fcis-27189	88	29	target	target	NOUN
fcis-27189	88	30	point	point	NOUN
fcis-27189	88	31	.	.	PUNCT
fcis-27189	89	1	the	the	DET
fcis-27189	89	2	robot	robot	NOUN
fcis-27189	89	3	moves	move	VERB
fcis-27189	89	4	toward	toward	ADP
fcis-27189	89	5	the	the	DET
fcis-27189	89	6	target	target	NOUN
fcis-27189	89	7	under	under	ADP
fcis-27189	89	8	the	the	DET
fcis-27189	89	9	influence	influence	NOUN
fcis-27189	89	10	of	of	ADP
fcis-27189	89	11	both	both	CCONJ
fcis-27189	89	12	the	the	DET
fcis-27189	89	13	repulsive	repulsive	ADJ
fcis-27189	89	14	and	and	CCONJ
fcis-27189	89	15	attractive	attractive	ADJ
fcis-27189	89	16	forces	force	NOUN
fcis-27189	89	17	.	.	PUNCT
fcis-27189	90	1	the	the	DET
fcis-27189	90	2	form	form	NOUN
fcis-27189	90	3	of	of	ADP
fcis-27189	90	4	the	the	DET
fcis-27189	90	5	potential	potential	ADJ
fcis-27189	90	6	field	field	NOUN
fcis-27189	90	7	is	be	AUX
fcis-27189	90	8	set	set	VERB
fcis-27189	90	9	according	accord	VERB
fcis-27189	90	10	to	to	ADP
fcis-27189	90	11	the	the	DET
fcis-27189	90	12	actual	actual	ADJ
fcis-27189	90	13	situation	situation	NOUN
fcis-27189	90	14	and	and	CCONJ
fcis-27189	90	15	is	be	AUX
fcis-27189	90	16	commonly	commonly	ADV
fcis-27189	90	17	used	use	VERB
fcis-27189	90	18	in	in	ADP
fcis-27189	90	19	global	global	ADJ
fcis-27189	90	20	motion	motion	NOUN
fcis-27189	90	21	planning	plan	VERB
fcis-27189	90	22	sub	sub	NOUN
fcis-27189	90	23	-	-	NOUN
fcis-27189	90	24	modules	module	NOUN
fcis-27189	90	25	.	.	PUNCT
fcis-27189	91	1	however	however	ADV
fcis-27189	91	2	,	,	PUNCT
fcis-27189	91	3	it	it	PRON
fcis-27189	91	4	is	be	AUX
fcis-27189	91	5	not	not	PART
fcis-27189	91	6	precise	precise	ADJ
fcis-27189	91	7	and	and	CCONJ
fcis-27189	91	8	is	be	AUX
fcis-27189	91	9	prone	prone	ADJ
fcis-27189	91	10	to	to	ADP
fcis-27189	91	11	getting	getting	AUX
fcis-27189	91	12	stuck	stick	VERB
fcis-27189	91	13	in	in	ADP
fcis-27189	91	14	local	local	ADJ
fcis-27189	91	15	minima	minima	PROPN
fcis-27189	91	16	.	.	PUNCT
fcis-27189	92	1	2.obstacle	2.obstacle	NUM
fcis-27189	92	2	avoidance	avoidance	NOUN
fcis-27189	92	3	in	in	ADP
fcis-27189	92	4	the	the	DET
fcis-27189	92	5	potential	potential	ADJ
fcis-27189	92	6	field	field	NOUN
fcis-27189	92	7	method	method	NOUN
fcis-27189	92	8	:	:	PUNCT
fcis-27189	92	9	soccer	soccer	NOUN
fcis-27189	92	10	robot	robot	NOUN
fcis-27189	92	11	obstacle	obstacle	NOUN
fcis-27189	92	12	avoidance	avoidance	NOUN
fcis-27189	92	13	is	be	AUX
fcis-27189	92	14	complex	complex	ADJ
fcis-27189	92	15	and	and	CCONJ
fcis-27189	92	16	involves	involve	VERB
fcis-27189	92	17	both	both	CCONJ
fcis-27189	92	18	static	static	ADJ
fcis-27189	92	19	and	and	CCONJ
fcis-27189	92	20	dynamic	dynamic	ADJ
fcis-27189	92	21	obstacles	obstacle	NOUN
fcis-27189	92	22	.	.	PUNCT
fcis-27189	93	1	a	a	DET
fcis-27189	93	2	dynamic	dynamic	ADJ
fcis-27189	93	3	obstacle	obstacle	NOUN
fcis-27189	93	4	avoidance	avoidance	NOUN
fcis-27189	93	5	strategy	strategy	NOUN
fcis-27189	93	6	is	be	AUX
fcis-27189	93	7	proposed	propose	VERB
fcis-27189	93	8	,	,	PUNCT
fcis-27189	93	9	which	which	PRON
fcis-27189	93	10	transforms	transform	VERB
fcis-27189	93	11	obstacle	obstacle	NOUN
fcis-27189	93	12	position	position	NOUN
fcis-27189	93	13	information	information	NOUN
fcis-27189	93	14	into	into	ADP
fcis-27189	93	15	velocity	velocity	NOUN
fcis-27189	93	16	information	information	NOUN
fcis-27189	93	17	to	to	PART
fcis-27189	93	18	process	process	VERB
fcis-27189	93	19	realtime	realtime	NOUN
fcis-27189	93	20	obstacle	obstacle	NOUN
fcis-27189	93	21	avoidance	avoidance	NOUN
fcis-27189	93	22	in	in	ADP
fcis-27189	93	23	dynamic	dynamic	ADJ
fcis-27189	93	24	environments	environment	NOUN
fcis-27189	93	25	.	.	PUNCT
fcis-27189	94	1	this	this	DET
fcis-27189	94	2	strategy	strategy	NOUN
fcis-27189	94	3	,	,	PUNCT
fcis-27189	94	4	as	as	ADP
fcis-27189	94	5	an	an	DET
fcis-27189	94	6	important	important	ADJ
fcis-27189	94	7	component	component	NOUN
fcis-27189	94	8	of	of	ADP
fcis-27189	94	9	the	the	DET
fcis-27189	94	10	decision	decision	NOUN
fcis-27189	94	11	subsystem	subsystem	NOUN
fcis-27189	94	12	,	,	PUNCT
fcis-27189	94	13	improves	improve	VERB
fcis-27189	94	14	system	system	NOUN
fcis-27189	94	15	performance	performance	NOUN
fcis-27189	94	16	.	.	PUNCT
fcis-27189	95	1	4.3	4.3	NUM
fcis-27189	95	2	.	.	PUNCT
fcis-27189	96	1	algorithm	algorithm	PROPN
fcis-27189	96	2	implementation	implementation	NOUN
fcis-27189	96	3	the	the	DET
fcis-27189	96	4	soccer	soccer	NOUN
fcis-27189	96	5	robot	robot	NOUN
fcis-27189	96	6	strategy	strategy	NOUN
fcis-27189	96	7	is	be	AUX
fcis-27189	96	8	implemented	implement	VERB
fcis-27189	96	9	based	base	VERB
fcis-27189	96	10	on	on	ADP
fcis-27189	96	11	c++	c++	NOUN
fcis-27189	96	12	programming	programming	NOUN
fcis-27189	96	13	,	,	PUNCT
fcis-27189	96	14	and	and	CCONJ
fcis-27189	96	15	the	the	DET
fcis-27189	96	16	core	core	ADJ
fcis-27189	96	17	algorithms	algorithm	NOUN
fcis-27189	96	18	include	include	VERB
fcis-27189	96	19	modules	module	NOUN
fcis-27189	96	20	for	for	ADP
fcis-27189	96	21	angle	angle	NOUN
fcis-27189	96	22	adjustment	adjustment	NOUN
fcis-27189	96	23	,	,	PUNCT
fcis-27189	96	24	target	target	NOUN
fcis-27189	96	25	positioning	positioning	NOUN
fcis-27189	96	26	,	,	PUNCT
fcis-27189	96	27	ball	ball	NOUN
fcis-27189	96	28	chasing	chasing	NOUN
fcis-27189	96	29	,	,	PUNCT
fcis-27189	96	30	and	and	CCONJ
fcis-27189	96	31	obstacle	obstacle	VERB
fcis-27189	96	32	avoidance	avoidance	NOUN
fcis-27189	96	33	.	.	PUNCT
fcis-27189	97	1	each	each	DET
fcis-27189	97	2	module	module	NOUN
fcis-27189	97	3	employs	employ	VERB
fcis-27189	97	4	precise	precise	ADJ
fcis-27189	97	5	mathematical	mathematical	ADJ
fcis-27189	97	6	calculations	calculation	NOUN
fcis-27189	97	7	and	and	CCONJ
fcis-27189	97	8	reasonable	reasonable	ADJ
fcis-27189	97	9	motion	motion	NOUN
fcis-27189	97	10	control	control	NOUN
fcis-27189	97	11	logic	logic	NOUN
fcis-27189	97	12	to	to	PART
fcis-27189	97	13	enable	enable	VERB
fcis-27189	97	14	the	the	DET
fcis-27189	97	15	robot	robot	NOUN
fcis-27189	97	16	to	to	PART
fcis-27189	97	17	autonomously	autonomously	ADV
fcis-27189	97	18	complete	complete	VERB
fcis-27189	97	19	target	target	NOUN
fcis-27189	97	20	positioning	positioning	NOUN
fcis-27189	97	21	and	and	CCONJ
fcis-27189	97	22	movement	movement	NOUN
fcis-27189	97	23	on	on	ADP
fcis-27189	97	24	the	the	DET
fcis-27189	97	25	field	field	NOUN
fcis-27189	97	26	.	.	PUNCT
fcis-27189	98	1	the	the	DET
fcis-27189	98	2	following	follow	VERB
fcis-27189	98	3	outlines	outline	VERB
fcis-27189	98	4	the	the	DET
fcis-27189	98	5	implementation	implementation	NOUN
fcis-27189	98	6	process	process	NOUN
fcis-27189	98	7	of	of	ADP
fcis-27189	98	8	key	key	ADJ
fcis-27189	98	9	algorithms	algorithm	NOUN
fcis-27189	98	10	.	.	PUNCT
fcis-27189	99	1	4.3.1	4.3.1	X
fcis-27189	99	2	.	.	PUNCT
fcis-27189	100	1	angle	angle	NOUN
fcis-27189	100	2	adjustment	adjustment	NOUN
fcis-27189	100	3	function	function	VERB
fcis-27189	100	4	the	the	DET
fcis-27189	100	5	angle	angle	NOUN
fcis-27189	100	6	function	function	NOUN
fcis-27189	100	7	is	be	AUX
fcis-27189	100	8	key	key	ADJ
fcis-27189	100	9	to	to	ADP
fcis-27189	100	10	controlling	control	VERB
fcis-27189	100	11	the	the	DET
fcis-27189	100	12	robot	robot	NOUN
fcis-27189	100	13	's	's	PART
fcis-27189	100	14	precise	precise	ADJ
fcis-27189	100	15	turning	turning	NOUN
fcis-27189	100	16	.	.	PUNCT
fcis-27189	101	1	its	its	PRON
fcis-27189	101	2	primary	primary	ADJ
fcis-27189	101	3	task	task	NOUN
fcis-27189	101	4	is	be	AUX
fcis-27189	101	5	to	to	PART
fcis-27189	101	6	calculate	calculate	VERB
fcis-27189	101	7	the	the	DET
fcis-27189	101	8	appropriate	appropriate	ADJ
fcis-27189	101	9	left	left	ADJ
fcis-27189	101	10	and	and	CCONJ
fcis-27189	101	11	right	right	ADJ
fcis-27189	101	12	wheel	wheel	NOUN
fcis-27189	101	13	speeds	speed	NOUN
fcis-27189	101	14	for	for	ADP
fcis-27189	101	15	steering	steering	NOUN
fcis-27189	101	16	adjustments	adjustment	NOUN
fcis-27189	101	17	based	base	VERB
fcis-27189	101	18	on	on	ADP
fcis-27189	101	19	the	the	DET
fcis-27189	101	20	angle	angle	NOUN
fcis-27189	101	21	difference	difference	NOUN
fcis-27189	101	22	between	between	ADP
fcis-27189	101	23	the	the	DET
fcis-27189	101	24	robot	robot	NOUN
fcis-27189	101	25	’s	’s	PART
fcis-27189	101	26	current	current	ADJ
fcis-27189	101	27	orientation	orientation	NOUN
fcis-27189	101	28	and	and	CCONJ
fcis-27189	101	29	the	the	DET
fcis-27189	101	30	target	target	NOUN
fcis-27189	101	31	point	point	NOUN
fcis-27189	101	32	.	.	PUNCT
fcis-27189	102	1	first	first	ADV
fcis-27189	102	2	,	,	PUNCT
fcis-27189	102	3	the	the	DET
fcis-27189	102	4	difference	difference	NOUN
fcis-27189	102	5	between	between	ADP
fcis-27189	102	6	the	the	DET
fcis-27189	102	7	target	target	NOUN
fcis-27189	102	8	angle	angle	NOUN
fcis-27189	102	9	and	and	CCONJ
fcis-27189	102	10	the	the	DET
fcis-27189	102	11	current	current	ADJ
fcis-27189	102	12	angle	angle	NOUN
fcis-27189	102	13	is	be	AUX
fcis-27189	102	14	calculated	calculate	VERB
fcis-27189	102	15	and	and	CCONJ
fcis-27189	102	16	constrained	constrain	VERB
fcis-27189	102	17	to	to	ADP
fcis-27189	102	18	the	the	DET
fcis-27189	102	19	range	range	NOUN
fcis-27189	102	20	of	of	ADP
fcis-27189	102	21	[	[	X
fcis-27189	102	22	-180	-180	PROPN
fcis-27189	102	23	,	,	PUNCT
fcis-27189	102	24	180	180	NUM
fcis-27189	102	25	]	]	PUNCT
fcis-27189	102	26	.	.	PUNCT
fcis-27189	103	1	then	then	ADV
fcis-27189	103	2	,	,	PUNCT
fcis-27189	103	3	the	the	DET
fcis-27189	103	4	rotation	rotation	NOUN
fcis-27189	103	5	direction	direction	NOUN
fcis-27189	103	6	and	and	CCONJ
fcis-27189	103	7	speed	speed	NOUN
fcis-27189	103	8	are	be	AUX
fcis-27189	103	9	determined	determine	VERB
fcis-27189	103	10	based	base	VERB
fcis-27189	103	11	on	on	ADP
fcis-27189	103	12	this	this	DET
fcis-27189	103	13	angle	angle	NOUN
fcis-27189	103	14	difference	difference	NOUN
fcis-27189	103	15	.	.	PUNCT
fcis-27189	104	1	specifically	specifically	ADV
fcis-27189	104	2	,	,	PUNCT
fcis-27189	104	3	when	when	SCONJ
fcis-27189	104	4	the	the	DET
fcis-27189	104	5	angle	angle	NOUN
fcis-27189	104	6	difference	difference	NOUN
fcis-27189	104	7	is	be	AUX
fcis-27189	104	8	large	large	ADJ
fcis-27189	104	9	,	,	PUNCT
fcis-27189	104	10	the	the	DET
fcis-27189	104	11	robot	robot	NOUN
fcis-27189	104	12	will	will	AUX
fcis-27189	104	13	rotate	rotate	VERB
fcis-27189	104	14	faster	fast	ADV
fcis-27189	104	15	,	,	PUNCT
fcis-27189	104	16	while	while	SCONJ
fcis-27189	104	17	when	when	SCONJ
fcis-27189	104	18	the	the	DET
fcis-27189	104	19	angle	angle	NOUN
fcis-27189	104	20	difference	difference	NOUN
fcis-27189	104	21	is	be	AUX
fcis-27189	104	22	small	small	ADJ
fcis-27189	104	23	,	,	PUNCT
fcis-27189	104	24	the	the	DET
fcis-27189	104	25	rotation	rotation	NOUN
fcis-27189	104	26	speed	speed	NOUN
fcis-27189	104	27	will	will	AUX
fcis-27189	104	28	slow	slow	VERB
fcis-27189	104	29	down	down	ADP
fcis-27189	104	30	to	to	PART
fcis-27189	104	31	avoid	avoid	VERB
fcis-27189	104	32	over	over	ADP
fcis-27189	104	33	-	-	PUNCT
fcis-27189	104	34	correction	correction	NOUN
fcis-27189	104	35	.	.	PUNCT
fcis-27189	105	1	the	the	DET
fcis-27189	105	2	key	key	ADJ
fcis-27189	105	3	angle	angle	NOUN
fcis-27189	105	4	adjustment	adjustment	NOUN
fcis-27189	105	5	process	process	NOUN
fcis-27189	105	6	is	be	AUX
fcis-27189	105	7	as	as	SCONJ
fcis-27189	105	8	follows	follow	VERB
fcis-27189	105	9	:	:	PUNCT
fcis-27189	105	10	1	1	X
fcis-27189	105	11	.	.	X
fcis-27189	105	12	calculate	calculate	VERB
fcis-27189	105	13	the	the	DET
fcis-27189	105	14	difference	difference	NOUN
fcis-27189	105	15	between	between	ADP
fcis-27189	105	16	the	the	DET
fcis-27189	105	17	target	target	NOUN
fcis-27189	105	18	angle	angle	NOUN
fcis-27189	105	19	and	and	CCONJ
fcis-27189	105	20	the	the	DET
fcis-27189	105	21	current	current	ADJ
fcis-27189	105	22	angle	angle	NOUN
fcis-27189	105	23	.	.	PUNCT
fcis-27189	106	1	2	2	X
fcis-27189	106	2	.	.	X
fcis-27189	106	3	adjust	adjust	VERB
fcis-27189	106	4	the	the	DET
fcis-27189	106	5	angle	angle	NOUN
fcis-27189	106	6	difference	difference	NOUN
fcis-27189	106	7	to	to	ADP
fcis-27189	106	8	the	the	DET
fcis-27189	106	9	range	range	NOUN
fcis-27189	106	10	of	of	ADP
fcis-27189	106	11	[	[	X
fcis-27189	106	12	-180	-180	PROPN
fcis-27189	106	13	,	,	PUNCT
fcis-27189	106	14	180	180	NUM
fcis-27189	106	15	]	]	PUNCT
fcis-27189	106	16	.	.	PUNCT
fcis-27189	107	1	3	3	X
fcis-27189	107	2	.	.	X
fcis-27189	107	3	adjust	adjust	VERB
fcis-27189	107	4	the	the	DET
fcis-27189	107	5	left	left	ADJ
fcis-27189	107	6	and	and	CCONJ
fcis-27189	107	7	right	right	ADJ
fcis-27189	107	8	wheel	wheel	NOUN
fcis-27189	107	9	speeds	speed	NOUN
fcis-27189	107	10	based	base	VERB
fcis-27189	107	11	on	on	ADP
fcis-27189	107	12	the	the	DET
fcis-27189	107	13	angle	angle	NOUN
fcis-27189	107	14	difference	difference	NOUN
fcis-27189	107	15	.	.	PUNCT
fcis-27189	108	1	the	the	DET
fcis-27189	108	2	core	core	NOUN
fcis-27189	108	3	code	code	NOUN
fcis-27189	108	4	is	be	AUX
fcis-27189	108	5	as	as	SCONJ
fcis-27189	108	6	follows	follow	VERB
fcis-27189	108	7	:	:	PUNCT
fcis-27189	108	8	theta_e	theta_e	X
fcis-27189	109	1	=	=	SYM
fcis-27189	109	2	desired_angle	desired_angle	PROPN
fcis-27189	109	3	(	(	PUNCT
fcis-27189	109	4	int)robot->rotation	int)robot->rotation	NOUN
fcis-27189	109	5	;	;	PUNCT
fcis-27189	109	6	37	37	NUM
fcis-27189	109	7	while	while	SCONJ
fcis-27189	109	8	(	(	PUNCT
fcis-27189	109	9	theta_e	theta_e	X
fcis-27189	109	10	>	>	X
fcis-27189	109	11	180	180	NUM
fcis-27189	109	12	)	)	PUNCT
fcis-27189	109	13	theta_e	theta_e	X
fcis-27189	109	14	-=	-=	VERB
fcis-27189	109	15	360	360	NUM
fcis-27189	109	16	;	;	PUNCT
fcis-27189	109	17	while	while	SCONJ
fcis-27189	109	18	(	(	PUNCT
fcis-27189	109	19	theta_e	theta_e	X
fcis-27189	109	20	<	<	X
fcis-27189	109	21	-180	-180	PROPN
fcis-27189	109	22	)	)	PUNCT
fcis-27189	109	23	theta_e	theta_e	X
fcis-27189	110	1	+	+	PUNCT
fcis-27189	110	2	=	=	SYM
fcis-27189	110	3	360	360	NUM
fcis-27189	110	4	;	;	PUNCT
fcis-27189	110	5	if	if	SCONJ
fcis-27189	110	6	(	(	PUNCT
fcis-27189	110	7	theta_e	theta_e	X
fcis-27189	110	8	<	<	X
fcis-27189	110	9	-90	-90	NUM
fcis-27189	110	10	)	)	PUNCT
fcis-27189	110	11	theta_e	theta_e	X
fcis-27189	111	1	+	+	X
fcis-27189	111	2	=	=	SYM
fcis-27189	111	3	180	180	NUM
fcis-27189	111	4	;	;	PUNCT
fcis-27189	111	5	else	else	ADV
fcis-27189	111	6	if	if	SCONJ
fcis-27189	111	7	(	(	PUNCT
fcis-27189	111	8	theta_e	theta_e	X
fcis-27189	111	9	>	>	X
fcis-27189	111	10	90	90	NUM
fcis-27189	111	11	)	)	PUNCT
fcis-27189	111	12	theta_e	theta_e	PRON
fcis-27189	111	13	-=	-=	VERB
fcis-27189	111	14	180	180	NUM
fcis-27189	111	15	;	;	PUNCT
fcis-27189	111	16	if	if	SCONJ
fcis-27189	111	17	(	(	PUNCT
fcis-27189	111	18	abs(theta_e	abs(theta_e	PROPN
fcis-27189	111	19	)	)	PUNCT
fcis-27189	111	20	>	>	X
fcis-27189	112	1	50	50	NUM
fcis-27189	112	2	)	)	PUNCT
fcis-27189	112	3	{	{	PUNCT
fcis-27189	113	1	vl	vl	NOUN
fcis-27189	113	2	=	=	PUNCT
fcis-27189	113	3	(	(	PUNCT
fcis-27189	113	4	int)(-9./90.0	int)(-9./90.0	PROPN
fcis-27189	113	5	*	*	PUNCT
fcis-27189	113	6	(	(	PUNCT
fcis-27189	113	7	double)theta_e	double)theta_e	PROPN
fcis-27189	113	8	)	)	PUNCT
fcis-27189	113	9	;	;	PUNCT
fcis-27189	113	10	vr	vr	PROPN
fcis-27189	113	11	=	=	PUNCT
fcis-27189	113	12	(	(	PUNCT
fcis-27189	113	13	int)(9./90.0	int)(9./90.0	PROPN
fcis-27189	113	14	*	*	PUNCT
fcis-27189	113	15	(	(	PUNCT
fcis-27189	113	16	double)theta_e	double)theta_e	PROPN
fcis-27189	113	17	)	)	PUNCT
fcis-27189	113	18	;	;	PUNCT
fcis-27189	113	19	}	}	PUNCT
fcis-27189	113	20	else	else	ADV
fcis-27189	113	21	if	if	SCONJ
fcis-27189	113	22	(	(	PUNCT
fcis-27189	113	23	abs(theta_e	abs(theta_e	PROPN
fcis-27189	113	24	)	)	PUNCT
fcis-27189	113	25	>	>	X
fcis-27189	113	26	20	20	NUM
fcis-27189	113	27	)	)	PUNCT
fcis-27189	113	28	{	{	PUNCT
fcis-27189	113	29	vl	vl	NOUN
fcis-27189	113	30	=	=	PUNCT
fcis-27189	113	31	(	(	PUNCT
fcis-27189	113	32	int)(-11.0/90.0	int)(-11.0/90.0	NOUN
fcis-27189	113	33	*	*	PUNCT
fcis-27189	113	34	(	(	PUNCT
fcis-27189	113	35	double)theta_e	double)theta_e	PROPN
fcis-27189	113	36	)	)	PUNCT
fcis-27189	113	37	;	;	PUNCT
fcis-27189	113	38	vr	vr	PROPN
fcis-27189	113	39	=	=	PUNCT
fcis-27189	113	40	(	(	PUNCT
fcis-27189	113	41	int)(11.0/90.0	int)(11.0/90.0	NOUN
fcis-27189	113	42	*	*	PUNCT
fcis-27189	113	43	(	(	PUNCT
fcis-27189	113	44	double)theta_e	double)theta_e	PROPN
fcis-27189	113	45	)	)	PUNCT
fcis-27189	113	46	;	;	PUNCT
fcis-27189	113	47	}	}	PUNCT
fcis-27189	113	48	velocity(robot	velocity(robot	PROPN
fcis-27189	113	49	,	,	PUNCT
fcis-27189	113	50	vl	vl	PROPN
fcis-27189	113	51	,	,	PUNCT
fcis-27189	113	52	vr	vr	NOUN
fcis-27189	113	53	)	)	PUNCT
fcis-27189	113	54	;	;	PUNCT
fcis-27189	113	55	4.3.2	4.3.2	X
fcis-27189	113	56	.	.	X
fcis-27189	113	57	car	car	NOUN
fcis-27189	113	58	localization	localization	NOUN
fcis-27189	113	59	function	function	VERB
fcis-27189	113	60	the	the	DET
fcis-27189	113	61	localization	localization	NOUN
fcis-27189	113	62	function	function	NOUN
fcis-27189	113	63	of	of	ADP
fcis-27189	113	64	the	the	DET
fcis-27189	113	65	robot	robot	NOUN
fcis-27189	113	66	is	be	AUX
fcis-27189	113	67	fundamental	fundamental	ADJ
fcis-27189	113	68	to	to	ADP
fcis-27189	113	69	its	its	PRON
fcis-27189	113	70	motion	motion	NOUN
fcis-27189	113	71	control	control	NOUN
fcis-27189	113	72	.	.	PUNCT
fcis-27189	114	1	the	the	DET
fcis-27189	114	2	localization	localization	NOUN
fcis-27189	114	3	process	process	NOUN
fcis-27189	114	4	consists	consist	VERB
fcis-27189	114	5	of	of	ADP
fcis-27189	114	6	two	two	NUM
fcis-27189	114	7	parts	part	NOUN
fcis-27189	114	8	:	:	PUNCT
fcis-27189	114	9	first	first	ADV
fcis-27189	114	10	,	,	PUNCT
fcis-27189	114	11	the	the	DET
fcis-27189	114	12	robot	robot	NOUN
fcis-27189	114	13	must	must	AUX
fcis-27189	114	14	adjust	adjust	VERB
fcis-27189	114	15	its	its	PRON
fcis-27189	114	16	direction	direction	NOUN
fcis-27189	114	17	to	to	PART
fcis-27189	114	18	face	face	VERB
fcis-27189	114	19	the	the	DET
fcis-27189	114	20	target	target	NOUN
fcis-27189	114	21	point	point	NOUN
fcis-27189	114	22	,	,	PUNCT
fcis-27189	114	23	then	then	ADV
fcis-27189	114	24	move	move	VERB
fcis-27189	114	25	in	in	ADP
fcis-27189	114	26	a	a	DET
fcis-27189	114	27	straight	straight	ADJ
fcis-27189	114	28	line	line	NOUN
fcis-27189	114	29	towards	towards	ADP
fcis-27189	114	30	the	the	DET
fcis-27189	114	31	target	target	NOUN
fcis-27189	114	32	.	.	PUNCT
fcis-27189	115	1	the	the	DET
fcis-27189	115	2	key	key	NOUN
fcis-27189	115	3	to	to	ADP
fcis-27189	115	4	this	this	DET
fcis-27189	115	5	process	process	NOUN
fcis-27189	115	6	is	be	AUX
fcis-27189	115	7	calculating	calculate	VERB
fcis-27189	115	8	the	the	DET
fcis-27189	115	9	distance	distance	NOUN
fcis-27189	115	10	and	and	CCONJ
fcis-27189	115	11	the	the	DET
fcis-27189	115	12	direction	direction	NOUN
fcis-27189	115	13	angle	angle	NOUN
fcis-27189	115	14	between	between	ADP
fcis-27189	115	15	the	the	DET
fcis-27189	115	16	robot	robot	NOUN
fcis-27189	115	17	and	and	CCONJ
fcis-27189	115	18	the	the	DET
fcis-27189	115	19	target	target	NOUN
fcis-27189	115	20	,	,	PUNCT
fcis-27189	115	21	and	and	CCONJ
fcis-27189	115	22	adjusting	adjust	VERB
fcis-27189	115	23	the	the	DET
fcis-27189	115	24	movement	movement	NOUN
fcis-27189	115	25	speed	speed	NOUN
fcis-27189	115	26	based	base	VERB
fcis-27189	115	27	on	on	ADP
fcis-27189	115	28	these	these	DET
fcis-27189	115	29	parameters	parameter	NOUN
fcis-27189	115	30	.	.	PUNCT
fcis-27189	116	1	to	to	PART
fcis-27189	116	2	ensure	ensure	VERB
fcis-27189	116	3	the	the	DET
fcis-27189	116	4	robot	robot	NOUN
fcis-27189	116	5	reaches	reach	VERB
fcis-27189	116	6	the	the	DET
fcis-27189	116	7	target	target	NOUN
fcis-27189	116	8	point	point	NOUN
fcis-27189	116	9	accurately	accurately	ADV
fcis-27189	116	10	,	,	PUNCT
fcis-27189	116	11	the	the	DET
fcis-27189	116	12	angle	angle	NOUN
fcis-27189	116	13	difference	difference	NOUN
fcis-27189	116	14	between	between	ADP
fcis-27189	116	15	the	the	DET
fcis-27189	116	16	target	target	NOUN
fcis-27189	116	17	direction	direction	NOUN
fcis-27189	116	18	and	and	CCONJ
fcis-27189	116	19	the	the	DET
fcis-27189	116	20	robot	robot	NOUN
fcis-27189	116	21	’s	’s	PART
fcis-27189	116	22	current	current	ADJ
fcis-27189	116	23	orientation	orientation	NOUN
fcis-27189	116	24	is	be	AUX
fcis-27189	116	25	calculated	calculate	VERB
fcis-27189	116	26	to	to	PART
fcis-27189	116	27	determine	determine	VERB
fcis-27189	116	28	the	the	DET
fcis-27189	116	29	rotation	rotation	NOUN
fcis-27189	116	30	angle	angle	NOUN
fcis-27189	116	31	.	.	PUNCT
fcis-27189	117	1	as	as	SCONJ
fcis-27189	117	2	the	the	DET
fcis-27189	117	3	robot	robot	NOUN
fcis-27189	117	4	approaches	approach	VERB
fcis-27189	117	5	the	the	DET
fcis-27189	117	6	target	target	NOUN
fcis-27189	117	7	point	point	NOUN
fcis-27189	117	8	,	,	PUNCT
fcis-27189	117	9	its	its	PRON
fcis-27189	117	10	speed	speed	NOUN
fcis-27189	117	11	gradually	gradually	ADV
fcis-27189	117	12	decreases	decrease	VERB
fcis-27189	117	13	to	to	PART
fcis-27189	117	14	improve	improve	VERB
fcis-27189	117	15	precision	precision	NOUN
fcis-27189	117	16	.	.	PUNCT
fcis-27189	118	1	the	the	DET
fcis-27189	118	2	exp	exp	NOUN
fcis-27189	118	3	function	function	NOUN
fcis-27189	118	4	is	be	AUX
fcis-27189	118	5	used	use	VERB
fcis-27189	118	6	for	for	ADP
fcis-27189	118	7	a	a	DET
fcis-27189	118	8	smooth	smooth	ADJ
fcis-27189	118	9	transition	transition	NOUN
fcis-27189	118	10	,	,	PUNCT
fcis-27189	118	11	avoiding	avoid	VERB
fcis-27189	118	12	sudden	sudden	ADJ
fcis-27189	118	13	speed	speed	NOUN
fcis-27189	118	14	changes	change	NOUN
fcis-27189	118	15	that	that	PRON
fcis-27189	118	16	could	could	AUX
fcis-27189	118	17	cause	cause	VERB
fcis-27189	118	18	instability	instability	NOUN
fcis-27189	118	19	in	in	ADP
fcis-27189	118	20	the	the	DET
fcis-27189	118	21	movement	movement	NOUN
fcis-27189	118	22	.	.	PUNCT
fcis-27189	119	1	the	the	DET
fcis-27189	119	2	core	core	NOUN
fcis-27189	119	3	algorithm	algorithm	NOUN
fcis-27189	119	4	is	be	AUX
fcis-27189	119	5	as	as	SCONJ
fcis-27189	119	6	follows	follow	VERB
fcis-27189	119	7	:	:	PUNCT
fcis-27189	119	8	1.calculate	1.calculate	NUM
fcis-27189	119	9	the	the	DET
fcis-27189	119	10	distance	distance	NOUN
fcis-27189	119	11	and	and	CCONJ
fcis-27189	119	12	angle	angle	NOUN
fcis-27189	119	13	between	between	ADP
fcis-27189	119	14	the	the	DET
fcis-27189	119	15	target	target	NOUN
fcis-27189	119	16	point	point	NOUN
fcis-27189	119	17	and	and	CCONJ
fcis-27189	119	18	the	the	DET
fcis-27189	119	19	robot	robot	NOUN
fcis-27189	119	20	’s	’s	PART
fcis-27189	119	21	current	current	ADJ
fcis-27189	119	22	position	position	NOUN
fcis-27189	119	23	.	.	PUNCT
fcis-27189	120	1	2.adjust	2.adjust	NUM
fcis-27189	120	2	the	the	DET
fcis-27189	120	3	steering	steering	NOUN
fcis-27189	120	4	based	base	VERB
fcis-27189	120	5	on	on	ADP
fcis-27189	120	6	the	the	DET
fcis-27189	120	7	angle	angle	NOUN
fcis-27189	120	8	difference	difference	NOUN
fcis-27189	120	9	.	.	PUNCT
fcis-27189	121	1	3.adjust	3.adjust	NUM
fcis-27189	121	2	the	the	DET
fcis-27189	121	3	forward	forward	ADJ
fcis-27189	121	4	speed	speed	NOUN
fcis-27189	121	5	based	base	VERB
fcis-27189	121	6	on	on	ADP
fcis-27189	121	7	the	the	DET
fcis-27189	121	8	distance	distance	NOUN
fcis-27189	121	9	.	.	PUNCT
fcis-27189	122	1	d_e	d_e	X
fcis-27189	123	1	=	=	PROPN
fcis-27189	123	2	sqrt(dx	sqrt(dx	NOUN
fcis-27189	123	3	*	*	PUNCT
fcis-27189	123	4	dx	dx	PROPN
fcis-27189	124	1	+	+	X
fcis-27189	124	2	dy	dy	NOUN
fcis-27189	124	3	*	*	PUNCT
fcis-27189	124	4	dy	dy	NOUN
fcis-27189	124	5	)	)	PUNCT
fcis-27189	124	6	;	;	PUNCT
fcis-27189	125	1	desired_angle	desired_angle	PROPN
fcis-27189	125	2	=	=	SYM
fcis-27189	125	3	(	(	PUNCT
fcis-27189	125	4	int)(180	int)(180	PROPN
fcis-27189	125	5	.	.	PUNCT
fcis-27189	125	6	/	/	SYM
fcis-27189	126	1	pi	pi	NOUN
fcis-27189	126	2	*	*	PUNCT
fcis-27189	126	3	atan2(dy	atan2(dy	PROPN
fcis-27189	126	4	,	,	PUNCT
fcis-27189	126	5	dx));theta_e	dx));theta_e	NOUN
fcis-27189	126	6	=	=	SYM
fcis-27189	126	7	desired_angle	desired_angle	PROPN
fcis-27189	126	8	(	(	PUNCT
fcis-27189	126	9	int)robot->rotation	int)robot->rotation	NOUN
fcis-27189	126	10	;	;	PUNCT
fcis-27189	126	11	while	while	SCONJ
fcis-27189	126	12	(	(	PUNCT
fcis-27189	126	13	theta_e	theta_e	X
fcis-27189	126	14	>	>	X
fcis-27189	126	15	180	180	NUM
fcis-27189	126	16	)	)	PUNCT
fcis-27189	126	17	theta_e	theta_e	X
fcis-27189	126	18	-=	-=	VERB
fcis-27189	126	19	360	360	NUM
fcis-27189	126	20	;	;	PUNCT
fcis-27189	126	21	while	while	SCONJ
fcis-27189	126	22	(	(	PUNCT
fcis-27189	126	23	theta_e	theta_e	X
fcis-27189	126	24	<	<	X
fcis-27189	126	25	-180	-180	PROPN
fcis-27189	126	26	)	)	PUNCT
fcis-27189	126	27	theta_e	theta_e	X
fcis-27189	127	1	+	+	PUNCT
fcis-27189	127	2	=	=	SYM
fcis-27189	127	3	360	360	NUM
fcis-27189	127	4	;	;	PUNCT
fcis-27189	127	5	if	if	SCONJ
fcis-27189	127	6	(	(	PUNCT
fcis-27189	127	7	d_e	d_e	PROPN
fcis-27189	127	8	>	>	X
fcis-27189	127	9	100	100	NUM
fcis-27189	127	10	.	.	PUNCT
fcis-27189	127	11	)	)	PUNCT
fcis-27189	127	12	ka	ka	PROPN
fcis-27189	127	13	=	=	NOUN
fcis-27189	127	14	17	17	NUM
fcis-27189	127	15	.	.	PUNCT
fcis-27189	127	16	/	/	SYM
fcis-27189	128	1	90	90	NUM
fcis-27189	128	2	.	.	PUNCT
fcis-27189	128	3	;	;	PUNCT
fcis-27189	128	4	else	else	ADV
fcis-27189	128	5	if	if	SCONJ
fcis-27189	128	6	(	(	PUNCT
fcis-27189	128	7	d_e	d_e	PROPN
fcis-27189	128	8	>	>	X
fcis-27189	128	9	50	50	NUM
fcis-27189	128	10	)	)	PUNCT
fcis-27189	128	11	ka	ka	NOUN
fcis-27189	129	1	=	=	NOUN
fcis-27189	129	2	19	19	NUM
fcis-27189	129	3	.	.	PUNCT
fcis-27189	129	4	/	/	SYM
fcis-27189	130	1	90	90	NUM
fcis-27189	130	2	.	.	PUNCT
fcis-27189	130	3	;	;	PUNCT
fcis-27189	130	4	else	else	ADV
fcis-27189	130	5	ka	ka	PROPN
fcis-27189	131	1	=	=	PROPN
fcis-27189	131	2	25	25	NUM
fcis-27189	131	3	.	.	PUNCT
fcis-27189	131	4	/	/	SYM
fcis-27189	132	1	90	90	NUM
fcis-27189	132	2	.	.	PUNCT
fcis-27189	132	3	;	;	PUNCT
fcis-27189	132	4	if	if	SCONJ
fcis-27189	132	5	(	(	PUNCT
fcis-27189	132	6	theta_e	theta_e	X
fcis-27189	132	7	>	>	X
fcis-27189	132	8	95	95	NUM
fcis-27189	132	9	||	||	NOUN
fcis-27189	132	10	theta_e	theta_e	X
fcis-27189	132	11	<	<	X
fcis-27189	132	12	-95	-95	PROPN
fcis-27189	132	13	)	)	PUNCT
fcis-27189	132	14	{	{	PUNCT
fcis-27189	132	15	theta_e	theta_e	X
fcis-27189	133	1	+	+	X
fcis-27189	133	2	=	=	SYM
fcis-27189	133	3	180	180	NUM
fcis-27189	133	4	;	;	PUNCT
fcis-27189	133	5	vr	vr	NOUN
fcis-27189	133	6	=	=	PUNCT
fcis-27189	133	7	(	(	PUNCT
fcis-27189	133	8	int)(-vc	int)(-vc	X
fcis-27189	133	9	*	*	PUNCT
fcis-27189	133	10	(	(	PUNCT
fcis-27189	133	11	1.0	1.0	NUM
fcis-27189	133	12	/	/	SYM
fcis-27189	133	13	(	(	PUNCT
fcis-27189	133	14	1.0	1.0	NUM
fcis-27189	133	15	+	+	NUM
fcis-27189	133	16	exp(-3.0	exp(-3.0	NOUN
fcis-27189	133	17	*	*	PUNCT
fcis-27189	133	18	d_e	d_e	PROPN
fcis-27189	133	19	)	)	PUNCT
fcis-27189	133	20	)	)	PUNCT
fcis-27189	133	21	0.3	0.3	NUM
fcis-27189	133	22	)	)	PUNCT
fcis-27189	134	1	+	+	CCONJ
fcis-27189	134	2	ka	ka	X
fcis-27189	134	3	*	*	PUNCT
fcis-27189	134	4	theta_e	theta_e	X
fcis-27189	134	5	)	)	PUNCT
fcis-27189	134	6	;	;	PUNCT
fcis-27189	135	1	vl	vl	PROPN
fcis-27189	135	2	=	=	SYM
fcis-27189	135	3	(	(	PUNCT
fcis-27189	135	4	int)(-vc	int)(-vc	X
fcis-27189	135	5	*	*	PUNCT
fcis-27189	135	6	(	(	PUNCT
fcis-27189	135	7	1.0	1.0	NUM
fcis-27189	135	8	/	/	SYM
fcis-27189	135	9	(	(	PUNCT
fcis-27189	135	10	1.0	1.0	NUM
fcis-27189	135	11	+	+	NUM
fcis-27189	135	12	exp(-3.0	exp(-3.0	NOUN
fcis-27189	135	13	*	*	PUNCT
fcis-27189	135	14	d_e	d_e	PROPN
fcis-27189	135	15	)	)	PUNCT
fcis-27189	135	16	)	)	PUNCT
fcis-27189	135	17	0.3	0.3	NUM
fcis-27189	135	18	)	)	PUNCT
fcis-27189	135	19	ka	ka	PROPN
fcis-27189	135	20	*	*	PUNCT
fcis-27189	135	21	theta_e	theta_e	X
fcis-27189	135	22	)	)	PUNCT
fcis-27189	135	23	;	;	PUNCT
fcis-27189	135	24	}	}	PUNCT
fcis-27189	135	25	else	else	ADV
fcis-27189	135	26	{	{	PUNCT
fcis-27189	135	27	vr	vr	NOUN
fcis-27189	135	28	=	=	PUNCT
fcis-27189	135	29	(	(	PUNCT
fcis-27189	135	30	int)(vc	int)(vc	X
fcis-27189	135	31	*	*	PUNCT
fcis-27189	135	32	(	(	PUNCT
fcis-27189	135	33	1.0	1.0	NUM
fcis-27189	135	34	/	/	SYM
fcis-27189	135	35	(	(	PUNCT
fcis-27189	135	36	1.0	1.0	NUM
fcis-27189	135	37	+	+	NUM
fcis-27189	135	38	exp(-3.0	exp(-3.0	NOUN
fcis-27189	135	39	*	*	PUNCT
fcis-27189	135	40	d_e	d_e	PROPN
fcis-27189	135	41	)	)	PUNCT
fcis-27189	135	42	)	)	PUNCT
fcis-27189	135	43	0.3	0.3	NUM
fcis-27189	135	44	)	)	PUNCT
fcis-27189	136	1	+	+	CCONJ
fcis-27189	136	2	ka	ka	X
fcis-27189	136	3	*	*	PUNCT
fcis-27189	136	4	theta_e	theta_e	X
fcis-27189	136	5	)	)	PUNCT
fcis-27189	136	6	;	;	PUNCT
fcis-27189	137	1	vl	vl	PROPN
fcis-27189	137	2	=	=	PUNCT
fcis-27189	137	3	(	(	PUNCT
fcis-27189	137	4	int)(vc	int)(vc	X
fcis-27189	137	5	*	*	PUNCT
fcis-27189	137	6	(	(	PUNCT
fcis-27189	137	7	1.0	1.0	NUM
fcis-27189	137	8	/	/	SYM
fcis-27189	137	9	(	(	PUNCT
fcis-27189	137	10	1.0	1.0	NUM
fcis-27189	137	11	+	+	NUM
fcis-27189	137	12	exp(-3.0	exp(-3.0	NOUN
fcis-27189	137	13	*	*	PUNCT
fcis-27189	137	14	d_e	d_e	PROPN
fcis-27189	137	15	)	)	PUNCT
fcis-27189	137	16	)	)	PUNCT
fcis-27189	137	17	0.3	0.3	NUM
fcis-27189	137	18	)	)	PUNCT
fcis-27189	137	19	ka	ka	PROPN
fcis-27189	137	20	*	*	PUNCT
fcis-27189	137	21	theta_e	theta_e	X
fcis-27189	137	22	)	)	PUNCT
fcis-27189	137	23	;	;	PUNCT
fcis-27189	137	24	}	}	PUNCT
fcis-27189	137	25	velocity(robot	velocity(robot	PROPN
fcis-27189	137	26	,	,	PUNCT
fcis-27189	137	27	vl	vl	PROPN
fcis-27189	137	28	,	,	PUNCT
fcis-27189	137	29	vr	vr	NOUN
fcis-27189	137	30	)	)	PUNCT
fcis-27189	137	31	;	;	PUNCT
fcis-27189	137	32	4.3.3	4.3.3	X
fcis-27189	137	33	.	.	PUNCT
fcis-27189	137	34	car	car	NOUN
fcis-27189	137	35	control	control	NOUN
fcis-27189	137	36	to	to	PART
fcis-27189	137	37	enable	enable	VERB
fcis-27189	137	38	the	the	DET
fcis-27189	137	39	robot	robot	NOUN
fcis-27189	137	40	to	to	PART
fcis-27189	137	41	move	move	VERB
fcis-27189	137	42	around	around	ADP
fcis-27189	137	43	the	the	DET
fcis-27189	137	44	field	field	NOUN
fcis-27189	137	45	,	,	PUNCT
fcis-27189	137	46	it	it	PRON
fcis-27189	137	47	is	be	AUX
fcis-27189	137	48	crucial	crucial	ADJ
fcis-27189	137	49	to	to	PART
fcis-27189	137	50	control	control	VERB
fcis-27189	137	51	the	the	DET
fcis-27189	137	52	robot	robot	NOUN
fcis-27189	137	53	's	's	PART
fcis-27189	137	54	position	position	NOUN
fcis-27189	137	55	precisely	precisely	ADV
fcis-27189	137	56	.	.	PUNCT
fcis-27189	138	1	by	by	ADP
fcis-27189	138	2	setting	set	VERB
fcis-27189	138	3	a	a	DET
fcis-27189	138	4	series	series	NOUN
fcis-27189	138	5	of	of	ADP
fcis-27189	138	6	coordinate	coordinate	NOUN
fcis-27189	138	7	points	point	NOUN
fcis-27189	138	8	and	and	CCONJ
fcis-27189	138	9	using	use	VERB
fcis-27189	138	10	the	the	DET
fcis-27189	138	11	car	car	NOUN
fcis-27189	138	12	localization	localization	NOUN
fcis-27189	138	13	function	function	NOUN
fcis-27189	138	14	,	,	PUNCT
fcis-27189	138	15	the	the	DET
fcis-27189	138	16	robot	robot	NOUN
fcis-27189	138	17	can	can	AUX
fcis-27189	138	18	be	be	AUX
fcis-27189	138	19	directed	direct	VERB
fcis-27189	138	20	to	to	PART
fcis-27189	138	21	travel	travel	VERB
fcis-27189	138	22	to	to	ADP
fcis-27189	138	23	these	these	DET
fcis-27189	138	24	coordinates	coordinate	NOUN
fcis-27189	138	25	,	,	PUNCT
fcis-27189	138	26	ultimately	ultimately	ADV
fcis-27189	138	27	completing	complete	VERB
fcis-27189	138	28	the	the	DET
fcis-27189	138	29	task	task	NOUN
fcis-27189	138	30	of	of	ADP
fcis-27189	138	31	navigating	navigate	VERB
fcis-27189	138	32	around	around	ADP
fcis-27189	138	33	the	the	DET
fcis-27189	138	34	field	field	NOUN
fcis-27189	138	35	.	.	PUNCT
fcis-27189	139	1	the	the	DET
fcis-27189	139	2	car	car	NOUN
fcis-27189	139	3	's	's	PART
fcis-27189	139	4	control	control	NOUN
fcis-27189	139	5	program	program	NOUN
fcis-27189	139	6	works	work	VERB
fcis-27189	139	7	by	by	ADP
fcis-27189	139	8	continuously	continuously	ADV
fcis-27189	139	9	adjusting	adjust	VERB
fcis-27189	139	10	the	the	DET
fcis-27189	139	11	robot	robot	NOUN
fcis-27189	139	12	’s	’s	PART
fcis-27189	139	13	position	position	NOUN
fcis-27189	139	14	coordinates	coordinate	NOUN
fcis-27189	139	15	.	.	PUNCT
fcis-27189	140	1	by	by	ADP
fcis-27189	140	2	combining	combine	VERB
fcis-27189	140	3	the	the	DET
fcis-27189	140	4	localization	localization	NOUN
fcis-27189	140	5	algorithm	algorithm	NOUN
fcis-27189	140	6	,	,	PUNCT
fcis-27189	140	7	it	it	PRON
fcis-27189	140	8	ensures	ensure	VERB
fcis-27189	140	9	precise	precise	ADJ
fcis-27189	140	10	movement	movement	NOUN
fcis-27189	140	11	from	from	ADP
fcis-27189	140	12	one	one	NUM
fcis-27189	140	13	point	point	NOUN
fcis-27189	140	14	to	to	ADP
fcis-27189	140	15	another	another	PRON
fcis-27189	140	16	.	.	PUNCT
fcis-27189	141	1	below	below	ADV
fcis-27189	141	2	is	be	AUX
fcis-27189	141	3	the	the	DET
fcis-27189	141	4	core	core	NOUN
fcis-27189	141	5	code	code	NOUN
fcis-27189	141	6	for	for	ADP
fcis-27189	141	7	controlling	control	VERB
fcis-27189	141	8	the	the	DET
fcis-27189	141	9	robot	robot	NOUN
fcis-27189	141	10	to	to	PART
fcis-27189	141	11	navigate	navigate	VERB
fcis-27189	141	12	around	around	ADP
fcis-27189	141	13	the	the	DET
fcis-27189	141	14	field	field	NOUN
fcis-27189	141	15	:	:	PUNCT
fcis-27189	141	16	double	double	ADJ
fcis-27189	141	17	x	x	SYM
fcis-27189	141	18	=	=	SYM
fcis-27189	141	19	env->home[1].pos.x	env->home[1].pos.x	NOUN
fcis-27189	141	20	;	;	PUNCT
fcis-27189	141	21	double	double	ADJ
fcis-27189	141	22	y	y	NOUN
fcis-27189	141	23	=	=	PUNCT
fcis-27189	141	24	env->home[1].pos.y	env->home[1].pos.y	NOUN
fcis-27189	141	25	;	;	PUNCT
fcis-27189	141	26	position(&env->home[1	position(&env->home[1	ADJ
fcis-27189	141	27	]	]	X
fcis-27189	141	28	,	,	PUNCT
fcis-27189	141	29	x	x	X
fcis-27189	141	30	,	,	PUNCT
fcis-27189	141	31	16.3	16.3	NUM
fcis-27189	141	32	)	)	PUNCT
fcis-27189	141	33	;	;	PUNCT
fcis-27189	141	34	if	if	SCONJ
fcis-27189	141	35	(	(	PUNCT
fcis-27189	141	36	y	y	NOUN
fcis-27189	141	37	<	<	X
fcis-27189	141	38	=	=	NOUN
fcis-27189	141	39	16.3	16.3	NUM
fcis-27189	141	40	)	)	PUNCT
fcis-27189	141	41	position(&env->home[1	position(&env->home[1	PROPN
fcis-27189	141	42	]	]	X
fcis-27189	141	43	,	,	PUNCT
fcis-27189	141	44	16.8	16.8	NUM
fcis-27189	141	45	,	,	PUNCT
fcis-27189	141	46	6.3	6.3	NUM
fcis-27189	141	47	)	)	PUNCT
fcis-27189	141	48	;	;	PUNCT
fcis-27189	142	1	4.3.4	4.3.4	X
fcis-27189	142	2	.	.	PUNCT
fcis-27189	142	3	car	car	NOUN
fcis-27189	142	4	chasing	chase	VERB
fcis-27189	142	5	the	the	DET
fcis-27189	142	6	ball	ball	NOUN
fcis-27189	142	7	the	the	DET
fcis-27189	142	8	process	process	NOUN
fcis-27189	142	9	of	of	ADP
fcis-27189	142	10	the	the	DET
fcis-27189	142	11	car	car	NOUN
fcis-27189	142	12	chasing	chase	VERB
fcis-27189	142	13	the	the	DET
fcis-27189	142	14	ball	ball	NOUN
fcis-27189	142	15	relies	rely	VERB
fcis-27189	142	16	on	on	ADP
fcis-27189	142	17	dynamic	dynamic	ADJ
fcis-27189	142	18	tracking	tracking	NOUN
fcis-27189	142	19	of	of	ADP
fcis-27189	142	20	the	the	DET
fcis-27189	142	21	ball	ball	NOUN
fcis-27189	142	22	’s	’s	PART
fcis-27189	142	23	position	position	NOUN
fcis-27189	142	24	.	.	PUNCT
fcis-27189	143	1	once	once	SCONJ
fcis-27189	143	2	the	the	DET
fcis-27189	143	3	car	car	NOUN
fcis-27189	143	4	knows	know	VERB
fcis-27189	143	5	the	the	DET
fcis-27189	143	6	position	position	NOUN
fcis-27189	143	7	of	of	ADP
fcis-27189	143	8	the	the	DET
fcis-27189	143	9	ball	ball	NOUN
fcis-27189	143	10	,	,	PUNCT
fcis-27189	143	11	it	it	PRON
fcis-27189	143	12	automatically	automatically	ADV
fcis-27189	143	13	adjusts	adjust	VERB
fcis-27189	143	14	its	its	PRON
fcis-27189	143	15	orientation	orientation	NOUN
fcis-27189	143	16	and	and	CCONJ
fcis-27189	143	17	begins	begin	VERB
fcis-27189	143	18	to	to	PART
fcis-27189	143	19	chase	chase	VERB
fcis-27189	143	20	the	the	DET
fcis-27189	143	21	ball	ball	NOUN
fcis-27189	143	22	.	.	PUNCT
fcis-27189	144	1	this	this	DET
fcis-27189	144	2	process	process	NOUN
fcis-27189	144	3	requires	require	VERB
fcis-27189	144	4	continuously	continuously	ADV
fcis-27189	144	5	updating	update	VERB
fcis-27189	144	6	the	the	DET
fcis-27189	144	7	car	car	NOUN
fcis-27189	144	8	’s	’s	PART
fcis-27189	144	9	position	position	NOUN
fcis-27189	144	10	and	and	CCONJ
fcis-27189	144	11	using	use	VERB
fcis-27189	144	12	the	the	DET
fcis-27189	144	13	localization	localization	NOUN
fcis-27189	144	14	function	function	NOUN
fcis-27189	144	15	to	to	PART
fcis-27189	144	16	follow	follow	VERB
fcis-27189	144	17	the	the	DET
fcis-27189	144	18	ball	ball	NOUN
fcis-27189	144	19	.	.	PUNCT
fcis-27189	145	1	the	the	DET
fcis-27189	145	2	core	core	NOUN
fcis-27189	145	3	code	code	NOUN
fcis-27189	145	4	is	be	AUX
fcis-27189	145	5	as	as	SCONJ
fcis-27189	145	6	follows	follow	VERB
fcis-27189	145	7	:	:	PUNCT
fcis-27189	146	1	double	double	ADJ
fcis-27189	146	2	x	x	SYM
fcis-27189	146	3	=	=	SYM
fcis-27189	146	4	env->currentball.pos.x	env->currentball.pos.x	PROPN
fcis-27189	146	5	;	;	PUNCT
fcis-27189	146	6	//	//	NUM
fcis-27189	146	7	get	get	VERB
fcis-27189	146	8	the	the	DET
fcis-27189	146	9	xcoordinate	xcoordinate	NOUN
fcis-27189	146	10	of	of	ADP
fcis-27189	146	11	the	the	DET
fcis-27189	146	12	ball	ball	NOUN
fcis-27189	146	13	double	double	PROPN
fcis-27189	146	14	y	y	PROPN
fcis-27189	146	15	=	=	SYM
fcis-27189	146	16	env->currentball.pos.y	env->currentball.pos.y	PROPN
fcis-27189	146	17	;	;	PUNCT
fcis-27189	146	18	//	//	NUM
fcis-27189	146	19	get	get	VERB
fcis-27189	146	20	the	the	DET
fcis-27189	146	21	ycoordinate	ycoordinate	NOUN
fcis-27189	146	22	of	of	ADP
fcis-27189	146	23	the	the	DET
fcis-27189	146	24	ball	ball	NOUN
fcis-27189	146	25	position(&env->home[1	position(&env->home[1	PROPN
fcis-27189	146	26	]	]	X
fcis-27189	146	27	,	,	PUNCT
fcis-27189	146	28	x	x	X
fcis-27189	146	29	,	,	PUNCT
fcis-27189	146	30	y	y	PROPN
fcis-27189	146	31	)	)	PUNCT
fcis-27189	146	32	;	;	PUNCT
fcis-27189	146	33	//	//	NUM
fcis-27189	146	34	car	car	NOUN
fcis-27189	146	35	chases	chase	VERB
fcis-27189	146	36	the	the	DET
fcis-27189	146	37	ball	ball	NOUN
fcis-27189	146	38	4.3.5	4.3.5	NOUN
fcis-27189	146	39	.	.	PUNCT
fcis-27189	147	1	car	car	NOUN
fcis-27189	147	2	obstacle	obstacle	NOUN
fcis-27189	147	3	avoidance	avoidance	NOUN
fcis-27189	147	4	algorithm	algorithm	NOUN
fcis-27189	147	5	the	the	DET
fcis-27189	147	6	obstacle	obstacle	NOUN
fcis-27189	147	7	avoidance	avoidance	NOUN
fcis-27189	147	8	algorithm	algorithm	NOUN
fcis-27189	147	9	is	be	AUX
fcis-27189	147	10	a	a	DET
fcis-27189	147	11	key	key	ADJ
fcis-27189	147	12	module	module	NOUN
fcis-27189	147	13	to	to	PART
fcis-27189	147	14	ensure	ensure	VERB
fcis-27189	147	15	the	the	DET
fcis-27189	147	16	car	car	NOUN
fcis-27189	147	17	avoids	avoid	VERB
fcis-27189	147	18	collisions	collision	NOUN
fcis-27189	147	19	and	and	CCONJ
fcis-27189	147	20	navigates	navigate	VERB
fcis-27189	147	21	smoothly	smoothly	ADV
fcis-27189	147	22	.	.	PUNCT
fcis-27189	148	1	a	a	DET
fcis-27189	148	2	vector	vector	NOUN
fcis-27189	148	3	algorithm	algorithm	NOUN
fcis-27189	148	4	is	be	AUX
fcis-27189	148	5	used	use	VERB
fcis-27189	148	6	to	to	PART
fcis-27189	148	7	implement	implement	VERB
fcis-27189	148	8	the	the	DET
fcis-27189	148	9	obstacle	obstacle	NOUN
fcis-27189	148	10	avoidance	avoidance	NOUN
fcis-27189	148	11	.	.	PUNCT
fcis-27189	149	1	the	the	DET
fcis-27189	149	2	car	car	NOUN
fcis-27189	149	3	is	be	AUX
fcis-27189	149	4	influenced	influence	VERB
fcis-27189	149	5	by	by	ADP
fcis-27189	149	6	two	two	NUM
fcis-27189	149	7	forces	force	NOUN
fcis-27189	149	8	:	:	PUNCT
fcis-27189	149	9	the	the	DET
fcis-27189	149	10	attractive	attractive	ADJ
fcis-27189	149	11	force	force	NOUN
fcis-27189	149	12	from	from	ADP
fcis-27189	149	13	the	the	DET
fcis-27189	149	14	ball	ball	NOUN
fcis-27189	149	15	and	and	CCONJ
fcis-27189	149	16	the	the	DET
fcis-27189	149	17	repulsive	repulsive	ADJ
fcis-27189	149	18	force	force	NOUN
fcis-27189	149	19	from	from	ADP
fcis-27189	149	20	an	an	DET
fcis-27189	149	21	opponent	opponent	NOUN
fcis-27189	149	22	's	's	PART
fcis-27189	149	23	car	car	NOUN
fcis-27189	149	24	.	.	PUNCT
fcis-27189	150	1	by	by	ADP
fcis-27189	150	2	calculating	calculate	VERB
fcis-27189	150	3	the	the	DET
fcis-27189	150	4	resultant	resultant	NOUN
fcis-27189	150	5	of	of	ADP
fcis-27189	150	6	these	these	DET
fcis-27189	150	7	two	two	NUM
fcis-27189	150	8	forces	force	NOUN
fcis-27189	150	9	,	,	PUNCT
fcis-27189	150	10	the	the	DET
fcis-27189	150	11	car	car	NOUN
fcis-27189	150	12	can	can	AUX
fcis-27189	150	13	adaptively	adaptively	ADV
fcis-27189	150	14	adjust	adjust	VERB
fcis-27189	150	15	its	its	PRON
fcis-27189	150	16	direction	direction	NOUN
fcis-27189	150	17	to	to	PART
fcis-27189	150	18	avoid	avoid	VERB
fcis-27189	150	19	obstacles	obstacle	NOUN
fcis-27189	150	20	.	.	PUNCT
fcis-27189	151	1	the	the	DET
fcis-27189	151	2	algorithm	algorithm	NOUN
fcis-27189	151	3	calculates	calculate	VERB
fcis-27189	151	4	the	the	DET
fcis-27189	151	5	attractive	attractive	ADJ
fcis-27189	151	6	force	force	NOUN
fcis-27189	151	7	between	between	ADP
fcis-27189	151	8	the	the	DET
fcis-27189	151	9	ball	ball	NOUN
fcis-27189	151	10	and	and	CCONJ
fcis-27189	151	11	the	the	DET
fcis-27189	151	12	car	car	NOUN
fcis-27189	151	13	,	,	PUNCT
fcis-27189	151	14	and	and	CCONJ
fcis-27189	151	15	the	the	DET
fcis-27189	151	16	repulsive	repulsive	ADJ
fcis-27189	151	17	force	force	NOUN
fcis-27189	151	18	between	between	ADP
fcis-27189	151	19	the	the	DET
fcis-27189	151	20	opponent	opponent	NOUN
fcis-27189	151	21	's	's	PART
fcis-27189	151	22	car	car	NOUN
fcis-27189	151	23	and	and	CCONJ
fcis-27189	151	24	the	the	DET
fcis-27189	151	25	car	car	NOUN
fcis-27189	151	26	.	.	PUNCT
fcis-27189	152	1	these	these	DET
fcis-27189	152	2	two	two	NUM
fcis-27189	152	3	forces	force	NOUN
fcis-27189	152	4	are	be	AUX
fcis-27189	152	5	combined	combine	VERB
fcis-27189	152	6	by	by	ADP
fcis-27189	152	7	vector	vector	NOUN
fcis-27189	152	8	to	to	PART
fcis-27189	152	9	determine	determine	VERB
fcis-27189	152	10	the	the	DET
fcis-27189	152	11	car	car	NOUN
fcis-27189	152	12	's	's	PART
fcis-27189	152	13	steering	steering	NOUN
fcis-27189	152	14	direction	direction	NOUN
fcis-27189	152	15	.	.	PUNCT
fcis-27189	153	1	below	below	ADV
fcis-27189	153	2	is	be	AUX
fcis-27189	153	3	the	the	DET
fcis-27189	153	4	core	core	NOUN
fcis-27189	153	5	code	code	NOUN
fcis-27189	153	6	for	for	ADP
fcis-27189	153	7	the	the	DET
fcis-27189	153	8	obstacle	obstacle	NOUN
fcis-27189	153	9	avoidance	avoidance	NOUN
fcis-27189	153	10	algorithm	algorithm	NOUN
fcis-27189	153	11	:	:	PUNCT
fcis-27189	153	12	double	double	ADJ
fcis-27189	153	13	bx	bx	NOUN
fcis-27189	153	14	=	=	SYM
fcis-27189	153	15	env->currentball.pos.x	env->currentball.pos.x	PROPN
fcis-27189	153	16	;	;	PUNCT
fcis-27189	153	17	//	//	NUM
fcis-27189	153	18	ball	ball	NOUN
fcis-27189	153	19	coordinates	coordinate	NOUN
fcis-27189	153	20	double	double	VERB
fcis-27189	153	21	by	by	ADP
fcis-27189	153	22	=	=	PROPN
fcis-27189	153	23	env->currentball.pos.y	env->currentball.pos.y	PROPN
fcis-27189	153	24	;	;	PUNCT
fcis-27189	153	25	double	double	ADJ
fcis-27189	153	26	px	px	X
fcis-27189	153	27	=	=	PUNCT
fcis-27189	153	28	env->home[1].pos.x	env->home[1].pos.x	NOUN
fcis-27189	153	29	;	;	PUNCT
fcis-27189	153	30	//	//	NUM
fcis-27189	153	31	car	car	NOUN
fcis-27189	153	32	coordinates	coordinate	NOUN
fcis-27189	153	33	double	double	VERB
fcis-27189	153	34	py	py	NOUN
fcis-27189	153	35	=	=	SYM
fcis-27189	153	36	env->home[1].pos.y	env->home[1].pos.y	NOUN
fcis-27189	153	37	;	;	PUNCT
fcis-27189	153	38	double	double	ADJ
fcis-27189	153	39	ox	ox	NOUN
fcis-27189	153	40	=	=	PUNCT
fcis-27189	153	41	env->home[2].pos.x	env->home[2].pos.x	PROPN
fcis-27189	153	42	;	;	PUNCT
fcis-27189	153	43	//	//	NUM
fcis-27189	153	44	obstacle	obstacle	NOUN
fcis-27189	153	45	car	car	NOUN
fcis-27189	153	46	coordinates	coordinate	NOUN
fcis-27189	153	47	double	double	ADJ
fcis-27189	153	48	oy	oy	NOUN
fcis-27189	153	49	=	=	SYM
fcis-27189	153	50	env->home[2].pos.y	env->home[2].pos.y	NOUN
fcis-27189	153	51	;	;	PUNCT
fcis-27189	153	52	double	double	ADJ
fcis-27189	153	53	r1	r1	NOUN
fcis-27189	153	54	=	=	PUNCT
fcis-27189	153	55	atan2(py	atan2(py	NOUN
fcis-27189	153	56	oy	oy	NOUN
fcis-27189	153	57	,	,	PUNCT
fcis-27189	153	58	px	px	PROPN
fcis-27189	153	59	ox	ox	PROPN
fcis-27189	153	60	)	)	PUNCT
fcis-27189	153	61	;	;	PUNCT
fcis-27189	153	62	//	//	X
fcis-27189	153	63	calculate	calculate	VERB
fcis-27189	153	64	the	the	DET
fcis-27189	153	65	angle	angle	NOUN
fcis-27189	153	66	of	of	ADP
fcis-27189	153	67	the	the	DET
fcis-27189	153	68	repulsive	repulsive	ADJ
fcis-27189	153	69	vector	vector	NOUN
fcis-27189	153	70	double	double	ADJ
fcis-27189	153	71	d1	d1	NOUN
fcis-27189	153	72	=	=	SYM
fcis-27189	153	73	1000	1000	NUM
fcis-27189	153	74	sqrt((px	sqrt((px	PROPN
fcis-27189	153	75	ox	ox	NOUN
fcis-27189	153	76	)	)	PUNCT
fcis-27189	153	77	*	*	PUNCT
fcis-27189	154	1	(	(	PUNCT
fcis-27189	154	2	px	px	X
fcis-27189	154	3	ox	ox	NOUN
fcis-27189	154	4	)	)	PUNCT
fcis-27189	155	1	+	+	CCONJ
fcis-27189	155	2	(	(	PUNCT
fcis-27189	155	3	py	py	INTJ
fcis-27189	155	4	oy	oy	PROPN
fcis-27189	155	5	)	)	PUNCT
fcis-27189	155	6	*	*	PUNCT
fcis-27189	156	1	(	(	PUNCT
fcis-27189	156	2	py	py	INTJ
fcis-27189	156	3	oy	oy	PROPN
fcis-27189	156	4	)	)	PUNCT
fcis-27189	156	5	)	)	PUNCT
fcis-27189	156	6	;	;	PUNCT
fcis-27189	157	1	//	//	NUM
fcis-27189	157	2	repulsive	repulsive	ADJ
fcis-27189	157	3	force	force	NOUN
fcis-27189	157	4	value	value	NOUN
fcis-27189	157	5	double	double	ADJ
fcis-27189	157	6	r2	r2	NOUN
fcis-27189	157	7	=	=	SYM
fcis-27189	157	8	atan2(by	atan2(by	PROPN
fcis-27189	157	9	py	py	PROPN
fcis-27189	157	10	,	,	PUNCT
fcis-27189	157	11	bx	bx	PROPN
fcis-27189	157	12	px	px	PROPN
fcis-27189	157	13	)	)	PUNCT
fcis-27189	157	14	;	;	PUNCT
fcis-27189	157	15	//	//	NUM
fcis-27189	157	16	angle	angle	NOUN
fcis-27189	157	17	of	of	ADP
fcis-27189	157	18	the	the	DET
fcis-27189	157	19	attractive	attractive	ADJ
fcis-27189	157	20	vector	vector	NOUN
fcis-27189	157	21	double	double	ADJ
fcis-27189	157	22	d2	d2	PROPN
fcis-27189	157	23	=	=	SYM
fcis-27189	157	24	1000	1000	NUM
fcis-27189	157	25	sqrt((px	sqrt((px	NOUN
fcis-27189	157	26	bx	bx	PROPN
fcis-27189	157	27	)	)	PUNCT
fcis-27189	157	28	*	*	PUNCT
fcis-27189	157	29	(	(	PUNCT
fcis-27189	157	30	px	px	X
fcis-27189	157	31	bx	bx	PROPN
fcis-27189	157	32	)	)	PUNCT
fcis-27189	157	33	+	+	CCONJ
fcis-27189	157	34	(	(	PUNCT
fcis-27189	157	35	py	py	INTJ
fcis-27189	157	36	by	by	ADP
fcis-27189	157	37	)	)	PUNCT
fcis-27189	157	38	*	*	PUNCT
fcis-27189	157	39	(	(	PUNCT
fcis-27189	157	40	py	py	INTJ
fcis-27189	157	41	by	by	ADP
fcis-27189	157	42	)	)	PUNCT
fcis-27189	157	43	)	)	PUNCT
fcis-27189	157	44	;	;	PUNCT
fcis-27189	157	45	//	//	NUM
fcis-27189	157	46	attractive	attractive	ADJ
fcis-27189	157	47	force	force	NOUN
fcis-27189	157	48	value	value	NOUN
fcis-27189	157	49	double	double	ADJ
fcis-27189	157	50	x	x	NOUN
fcis-27189	157	51	=	=	SYM
fcis-27189	157	52	d1	d1	NOUN
fcis-27189	157	53	*	*	PUNCT
fcis-27189	158	1	cos(r1	cos(r1	NOUN
fcis-27189	158	2	)	)	PUNCT
fcis-27189	158	3	+	+	CCONJ
fcis-27189	158	4	d2	d2	PROPN
fcis-27189	158	5	*	*	SYM
fcis-27189	158	6	cos(r2	cos(r2	PROPN
fcis-27189	158	7	)	)	PUNCT
fcis-27189	158	8	;	;	PUNCT
fcis-27189	158	9	//	//	PUNCT
fcis-27189	158	10	x	x	X
fcis-27189	158	11	component	component	NOUN
fcis-27189	158	12	of	of	ADP
fcis-27189	158	13	the	the	DET
fcis-27189	158	14	resultant	resultant	NOUN
fcis-27189	158	15	force	force	NOUN
fcis-27189	158	16	double	double	PROPN
fcis-27189	158	17	y	y	PROPN
fcis-27189	158	18	=	=	SYM
fcis-27189	158	19	d1	d1	PROPN
fcis-27189	158	20	*	*	PUNCT
fcis-27189	158	21	sin(r1	sin(r1	PROPN
fcis-27189	158	22	)	)	PUNCT
fcis-27189	158	23	+	+	CCONJ
fcis-27189	158	24	d2	d2	PROPN
fcis-27189	158	25	*	*	PUNCT
fcis-27189	158	26	sin(r2	sin(r2	PROPN
fcis-27189	158	27	)	)	PUNCT
fcis-27189	158	28	;	;	PUNCT
fcis-27189	158	29	//	//	NUM
fcis-27189	158	30	y	y	PROPN
fcis-27189	158	31	component	component	NOUN
fcis-27189	158	32	of	of	ADP
fcis-27189	158	33	the	the	DET
fcis-27189	158	34	resultant	resultant	NOUN
fcis-27189	158	35	force	force	NOUN
fcis-27189	158	36	position(&env->home[1	position(&env->home[1	PROPN
fcis-27189	158	37	]	]	PUNCT
fcis-27189	158	38	,	,	PUNCT
fcis-27189	158	39	x	x	X
fcis-27189	158	40	,	,	PUNCT
fcis-27189	158	41	y	y	PROPN
fcis-27189	158	42	)	)	PUNCT
fcis-27189	158	43	;	;	PUNCT
fcis-27189	158	44	//	//	NUM
fcis-27189	158	45	car	car	NOUN
fcis-27189	158	46	turns	turn	VERB
fcis-27189	158	47	towards	towards	ADP
fcis-27189	158	48	the	the	DET
fcis-27189	158	49	resultant	resultant	NOUN
fcis-27189	158	50	force	force	NOUN
fcis-27189	158	51	direction	direction	NOUN
fcis-27189	158	52	5	5	NUM
fcis-27189	158	53	.	.	PUNCT
fcis-27189	159	1	conclusion	conclusion	VERB
fcis-27189	159	2	the	the	DET
fcis-27189	159	3	soccer	soccer	NOUN
fcis-27189	159	4	robot	robot	NOUN
fcis-27189	159	5	integrates	integrate	VERB
fcis-27189	159	6	cutting	cutting	NOUN
fcis-27189	159	7	-	-	PUNCT
fcis-27189	159	8	edge	edge	NOUN
fcis-27189	159	9	technologies	technology	NOUN
fcis-27189	159	10	such	such	ADJ
fcis-27189	159	11	as	as	ADP
fcis-27189	159	12	computer	computer	NOUN
fcis-27189	159	13	vision	vision	NOUN
fcis-27189	159	14	,	,	PUNCT
fcis-27189	159	15	multi	multi	ADJ
fcis-27189	159	16	-	-	ADJ
fcis-27189	159	17	agent	agent	ADJ
fcis-27189	159	18	collaboration	collaboration	NOUN
fcis-27189	159	19	,	,	PUNCT
fcis-27189	159	20	motion	motion	NOUN
fcis-27189	159	21	control	control	NOUN
fcis-27189	159	22	,	,	PUNCT
fcis-27189	159	23	and	and	CCONJ
fcis-27189	159	24	wireless	wireless	ADJ
fcis-27189	159	25	communication	communication	NOUN
fcis-27189	159	26	.	.	PUNCT
fcis-27189	160	1	originating	originate	VERB
fcis-27189	160	2	in	in	ADP
fcis-27189	160	3	the	the	DET
fcis-27189	160	4	1990s	1990	NOUN
fcis-27189	160	5	,	,	PUNCT
fcis-27189	160	6	it	it	PRON
fcis-27189	160	7	has	have	AUX
fcis-27189	160	8	quickly	quickly	ADV
fcis-27189	160	9	evolved	evolve	VERB
fcis-27189	160	10	into	into	ADP
fcis-27189	160	11	an	an	DET
fcis-27189	160	12	interdisciplinary	interdisciplinary	ADJ
fcis-27189	160	13	research	research	NOUN
fcis-27189	160	14	field	field	NOUN
fcis-27189	160	15	.	.	PUNCT
fcis-27189	161	1	it	it	PRON
fcis-27189	161	2	is	be	AUX
fcis-27189	161	3	one	one	NUM
fcis-27189	161	4	of	of	ADP
fcis-27189	161	5	the	the	DET
fcis-27189	161	6	most	most	ADV
fcis-27189	161	7	forward	forward	ADV
fcis-27189	161	8	-	-	PUNCT
fcis-27189	161	9	looking	look	VERB
fcis-27189	161	10	topics	topic	NOUN
fcis-27189	161	11	in	in	ADP
fcis-27189	161	12	automation	automation	NOUN
fcis-27189	161	13	and	and	CCONJ
fcis-27189	161	14	robotics	robotic	NOUN
fcis-27189	161	15	,	,	PUNCT
fcis-27189	161	16	with	with	ADP
fcis-27189	161	17	significant	significant	ADJ
fcis-27189	161	18	theoretical	theoretical	ADJ
fcis-27189	161	19	and	and	CCONJ
fcis-27189	161	20	practical	practical	ADJ
fcis-27189	161	21	value	value	NOUN
fcis-27189	161	22	.	.	PUNCT
fcis-27189	162	1	in	in	ADP
fcis-27189	162	2	the	the	DET
fcis-27189	162	3	soccer	soccer	NOUN
fcis-27189	162	4	robot	robot	NOUN
fcis-27189	162	5	system	system	NOUN
fcis-27189	162	6	,	,	PUNCT
fcis-27189	162	7	the	the	DET
fcis-27189	162	8	decision	decision	NOUN
fcis-27189	162	9	-	-	PUNCT
fcis-27189	162	10	making	make	VERB
fcis-27189	162	11	subsystem	subsystem	NOUN
fcis-27189	162	12	plays	play	VERB
fcis-27189	162	13	a	a	DET
fcis-27189	162	14	core	core	ADJ
fcis-27189	162	15	role	role	NOUN
fcis-27189	162	16	,	,	PUNCT
fcis-27189	162	17	similar	similar	ADJ
fcis-27189	162	18	to	to	ADP
fcis-27189	162	19	the	the	DET
fcis-27189	162	20	coach	coach	NOUN
fcis-27189	162	21	in	in	ADP
fcis-27189	162	22	human	human	ADJ
fcis-27189	162	23	soccer	soccer	NOUN
fcis-27189	162	24	,	,	PUNCT
fcis-27189	162	25	responsible	responsible	ADJ
fcis-27189	162	26	for	for	ADP
fcis-27189	162	27	solving	solve	VERB
fcis-27189	162	28	collaboration	collaboration	NOUN
fcis-27189	162	29	and	and	CCONJ
fcis-27189	162	30	motion	motion	NOUN
fcis-27189	162	31	planning	planning	NOUN
fcis-27189	162	32	problems	problem	NOUN
fcis-27189	162	33	between	between	ADP
fcis-27189	162	34	robots	robot	NOUN
fcis-27189	162	35	.	.	PUNCT
fcis-27189	163	1	the	the	DET
fcis-27189	163	2	quality	quality	NOUN
fcis-27189	163	3	of	of	ADP
fcis-27189	163	4	the	the	DET
fcis-27189	163	5	decision	decision	NOUN
fcis-27189	163	6	-	-	PUNCT
fcis-27189	163	7	making	make	VERB
fcis-27189	163	8	38	38	NUM
fcis-27189	163	9	algorithm	algorithm	NOUN
fcis-27189	163	10	directly	directly	ADV
fcis-27189	163	11	affects	affect	VERB
fcis-27189	163	12	the	the	DET
fcis-27189	163	13	robot	robot	NOUN
fcis-27189	163	14	's	's	PART
fcis-27189	163	15	role	role	NOUN
fcis-27189	163	16	selection	selection	NOUN
fcis-27189	163	17	,	,	PUNCT
fcis-27189	163	18	path	path	NOUN
fcis-27189	163	19	planning	planning	NOUN
fcis-27189	163	20	,	,	PUNCT
fcis-27189	163	21	and	and	CCONJ
fcis-27189	163	22	obstacle	obstacle	VERB
fcis-27189	163	23	avoidance	avoidance	NOUN
fcis-27189	163	24	in	in	ADP
fcis-27189	163	25	a	a	DET
fcis-27189	163	26	complex	complex	ADJ
fcis-27189	163	27	environment	environment	NOUN
fcis-27189	163	28	,	,	PUNCT
fcis-27189	163	29	making	make	VERB
fcis-27189	163	30	the	the	DET
fcis-27189	163	31	design	design	NOUN
fcis-27189	163	32	of	of	ADP
fcis-27189	163	33	the	the	DET
fcis-27189	163	34	decision	decision	NOUN
fcis-27189	163	35	-	-	PUNCT
fcis-27189	163	36	making	make	VERB
fcis-27189	163	37	system	system	NOUN
fcis-27189	163	38	crucial	crucial	ADJ
fcis-27189	163	39	.	.	PUNCT
fcis-27189	164	1	figure	figure	NOUN
fcis-27189	164	2	3	3	NUM
fcis-27189	164	3	.	.	PUNCT
fcis-27189	164	4	schematic	schematic	ADJ
fcis-27189	164	5	diagram	diagram	NOUN
fcis-27189	164	6	of	of	ADP
fcis-27189	164	7	the	the	DET
fcis-27189	164	8	soccer	soccer	NOUN
fcis-27189	164	9	robot	robot	NOUN
fcis-27189	164	10	system	system	NOUN
fcis-27189	164	11	this	this	DET
fcis-27189	164	12	article	article	NOUN
fcis-27189	164	13	focuses	focus	VERB
fcis-27189	164	14	on	on	ADP
fcis-27189	164	15	several	several	ADJ
fcis-27189	164	16	common	common	ADJ
fcis-27189	164	17	decision	decision	NOUN
fcis-27189	164	18	-	-	PUNCT
fcis-27189	164	19	making	make	VERB
fcis-27189	164	20	models	model	NOUN
fcis-27189	164	21	,	,	PUNCT
fcis-27189	164	22	including	include	VERB
fcis-27189	164	23	role	role	NOUN
fcis-27189	164	24	assignment	assignment	NOUN
fcis-27189	164	25	,	,	PUNCT
fcis-27189	164	26	time	time	NOUN
fcis-27189	164	27	-	-	PUNCT
fcis-27189	164	28	zone	zone	NOUN
fcis-27189	164	29	control	control	NOUN
fcis-27189	164	30	,	,	PUNCT
fcis-27189	164	31	and	and	CCONJ
fcis-27189	164	32	the	the	DET
fcis-27189	164	33	"	"	PUNCT
fcis-27189	164	34	self	self	NOUN
fcis-27189	164	35	-	-	PUNCT
fcis-27189	164	36	for	for	ADP
fcis-27189	164	37	-	-	PUNCT
fcis-27189	164	38	all	all	PRON
fcis-27189	164	39	"	"	PUNCT
fcis-27189	164	40	strategy	strategy	NOUN
fcis-27189	164	41	.	.	PUNCT
fcis-27189	165	1	it	it	PRON
fcis-27189	165	2	also	also	ADV
fcis-27189	165	3	elaborates	elaborate	VERB
fcis-27189	165	4	on	on	ADP
fcis-27189	165	5	the	the	DET
fcis-27189	165	6	top	top	ADJ
fcis-27189	165	7	-	-	PUNCT
fcis-27189	165	8	down	down	ADP
fcis-27189	165	9	hierarchical	hierarchical	ADJ
fcis-27189	165	10	decision	decision	NOUN
fcis-27189	165	11	reasoning	reasoning	NOUN
fcis-27189	165	12	model	model	NOUN
fcis-27189	165	13	,	,	PUNCT
fcis-27189	165	14	which	which	PRON
fcis-27189	165	15	emphasizes	emphasize	VERB
fcis-27189	165	16	team	team	NOUN
fcis-27189	165	17	cooperation	cooperation	NOUN
fcis-27189	165	18	and	and	CCONJ
fcis-27189	165	19	coordination	coordination	NOUN
fcis-27189	165	20	.	.	PUNCT
fcis-27189	166	1	this	this	DET
fcis-27189	166	2	model	model	NOUN
fcis-27189	166	3	has	have	AUX
fcis-27189	166	4	been	be	AUX
fcis-27189	166	5	widely	widely	ADV
fcis-27189	166	6	applied	apply	VERB
fcis-27189	166	7	in	in	ADP
fcis-27189	166	8	soccer	soccer	NOUN
fcis-27189	166	9	robot	robot	NOUN
fcis-27189	166	10	systems	system	NOUN
fcis-27189	166	11	.	.	PUNCT
fcis-27189	167	1	the	the	DET
fcis-27189	167	2	implementation	implementation	NOUN
fcis-27189	167	3	of	of	ADP
fcis-27189	167	4	functions	function	NOUN
fcis-27189	167	5	such	such	ADJ
fcis-27189	167	6	as	as	ADP
fcis-27189	167	7	autonomous	autonomous	ADJ
fcis-27189	167	8	movement	movement	NOUN
fcis-27189	167	9	,	,	PUNCT
fcis-27189	167	10	obstacle	obstacle	NOUN
fcis-27189	167	11	avoidance	avoidance	NOUN
fcis-27189	167	12	,	,	PUNCT
fcis-27189	167	13	and	and	CCONJ
fcis-27189	167	14	ball	ball	NOUN
fcis-27189	167	15	chasing	chase	VERB
fcis-27189	167	16	through	through	ADP
fcis-27189	167	17	c++	c++	NOUN
fcis-27189	167	18	programming	programming	NOUN
fcis-27189	167	19	deepens	deepen	VERB
fcis-27189	167	20	the	the	DET
fcis-27189	167	21	understanding	understanding	NOUN
fcis-27189	167	22	of	of	ADP
fcis-27189	167	23	the	the	DET
fcis-27189	167	24	decision	decision	NOUN
fcis-27189	167	25	-	-	PUNCT
fcis-27189	167	26	making	make	VERB
fcis-27189	167	27	subsystem	subsystem	NOUN
fcis-27189	167	28	.	.	PUNCT
fcis-27189	168	1	although	although	SCONJ
fcis-27189	168	2	progress	progress	NOUN
fcis-27189	168	3	has	have	AUX
fcis-27189	168	4	been	be	AUX
fcis-27189	168	5	made	make	VERB
fcis-27189	168	6	,	,	PUNCT
fcis-27189	168	7	there	there	PRON
fcis-27189	168	8	are	be	VERB
fcis-27189	168	9	still	still	ADV
fcis-27189	168	10	many	many	ADJ
fcis-27189	168	11	areas	area	NOUN
fcis-27189	168	12	that	that	PRON
fcis-27189	168	13	require	require	VERB
fcis-27189	168	14	further	further	ADJ
fcis-27189	168	15	exploration	exploration	NOUN
fcis-27189	168	16	,	,	PUNCT
fcis-27189	168	17	such	such	ADJ
fcis-27189	168	18	as	as	ADP
fcis-27189	168	19	the	the	DET
fcis-27189	168	20	diversity	diversity	NOUN
fcis-27189	168	21	in	in	ADP
fcis-27189	168	22	role	role	NOUN
fcis-27189	168	23	selection	selection	NOUN
fcis-27189	168	24	,	,	PUNCT
fcis-27189	168	25	improvement	improvement	NOUN
fcis-27189	168	26	in	in	ADP
fcis-27189	168	27	dynamic	dynamic	ADJ
fcis-27189	168	28	obstacle	obstacle	NOUN
fcis-27189	168	29	avoidance	avoidance	NOUN
fcis-27189	168	30	capabilities	capability	NOUN
fcis-27189	168	31	,	,	PUNCT
fcis-27189	168	32	and	and	CCONJ
fcis-27189	168	33	the	the	DET
fcis-27189	168	34	development	development	NOUN
fcis-27189	168	35	of	of	ADP
fcis-27189	168	36	complex	complex	ADJ
fcis-27189	168	37	tactical	tactical	ADJ
fcis-27189	168	38	actions	action	NOUN
fcis-27189	168	39	.	.	PUNCT
fcis-27189	169	1	future	future	ADJ
fcis-27189	169	2	research	research	NOUN
fcis-27189	169	3	will	will	AUX
fcis-27189	169	4	focus	focus	VERB
fcis-27189	169	5	on	on	ADP
fcis-27189	169	6	improving	improve	VERB
fcis-27189	169	7	the	the	DET
fcis-27189	169	8	real	real	ADJ
fcis-27189	169	9	-	-	PUNCT
fcis-27189	169	10	time	time	NOUN
fcis-27189	169	11	performance	performance	NOUN
fcis-27189	169	12	of	of	ADP
fcis-27189	169	13	motion	motion	NOUN
fcis-27189	169	14	planning	planning	NOUN
fcis-27189	169	15	algorithms	algorithm	NOUN
fcis-27189	169	16	and	and	CCONJ
fcis-27189	169	17	developing	develop	VERB
fcis-27189	169	18	more	more	ADV
fcis-27189	169	19	precise	precise	ADJ
fcis-27189	169	20	obstacle	obstacle	NOUN
fcis-27189	169	21	detection	detection	NOUN
fcis-27189	169	22	and	and	CCONJ
fcis-27189	169	23	avoidance	avoidance	NOUN
fcis-27189	169	24	algorithms	algorithm	NOUN
fcis-27189	169	25	to	to	PART
fcis-27189	169	26	better	well	ADV
fcis-27189	169	27	adapt	adapt	VERB
fcis-27189	169	28	to	to	ADP
fcis-27189	169	29	real	real	ADJ
fcis-27189	169	30	-	-	PUNCT
fcis-27189	169	31	world	world	NOUN
fcis-27189	169	32	environments	environment	NOUN
fcis-27189	169	33	.	.	PUNCT
fcis-27189	170	1	acknowledgments	acknowledgment	NOUN
fcis-27189	170	2	the	the	DET
fcis-27189	170	3	authors	author	NOUN
fcis-27189	170	4	gratefully	gratefully	ADV
fcis-27189	170	5	acknowledge	acknowledge	VERB
fcis-27189	170	6	the	the	DET
fcis-27189	170	7	financial	financial	ADJ
fcis-27189	170	8	support	support	NOUN
fcis-27189	170	9	from	from	ADP
fcis-27189	170	10	college	college	NOUN
fcis-27189	170	11	student	student	NOUN
fcis-27189	170	12	innovation	innovation	NOUN
fcis-27189	170	13	and	and	CCONJ
fcis-27189	170	14	entrepreneurship	entrepreneurship	NOUN
fcis-27189	170	15	project	project	NOUN
fcis-27189	170	16	of	of	ADP
fcis-27189	170	17	university	university	NOUN
fcis-27189	170	18	of	of	ADP
fcis-27189	170	19	science	science	NOUN
fcis-27189	170	20	and	and	CCONJ
fcis-27189	170	21	technology	technology	NOUN
fcis-27189	170	22	liaoning	liaoning	NOUN
fcis-27189	170	23	in	in	ADP
fcis-27189	170	24	2025	2025	NUM
fcis-27189	170	25	.	.	PUNCT
fcis-27189	171	1	references	reference	NOUN
fcis-27189	171	2	[	[	X
fcis-27189	171	3	1	1	X
fcis-27189	171	4	]	]	PUNCT
fcis-27189	171	5	wang	wang	PROPN
fcis-27189	171	6	qiang	qiang	PROPN
fcis-27189	171	7	,	,	PUNCT
fcis-27189	171	8	shi	shi	PROPN
fcis-27189	171	9	yinggang	yinggang	PROPN
fcis-27189	171	10	,	,	PUNCT
fcis-27189	171	11	ye	ye	PROPN
fcis-27189	171	12	binghui	binghui	PROPN
fcis-27189	171	13	,	,	PUNCT
fcis-27189	171	14	et	et	PROPN
fcis-27189	171	15	al	al	PROPN
fcis-27189	171	16	.	.	PROPN
fcis-27189	171	17	(	(	PUNCT
fcis-27189	171	18	2021	2021	NUM
fcis-27189	171	19	)	)	PUNCT
fcis-27189	171	20	.	.	PUNCT
fcis-27189	172	1	"	"	PUNCT
fcis-27189	172	2	arc	arc	NOUN
fcis-27189	172	3	shot	shot	NOUN
fcis-27189	172	4	algorithm	algorithm	NOUN
fcis-27189	172	5	design	design	NOUN
fcis-27189	172	6	for	for	ADP
fcis-27189	172	7	fira	fira	PROPN
fcis-27189	172	8	simulation	simulation	NOUN
fcis-27189	172	9	5v5	5v5	NUM
fcis-27189	172	10	robots	robot	NOUN
fcis-27189	172	11	.	.	PUNCT
fcis-27189	172	12	"	"	PUNCT
fcis-27189	172	13	computer	computer	NOUN
fcis-27189	172	14	knowledge	knowledge	NOUN
fcis-27189	172	15	and	and	CCONJ
fcis-27189	172	16	technology	technology	NOUN
fcis-27189	172	17	,	,	PUNCT
fcis-27189	172	18	17(16	17(16	NUM
fcis-27189	172	19	):	):	PUNCT
fcis-27189	172	20	12	12	NUM
fcis-27189	172	21	-	-	SYM
fcis-27189	172	22	15	15	NUM
fcis-27189	172	23	.	.	PUNCT
fcis-27189	173	1	[	[	X
fcis-27189	173	2	2	2	X
fcis-27189	173	3	]	]	X
fcis-27189	173	4	wang	wang	PROPN
fcis-27189	173	5	yiping	yiping	PROPN
fcis-27189	173	6	,	,	PUNCT
fcis-27189	173	7	wang	wang	PROPN
fcis-27189	173	8	yingkuan	yingkuan	PROPN
fcis-27189	173	9	.	.	PUNCT
fcis-27189	174	1	(	(	PUNCT
fcis-27189	174	2	2024	2024	NUM
fcis-27189	174	3	)	)	PUNCT
fcis-27189	174	4	.	.	PUNCT
fcis-27189	175	1	"	"	PUNCT
fcis-27189	175	2	frontier	frontier	NOUN
fcis-27189	175	3	agricultural	agricultural	ADJ
fcis-27189	175	4	technology	technology	NOUN
fcis-27189	175	5	at	at	ADP
fcis-27189	175	6	the	the	DET
fcis-27189	175	7	2024	2024	NUM
fcis-27189	175	8	world	world	NOUN
fcis-27189	175	9	fira	fira	NOUN
fcis-27189	175	10	.	.	PUNCT
fcis-27189	175	11	"	"	PUNCT
fcis-27189	175	12	agricultural	agricultural	ADJ
fcis-27189	175	13	engineering	engineering	NOUN
fcis-27189	175	14	technology	technology	NOUN
fcis-27189	175	15	,	,	PUNCT
fcis-27189	175	16	44(08	44(08	NUM
fcis-27189	175	17	):	):	PUNCT
fcis-27189	175	18	9	9	NUM
fcis-27189	175	19	.	.	PUNCT
fcis-27189	176	1	[	[	X
fcis-27189	176	2	3	3	X
fcis-27189	176	3	]	]	X
fcis-27189	176	4	zhou	zhou	PROPN
fcis-27189	176	5	qiaojun	qiaojun	PROPN
fcis-27189	176	6	,	,	PUNCT
fcis-27189	176	7	bao	bao	PROPN
fcis-27189	176	8	muze	muze	PROPN
fcis-27189	176	9	,	,	PUNCT
fcis-27189	176	10	yu	yu	PROPN
fcis-27189	176	11	haiqing	haiqe	VERB
fcis-27189	176	12	,	,	PUNCT
fcis-27189	176	13	et	et	PROPN
fcis-27189	176	14	al	al	PROPN
fcis-27189	176	15	.	.	PUNCT
fcis-27189	176	16	(	(	PUNCT
fcis-27189	176	17	2024	2024	NUM
fcis-27189	176	18	)	)	PUNCT
fcis-27189	176	19	.	.	PUNCT
fcis-27189	177	1	"	"	PUNCT
fcis-27189	177	2	design	design	NOUN
fcis-27189	177	3	of	of	ADP
fcis-27189	177	4	a	a	DET
fcis-27189	177	5	football	football	NOUN
fcis-27189	177	6	robot	robot	NOUN
fcis-27189	177	7	motion	motion	NOUN
fcis-27189	177	8	experimental	experimental	ADJ
fcis-27189	177	9	platform	platform	NOUN
fcis-27189	177	10	based	base	VERB
fcis-27189	177	11	on	on	ADP
fcis-27189	177	12	machine	machine	NOUN
fcis-27189	177	13	vision	vision	NOUN
fcis-27189	177	14	.	.	PUNCT
fcis-27189	177	15	"	"	PUNCT
fcis-27189	177	16	robot	robot	NOUN
fcis-27189	177	17	technology	technology	NOUN
fcis-27189	177	18	and	and	CCONJ
fcis-27189	177	19	application	application	NOUN
fcis-27189	177	20	,	,	PUNCT
fcis-27189	177	21	(	(	PUNCT
fcis-27189	177	22	02	02	NUM
fcis-27189	177	23	):	):	SYM
fcis-27189	177	24	3740	3740	NUM
fcis-27189	177	25	+	+	SYM
fcis-27189	177	26	46	46	NUM
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