id	sid	tid	token	lemma	pos
fcis-27931	1	1	frontiers	frontier	NOUN
fcis-27931	1	2	in	in	ADP
fcis-27931	1	3	computing	computing	NOUN
fcis-27931	1	4	and	and	CCONJ
fcis-27931	1	5	intelligent	intelligent	ADJ
fcis-27931	1	6	systems	system	NOUN
fcis-27931	1	7	issn	issn	VERB
fcis-27931	1	8	:	:	PUNCT
fcis-27931	1	9	2832	2832	NUM
fcis-27931	1	10	-	-	SYM
fcis-27931	1	11	6024	6024	NUM
fcis-27931	1	12	|	|	NOUN
fcis-27931	1	13	vol	vol	NOUN
fcis-27931	1	14	.	.	PROPN
fcis-27931	2	1	10	10	NUM
fcis-27931	2	2	,	,	PUNCT
fcis-27931	2	3	no	no	INTJ
fcis-27931	2	4	.	.	NOUN
fcis-27931	2	5	3	3	NUM
fcis-27931	2	6	,	,	PUNCT
fcis-27931	2	7	2024	2024	NUM
fcis-27931	2	8	5	5	NUM
fcis-27931	2	9	solving	solve	VERB
fcis-27931	2	10	multi	multi	ADJ
fcis-27931	2	11	-	-	ADJ
fcis-27931	2	12	robot	robot	ADJ
fcis-27931	2	13	task	task	NOUN
fcis-27931	2	14	assignment	assignment	NOUN
fcis-27931	2	15	problem	problem	NOUN
fcis-27931	2	16	based	base	VERB
fcis-27931	2	17	on	on	ADP
fcis-27931	2	18	improved	improve	VERB
fcis-27931	2	19	genetic	genetic	ADJ
fcis-27931	2	20	algorithm	algorithm	NOUN
fcis-27931	2	21	zhibin	zhibin	PROPN
fcis-27931	2	22	wang	wang	PROPN
fcis-27931	2	23	,	,	PUNCT
fcis-27931	2	24	jianjun	jianjun	PROPN
fcis-27931	2	25	zhu	zhu	PROPN
fcis-27931	2	26	school	school	PROPN
fcis-27931	2	27	of	of	ADP
fcis-27931	2	28	jilin	jilin	PROPN
fcis-27931	2	29	institute	institute	PROPN
fcis-27931	2	30	of	of	ADP
fcis-27931	2	31	chemical	chemical	PROPN
fcis-27931	2	32	technology	technology	PROPN
fcis-27931	2	33	,	,	PUNCT
fcis-27931	2	34	jilin	jilin	PROPN
fcis-27931	2	35	,	,	PUNCT
fcis-27931	2	36	jilin	jilin	PROPN
fcis-27931	2	37	,	,	PUNCT
fcis-27931	2	38	132022	132022	NUM
fcis-27931	2	39	,	,	PUNCT
fcis-27931	2	40	china	china	PROPN
fcis-27931	2	41	abstract	abstract	NOUN
fcis-27931	2	42	:	:	PUNCT
fcis-27931	2	43	aiming	aim	VERB
fcis-27931	2	44	at	at	ADP
fcis-27931	2	45	the	the	DET
fcis-27931	2	46	low	low	ADJ
fcis-27931	2	47	efficiency	efficiency	NOUN
fcis-27931	2	48	of	of	ADP
fcis-27931	2	49	robot	robot	NOUN
fcis-27931	2	50	task	task	NOUN
fcis-27931	2	51	distribution	distribution	NOUN
fcis-27931	2	52	and	and	CCONJ
fcis-27931	2	53	unbalanced	unbalanced	ADJ
fcis-27931	2	54	task	task	NOUN
fcis-27931	2	55	distribution	distribution	NOUN
fcis-27931	2	56	in	in	ADP
fcis-27931	2	57	the	the	DET
fcis-27931	2	58	process	process	NOUN
fcis-27931	2	59	of	of	ADP
fcis-27931	2	60	warehouse	warehouse	NOUN
fcis-27931	2	61	task	task	NOUN
fcis-27931	2	62	scheduling	scheduling	NOUN
fcis-27931	2	63	,	,	PUNCT
fcis-27931	2	64	this	this	DET
fcis-27931	2	65	paper	paper	NOUN
fcis-27931	2	66	aims	aim	VERB
fcis-27931	2	67	at	at	ADP
fcis-27931	2	68	minimum	minimum	ADJ
fcis-27931	2	69	total	total	ADJ
fcis-27931	2	70	task	task	NOUN
fcis-27931	2	71	path	path	NOUN
fcis-27931	2	72	and	and	CCONJ
fcis-27931	2	73	balanced	balanced	ADJ
fcis-27931	2	74	task	task	NOUN
fcis-27931	2	75	distribution	distribution	NOUN
fcis-27931	2	76	,	,	PUNCT
fcis-27931	2	77	establishes	establish	VERB
fcis-27931	2	78	a	a	DET
fcis-27931	2	79	warehouse	warehouse	NOUN
fcis-27931	2	80	robot	robot	NOUN
fcis-27931	2	81	scheduling	scheduling	NOUN
fcis-27931	2	82	scheme	scheme	NOUN
fcis-27931	2	83	and	and	CCONJ
fcis-27931	2	84	mathematical	mathematical	ADJ
fcis-27931	2	85	model	model	NOUN
fcis-27931	2	86	,	,	PUNCT
fcis-27931	2	87	and	and	CCONJ
fcis-27931	2	88	proposes	propose	VERB
fcis-27931	2	89	an	an	DET
fcis-27931	2	90	improved	improved	ADJ
fcis-27931	2	91	genetic	genetic	ADJ
fcis-27931	2	92	algorithm	algorithm	NOUN
fcis-27931	2	93	for	for	ADP
fcis-27931	2	94	task	task	NOUN
fcis-27931	2	95	allocation	allocation	NOUN
fcis-27931	2	96	.	.	PUNCT
fcis-27931	3	1	firstly	firstly	ADV
fcis-27931	3	2	,	,	PUNCT
fcis-27931	3	3	greedy	greedy	ADJ
fcis-27931	3	4	algorithm	algorithm	NOUN
fcis-27931	3	5	is	be	AUX
fcis-27931	3	6	introduced	introduce	VERB
fcis-27931	3	7	to	to	PART
fcis-27931	3	8	optimize	optimize	VERB
fcis-27931	3	9	the	the	DET
fcis-27931	3	10	initial	initial	ADJ
fcis-27931	3	11	population	population	NOUN
fcis-27931	3	12	and	and	CCONJ
fcis-27931	3	13	improve	improve	VERB
fcis-27931	3	14	the	the	DET
fcis-27931	3	15	quality	quality	NOUN
fcis-27931	3	16	of	of	ADP
fcis-27931	3	17	the	the	DET
fcis-27931	3	18	initial	initial	ADJ
fcis-27931	3	19	population	population	NOUN
fcis-27931	3	20	.	.	PUNCT
fcis-27931	4	1	secondly	secondly	ADV
fcis-27931	4	2	,	,	PUNCT
fcis-27931	4	3	the	the	DET
fcis-27931	4	4	heuristic	heuristic	ADJ
fcis-27931	4	5	bidirectional	bidirectional	NOUN
fcis-27931	4	6	triple	triple	ADJ
fcis-27931	4	7	crossover	crossover	NOUN
fcis-27931	4	8	operator	operator	NOUN
fcis-27931	4	9	is	be	AUX
fcis-27931	4	10	designed	design	VERB
fcis-27931	4	11	to	to	PART
fcis-27931	4	12	expand	expand	VERB
fcis-27931	4	13	the	the	DET
fcis-27931	4	14	search	search	NOUN
fcis-27931	4	15	range	range	NOUN
fcis-27931	4	16	of	of	ADP
fcis-27931	4	17	the	the	DET
fcis-27931	4	18	population	population	NOUN
fcis-27931	4	19	and	and	CCONJ
fcis-27931	4	20	improve	improve	VERB
fcis-27931	4	21	the	the	DET
fcis-27931	4	22	accuracy	accuracy	NOUN
fcis-27931	4	23	of	of	ADP
fcis-27931	4	24	the	the	DET
fcis-27931	4	25	optimal	optimal	ADJ
fcis-27931	4	26	solution	solution	NOUN
fcis-27931	4	27	.	.	PUNCT
fcis-27931	5	1	finally	finally	ADV
fcis-27931	5	2	,	,	PUNCT
fcis-27931	5	3	the	the	DET
fcis-27931	5	4	multi	multi	ADJ
fcis-27931	5	5	-	-	ADJ
fcis-27931	5	6	variant	variant	ADJ
fcis-27931	5	7	strategy	strategy	NOUN
fcis-27931	5	8	is	be	AUX
fcis-27931	5	9	introduced	introduce	VERB
fcis-27931	5	10	to	to	PART
fcis-27931	5	11	solve	solve	VERB
fcis-27931	5	12	the	the	DET
fcis-27931	5	13	problem	problem	NOUN
fcis-27931	5	14	that	that	SCONJ
fcis-27931	5	15	the	the	DET
fcis-27931	5	16	algorithm	algorithm	NOUN
fcis-27931	5	17	falls	fall	VERB
fcis-27931	5	18	into	into	ADP
fcis-27931	5	19	local	local	ADJ
fcis-27931	5	20	optimality	optimality	NOUN
fcis-27931	5	21	.	.	PUNCT
fcis-27931	6	1	the	the	DET
fcis-27931	6	2	experimental	experimental	ADJ
fcis-27931	6	3	results	result	NOUN
fcis-27931	6	4	show	show	VERB
fcis-27931	6	5	that	that	SCONJ
fcis-27931	6	6	the	the	DET
fcis-27931	6	7	improved	improved	ADJ
fcis-27931	6	8	algorithm	algorithm	NOUN
fcis-27931	6	9	has	have	VERB
fcis-27931	6	10	better	well	ADJ
fcis-27931	6	11	convergence	convergence	NOUN
fcis-27931	6	12	and	and	CCONJ
fcis-27931	6	13	balanced	balanced	ADJ
fcis-27931	6	14	distribution	distribution	NOUN
fcis-27931	6	15	ability	ability	NOUN
fcis-27931	6	16	.	.	PUNCT
fcis-27931	7	1	keywords	keyword	NOUN
fcis-27931	7	2	:	:	PUNCT
fcis-27931	7	3	genetic	genetic	ADJ
fcis-27931	7	4	algorithm	algorithm	NOUN
fcis-27931	7	5	;	;	PUNCT
fcis-27931	7	6	multi	multi	ADJ
fcis-27931	7	7	-	-	NOUN
fcis-27931	7	8	robot	robot	NOUN
fcis-27931	7	9	;	;	PUNCT
fcis-27931	7	10	task	task	NOUN
fcis-27931	7	11	allocation	allocation	NOUN
fcis-27931	7	12	;	;	PUNCT
fcis-27931	7	13	three	three	NUM
fcis-27931	7	14	crossover	crossover	NOUN
fcis-27931	7	15	operators	operator	NOUN
fcis-27931	7	16	;	;	PUNCT
fcis-27931	7	17	variation	variation	NOUN
fcis-27931	7	18	strategy	strategy	NOUN
fcis-27931	7	19	.	.	PUNCT
fcis-27931	8	1	1	1	X
fcis-27931	8	2	.	.	X
fcis-27931	8	3	introduction	introduction	NOUN
fcis-27931	8	4	with	with	ADP
fcis-27931	8	5	the	the	DET
fcis-27931	8	6	improvement	improvement	NOUN
fcis-27931	8	7	of	of	ADP
fcis-27931	8	8	people	people	NOUN
fcis-27931	8	9	's	's	PART
fcis-27931	8	10	living	living	NOUN
fcis-27931	8	11	standards	standard	NOUN
fcis-27931	8	12	and	and	CCONJ
fcis-27931	8	13	the	the	DET
fcis-27931	8	14	innovation	innovation	NOUN
fcis-27931	8	15	of	of	ADP
fcis-27931	8	16	information	information	NOUN
fcis-27931	8	17	technology	technology	NOUN
fcis-27931	8	18	,	,	PUNCT
fcis-27931	8	19	e	e	X
fcis-27931	8	20	-	-	PUNCT
fcis-27931	8	21	commerce[1]has	commerce[1]has	PROPN
fcis-27931	8	22	developed	develop	VERB
fcis-27931	8	23	rapidly	rapidly	ADV
fcis-27931	8	24	,	,	PUNCT
fcis-27931	8	25	which	which	PRON
fcis-27931	8	26	in	in	ADP
fcis-27931	8	27	turn	turn	NOUN
fcis-27931	8	28	has	have	AUX
fcis-27931	8	29	driven	drive	VERB
fcis-27931	8	30	the	the	DET
fcis-27931	8	31	transformation	transformation	NOUN
fcis-27931	8	32	of	of	ADP
fcis-27931	8	33	the	the	DET
fcis-27931	8	34	logistics	logistic	NOUN
fcis-27931	8	35	industry	industry	NOUN
fcis-27931	8	36	and	and	CCONJ
fcis-27931	8	37	provided	provide	VERB
fcis-27931	8	38	huge	huge	ADJ
fcis-27931	8	39	development	development	NOUN
fcis-27931	8	40	space	space	NOUN
fcis-27931	8	41	for	for	ADP
fcis-27931	8	42	the	the	DET
fcis-27931	8	43	warehousing	warehousing	NOUN
fcis-27931	8	44	industry	industry	NOUN
fcis-27931	8	45	.	.	PUNCT
fcis-27931	9	1	the	the	DET
fcis-27931	9	2	traditional	traditional	ADJ
fcis-27931	9	3	model	model	NOUN
fcis-27931	9	4	of	of	ADP
fcis-27931	9	5	people	people	NOUN
fcis-27931	9	6	arriving	arrive	VERB
fcis-27931	9	7	at	at	ADP
fcis-27931	9	8	the	the	DET
fcis-27931	9	9	goods	good	NOUN
fcis-27931	9	10	is	be	AUX
fcis-27931	9	11	inefficient	inefficient	ADJ
fcis-27931	9	12	,	,	PUNCT
fcis-27931	9	13	costly	costly	ADJ
fcis-27931	9	14	and	and	CCONJ
fcis-27931	9	15	error	error	NOUN
fcis-27931	9	16	-	-	PUNCT
fcis-27931	9	17	prone	prone	ADJ
fcis-27931	9	18	,	,	PUNCT
fcis-27931	9	19	and	and	CCONJ
fcis-27931	9	20	can	can	AUX
fcis-27931	9	21	no	no	ADV
fcis-27931	9	22	longer	long	ADV
fcis-27931	9	23	meet	meet	VERB
fcis-27931	9	24	the	the	DET
fcis-27931	9	25	growing	grow	VERB
fcis-27931	9	26	demand	demand	NOUN
fcis-27931	9	27	for	for	ADP
fcis-27931	9	28	orders	order	NOUN
fcis-27931	9	29	.	.	PUNCT
fcis-27931	10	1	therefore	therefore	ADV
fcis-27931	10	2	,	,	PUNCT
fcis-27931	10	3	the	the	DET
fcis-27931	10	4	establishment	establishment	NOUN
fcis-27931	10	5	of	of	ADP
fcis-27931	10	6	an	an	DET
fcis-27931	10	7	intelligent	intelligent	ADJ
fcis-27931	10	8	warehousing	warehousing	NOUN
fcis-27931	10	9	platform	platform	NOUN
fcis-27931	10	10	and	and	CCONJ
fcis-27931	10	11	the	the	DET
fcis-27931	10	12	realization	realization	NOUN
fcis-27931	10	13	of	of	ADP
fcis-27931	10	14	the	the	DET
fcis-27931	10	15	goods	good	NOUN
fcis-27931	10	16	-	-	PUNCT
fcis-27931	10	17	to	to	ADP
fcis-27931	10	18	-	-	PUNCT
fcis-27931	10	19	people	people	NOUN
fcis-27931	10	20	operation	operation	NOUN
fcis-27931	10	21	model	model	NOUN
fcis-27931	10	22	are	be	AUX
fcis-27931	10	23	of	of	ADP
fcis-27931	10	24	great	great	ADJ
fcis-27931	10	25	significance	significance	NOUN
fcis-27931	10	26	to	to	ADP
fcis-27931	10	27	the	the	DET
fcis-27931	10	28	development	development	NOUN
fcis-27931	10	29	of	of	ADP
fcis-27931	10	30	the	the	DET
fcis-27931	10	31	warehousing	warehousing	NOUN
fcis-27931	10	32	industry	industry	NOUN
fcis-27931	10	33	.	.	PUNCT
fcis-27931	11	1	as	as	ADP
fcis-27931	11	2	one	one	NUM
fcis-27931	11	3	of	of	ADP
fcis-27931	11	4	the	the	DET
fcis-27931	11	5	important	important	ADJ
fcis-27931	11	6	cores	core	NOUN
fcis-27931	11	7	of	of	ADP
fcis-27931	11	8	intelligent	intelligent	ADJ
fcis-27931	11	9	warehousing	warehousing	NOUN
fcis-27931	11	10	,	,	PUNCT
fcis-27931	11	11	multi	multi	ADJ
fcis-27931	11	12	-	-	ADJ
fcis-27931	11	13	robot	robot	ADJ
fcis-27931	11	14	task	task	NOUN
fcis-27931	11	15	scheduling	scheduling	NOUN
fcis-27931	11	16	has	have	AUX
fcis-27931	11	17	attracted	attract	VERB
fcis-27931	11	18	wide	wide	ADJ
fcis-27931	11	19	attention	attention	NOUN
fcis-27931	11	20	at	at	ADP
fcis-27931	11	21	home	home	NOUN
fcis-27931	11	22	and	and	CCONJ
fcis-27931	11	23	abroad	abroad	ADV
fcis-27931	11	24	.	.	PUNCT
fcis-27931	12	1	many	many	ADJ
fcis-27931	12	2	scholars	scholar	NOUN
fcis-27931	12	3	have	have	AUX
fcis-27931	12	4	studied	study	VERB
fcis-27931	12	5	it	it	PRON
fcis-27931	12	6	and	and	CCONJ
fcis-27931	12	7	achieved	achieve	VERB
fcis-27931	12	8	certain	certain	ADJ
fcis-27931	12	9	results	result	NOUN
fcis-27931	12	10	.	.	PUNCT
fcis-27931	13	1	rohini	rohini	PROPN
fcis-27931	13	2	.m	.m	PROPN
fcis-27931	14	1	et	et	PROPN
fcis-27931	14	2	al	al	PROPN
fcis-27931	14	3	.	.	PUNCT
fcis-27931	15	1	[	[	X
fcis-27931	15	2	2]used	2]used	NUM
fcis-27931	15	3	linear	linear	ADJ
fcis-27931	15	4	hybrid	hybrid	ADJ
fcis-27931	15	5	programming	programming	NOUN
fcis-27931	15	6	to	to	PART
fcis-27931	15	7	improve	improve	VERB
fcis-27931	15	8	the	the	DET
fcis-27931	15	9	genetic	genetic	ADJ
fcis-27931	15	10	algorithm	algorithm	NOUN
fcis-27931	15	11	,	,	PUNCT
fcis-27931	15	12	with	with	ADP
fcis-27931	15	13	the	the	DET
fcis-27931	15	14	goal	goal	NOUN
fcis-27931	15	15	of	of	ADP
fcis-27931	15	16	minimizing	minimize	VERB
fcis-27931	15	17	the	the	DET
fcis-27931	15	18	total	total	ADJ
fcis-27931	15	19	distance	distance	NOUN
fcis-27931	15	20	and	and	CCONJ
fcis-27931	15	21	minimizing	minimize	VERB
fcis-27931	15	22	the	the	DET
fcis-27931	15	23	idle	idle	ADJ
fcis-27931	15	24	time	time	NOUN
fcis-27931	15	25	of	of	ADP
fcis-27931	15	26	the	the	DET
fcis-27931	15	27	robot	robot	NOUN
fcis-27931	15	28	;	;	PUNCT
fcis-27931	15	29	yang	yang	PROPN
fcis-27931	15	30	guihua	guihua	PROPN
fcis-27931	15	31	et	et	PROPN
fcis-27931	15	32	al	al	PROPN
fcis-27931	15	33	.	.	PUNCT
fcis-27931	16	1	[	[	X
fcis-27931	16	2	3]proposed	3]proposed	ADJ
fcis-27931	16	3	a	a	DET
fcis-27931	16	4	warehouse	warehouse	NOUN
fcis-27931	16	5	robot	robot	NOUN
fcis-27931	16	6	task	task	PROPN
fcis-27931	16	7	allocation	allocation	NOUN
fcis-27931	16	8	algorithm	algorithm	NOUN
fcis-27931	16	9	based	base	VERB
fcis-27931	16	10	on	on	ADP
fcis-27931	16	11	the	the	DET
fcis-27931	16	12	immune	immune	ADJ
fcis-27931	16	13	ant	ant	ADJ
fcis-27931	16	14	colony	colony	NOUN
fcis-27931	16	15	optimization	optimization	NOUN
fcis-27931	16	16	algorithm	algorithm	NOUN
fcis-27931	16	17	,	,	PUNCT
fcis-27931	16	18	with	with	ADP
fcis-27931	16	19	the	the	DET
fcis-27931	16	20	robot	robot	NOUN
fcis-27931	16	21	's	's	PART
fcis-27931	16	22	total	total	ADJ
fcis-27931	16	23	path	path	NOUN
fcis-27931	16	24	as	as	ADP
fcis-27931	16	25	the	the	DET
fcis-27931	16	26	goal	goal	NOUN
fcis-27931	16	27	,	,	PUNCT
fcis-27931	16	28	to	to	PART
fcis-27931	16	29	achieve	achieve	VERB
fcis-27931	16	30	multi	multi	ADJ
fcis-27931	16	31	-	-	ADJ
fcis-27931	16	32	objective	objective	ADJ
fcis-27931	16	33	task	task	NOUN
fcis-27931	16	34	allocation	allocation	NOUN
fcis-27931	16	35	;	;	PUNCT
fcis-27931	16	36	zhou	zhou	PROPN
fcis-27931	16	37	hang	hang	VERB
fcis-27931	16	38	et	et	PROPN
fcis-27931	16	39	al.[4	al.[4	PROPN
fcis-27931	16	40	]	]	PUNCT
fcis-27931	16	41	proposed	propose	VERB
fcis-27931	16	42	a	a	DET
fcis-27931	16	43	hybrid	hybrid	ADJ
fcis-27931	16	44	genetic	genetic	ADJ
fcis-27931	16	45	taboo	taboo	NOUN
fcis-27931	16	46	search	search	NOUN
fcis-27931	16	47	algorithm	algorithm	NOUN
fcis-27931	16	48	,	,	PUNCT
fcis-27931	16	49	with	with	ADP
fcis-27931	16	50	the	the	DET
fcis-27931	16	51	robot	robot	NOUN
fcis-27931	16	52	delivery	delivery	NOUN
fcis-27931	16	53	cost	cost	NOUN
fcis-27931	16	54	as	as	ADP
fcis-27931	16	55	the	the	DET
fcis-27931	16	56	goal	goal	NOUN
fcis-27931	16	57	,	,	PUNCT
fcis-27931	16	58	to	to	PART
fcis-27931	16	59	improve	improve	VERB
fcis-27931	16	60	the	the	DET
fcis-27931	16	61	overall	overall	ADJ
fcis-27931	16	62	operation	operation	NOUN
fcis-27931	16	63	efficiency	efficiency	NOUN
fcis-27931	16	64	of	of	ADP
fcis-27931	16	65	the	the	DET
fcis-27931	16	66	warehouse	warehouse	NOUN
fcis-27931	16	67	;	;	PUNCT
fcis-27931	16	68	deng	deng	PROPN
fcis-27931	16	69	fuqin	fuqin	PROPN
fcis-27931	16	70	et	et	PROPN
fcis-27931	16	71	al	al	PROPN
fcis-27931	16	72	.	.	PUNCT
fcis-27931	17	1	[	[	X
fcis-27931	17	2	5]proposed	5]propose	VERB
fcis-27931	17	3	an	an	DET
fcis-27931	17	4	algorithm	algorithm	NOUN
fcis-27931	17	5	combining	combine	VERB
fcis-27931	17	6	genetic	genetic	ADJ
fcis-27931	17	7	algorithm	algorithm	NOUN
fcis-27931	17	8	and	and	CCONJ
fcis-27931	17	9	rolling	rolling	ADJ
fcis-27931	17	10	scheduling	scheduling	NOUN
fcis-27931	17	11	,	,	PUNCT
fcis-27931	17	12	with	with	ADP
fcis-27931	17	13	the	the	DET
fcis-27931	17	14	time	time	NOUN
fcis-27931	17	15	to	to	PART
fcis-27931	17	16	complete	complete	VERB
fcis-27931	17	17	the	the	DET
fcis-27931	17	18	task	task	NOUN
fcis-27931	17	19	as	as	ADP
fcis-27931	17	20	the	the	DET
fcis-27931	17	21	goal	goal	NOUN
fcis-27931	17	22	,	,	PUNCT
fcis-27931	17	23	to	to	PART
fcis-27931	17	24	improve	improve	VERB
fcis-27931	17	25	the	the	DET
fcis-27931	17	26	efficiency	efficiency	NOUN
fcis-27931	17	27	of	of	ADP
fcis-27931	17	28	multi	multi	ADJ
fcis-27931	17	29	-	-	ADJ
fcis-27931	17	30	robot	robot	ADJ
fcis-27931	17	31	task	task	NOUN
fcis-27931	17	32	allocation	allocation	NOUN
fcis-27931	17	33	;	;	PUNCT
fcis-27931	17	34	zhu	zhu	PROPN
fcis-27931	17	35	bowen	bowen	PROPN
fcis-27931	17	36	et	et	PROPN
fcis-27931	17	37	al	al	PROPN
fcis-27931	17	38	.	.	PUNCT
fcis-27931	18	1	[	[	X
fcis-27931	18	2	6]proposed	6]propose	VERB
fcis-27931	18	3	a	a	DET
fcis-27931	18	4	multi	multi	ADJ
fcis-27931	18	5	-	-	ADJ
fcis-27931	18	6	strategy	strategy	ADJ
fcis-27931	18	7	optimized	optimize	VERB
fcis-27931	18	8	sparrow	sparrow	NOUN
fcis-27931	18	9	search	search	NOUN
fcis-27931	18	10	algorithm	algorithm	NOUN
fcis-27931	18	11	,	,	PUNCT
fcis-27931	18	12	with	with	ADP
fcis-27931	18	13	the	the	DET
fcis-27931	18	14	robot	robot	NOUN
fcis-27931	18	15	's	's	PART
fcis-27931	18	16	total	total	ADJ
fcis-27931	18	17	path	path	NOUN
fcis-27931	18	18	as	as	ADP
fcis-27931	18	19	the	the	DET
fcis-27931	18	20	goal	goal	NOUN
fcis-27931	18	21	,	,	PUNCT
fcis-27931	18	22	to	to	PART
fcis-27931	18	23	improve	improve	VERB
fcis-27931	18	24	the	the	DET
fcis-27931	18	25	performance	performance	NOUN
fcis-27931	18	26	of	of	ADP
fcis-27931	18	27	multi	multi	ADJ
fcis-27931	18	28	-	-	ADJ
fcis-27931	18	29	robot	robot	ADJ
fcis-27931	18	30	task	task	NOUN
fcis-27931	18	31	scheduling	scheduling	NOUN
fcis-27931	18	32	.	.	PUNCT
fcis-27931	19	1	based	base	VERB
fcis-27931	19	2	on	on	ADP
fcis-27931	19	3	the	the	DET
fcis-27931	19	4	above	above	ADJ
fcis-27931	19	5	research	research	NOUN
fcis-27931	19	6	content	content	NOUN
fcis-27931	19	7	,	,	PUNCT
fcis-27931	19	8	this	this	DET
fcis-27931	19	9	paper	paper	NOUN
fcis-27931	19	10	proposes	propose	VERB
fcis-27931	19	11	an	an	DET
fcis-27931	19	12	improved	improved	ADJ
fcis-27931	19	13	genetic	genetic	ADJ
fcis-27931	19	14	algorithm	algorithm	NOUN
fcis-27931	19	15	for	for	ADP
fcis-27931	19	16	the	the	DET
fcis-27931	19	17	warehouse	warehouse	NOUN
fcis-27931	19	18	multi	multi	ADJ
fcis-27931	19	19	-	-	ADJ
fcis-27931	19	20	robot	robot	ADJ
fcis-27931	19	21	task	task	NOUN
fcis-27931	19	22	allocation	allocation	NOUN
fcis-27931	19	23	problem	problem	NOUN
fcis-27931	19	24	.	.	PUNCT
fcis-27931	20	1	first	first	ADV
fcis-27931	20	2	,	,	PUNCT
fcis-27931	20	3	the	the	DET
fcis-27931	20	4	greedy	greedy	ADJ
fcis-27931	20	5	algorithm	algorithm	NOUN
fcis-27931	20	6	is	be	AUX
fcis-27931	20	7	introduced	introduce	VERB
fcis-27931	20	8	in	in	ADP
fcis-27931	20	9	the	the	DET
fcis-27931	20	10	population	population	NOUN
fcis-27931	20	11	initialization	initialization	NOUN
fcis-27931	20	12	process	process	NOUN
fcis-27931	20	13	to	to	PART
fcis-27931	20	14	improve	improve	VERB
fcis-27931	20	15	the	the	DET
fcis-27931	20	16	quality	quality	NOUN
fcis-27931	20	17	of	of	ADP
fcis-27931	20	18	the	the	DET
fcis-27931	20	19	initial	initial	ADJ
fcis-27931	20	20	solution	solution	NOUN
fcis-27931	20	21	in	in	ADP
fcis-27931	20	22	the	the	DET
fcis-27931	20	23	population	population	NOUN
fcis-27931	20	24	;	;	PUNCT
fcis-27931	20	25	secondly	secondly	ADV
fcis-27931	20	26	,	,	PUNCT
fcis-27931	20	27	the	the	DET
fcis-27931	20	28	bidirectional	bidirectional	ADJ
fcis-27931	20	29	three	three	NUM
fcis-27931	20	30	-	-	PUNCT
fcis-27931	20	31	crossover	crossover	NOUN
fcis-27931	20	32	operator	operator	NOUN
fcis-27931	20	33	is	be	AUX
fcis-27931	20	34	introduced	introduce	VERB
fcis-27931	20	35	to	to	PART
fcis-27931	20	36	improve	improve	VERB
fcis-27931	20	37	the	the	DET
fcis-27931	20	38	quality	quality	NOUN
fcis-27931	20	39	of	of	ADP
fcis-27931	20	40	the	the	DET
fcis-27931	20	41	offspring	offspring	NOUN
fcis-27931	20	42	in	in	ADP
fcis-27931	20	43	the	the	DET
fcis-27931	20	44	solution	solution	NOUN
fcis-27931	20	45	process	process	NOUN
fcis-27931	20	46	;	;	PUNCT
fcis-27931	20	47	finally	finally	ADV
fcis-27931	20	48	,	,	PUNCT
fcis-27931	20	49	a	a	DET
fcis-27931	20	50	multi	multi	ADJ
fcis-27931	20	51	-	-	ADJ
fcis-27931	20	52	variation	variation	ADJ
fcis-27931	20	53	strategy	strategy	NOUN
fcis-27931	20	54	is	be	AUX
fcis-27931	20	55	designed	design	VERB
fcis-27931	20	56	,	,	PUNCT
fcis-27931	20	57	combined	combine	VERB
fcis-27931	20	58	with	with	ADP
fcis-27931	20	59	the	the	DET
fcis-27931	20	60	metropolis	metropolis	ADJ
fcis-27931	20	61	criterion	criterion	NOUN
fcis-27931	20	62	,	,	PUNCT
fcis-27931	20	63	to	to	PART
fcis-27931	20	64	accept	accept	VERB
fcis-27931	20	65	individuals	individual	NOUN
fcis-27931	20	66	with	with	ADP
fcis-27931	20	67	poor	poor	ADJ
fcis-27931	20	68	fitness	fitness	NOUN
fcis-27931	20	69	with	with	ADP
fcis-27931	20	70	a	a	DET
fcis-27931	20	71	certain	certain	ADJ
fcis-27931	20	72	probability	probability	NOUN
fcis-27931	20	73	,	,	PUNCT
fcis-27931	20	74	to	to	PART
fcis-27931	20	75	ensure	ensure	VERB
fcis-27931	20	76	the	the	DET
fcis-27931	20	77	diversity	diversity	NOUN
fcis-27931	20	78	of	of	ADP
fcis-27931	20	79	the	the	DET
fcis-27931	20	80	population	population	NOUN
fcis-27931	20	81	,	,	PUNCT
fcis-27931	20	82	and	and	CCONJ
fcis-27931	20	83	to	to	PART
fcis-27931	20	84	improve	improve	VERB
fcis-27931	20	85	the	the	DET
fcis-27931	20	86	ability	ability	NOUN
fcis-27931	20	87	of	of	ADP
fcis-27931	20	88	the	the	DET
fcis-27931	20	89	algorithm	algorithm	NOUN
fcis-27931	20	90	to	to	PART
fcis-27931	20	91	jump	jump	VERB
fcis-27931	20	92	out	out	ADP
fcis-27931	20	93	of	of	ADP
fcis-27931	20	94	the	the	DET
fcis-27931	20	95	local	local	ADJ
fcis-27931	20	96	optimum	optimum	NOUN
fcis-27931	20	97	.	.	PUNCT
fcis-27931	21	1	2	2	X
fcis-27931	21	2	.	.	X
fcis-27931	21	3	problem	problem	NOUN
fcis-27931	21	4	description	description	NOUN
fcis-27931	21	5	and	and	CCONJ
fcis-27931	21	6	model	model	NOUN
fcis-27931	21	7	building	building	NOUN
fcis-27931	21	8	figure	figure	NOUN
fcis-27931	21	9	1	1	NUM
fcis-27931	21	10	.	.	PUNCT
fcis-27931	21	11	intelligent	intelligent	ADJ
fcis-27931	21	12	warehousing	warehousing	NOUN
fcis-27931	21	13	grid	grid	NOUN
fcis-27931	21	14	map	map	NOUN
fcis-27931	21	15	6	6	NUM
fcis-27931	21	16	multi	multi	ADJ
fcis-27931	21	17	-	-	ADJ
fcis-27931	21	18	robot	robot	ADJ
fcis-27931	21	19	task	task	NOUN
fcis-27931	21	20	allocation[7]refers	allocation[7]refer	NOUN
fcis-27931	21	21	to	to	ADP
fcis-27931	21	22	the	the	DET
fcis-27931	21	23	allocation	allocation	NOUN
fcis-27931	21	24	of	of	ADP
fcis-27931	21	25	several	several	ADJ
fcis-27931	21	26	tasks	task	NOUN
fcis-27931	21	27	to	to	ADP
fcis-27931	21	28	each	each	DET
fcis-27931	21	29	robot	robot	NOUN
fcis-27931	21	30	without	without	ADP
fcis-27931	21	31	duplication	duplication	NOUN
fcis-27931	21	32	,	,	PUNCT
fcis-27931	21	33	and	and	CCONJ
fcis-27931	21	34	the	the	DET
fcis-27931	21	35	robot	robot	NOUN
fcis-27931	21	36	achieves	achieve	VERB
fcis-27931	21	37	the	the	DET
fcis-27931	21	38	optimal	optimal	ADJ
fcis-27931	21	39	result	result	NOUN
fcis-27931	21	40	under	under	ADP
fcis-27931	21	41	the	the	DET
fcis-27931	21	42	premise	premise	NOUN
fcis-27931	21	43	of	of	ADP
fcis-27931	21	44	satisfying	satisfy	VERB
fcis-27931	21	45	the	the	DET
fcis-27931	21	46	constraints	constraint	NOUN
fcis-27931	21	47	.	.	PUNCT
fcis-27931	22	1	smart	smart	ADJ
fcis-27931	22	2	warehousing	warehousing	NOUN
fcis-27931	22	3	consists	consist	VERB
fcis-27931	22	4	of	of	ADP
fcis-27931	22	5	several	several	ADJ
fcis-27931	22	6	sorting	sort	VERB
fcis-27931	22	7	tables	table	NOUN
fcis-27931	22	8	,	,	PUNCT
fcis-27931	22	9	shelves	shelf	NOUN
fcis-27931	22	10	and	and	CCONJ
fcis-27931	22	11	a	a	DET
fcis-27931	22	12	certain	certain	ADJ
fcis-27931	22	13	number	number	NOUN
fcis-27931	22	14	of	of	ADP
fcis-27931	22	15	robots	robot	NOUN
fcis-27931	22	16	.	.	PUNCT
fcis-27931	23	1	for	for	ADP
fcis-27931	23	2	the	the	DET
fcis-27931	23	3	multirobot	multirobot	PROPN
fcis-27931	23	4	task	task	PROPN
fcis-27931	23	5	allocation	allocation	NOUN
fcis-27931	23	6	model	model	PROPN
fcis-27931	23	7	,	,	PUNCT
fcis-27931	23	8	a	a	DET
fcis-27931	23	9	smart	smart	ADJ
fcis-27931	23	10	warehousing	warehousing	NOUN
fcis-27931	23	11	grid	grid	NOUN
fcis-27931	23	12	map	map	NOUN
fcis-27931	23	13	is	be	AUX
fcis-27931	23	14	established	establish	VERB
fcis-27931	23	15	,	,	PUNCT
fcis-27931	23	16	as	as	SCONJ
fcis-27931	23	17	shown	show	VERB
fcis-27931	23	18	in	in	ADP
fcis-27931	23	19	figure	figure	NOUN
fcis-27931	23	20	1	1	NUM
fcis-27931	23	21	.	.	PUNCT
fcis-27931	24	1	the	the	DET
fcis-27931	24	2	gray	gray	ADJ
fcis-27931	24	3	area	area	NOUN
fcis-27931	24	4	in	in	ADP
fcis-27931	24	5	the	the	DET
fcis-27931	24	6	model	model	NOUN
fcis-27931	24	7	is	be	AUX
fcis-27931	24	8	the	the	DET
fcis-27931	24	9	sorting	sort	VERB
fcis-27931	24	10	table	table	NOUN
fcis-27931	24	11	,	,	PUNCT
fcis-27931	24	12	the	the	DET
fcis-27931	24	13	black	black	ADJ
fcis-27931	24	14	area	area	NOUN
fcis-27931	24	15	in	in	ADP
fcis-27931	24	16	the	the	DET
fcis-27931	24	17	middle	middle	NOUN
fcis-27931	24	18	is	be	AUX
fcis-27931	24	19	several	several	ADJ
fcis-27931	24	20	shelves	shelf	NOUN
fcis-27931	24	21	,	,	PUNCT
fcis-27931	24	22	and	and	CCONJ
fcis-27931	24	23	the	the	DET
fcis-27931	24	24	remaining	remain	VERB
fcis-27931	24	25	white	white	ADJ
fcis-27931	24	26	area	area	NOUN
fcis-27931	24	27	is	be	AUX
fcis-27931	24	28	the	the	DET
fcis-27931	24	29	passable	passable	ADJ
fcis-27931	24	30	area	area	NOUN
fcis-27931	24	31	.	.	PUNCT
fcis-27931	25	1	based	base	VERB
fcis-27931	25	2	on	on	ADP
fcis-27931	25	3	the	the	DET
fcis-27931	25	4	intelligent	intelligent	ADJ
fcis-27931	25	5	warehouse	warehouse	NOUN
fcis-27931	25	6	grid	grid	NOUN
fcis-27931	25	7	map	map	NOUN
fcis-27931	25	8	,	,	PUNCT
fcis-27931	25	9	a	a	DET
fcis-27931	25	10	multi	multi	ADJ
fcis-27931	25	11	-	-	ADJ
fcis-27931	25	12	robot	robot	ADJ
fcis-27931	25	13	task	task	NOUN
fcis-27931	25	14	allocation	allocation	NOUN
fcis-27931	25	15	problem	problem	NOUN
fcis-27931	25	16	model	model	NOUN
fcis-27931	25	17	is	be	AUX
fcis-27931	25	18	established	establish	VERB
fcis-27931	25	19	[	[	PUNCT
fcis-27931	25	20	8	8	NUM
fcis-27931	25	21	]	]	PUNCT
fcis-27931	25	22	assume	assume	VERB
fcis-27931	25	23	that	that	SCONJ
fcis-27931	25	24	the	the	DET
fcis-27931	25	25	number	number	NOUN
fcis-27931	25	26	of	of	ADP
fcis-27931	25	27	robots	robot	NOUN
fcis-27931	25	28	is	be	AUX
fcis-27931	25	29	,	,	PUNCT
fcis-27931	25	30	the	the	DET
fcis-27931	25	31	robot	robot	NOUN
fcis-27931	25	32	set	set	VERB
fcis-27931	25	33	is	be	AUX
fcis-27931	25	34	,	,	PUNCT
fcis-27931	25	35	the	the	DET
fcis-27931	25	36	number	number	NOUN
fcis-27931	25	37	of	of	ADP
fcis-27931	25	38	tasks	task	NOUN
fcis-27931	25	39	to	to	PART
fcis-27931	25	40	be	be	AUX
fcis-27931	25	41	assigned	assign	VERB
fcis-27931	25	42	in	in	ADP
fcis-27931	25	43	the	the	DET
fcis-27931	25	44	warehouse	warehouse	NOUN
fcis-27931	25	45	is	be	AUX
fcis-27931	25	46	,	,	PUNCT
fcis-27931	25	47	and	and	CCONJ
fcis-27931	25	48	the	the	DET
fcis-27931	25	49	task	task	NOUN
fcis-27931	25	50	set	set	NOUN
fcis-27931	25	51	is	be	AUX
fcis-27931	25	52	,	,	PUNCT
fcis-27931	25	53	where	where	SCONJ
fcis-27931	25	54	.	.	PUNCT
fcis-27931	25	55	is	be	AUX
fcis-27931	25	56	used	use	VERB
fcis-27931	25	57	to	to	PART
fcis-27931	25	58	represent	represent	VERB
fcis-27931	25	59	the	the	DET
fcis-27931	25	60	task	task	NOUN
fcis-27931	25	61	point	point	NOUN
fcis-27931	25	62	executed	execute	VERB
fcis-27931	25	63	by	by	ADP
fcis-27931	25	64	the	the	DET
fcis-27931	25	65	i	i	PROPN
fcis-27931	25	66	-	-	PUNCT
fcis-27931	25	67	th	th	NUM
fcis-27931	25	68	robot	robot	NOUN
fcis-27931	25	69	,	,	PUNCT
fcis-27931	25	70	and	and	CCONJ
fcis-27931	25	71	is	be	AUX
fcis-27931	25	72	the	the	DET
fcis-27931	25	73	number	number	NOUN
fcis-27931	25	74	of	of	ADP
fcis-27931	25	75	tasks	task	NOUN
fcis-27931	25	76	that	that	SCONJ
fcis-27931	25	77	the	the	DET
fcis-27931	25	78	robot	robot	NOUN
fcis-27931	25	79	needs	need	VERB
fcis-27931	25	80	to	to	PART
fcis-27931	25	81	perform	perform	VERB
fcis-27931	25	82	.	.	PUNCT
fcis-27931	26	1	the	the	DET
fcis-27931	26	2	total	total	ADJ
fcis-27931	26	3	distance	distance	NOUN
fcis-27931	26	4	that	that	PRON
fcis-27931	26	5	each	each	DET
fcis-27931	26	6	robot	robot	NOUN
fcis-27931	26	7	runs	run	VERB
fcis-27931	26	8	is	be	AUX
fcis-27931	26	9	as	as	SCONJ
fcis-27931	26	10	follows	follow	VERB
fcis-27931	26	11	:	:	PUNCT
fcis-27931	26	12	(	(	PUNCT
fcis-27931	26	13	1	1	X
fcis-27931	26	14	)	)	PUNCT
fcis-27931	26	15	where	where	SCONJ
fcis-27931	26	16	:	:	PUNCT
fcis-27931	26	17	represents	represent	VERB
fcis-27931	26	18	the	the	DET
fcis-27931	26	19	total	total	ADJ
fcis-27931	26	20	distance	distance	NOUN
fcis-27931	26	21	traveled	travel	VERB
fcis-27931	26	22	by	by	ADP
fcis-27931	26	23	the	the	DET
fcis-27931	26	24	ith	ith	PROPN
fcis-27931	26	25	robot	robot	NOUN
fcis-27931	26	26	;	;	PUNCT
fcis-27931	26	27	represents	represent	VERB
fcis-27931	26	28	the	the	DET
fcis-27931	26	29	distance	distance	NOUN
fcis-27931	26	30	from	from	ADP
fcis-27931	26	31	the	the	DET
fcis-27931	26	32	initial	initial	ADJ
fcis-27931	26	33	position	position	NOUN
fcis-27931	26	34	of	of	ADP
fcis-27931	26	35	the	the	DET
fcis-27931	26	36	i	i	PROPN
fcis-27931	26	37	-	-	PUNCT
fcis-27931	26	38	th	th	X
fcis-27931	26	39	robot	robot	NOUN
fcis-27931	26	40	to	to	ADP
fcis-27931	26	41	the	the	DET
fcis-27931	26	42	first	first	ADJ
fcis-27931	26	43	task	task	NOUN
fcis-27931	26	44	;	;	PUNCT
fcis-27931	26	45	represents	represent	VERB
fcis-27931	26	46	the	the	DET
fcis-27931	26	47	total	total	ADJ
fcis-27931	26	48	distance	distance	NOUN
fcis-27931	26	49	of	of	ADP
fcis-27931	26	50	the	the	DET
fcis-27931	26	51	i	i	PROPN
fcis-27931	26	52	-	-	PUNCT
fcis-27931	26	53	th	th	X
fcis-27931	26	54	robot	robot	NOUN
fcis-27931	26	55	completing	complete	VERB
fcis-27931	26	56	tasks	task	NOUN
fcis-27931	26	57	;	;	PUNCT
fcis-27931	26	58	represents	represent	VERB
fcis-27931	26	59	the	the	DET
fcis-27931	26	60	distance	distance	NOUN
fcis-27931	26	61	from	from	ADP
fcis-27931	26	62	the	the	DET
fcis-27931	26	63	last	last	ADJ
fcis-27931	26	64	task	task	NOUN
fcis-27931	26	65	point	point	NOUN
fcis-27931	26	66	of	of	ADP
fcis-27931	26	67	the	the	DET
fcis-27931	26	68	i	i	PROPN
fcis-27931	26	69	-	-	PUNCT
fcis-27931	26	70	th	th	X
fcis-27931	26	71	robot	robot	NOUN
fcis-27931	26	72	to	to	ADP
fcis-27931	26	73	the	the	DET
fcis-27931	26	74	initial	initial	ADJ
fcis-27931	26	75	position	position	NOUN
fcis-27931	26	76	.	.	PUNCT
fcis-27931	27	1	the	the	DET
fcis-27931	27	2	distance	distance	NOUN
fcis-27931	27	3	formula	formula	NOUN
fcis-27931	27	4	is	be	AUX
fcis-27931	27	5	as	as	SCONJ
fcis-27931	27	6	follows	follow	VERB
fcis-27931	27	7	:	:	PUNCT
fcis-27931	27	8	(	(	PUNCT
fcis-27931	27	9	2	2	X
fcis-27931	27	10	)	)	PUNCT
fcis-27931	27	11	in	in	ADP
fcis-27931	27	12	addition	addition	NOUN
fcis-27931	27	13	,	,	PUNCT
fcis-27931	27	14	the	the	DET
fcis-27931	27	15	path	path	NOUN
fcis-27931	27	16	distances	distance	NOUN
fcis-27931	27	17	taken	take	VERB
fcis-27931	27	18	by	by	ADP
fcis-27931	27	19	each	each	DET
fcis-27931	27	20	robot	robot	NOUN
fcis-27931	27	21	to	to	PART
fcis-27931	27	22	execute	execute	VERB
fcis-27931	27	23	the	the	DET
fcis-27931	27	24	task	task	NOUN
fcis-27931	27	25	sequence	sequence	NOUN
fcis-27931	27	26	are	be	AUX
fcis-27931	27	27	similar	similar	ADJ
fcis-27931	27	28	.	.	PUNCT
fcis-27931	28	1	in	in	ADP
fcis-27931	28	2	order	order	NOUN
fcis-27931	28	3	to	to	PART
fcis-27931	28	4	ensure	ensure	VERB
fcis-27931	28	5	that	that	SCONJ
fcis-27931	28	6	all	all	DET
fcis-27931	28	7	robots	robot	NOUN
fcis-27931	28	8	have	have	VERB
fcis-27931	28	9	a	a	DET
fcis-27931	28	10	high	high	ADJ
fcis-27931	28	11	utilization	utilization	NOUN
fcis-27931	28	12	rate	rate	NOUN
fcis-27931	28	13	,	,	PUNCT
fcis-27931	28	14	the	the	DET
fcis-27931	28	15	variance	variance	NOUN
fcis-27931	28	16	of	of	ADP
fcis-27931	28	17	the	the	DET
fcis-27931	28	18	path	path	NOUN
fcis-27931	28	19	distance	distance	NOUN
fcis-27931	28	20	is	be	AUX
fcis-27931	28	21	used	use	VERB
fcis-27931	28	22	to	to	PART
fcis-27931	28	23	reflect	reflect	VERB
fcis-27931	28	24	the	the	DET
fcis-27931	28	25	degree	degree	NOUN
fcis-27931	28	26	of	of	ADP
fcis-27931	28	27	discreteness	discreteness	NOUN
fcis-27931	28	28	.	.	PUNCT
fcis-27931	29	1	the	the	DET
fcis-27931	29	2	formula	formula	NOUN
fcis-27931	29	3	is	be	AUX
fcis-27931	29	4	as	as	SCONJ
fcis-27931	29	5	follows	follow	VERB
fcis-27931	29	6	:	:	PUNCT
fcis-27931	29	7	(	(	PUNCT
fcis-27931	29	8	3	3	X
fcis-27931	29	9	)	)	PUNCT
fcis-27931	29	10	the	the	DET
fcis-27931	29	11	objective	objective	ADJ
fcis-27931	29	12	function	function	NOUN
fcis-27931	29	13	is	be	AUX
fcis-27931	29	14	established	establish	VERB
fcis-27931	29	15	with	with	ADP
fcis-27931	29	16	the	the	DET
fcis-27931	29	17	goal	goal	NOUN
fcis-27931	29	18	of	of	ADP
fcis-27931	29	19	minimizing	minimize	VERB
fcis-27931	29	20	the	the	DET
fcis-27931	29	21	sum	sum	NOUN
fcis-27931	29	22	of	of	ADP
fcis-27931	29	23	all	all	DET
fcis-27931	29	24	robot	robot	NOUN
fcis-27931	29	25	paths	path	NOUN
fcis-27931	29	26	and	and	CCONJ
fcis-27931	29	27	minimizing	minimize	VERB
fcis-27931	29	28	the	the	DET
fcis-27931	29	29	task	task	NOUN
fcis-27931	29	30	balance	balance	NOUN
fcis-27931	29	31	cost	cost	NOUN
fcis-27931	29	32	.	.	PUNCT
fcis-27931	30	1	the	the	DET
fcis-27931	30	2	objective	objective	ADJ
fcis-27931	30	3	function	function	NOUN
fcis-27931	30	4	expression	expression	NOUN
fcis-27931	30	5	is	be	AUX
fcis-27931	30	6	as	as	SCONJ
fcis-27931	30	7	follows	follow	VERB
fcis-27931	30	8	:	:	PUNCT
fcis-27931	30	9	(	(	PUNCT
fcis-27931	30	10	4	4	X
fcis-27931	30	11	)	)	PUNCT
fcis-27931	30	12	the	the	DET
fcis-27931	30	13	constraints	constraint	NOUN
fcis-27931	30	14	are	be	AUX
fcis-27931	30	15	:	:	PUNCT
fcis-27931	30	16	(	(	PUNCT
fcis-27931	30	17	5	5	NUM
fcis-27931	30	18	)	)	PUNCT
fcis-27931	30	19	where	where	SCONJ
fcis-27931	30	20	:	:	PUNCT
fcis-27931	30	21	is	be	AUX
fcis-27931	30	22	the	the	DET
fcis-27931	30	23	objective	objective	ADJ
fcis-27931	30	24	function	function	NOUN
fcis-27931	30	25	,	,	PUNCT
fcis-27931	30	26	which	which	PRON
fcis-27931	30	27	represents	represent	VERB
fcis-27931	30	28	the	the	DET
fcis-27931	30	29	total	total	ADJ
fcis-27931	30	30	distance	distance	NOUN
fcis-27931	30	31	that	that	PRON
fcis-27931	30	32	all	all	DET
fcis-27931	30	33	robots	robot	NOUN
fcis-27931	30	34	need	need	VERB
fcis-27931	30	35	to	to	PART
fcis-27931	30	36	complete	complete	VERB
fcis-27931	30	37	all	all	DET
fcis-27931	30	38	tasks	task	NOUN
fcis-27931	30	39	during	during	ADP
fcis-27931	30	40	the	the	DET
fcis-27931	30	41	task	task	NOUN
fcis-27931	30	42	allocation	allocation	NOUN
fcis-27931	30	43	process	process	NOUN
fcis-27931	30	44	;	;	PUNCT
fcis-27931	30	45	means	mean	VERB
fcis-27931	30	46	that	that	SCONJ
fcis-27931	30	47	all	all	DET
fcis-27931	30	48	tasks	task	NOUN
fcis-27931	30	49	are	be	AUX
fcis-27931	30	50	allocated	allocate	VERB
fcis-27931	30	51	and	and	CCONJ
fcis-27931	30	52	there	there	PRON
fcis-27931	30	53	is	be	VERB
fcis-27931	30	54	no	no	DET
fcis-27931	30	55	unallocated	unallocated	ADJ
fcis-27931	30	56	task	task	NOUN
fcis-27931	30	57	;	;	PUNCT
fcis-27931	30	58	is	be	AUX
fcis-27931	30	59	the	the	DET
fcis-27931	30	60	minimum	minimum	ADJ
fcis-27931	30	61	number	number	NOUN
fcis-27931	30	62	of	of	ADP
fcis-27931	30	63	tasks	task	NOUN
fcis-27931	30	64	performed	perform	VERB
fcis-27931	30	65	by	by	ADP
fcis-27931	30	66	each	each	DET
fcis-27931	30	67	robot	robot	NOUN
fcis-27931	30	68	.	.	PUNCT
fcis-27931	31	1	3	3	X
fcis-27931	31	2	.	.	X
fcis-27931	31	3	improved	improve	VERB
fcis-27931	31	4	genetic	genetic	ADJ
fcis-27931	31	5	algorithms	algorithm	NOUN
fcis-27931	31	6	the	the	DET
fcis-27931	31	7	genetic	genetic	ADJ
fcis-27931	31	8	algorithm	algorithm	NOUN
fcis-27931	31	9	is	be	AUX
fcis-27931	31	10	a	a	DET
fcis-27931	31	11	meta	meta	ADJ
fcis-27931	31	12	-	-	PUNCT
fcis-27931	31	13	heuristic	heuristic	ADJ
fcis-27931	31	14	optimization	optimization	NOUN
fcis-27931	31	15	algorithm	algorithm	NOUN
fcis-27931	31	16	based	base	VERB
fcis-27931	31	17	on	on	ADP
fcis-27931	31	18	darwin	darwin	PROPN
fcis-27931	31	19	's	's	PART
fcis-27931	31	20	"	"	PUNCT
fcis-27931	31	21	survival	survival	NOUN
fcis-27931	31	22	of	of	ADP
fcis-27931	31	23	the	the	DET
fcis-27931	31	24	fittest	fit	ADJ
fcis-27931	31	25	"	"	PUNCT
fcis-27931	31	26	theory[9	theory[9	NOUN
fcis-27931	31	27	]	]	PUNCT
fcis-27931	31	28	.	.	PUNCT
fcis-27931	32	1	the	the	DET
fcis-27931	32	2	algorithm	algorithm	NOUN
fcis-27931	32	3	generates	generate	VERB
fcis-27931	32	4	an	an	DET
fcis-27931	32	5	initial	initial	ADJ
fcis-27931	32	6	population	population	NOUN
fcis-27931	32	7	and	and	CCONJ
fcis-27931	32	8	then	then	ADV
fcis-27931	32	9	iterates	iterate	VERB
fcis-27931	32	10	through	through	ADP
fcis-27931	32	11	operations	operation	NOUN
fcis-27931	32	12	such	such	ADJ
fcis-27931	32	13	as	as	ADP
fcis-27931	32	14	selection	selection	NOUN
fcis-27931	32	15	,	,	PUNCT
fcis-27931	32	16	crossover	crossover	NOUN
fcis-27931	32	17	,	,	PUNCT
fcis-27931	32	18	and	and	CCONJ
fcis-27931	32	19	mutation	mutation	NOUN
fcis-27931	32	20	to	to	PART
fcis-27931	32	21	search	search	VERB
fcis-27931	32	22	in	in	ADP
fcis-27931	32	23	the	the	DET
fcis-27931	32	24	solution	solution	NOUN
fcis-27931	32	25	space	space	NOUN
fcis-27931	32	26	to	to	PART
fcis-27931	32	27	find	find	VERB
fcis-27931	32	28	the	the	DET
fcis-27931	32	29	optimal	optimal	ADJ
fcis-27931	32	30	solution	solution	NOUN
fcis-27931	32	31	to	to	ADP
fcis-27931	32	32	the	the	DET
fcis-27931	32	33	problem	problem	NOUN
fcis-27931	32	34	.	.	PUNCT
fcis-27931	33	1	however	however	ADV
fcis-27931	33	2	,	,	PUNCT
fcis-27931	33	3	the	the	DET
fcis-27931	33	4	genetic	genetic	ADJ
fcis-27931	33	5	algorithm	algorithm	NOUN
fcis-27931	33	6	still	still	ADV
fcis-27931	33	7	has	have	VERB
fcis-27931	33	8	problems	problem	NOUN
fcis-27931	33	9	such	such	ADJ
fcis-27931	33	10	as	as	ADP
fcis-27931	33	11	poor	poor	ADJ
fcis-27931	33	12	initial	initial	ADJ
fcis-27931	33	13	population	population	NOUN
fcis-27931	33	14	quality	quality	NOUN
fcis-27931	33	15	and	and	CCONJ
fcis-27931	33	16	slow	slow	ADJ
fcis-27931	33	17	convergence	convergence	NOUN
fcis-27931	33	18	in	in	ADP
fcis-27931	33	19	the	the	DET
fcis-27931	33	20	solution	solution	NOUN
fcis-27931	33	21	process	process	NOUN
fcis-27931	33	22	.	.	PUNCT
fcis-27931	34	1	this	this	DET
fcis-27931	34	2	paper	paper	NOUN
fcis-27931	34	3	adopts	adopt	VERB
fcis-27931	34	4	an	an	DET
fcis-27931	34	5	improved	improved	ADJ
fcis-27931	34	6	genetic	genetic	ADJ
fcis-27931	34	7	algorithm	algorithm	NOUN
fcis-27931	34	8	to	to	PART
fcis-27931	34	9	solve	solve	VERB
fcis-27931	34	10	the	the	DET
fcis-27931	34	11	problem	problem	NOUN
fcis-27931	34	12	.	.	PUNCT
fcis-27931	35	1	first	first	ADV
fcis-27931	35	2	,	,	PUNCT
fcis-27931	35	3	a	a	DET
fcis-27931	35	4	greedy	greedy	ADJ
fcis-27931	35	5	algorithm	algorithm	NOUN
fcis-27931	35	6	is	be	AUX
fcis-27931	35	7	introduced	introduce	VERB
fcis-27931	35	8	to	to	PART
fcis-27931	35	9	optimize	optimize	VERB
fcis-27931	35	10	the	the	DET
fcis-27931	35	11	initial	initial	ADJ
fcis-27931	35	12	population	population	NOUN
fcis-27931	35	13	to	to	PART
fcis-27931	35	14	improve	improve	VERB
fcis-27931	35	15	the	the	DET
fcis-27931	35	16	quality	quality	NOUN
fcis-27931	35	17	of	of	ADP
fcis-27931	35	18	the	the	DET
fcis-27931	35	19	initial	initial	ADJ
fcis-27931	35	20	solution	solution	NOUN
fcis-27931	35	21	;	;	PUNCT
fcis-27931	35	22	second	second	X
fcis-27931	35	23	,	,	PUNCT
fcis-27931	35	24	a	a	DET
fcis-27931	35	25	heuristic	heuristic	ADJ
fcis-27931	35	26	two	two	NUM
fcis-27931	35	27	-	-	PUNCT
fcis-27931	35	28	way	way	NOUN
fcis-27931	35	29	three	three	NUM
fcis-27931	35	30	-	-	PUNCT
fcis-27931	35	31	crossover	crossover	NOUN
fcis-27931	35	32	operator	operator	NOUN
fcis-27931	35	33	is	be	AUX
fcis-27931	35	34	introduced	introduce	VERB
fcis-27931	35	35	to	to	PART
fcis-27931	35	36	expand	expand	VERB
fcis-27931	35	37	the	the	DET
fcis-27931	35	38	search	search	NOUN
fcis-27931	35	39	range	range	NOUN
fcis-27931	35	40	to	to	PART
fcis-27931	35	41	obtain	obtain	VERB
fcis-27931	35	42	high	high	ADJ
fcis-27931	35	43	-	-	PUNCT
fcis-27931	35	44	quality	quality	NOUN
fcis-27931	35	45	local	local	ADJ
fcis-27931	35	46	optimal	optimal	ADJ
fcis-27931	35	47	solutions	solution	NOUN
fcis-27931	35	48	;	;	PUNCT
fcis-27931	35	49	finally	finally	ADV
fcis-27931	35	50	,	,	PUNCT
fcis-27931	35	51	a	a	DET
fcis-27931	35	52	multi	multi	ADJ
fcis-27931	35	53	-	-	ADJ
fcis-27931	35	54	variation	variation	ADJ
fcis-27931	35	55	strategy	strategy	NOUN
fcis-27931	35	56	is	be	AUX
fcis-27931	35	57	used	use	VERB
fcis-27931	35	58	in	in	ADP
fcis-27931	35	59	combination	combination	NOUN
fcis-27931	35	60	with	with	ADP
fcis-27931	35	61	the	the	DET
fcis-27931	35	62	metropolis	metropolis	ADJ
fcis-27931	35	63	criterion	criterion	NOUN
fcis-27931	35	64	to	to	PART
fcis-27931	35	65	perform	perform	VERB
fcis-27931	35	66	a	a	DET
fcis-27931	35	67	global	global	ADJ
fcis-27931	35	68	search	search	NOUN
fcis-27931	35	69	,	,	PUNCT
fcis-27931	35	70	and	and	CCONJ
fcis-27931	35	71	the	the	DET
fcis-27931	35	72	diversity	diversity	NOUN
fcis-27931	35	73	of	of	ADP
fcis-27931	35	74	the	the	DET
fcis-27931	35	75	population	population	NOUN
fcis-27931	35	76	is	be	AUX
fcis-27931	35	77	improved	improve	VERB
fcis-27931	35	78	by	by	ADP
fcis-27931	35	79	accepting	accept	VERB
fcis-27931	35	80	inferior	inferior	ADJ
fcis-27931	35	81	solutions	solution	NOUN
fcis-27931	35	82	so	so	SCONJ
fcis-27931	35	83	that	that	SCONJ
fcis-27931	35	84	the	the	DET
fcis-27931	35	85	algorithm	algorithm	NOUN
fcis-27931	35	86	can	can	AUX
fcis-27931	35	87	jump	jump	VERB
fcis-27931	35	88	out	out	ADP
fcis-27931	35	89	of	of	ADP
fcis-27931	35	90	the	the	DET
fcis-27931	35	91	local	local	ADJ
fcis-27931	35	92	optimum	optimum	NOUN
fcis-27931	35	93	and	and	CCONJ
fcis-27931	35	94	obtain	obtain	VERB
fcis-27931	35	95	the	the	DET
fcis-27931	35	96	global	global	ADJ
fcis-27931	35	97	optimal	optimal	ADJ
fcis-27931	35	98	solution	solution	NOUN
fcis-27931	35	99	.	.	PUNCT
fcis-27931	36	1	the	the	DET
fcis-27931	36	2	flowchart	flowchart	NOUN
fcis-27931	36	3	of	of	ADP
fcis-27931	36	4	the	the	DET
fcis-27931	36	5	improved	improve	VERB
fcis-27931	36	6	genetic	genetic	ADJ
fcis-27931	36	7	algorithm	algorithm	NOUN
fcis-27931	36	8	is	be	AUX
fcis-27931	36	9	shown	show	VERB
fcis-27931	36	10	in	in	ADP
fcis-27931	36	11	figure	figure	NOUN
fcis-27931	36	12	2	2	NUM
fcis-27931	36	13	.	.	PUNCT
fcis-27931	37	1	yes	yes	INTJ
fcis-27931	37	2	no	no	DET
fcis-27931	37	3	start	start	VERB
fcis-27931	37	4	greedy	greedy	ADJ
fcis-27931	37	5	initial	initial	ADJ
fcis-27931	37	6	population	population	NOUN
fcis-27931	37	7	calculate	calculate	NOUN
fcis-27931	37	8	fitness	fitness	NOUN
fcis-27931	37	9	value	value	NOUN
fcis-27931	37	10	whether	whether	SCONJ
fcis-27931	37	11	the	the	DET
fcis-27931	37	12	termination	termination	NOUN
fcis-27931	37	13	conditions	condition	NOUN
fcis-27931	37	14	are	be	AUX
fcis-27931	37	15	met	meet	VERB
fcis-27931	38	1	select	select	ADJ
fcis-27931	38	2	operator	operator	NOUN
fcis-27931	38	3	multi	multi	ADJ
fcis-27931	38	4	-	-	ADJ
fcis-27931	38	5	variation	variation	ADJ
fcis-27931	38	6	strategy	strategy	NOUN
fcis-27931	38	7	heuristic	heuristic	ADJ
fcis-27931	38	8	bidirectional	bidirectional	NOUN
fcis-27931	38	9	triple	triple	ADJ
fcis-27931	38	10	crossover	crossover	NOUN
fcis-27931	38	11	stop	stop	VERB
fcis-27931	38	12	figure	figure	NOUN
fcis-27931	38	13	2	2	NUM
fcis-27931	38	14	.	.	PUNCT
fcis-27931	38	15	flowchart	flowchart	NOUN
fcis-27931	38	16	of	of	ADP
fcis-27931	38	17	improved	improved	ADJ
fcis-27931	38	18	algorithm	algorithm	NOUN
fcis-27931	38	19	3.1	3.1	NUM
fcis-27931	38	20	.	.	PUNCT
fcis-27931	39	1	greedy	greedy	ADJ
fcis-27931	39	2	initial	initial	ADJ
fcis-27931	39	3	population	population	NOUN
fcis-27931	39	4	3.1.1	3.1.1	X
fcis-27931	39	5	.	.	PUNCT
fcis-27931	40	1	encoding	encode	VERB
fcis-27931	40	2	common	common	ADJ
fcis-27931	40	3	encoding	encoding	NOUN
fcis-27931	40	4	methods	method	NOUN
fcis-27931	40	5	for	for	ADP
fcis-27931	40	6	genetic	genetic	ADJ
fcis-27931	40	7	algorithms	algorithm	NOUN
fcis-27931	40	8	include	include	VERB
fcis-27931	40	9	two	two	NUM
fcis-27931	40	10	-	-	PUNCT
fcis-27931	40	11	part	part	NOUN
fcis-27931	40	12	chromosome	chromosome	NOUN
fcis-27931	40	13	design	design	NOUN
fcis-27931	40	14	and	and	CCONJ
fcis-27931	40	15	double	double	ADJ
fcis-27931	40	16	chromosome	chromosome	NOUN
fcis-27931	40	17	7	7	NUM
fcis-27931	40	18	design[10	design[10	NOUN
fcis-27931	40	19	]	]	PUNCT
fcis-27931	40	20	.	.	PUNCT
fcis-27931	41	1	the	the	DET
fcis-27931	41	2	search	search	NOUN
fcis-27931	41	3	space	space	NOUN
fcis-27931	41	4	of	of	ADP
fcis-27931	41	5	the	the	DET
fcis-27931	41	6	above	above	ADJ
fcis-27931	41	7	encoding	encoding	NOUN
fcis-27931	41	8	methods	method	NOUN
fcis-27931	41	9	is	be	AUX
fcis-27931	41	10	relatively	relatively	ADV
fcis-27931	41	11	small	small	ADJ
fcis-27931	41	12	,	,	PUNCT
fcis-27931	41	13	and	and	CCONJ
fcis-27931	41	14	they	they	PRON
fcis-27931	41	15	are	be	AUX
fcis-27931	41	16	prone	prone	ADJ
fcis-27931	41	17	to	to	PART
fcis-27931	41	18	fall	fall	VERB
fcis-27931	41	19	into	into	ADP
fcis-27931	41	20	local	local	ADJ
fcis-27931	41	21	optimality	optimality	NOUN
fcis-27931	41	22	when	when	SCONJ
fcis-27931	41	23	solving	solve	VERB
fcis-27931	41	24	large	large	ADJ
fcis-27931	41	25	-	-	PUNCT
fcis-27931	41	26	scale	scale	NOUN
fcis-27931	41	27	problems[11	problems[11	NOUN
fcis-27931	41	28	]	]	PUNCT
fcis-27931	41	29	.	.	PUNCT
fcis-27931	42	1	this	this	DET
fcis-27931	42	2	paper	paper	NOUN
fcis-27931	42	3	adopts	adopt	VERB
fcis-27931	42	4	single	single	ADJ
fcis-27931	42	5	chromosome	chromosome	NOUN
fcis-27931	42	6	encoding	encoding	NOUN
fcis-27931	42	7	based	base	VERB
fcis-27931	42	8	on	on	ADP
fcis-27931	42	9	virtual	virtual	ADJ
fcis-27931	42	10	points	point	NOUN
fcis-27931	42	11	.	.	PUNCT
fcis-27931	43	1	this	this	DET
fcis-27931	43	2	encoding	encoding	NOUN
fcis-27931	43	3	method	method	NOUN
fcis-27931	43	4	is	be	AUX
fcis-27931	43	5	simple	simple	ADJ
fcis-27931	43	6	to	to	ADP
fcis-27931	43	7	design	design	NOUN
fcis-27931	43	8	and	and	CCONJ
fcis-27931	43	9	easy	easy	ADJ
fcis-27931	43	10	to	to	PART
fcis-27931	43	11	implement	implement	VERB
fcis-27931	43	12	.	.	PUNCT
fcis-27931	44	1	in	in	ADP
fcis-27931	44	2	order	order	NOUN
fcis-27931	44	3	to	to	PART
fcis-27931	44	4	explain	explain	VERB
fcis-27931	44	5	the	the	DET
fcis-27931	44	6	above	above	ADJ
fcis-27931	44	7	encoding	encoding	NOUN
fcis-27931	44	8	method	method	NOUN
fcis-27931	44	9	,	,	PUNCT
fcis-27931	44	10	this	this	DET
fcis-27931	44	11	article	article	NOUN
fcis-27931	44	12	takes	take	VERB
fcis-27931	44	13	3	3	NUM
fcis-27931	44	14	robots	robot	NOUN
fcis-27931	44	15	and	and	CCONJ
fcis-27931	44	16	8	8	NUM
fcis-27931	44	17	tasks	task	NOUN
fcis-27931	44	18	as	as	ADP
fcis-27931	44	19	an	an	DET
fcis-27931	44	20	example	example	NOUN
fcis-27931	44	21	.	.	PUNCT
fcis-27931	45	1	the	the	DET
fcis-27931	45	2	chromosome	chromosome	NOUN
fcis-27931	45	3	individual	individual	NOUN
fcis-27931	45	4	is	be	AUX
fcis-27931	45	5	shown	show	VERB
fcis-27931	45	6	in	in	ADP
fcis-27931	45	7	figure	figure	NOUN
fcis-27931	45	8	3	3	NUM
fcis-27931	45	9	.	.	X
fcis-27931	45	10	1~8	1~8	PROPN
fcis-27931	45	11	represent	represent	VERB
fcis-27931	45	12	eight	eight	NUM
fcis-27931	45	13	task	task	NOUN
fcis-27931	45	14	points	point	NOUN
fcis-27931	45	15	,	,	PUNCT
fcis-27931	45	16	and	and	CCONJ
fcis-27931	45	17	the	the	DET
fcis-27931	45	18	two	two	NUM
fcis-27931	45	19	gray	gray	ADJ
fcis-27931	45	20	parts	part	NOUN
fcis-27931	45	21	are	be	AUX
fcis-27931	45	22	virtual	virtual	ADJ
fcis-27931	45	23	points	point	NOUN
fcis-27931	45	24	.	.	PUNCT
fcis-27931	46	1	the	the	DET
fcis-27931	46	2	virtual	virtual	ADJ
fcis-27931	46	3	points	point	NOUN
fcis-27931	46	4	are	be	AUX
fcis-27931	46	5	equivalent	equivalent	ADJ
fcis-27931	46	6	to	to	ADP
fcis-27931	46	7	the	the	DET
fcis-27931	46	8	starting	starting	NOUN
fcis-27931	46	9	point	point	NOUN
fcis-27931	46	10	to	to	PART
fcis-27931	46	11	segment	segment	VERB
fcis-27931	46	12	the	the	DET
fcis-27931	46	13	robot	robot	NOUN
fcis-27931	46	14	.	.	PUNCT
fcis-27931	47	1	therefore	therefore	ADV
fcis-27931	47	2	,	,	PUNCT
fcis-27931	47	3	the	the	DET
fcis-27931	47	4	task	task	NOUN
fcis-27931	47	5	route	route	NOUN
fcis-27931	47	6	of	of	ADP
fcis-27931	47	7	the	the	DET
fcis-27931	47	8	first	first	ADJ
fcis-27931	47	9	robot	robot	NOUN
fcis-27931	47	10	is	be	AUX
fcis-27931	47	11	:	:	PUNCT
fcis-27931	47	12	;	;	PUNCT
fcis-27931	47	13	similarly	similarly	ADV
fcis-27931	47	14	,	,	PUNCT
fcis-27931	47	15	the	the	DET
fcis-27931	47	16	task	task	NOUN
fcis-27931	47	17	route	route	NOUN
fcis-27931	47	18	of	of	ADP
fcis-27931	47	19	the	the	DET
fcis-27931	47	20	second	second	ADJ
fcis-27931	47	21	robot	robot	NOUN
fcis-27931	47	22	is	be	AUX
fcis-27931	47	23	:	:	PUNCT
fcis-27931	47	24	;	;	PUNCT
fcis-27931	47	25	finally	finally	ADV
fcis-27931	47	26	,	,	PUNCT
fcis-27931	47	27	the	the	DET
fcis-27931	47	28	task	task	NOUN
fcis-27931	47	29	route	route	NOUN
fcis-27931	47	30	of	of	ADP
fcis-27931	47	31	the	the	DET
fcis-27931	47	32	third	third	ADJ
fcis-27931	47	33	robot	robot	NOUN
fcis-27931	47	34	is	be	AUX
fcis-27931	47	35	:	:	PUNCT
fcis-27931	47	36	.	.	PUNCT
fcis-27931	48	1	4	4	NUM
fcis-27931	48	2	6	6	NUM
fcis-27931	48	3	3	3	NUM
fcis-27931	48	4	9	9	NUM
fcis-27931	48	5	2	2	NUM
fcis-27931	48	6	1	1	NUM
fcis-27931	48	7	10	10	NUM
fcis-27931	48	8	8	8	NUM
fcis-27931	48	9	5	5	NUM
fcis-27931	48	10	7	7	NUM
fcis-27931	48	11	figure	figure	NOUN
fcis-27931	48	12	3	3	NUM
fcis-27931	48	13	.	.	X
fcis-27931	48	14	chromosome	chromosome	NOUN
fcis-27931	48	15	decoding	decoding	NOUN
fcis-27931	48	16	based	base	VERB
fcis-27931	48	17	on	on	ADP
fcis-27931	48	18	virtual	virtual	ADJ
fcis-27931	48	19	points	point	NOUN
fcis-27931	48	20	3.1.2	3.1.2	NUM
fcis-27931	48	21	.	.	PUNCT
fcis-27931	48	22	greedy	greedy	ADJ
fcis-27931	48	23	algorithm	algorithm	NOUN
fcis-27931	48	24	table	table	NOUN
fcis-27931	48	25	1	1	NUM
fcis-27931	48	26	.	.	PUNCT
fcis-27931	48	27	greedy	greedy	ADJ
fcis-27931	48	28	algorithm	algorithm	NOUN
fcis-27931	48	29	algorithm	algorithm	NOUN
fcis-27931	48	30	:	:	PUNCT
fcis-27931	48	31	greedy	greedy	ADJ
fcis-27931	48	32	algorithm	algorithm	NOUN
fcis-27931	48	33	the	the	DET
fcis-27931	48	34	initial	initial	ADJ
fcis-27931	48	35	population	population	NOUN
fcis-27931	48	36	of	of	ADP
fcis-27931	48	37	traditional	traditional	ADJ
fcis-27931	48	38	genetic	genetic	ADJ
fcis-27931	48	39	algorithms	algorithms	NOUN
fcis-27931	48	40	is	be	AUX
fcis-27931	48	41	usually	usually	ADV
fcis-27931	48	42	randomly	randomly	ADV
fcis-27931	48	43	generated	generate	VERB
fcis-27931	48	44	by	by	ADP
fcis-27931	48	45	computers	computer	NOUN
fcis-27931	48	46	.	.	PUNCT
fcis-27931	49	1	the	the	DET
fcis-27931	49	2	solution	solution	NOUN
fcis-27931	49	3	quality	quality	NOUN
fcis-27931	49	4	of	of	ADP
fcis-27931	49	5	the	the	DET
fcis-27931	49	6	initial	initial	ADJ
fcis-27931	49	7	population	population	NOUN
fcis-27931	49	8	generated	generate	VERB
fcis-27931	49	9	in	in	ADP
fcis-27931	49	10	this	this	DET
fcis-27931	49	11	way	way	NOUN
fcis-27931	49	12	is	be	AUX
fcis-27931	49	13	poor	poor	ADJ
fcis-27931	49	14	,	,	PUNCT
fcis-27931	49	15	resulting	result	VERB
fcis-27931	49	16	in	in	ADP
fcis-27931	49	17	slow	slow	ADJ
fcis-27931	49	18	convergence	convergence	NOUN
fcis-27931	49	19	of	of	ADP
fcis-27931	49	20	the	the	DET
fcis-27931	49	21	algorithm	algorithm	NOUN
fcis-27931	49	22	[	[	X
fcis-27931	49	23	12	12	NUM
fcis-27931	49	24	]	]	PUNCT
fcis-27931	49	25	.	.	PUNCT
fcis-27931	50	1	to	to	PART
fcis-27931	50	2	address	address	VERB
fcis-27931	50	3	the	the	DET
fcis-27931	50	4	above	above	ADJ
fcis-27931	50	5	problems	problem	NOUN
fcis-27931	50	6	,	,	PUNCT
fcis-27931	50	7	this	this	DET
fcis-27931	50	8	paper	paper	NOUN
fcis-27931	50	9	uses	use	VERB
fcis-27931	50	10	a	a	DET
fcis-27931	50	11	greedy	greedy	ADJ
fcis-27931	50	12	algorithm	algorithm	NOUN
fcis-27931	50	13	to	to	PART
fcis-27931	50	14	optimize	optimize	VERB
fcis-27931	50	15	and	and	CCONJ
fcis-27931	50	16	improve	improve	VERB
fcis-27931	50	17	the	the	DET
fcis-27931	50	18	quality	quality	NOUN
fcis-27931	50	19	of	of	ADP
fcis-27931	50	20	the	the	DET
fcis-27931	50	21	initial	initial	ADJ
fcis-27931	50	22	population	population	NOUN
fcis-27931	50	23	.	.	PUNCT
fcis-27931	51	1	the	the	DET
fcis-27931	51	2	process	process	NOUN
fcis-27931	51	3	of	of	ADP
fcis-27931	51	4	generating	generate	VERB
fcis-27931	51	5	individuals	individual	NOUN
fcis-27931	51	6	by	by	ADP
fcis-27931	51	7	the	the	DET
fcis-27931	51	8	greedy	greedy	ADJ
fcis-27931	51	9	algorithm	algorithm	NOUN
fcis-27931	51	10	is	be	AUX
fcis-27931	51	11	as	as	SCONJ
fcis-27931	51	12	follows	follow	VERB
fcis-27931	51	13	:	:	PUNCT
fcis-27931	51	14	randomly	randomly	ADV
fcis-27931	51	15	select	select	VERB
fcis-27931	51	16	a	a	DET
fcis-27931	51	17	starting	starting	NOUN
fcis-27931	51	18	point	point	NOUN
fcis-27931	51	19	from	from	ADP
fcis-27931	51	20	the	the	DET
fcis-27931	51	21	entire	entire	ADJ
fcis-27931	51	22	task	task	NOUN
fcis-27931	51	23	list	list	NOUN
fcis-27931	51	24	and	and	CCONJ
fcis-27931	51	25	add	add	VERB
fcis-27931	51	26	it	it	PRON
fcis-27931	51	27	to	to	ADP
fcis-27931	51	28	the	the	DET
fcis-27931	51	29	individual	individual	NOUN
fcis-27931	51	30	,	,	PUNCT
fcis-27931	51	31	then	then	ADV
fcis-27931	51	32	find	find	VERB
fcis-27931	51	33	the	the	DET
fcis-27931	51	34	task	task	NOUN
fcis-27931	51	35	point	point	NOUN
fcis-27931	51	36	closest	close	ADJ
fcis-27931	51	37	to	to	ADP
fcis-27931	51	38	the	the	DET
fcis-27931	51	39	starting	starting	NOUN
fcis-27931	51	40	point	point	NOUN
fcis-27931	51	41	in	in	ADP
fcis-27931	51	42	the	the	DET
fcis-27931	51	43	remaining	remain	VERB
fcis-27931	51	44	task	task	NOUN
fcis-27931	51	45	list	list	NOUN
fcis-27931	51	46	,	,	PUNCT
fcis-27931	51	47	add	add	VERB
fcis-27931	51	48	to	to	ADP
fcis-27931	51	49	the	the	DET
fcis-27931	51	50	individual	individual	NOUN
fcis-27931	51	51	and	and	CCONJ
fcis-27931	51	52	continue	continue	VERB
fcis-27931	51	53	to	to	PART
fcis-27931	51	54	traverse	traverse	VERB
fcis-27931	51	55	the	the	DET
fcis-27931	51	56	remaining	remain	VERB
fcis-27931	51	57	tasks	task	NOUN
fcis-27931	51	58	as	as	ADP
fcis-27931	51	59	the	the	DET
fcis-27931	51	60	new	new	ADJ
fcis-27931	51	61	starting	starting	NOUN
fcis-27931	51	62	point	point	NOUN
fcis-27931	51	63	,	,	PUNCT
fcis-27931	51	64	and	and	CCONJ
fcis-27931	51	65	at	at	ADP
fcis-27931	51	66	the	the	DET
fcis-27931	51	67	same	same	ADJ
fcis-27931	51	68	time	time	NOUN
fcis-27931	51	69	add	add	VERB
fcis-27931	51	70	virtual	virtual	ADJ
fcis-27931	51	71	points	point	NOUN
fcis-27931	51	72	to	to	PART
fcis-27931	51	73	complete	complete	VERB
fcis-27931	51	74	the	the	DET
fcis-27931	51	75	segmentation	segmentation	NOUN
fcis-27931	51	76	according	accord	VERB
fcis-27931	51	77	to	to	ADP
fcis-27931	51	78	the	the	DET
fcis-27931	51	79	constraints	constraint	NOUN
fcis-27931	51	80	and	and	CCONJ
fcis-27931	51	81	task	task	NOUN
fcis-27931	51	82	balance	balance	NOUN
fcis-27931	51	83	constraints	constraint	NOUN
fcis-27931	51	84	until	until	SCONJ
fcis-27931	51	85	all	all	DET
fcis-27931	51	86	task	task	NOUN
fcis-27931	51	87	points	point	NOUN
fcis-27931	51	88	are	be	AUX
fcis-27931	51	89	traversed	traverse	VERB
fcis-27931	51	90	to	to	PART
fcis-27931	51	91	form	form	VERB
fcis-27931	51	92	a	a	DET
fcis-27931	51	93	complete	complete	ADJ
fcis-27931	51	94	chromosome	chromosome	NOUN
fcis-27931	51	95	.	.	PUNCT
fcis-27931	52	1	the	the	DET
fcis-27931	52	2	pseudo	pseudo	NOUN
fcis-27931	52	3	code	code	NOUN
fcis-27931	52	4	of	of	ADP
fcis-27931	52	5	the	the	DET
fcis-27931	52	6	greedy	greedy	ADJ
fcis-27931	52	7	algorithm	algorithm	NOUN
fcis-27931	52	8	is	be	AUX
fcis-27931	52	9	shown	show	VERB
fcis-27931	52	10	in	in	ADP
fcis-27931	52	11	table	table	NOUN
fcis-27931	52	12	1	1	NUM
fcis-27931	52	13	.	.	NOUN
fcis-27931	52	14	3.2	3.2	NUM
fcis-27931	52	15	.	.	PUNCT
fcis-27931	53	1	heuristic	heuristic	ADJ
fcis-27931	53	2	bidirectional	bidirectional	ADJ
fcis-27931	53	3	triple	triple	NOUN
fcis-27931	53	4	crossover	crossover	NOUN
fcis-27931	53	5	operator	operator	NOUN
fcis-27931	53	6	crossover	crossover	NOUN
fcis-27931	53	7	strategy	strategy	NOUN
fcis-27931	53	8	is	be	AUX
fcis-27931	53	9	the	the	DET
fcis-27931	53	10	main	main	ADJ
fcis-27931	53	11	method	method	NOUN
fcis-27931	53	12	for	for	ADP
fcis-27931	53	13	genetic	genetic	ADJ
fcis-27931	53	14	algorithms	algorithm	NOUN
fcis-27931	53	15	to	to	PART
fcis-27931	53	16	generate	generate	VERB
fcis-27931	53	17	new	new	ADJ
fcis-27931	53	18	individuals	individual	NOUN
fcis-27931	53	19	.	.	PUNCT
fcis-27931	54	1	different	different	ADJ
fcis-27931	54	2	crossover	crossover	NOUN
fcis-27931	54	3	strategies	strategy	NOUN
fcis-27931	54	4	are	be	AUX
fcis-27931	54	5	suitable	suitable	ADJ
fcis-27931	54	6	for	for	ADP
fcis-27931	54	7	different	different	ADJ
fcis-27931	54	8	problems	problem	NOUN
fcis-27931	54	9	and	and	CCONJ
fcis-27931	54	10	optimization	optimization	NOUN
fcis-27931	54	11	objectives	objective	NOUN
fcis-27931	54	12	.	.	PUNCT
fcis-27931	55	1	common	common	ADJ
fcis-27931	55	2	crossover	crossover	NOUN
fcis-27931	55	3	strategies	strategy	NOUN
fcis-27931	55	4	used	use	VERB
fcis-27931	55	5	in	in	ADP
fcis-27931	55	6	traditional	traditional	ADJ
fcis-27931	55	7	genetic	genetic	ADJ
fcis-27931	55	8	algorithms	algorithm	NOUN
fcis-27931	55	9	include	include	VERB
fcis-27931	55	10	sequential	sequential	ADJ
fcis-27931	55	11	crossover	crossover	NOUN
fcis-27931	55	12	and	and	CCONJ
fcis-27931	55	13	partial	partial	ADJ
fcis-27931	55	14	matching	matching	NOUN
fcis-27931	55	15	crossover[13	crossover[13	NOUN
fcis-27931	55	16	]	]	PUNCT
fcis-27931	55	17	.	.	PUNCT
fcis-27931	56	1	however	however	ADV
fcis-27931	56	2	,	,	PUNCT
fcis-27931	56	3	these	these	DET
fcis-27931	56	4	crossover	crossover	NOUN
fcis-27931	56	5	strategies	strategy	NOUN
fcis-27931	56	6	can	can	AUX
fcis-27931	56	7	not	not	PART
fcis-27931	56	8	obtain	obtain	VERB
fcis-27931	56	9	the	the	DET
fcis-27931	56	10	global	global	ADJ
fcis-27931	56	11	optimal	optimal	ADJ
fcis-27931	56	12	solution	solution	NOUN
fcis-27931	56	13	during	during	ADP
fcis-27931	56	14	the	the	DET
fcis-27931	56	15	solution	solution	NOUN
fcis-27931	56	16	process	process	NOUN
fcis-27931	56	17	and	and	CCONJ
fcis-27931	56	18	may	may	AUX
fcis-27931	56	19	also	also	ADV
fcis-27931	56	20	destroy	destroy	VERB
fcis-27931	56	21	excellent	excellent	ADJ
fcis-27931	56	22	individuals	individual	NOUN
fcis-27931	56	23	in	in	ADP
fcis-27931	56	24	the	the	DET
fcis-27931	56	25	parent	parent	NOUN
fcis-27931	56	26	generation	generation	NOUN
fcis-27931	56	27	,	,	PUNCT
fcis-27931	56	28	resulting	result	VERB
fcis-27931	56	29	in	in	ADP
fcis-27931	56	30	a	a	DET
fcis-27931	56	31	decrease	decrease	NOUN
fcis-27931	56	32	in	in	ADP
fcis-27931	56	33	the	the	DET
fcis-27931	56	34	fitness	fitness	NOUN
fcis-27931	56	35	of	of	ADP
fcis-27931	56	36	the	the	DET
fcis-27931	56	37	offspring	offspring	NOUN
fcis-27931	56	38	.	.	PUNCT
fcis-27931	57	1	to	to	PART
fcis-27931	57	2	address	address	VERB
fcis-27931	57	3	the	the	DET
fcis-27931	57	4	above	above	ADJ
fcis-27931	57	5	problems	problem	NOUN
fcis-27931	57	6	,	,	PUNCT
fcis-27931	57	7	this	this	DET
fcis-27931	57	8	paper	paper	NOUN
fcis-27931	57	9	introduces	introduce	VERB
fcis-27931	57	10	a	a	DET
fcis-27931	57	11	heuristic	heuristic	ADJ
fcis-27931	57	12	two	two	NUM
fcis-27931	57	13	-	-	PUNCT
fcis-27931	57	14	way	way	NOUN
fcis-27931	57	15	three	three	NUM
fcis-27931	57	16	-	-	PUNCT
fcis-27931	57	17	crossover	crossover	NOUN
fcis-27931	57	18	method	method	NOUN
fcis-27931	57	19	,	,	PUNCT
fcis-27931	57	20	which	which	PRON
fcis-27931	57	21	selects	select	VERB
fcis-27931	57	22	multiple	multiple	ADJ
fcis-27931	57	23	parents	parent	NOUN
fcis-27931	57	24	for	for	ADP
fcis-27931	57	25	crossover	crossover	NOUN
fcis-27931	57	26	to	to	PART
fcis-27931	57	27	obtain	obtain	VERB
fcis-27931	57	28	excellent	excellent	ADJ
fcis-27931	57	29	offspring	offspring	NOUN
fcis-27931	57	30	individuals	individual	NOUN
fcis-27931	57	31	and	and	CCONJ
fcis-27931	57	32	improve	improve	VERB
fcis-27931	57	33	the	the	DET
fcis-27931	57	34	solution	solution	NOUN
fcis-27931	57	35	accuracy	accuracy	NOUN
fcis-27931	57	36	.	.	PUNCT
fcis-27931	58	1	this	this	DET
fcis-27931	58	2	article	article	NOUN
fcis-27931	58	3	takes	take	VERB
fcis-27931	58	4	8	8	NUM
fcis-27931	58	5	task	task	NOUN
fcis-27931	58	6	points	point	NOUN
fcis-27931	58	7	and	and	CCONJ
fcis-27931	58	8	3	3	NUM
fcis-27931	58	9	robots	robot	NOUN
fcis-27931	58	10	as	as	ADP
fcis-27931	58	11	an	an	DET
fcis-27931	58	12	example	example	NOUN
fcis-27931	58	13	to	to	PART
fcis-27931	58	14	explain	explain	VERB
fcis-27931	58	15	the	the	DET
fcis-27931	58	16	process	process	NOUN
fcis-27931	58	17	of	of	ADP
fcis-27931	58	18	heuristic	heuristic	ADJ
fcis-27931	58	19	two	two	NUM
fcis-27931	58	20	-	-	PUNCT
fcis-27931	58	21	way	way	NOUN
fcis-27931	58	22	three	three	NUM
fcis-27931	58	23	-	-	PUNCT
fcis-27931	58	24	way	way	NOUN
fcis-27931	58	25	crossover	crossover	NOUN
fcis-27931	58	26	in	in	ADP
fcis-27931	58	27	detail	detail	NOUN
fcis-27931	58	28	,	,	PUNCT
fcis-27931	58	29	as	as	SCONJ
fcis-27931	58	30	shown	show	VERB
fcis-27931	58	31	in	in	ADP
fcis-27931	58	32	figure	figure	NOUN
fcis-27931	58	33	4	4	NUM
fcis-27931	58	34	.	.	PUNCT
fcis-27931	58	35	from	from	ADP
fcis-27931	58	36	the	the	DET
fcis-27931	58	37	chromosome	chromosome	NOUN
fcis-27931	58	38	of	of	ADP
fcis-27931	58	39	parent	parent	NOUN
fcis-27931	58	40	1	1	NUM
fcis-27931	58	41	,	,	PUNCT
fcis-27931	58	42	we	we	PRON
fcis-27931	58	43	can	can	AUX
fcis-27931	58	44	know	know	VERB
fcis-27931	58	45	that	that	SCONJ
fcis-27931	58	46	the	the	DET
fcis-27931	58	47	number	number	NOUN
fcis-27931	58	48	of	of	ADP
fcis-27931	58	49	tasks	task	NOUN
fcis-27931	58	50	of	of	ADP
fcis-27931	58	51	each	each	DET
fcis-27931	58	52	robot	robot	NOUN
fcis-27931	58	53	is	be	AUX
fcis-27931	58	54	3	3	NUM
fcis-27931	58	55	,	,	PUNCT
fcis-27931	58	56	2	2	NUM
fcis-27931	58	57	and	and	CCONJ
fcis-27931	58	58	3	3	NUM
fcis-27931	58	59	respectively	respectively	ADV
fcis-27931	58	60	.	.	PUNCT
fcis-27931	59	1	therefore	therefore	ADV
fcis-27931	59	2	,	,	PUNCT
fcis-27931	59	3	the	the	DET
fcis-27931	59	4	task	task	NOUN
fcis-27931	59	5	allocation	allocation	NOUN
fcis-27931	59	6	method	method	NOUN
fcis-27931	59	7	of	of	ADP
fcis-27931	59	8	the	the	DET
fcis-27931	59	9	offspring	offspring	NOUN
fcis-27931	59	10	is	be	AUX
fcis-27931	59	11	the	the	DET
fcis-27931	59	12	same	same	ADJ
fcis-27931	59	13	as	as	ADP
fcis-27931	59	14	that	that	PRON
fcis-27931	59	15	of	of	ADP
fcis-27931	59	16	parent	parent	NOUN
fcis-27931	59	17	1	1	NUM
fcis-27931	59	18	.	.	PUNCT
fcis-27931	60	1	the	the	DET
fcis-27931	60	2	selected	select	VERB
fcis-27931	60	3	parent	parent	NOUN
fcis-27931	60	4	is	be	AUX
fcis-27931	60	5	cross	cross	NOUN
fcis-27931	60	6	overed	overed	ADJ
fcis-27931	60	7	according	accord	VERB
fcis-27931	60	8	to	to	ADP
fcis-27931	60	9	the	the	DET
fcis-27931	60	10	following	follow	VERB
fcis-27931	60	11	steps	step	NOUN
fcis-27931	60	12	:	:	PUNCT
fcis-27931	60	13	1	1	X
fcis-27931	60	14	)	)	PUNCT
fcis-27931	60	15	select	select	VERB
fcis-27931	60	16	three	three	NUM
fcis-27931	60	17	parents	parent	NOUN
fcis-27931	60	18	,	,	PUNCT
fcis-27931	60	19	record	record	VERB
fcis-27931	60	20	the	the	DET
fcis-27931	60	21	number	number	NOUN
fcis-27931	60	22	of	of	ADP
fcis-27931	60	23	tasks	task	NOUN
fcis-27931	60	24	assigned	assign	VERB
fcis-27931	60	25	to	to	ADP
fcis-27931	60	26	parent	parent	NOUN
fcis-27931	60	27	1	1	NUM
fcis-27931	60	28	,	,	PUNCT
fcis-27931	60	29	remove	remove	VERB
fcis-27931	60	30	the	the	DET
fcis-27931	60	31	virtual	virtual	ADJ
fcis-27931	60	32	points	point	NOUN
fcis-27931	60	33	and	and	CCONJ
fcis-27931	60	34	only	only	ADV
fcis-27931	60	35	keep	keep	VERB
fcis-27931	60	36	the	the	DET
fcis-27931	60	37	chromosomes	chromosome	NOUN
fcis-27931	60	38	of	of	ADP
fcis-27931	60	39	the	the	DET
fcis-27931	60	40	task	task	NOUN
fcis-27931	60	41	points	point	NOUN
fcis-27931	60	42	for	for	ADP
fcis-27931	60	43	crossover	crossover	NOUN
fcis-27931	60	44	.	.	PUNCT
fcis-27931	61	1	2	2	X
fcis-27931	61	2	)	)	PUNCT
fcis-27931	61	3	select	select	VERB
fcis-27931	61	4	the	the	DET
fcis-27931	61	5	first	first	ADJ
fcis-27931	61	6	task	task	NOUN
fcis-27931	61	7	point	point	NOUN
fcis-27931	61	8	of	of	ADP
fcis-27931	61	9	parent	parent	NOUN
fcis-27931	61	10	generation	generation	NOUN
fcis-27931	61	11	1	1	NUM
fcis-27931	61	12	as	as	ADP
fcis-27931	61	13	the	the	DET
fcis-27931	61	14	starting	starting	NOUN
fcis-27931	61	15	point	point	NOUN
fcis-27931	61	16	,	,	PUNCT
fcis-27931	61	17	as	as	SCONJ
fcis-27931	61	18	shown	show	VERB
fcis-27931	61	19	in	in	ADP
fcis-27931	61	20	step	step	NOUN
fcis-27931	61	21	2	2	NUM
fcis-27931	61	22	of	of	ADP
fcis-27931	61	23	figure	figure	NOUN
fcis-27931	61	24	4	4	NUM
fcis-27931	61	25	,	,	PUNCT
fcis-27931	61	26	and	and	CCONJ
fcis-27931	61	27	4	4	NUM
fcis-27931	61	28	as	as	ADP
fcis-27931	61	29	the	the	DET
fcis-27931	61	30	starting	starting	NOUN
fcis-27931	61	31	point	point	NOUN
fcis-27931	61	32	of	of	ADP
fcis-27931	61	33	the	the	DET
fcis-27931	61	34	child	child	NOUN
fcis-27931	61	35	generation	generation	NOUN
fcis-27931	61	36	.	.	PUNCT
fcis-27931	62	1	first	first	ADV
fcis-27931	62	2	,	,	PUNCT
fcis-27931	62	3	find	find	VERB
fcis-27931	62	4	the	the	DET
fcis-27931	62	5	three	three	NUM
fcis-27931	62	6	task	task	NOUN
fcis-27931	62	7	points	point	NOUN
fcis-27931	62	8	6	6	NUM
fcis-27931	62	9	and	and	CCONJ
fcis-27931	62	10	7	7	NUM
fcis-27931	62	11	that	that	PRON
fcis-27931	62	12	are	be	AUX
fcis-27931	62	13	adjacent	adjacent	ADJ
fcis-27931	62	14	to	to	ADP
fcis-27931	62	15	the	the	DET
fcis-27931	62	16	parent	parent	NOUN
fcis-27931	62	17	generation	generation	NOUN
fcis-27931	62	18	task	task	NOUN
fcis-27931	62	19	point	point	NOUN
fcis-27931	62	20	4	4	NUM
fcis-27931	62	21	in	in	ADP
fcis-27931	62	22	the	the	DET
fcis-27931	62	23	forward	forward	ADJ
fcis-27931	62	24	direction	direction	NOUN
fcis-27931	62	25	;	;	PUNCT
fcis-27931	62	26	secondly	secondly	ADV
fcis-27931	62	27	,	,	PUNCT
fcis-27931	62	28	select	select	VERB
fcis-27931	62	29	the	the	DET
fcis-27931	62	30	task	task	NOUN
fcis-27931	62	31	point	point	NOUN
fcis-27931	62	32	7	7	NUM
fcis-27931	62	33	that	that	PRON
fcis-27931	62	34	is	be	AUX
fcis-27931	62	35	closest	close	ADJ
fcis-27931	62	36	to	to	ADP
fcis-27931	62	37	task	task	NOUN
fcis-27931	62	38	point	point	NOUN
fcis-27931	62	39	4	4	NUM
fcis-27931	62	40	;	;	PUNCT
fcis-27931	62	41	finally	finally	ADV
fcis-27931	62	42	,	,	PUNCT
fcis-27931	62	43	use	use	VERB
fcis-27931	62	44	the	the	DET
fcis-27931	62	45	newly	newly	ADV
fcis-27931	62	46	added	add	VERB
fcis-27931	62	47	task	task	NOUN
fcis-27931	62	48	point	point	NOUN
fcis-27931	62	49	as	as	ADP
fcis-27931	62	50	the	the	DET
fcis-27931	62	51	starting	starting	NOUN
fcis-27931	62	52	point	point	NOUN
fcis-27931	62	53	to	to	PART
fcis-27931	62	54	continue	continue	VERB
fcis-27931	62	55	looking	look	VERB
fcis-27931	62	56	for	for	ADP
fcis-27931	62	57	adjacent	adjacent	ADJ
fcis-27931	62	58	task	task	NOUN
fcis-27931	62	59	points	point	NOUN
fcis-27931	62	60	until	until	SCONJ
fcis-27931	62	61	the	the	DET
fcis-27931	62	62	first	first	ADJ
fcis-27931	62	63	robot	robot	NOUN
fcis-27931	62	64	task	task	PROPN
fcis-27931	62	65	path	path	NOUN
fcis-27931	62	66	is	be	AUX
fcis-27931	62	67	completed	complete	VERB
fcis-27931	62	68	,	,	PUNCT
fcis-27931	62	69	as	as	SCONJ
fcis-27931	62	70	shown	show	VERB
fcis-27931	62	71	in	in	ADP
fcis-27931	62	72	step	step	NOUN
fcis-27931	62	73	4	4	NUM
fcis-27931	62	74	.	.	NOUN
fcis-27931	62	75	3)after	3)after	NUM
fcis-27931	63	1	the	the	DET
fcis-27931	63	2	first	first	ADJ
fcis-27931	63	3	task	task	NOUN
fcis-27931	63	4	sequence	sequence	NOUN
fcis-27931	63	5	is	be	AUX
fcis-27931	63	6	completed	complete	VERB
fcis-27931	63	7	,	,	PUNCT
fcis-27931	63	8	add	add	VERB
fcis-27931	63	9	a	a	DET
fcis-27931	63	10	virtual	virtual	ADJ
fcis-27931	63	11	point	point	NOUN
fcis-27931	63	12	as	as	ADP
fcis-27931	63	13	a	a	DET
fcis-27931	63	14	judgment	judgment	NOUN
fcis-27931	63	15	,	,	PUNCT
fcis-27931	63	16	use	use	VERB
fcis-27931	63	17	the	the	DET
fcis-27931	63	18	virtual	virtual	ADJ
fcis-27931	63	19	point	point	NOUN
fcis-27931	63	20	to	to	PART
fcis-27931	63	21	represent	represent	VERB
fcis-27931	63	22	task	task	NOUN
fcis-27931	63	23	point	point	NOUN
fcis-27931	63	24	4	4	NUM
fcis-27931	63	25	,	,	PUNCT
fcis-27931	63	26	re	re	VERB
fcis-27931	63	27	-	-	VERB
fcis-27931	63	28	plan	plan	VERB
fcis-27931	63	29	the	the	DET
fcis-27931	63	30	task	task	NOUN
fcis-27931	63	31	path	path	NOUN
fcis-27931	63	32	for	for	ADP
fcis-27931	63	33	the	the	DET
fcis-27931	63	34	second	second	ADJ
fcis-27931	63	35	robot	robot	NOUN
fcis-27931	63	36	,	,	PUNCT
fcis-27931	63	37	find	find	VERB
fcis-27931	63	38	the	the	DET
fcis-27931	63	39	closest	close	ADJ
fcis-27931	63	40	task	task	NOUN
fcis-27931	63	41	point	point	NOUN
fcis-27931	63	42	,	,	PUNCT
fcis-27931	63	43	until	until	SCONJ
fcis-27931	63	44	the	the	DET
fcis-27931	63	45	second	second	ADJ
fcis-27931	63	46	task	task	NOUN
fcis-27931	63	47	path	path	NOUN
fcis-27931	63	48	is	be	AUX
fcis-27931	63	49	completed	complete	VERB
fcis-27931	63	50	,	,	PUNCT
fcis-27931	63	51	as	as	SCONJ
fcis-27931	63	52	shown	show	VERB
fcis-27931	63	53	in	in	ADP
fcis-27931	63	54	step	step	NOUN
fcis-27931	63	55	7	7	NUM
fcis-27931	63	56	.	.	PUNCT
fcis-27931	64	1	similarly	similarly	ADV
fcis-27931	64	2	,	,	PUNCT
fcis-27931	64	3	complete	complete	VERB
fcis-27931	64	4	the	the	DET
fcis-27931	64	5	task	task	NOUN
fcis-27931	64	6	path	path	NOUN
fcis-27931	64	7	of	of	ADP
fcis-27931	64	8	the	the	DET
fcis-27931	64	9	third	third	ADJ
fcis-27931	64	10	robot	robot	NOUN
fcis-27931	64	11	and	and	CCONJ
fcis-27931	64	12	obtain	obtain	VERB
fcis-27931	64	13	the	the	DET
fcis-27931	64	14	forward	forward	ADJ
fcis-27931	64	15	daughter	daughter	NOUN
fcis-27931	64	16	chromosome	chromosome	NOUN
fcis-27931	64	17	.	.	PUNCT
fcis-27931	65	1	4)similarly	4)similarly	NUM
fcis-27931	65	2	,	,	PUNCT
fcis-27931	65	3	the	the	DET
fcis-27931	65	4	reverse	reverse	ADJ
fcis-27931	65	5	search	search	NOUN
fcis-27931	65	6	is	be	AUX
fcis-27931	65	7	opposite	opposite	ADJ
fcis-27931	65	8	to	to	ADP
fcis-27931	65	9	the	the	DET
fcis-27931	65	10	forward	forward	ADJ
fcis-27931	65	11	search	search	NOUN
fcis-27931	65	12	,	,	PUNCT
fcis-27931	65	13	and	and	CCONJ
fcis-27931	65	14	the	the	DET
fcis-27931	65	15	same	same	ADJ
fcis-27931	65	16	rules	rule	NOUN
fcis-27931	65	17	are	be	AUX
fcis-27931	65	18	used	use	VERB
fcis-27931	65	19	to	to	PART
fcis-27931	65	20	obtain	obtain	VERB
fcis-27931	65	21	the	the	DET
fcis-27931	65	22	reverse	reverse	ADJ
fcis-27931	65	23	daughter	daughter	NOUN
fcis-27931	65	24	chromosomes	chromosome	NOUN
fcis-27931	65	25	.	.	PUNCT
fcis-27931	66	1	by	by	ADP
fcis-27931	66	2	performing	perform	VERB
fcis-27931	66	3	crossover	crossover	NOUN
fcis-27931	66	4	in	in	ADP
fcis-27931	66	5	the	the	DET
fcis-27931	66	6	above	above	ADV
fcis-27931	66	7	-	-	PUNCT
fcis-27931	66	8	mentioned	mention	VERB
fcis-27931	66	9	crossover	crossover	NOUN
fcis-27931	66	10	method	method	NOUN
fcis-27931	66	11	,	,	PUNCT
fcis-27931	66	12	the	the	DET
fcis-27931	66	13	heuristic	heuristic	ADJ
fcis-27931	66	14	two	two	NUM
fcis-27931	66	15	-	-	PUNCT
fcis-27931	66	16	way	way	NOUN
fcis-27931	66	17	three	three	NUM
fcis-27931	66	18	-	-	PUNCT
fcis-27931	66	19	way	way	NOUN
fcis-27931	66	20	crossover	crossover	NOUN
fcis-27931	66	21	can	can	AUX
fcis-27931	66	22	obtain	obtain	VERB
fcis-27931	66	23	a	a	DET
fcis-27931	66	24	task	task	NOUN
fcis-27931	66	25	path	path	NOUN
fcis-27931	66	26	without	without	ADP
fcis-27931	66	27	repeated	repeat	VERB
fcis-27931	66	28	points	point	NOUN
fcis-27931	66	29	.	.	PUNCT
fcis-27931	67	1	the	the	DET
fcis-27931	67	2	offspring	offspring	NOUN
fcis-27931	67	3	obtained	obtain	VERB
fcis-27931	67	4	by	by	ADP
fcis-27931	67	5	this	this	DET
fcis-27931	67	6	crossover	crossover	NOUN
fcis-27931	67	7	method	method	NOUN
fcis-27931	67	8	not	not	PART
fcis-27931	67	9	only	only	ADV
fcis-27931	67	10	inherits	inherit	VERB
fcis-27931	67	11	the	the	DET
fcis-27931	67	12	excellent	excellent	ADJ
fcis-27931	67	13	genes	gene	NOUN
fcis-27931	67	14	of	of	ADP
fcis-27931	67	15	the	the	DET
fcis-27931	67	16	three	three	NUM
fcis-27931	67	17	parents	parent	NOUN
fcis-27931	67	18	at	at	ADP
fcis-27931	67	19	the	the	DET
fcis-27931	67	20	same	same	ADJ
fcis-27931	67	21	time	time	NOUN
fcis-27931	67	22	,	,	PUNCT
fcis-27931	67	23	which	which	PRON
fcis-27931	67	24	is	be	AUX
fcis-27931	67	25	conducive	conducive	ADJ
fcis-27931	67	26	to	to	ADP
fcis-27931	67	27	the	the	DET
fcis-27931	67	28	production	production	NOUN
fcis-27931	67	29	of	of	ADP
fcis-27931	67	30	high	high	ADJ
fcis-27931	67	31	-	-	PUNCT
fcis-27931	67	32	quality	quality	NOUN
fcis-27931	67	33	offspring	offspring	NOUN
fcis-27931	67	34	,	,	PUNCT
fcis-27931	67	35	but	but	CCONJ
fcis-27931	67	36	also	also	ADV
fcis-27931	67	37	can	can	AUX
fcis-27931	67	38	improve	improve	VERB
fcis-27931	67	39	the	the	DET
fcis-27931	67	40	solution	solution	NOUN
fcis-27931	67	41	speed	speed	NOUN
fcis-27931	67	42	of	of	ADP
fcis-27931	67	43	the	the	DET
fcis-27931	67	44	algorithm	algorithm	NOUN
fcis-27931	67	45	.	.	PUNCT
fcis-27931	68	1	8	8	NUM
fcis-27931	68	2	4	4	NUM
fcis-27931	68	3	6	6	NUM
fcis-27931	68	4	3	3	NUM
fcis-27931	68	5	9	9	NUM
fcis-27931	68	6	2	2	NUM
fcis-27931	68	7	1	1	NUM
fcis-27931	68	8	10	10	NUM
fcis-27931	68	9	8	8	NUM
fcis-27931	68	10	5	5	NUM
fcis-27931	68	11	7	7	NUM
fcis-27931	68	12	3	3	NUM
fcis-27931	68	13	8	8	NUM
fcis-27931	68	14	9	9	NUM
fcis-27931	68	15	5	5	NUM
fcis-27931	68	16	6	6	NUM
fcis-27931	68	17	10	10	NUM
fcis-27931	68	18	4	4	NUM
fcis-27931	68	19	7	7	NUM
fcis-27931	68	20	1	1	NUM
fcis-27931	68	21	2	2	NUM
fcis-27931	68	22	7	7	NUM
fcis-27931	68	23	5	5	NUM
fcis-27931	68	24	8	8	NUM
fcis-27931	68	25	9	9	NUM
fcis-27931	68	26	3	3	NUM
fcis-27931	68	27	6	6	NUM
fcis-27931	68	28	2	2	NUM
fcis-27931	68	29	10	10	NUM
fcis-27931	68	30	1	1	NUM
fcis-27931	68	31	4	4	NUM
fcis-27931	68	32	4	4	NUM
fcis-27931	68	33	6	6	NUM
fcis-27931	68	34	3	3	NUM
fcis-27931	68	35	2	2	NUM
fcis-27931	68	36	1	1	NUM
fcis-27931	68	37	8	8	NUM
fcis-27931	68	38	5	5	NUM
fcis-27931	68	39	7	7	NUM
fcis-27931	68	40	3	3	NUM
fcis-27931	68	41	8	8	NUM
fcis-27931	68	42	5	5	NUM
fcis-27931	68	43	6	6	NUM
fcis-27931	68	44	4	4	NUM
fcis-27931	68	45	7	7	NUM
fcis-27931	68	46	1	1	NUM
fcis-27931	68	47	2	2	NUM
fcis-27931	68	48	7	7	NUM
fcis-27931	68	49	5	5	NUM
fcis-27931	68	50	8	8	NUM
fcis-27931	68	51	3	3	NUM
fcis-27931	68	52	6	6	NUM
fcis-27931	68	53	2	2	NUM
fcis-27931	68	54	1	1	NUM
fcis-27931	68	55	4	4	NUM
fcis-27931	68	56	4	4	NUM
fcis-27931	68	57	6	6	NUM
fcis-27931	68	58	3	3	NUM
fcis-27931	68	59	2	2	NUM
fcis-27931	68	60	1	1	NUM
fcis-27931	68	61	8	8	NUM
fcis-27931	68	62	5	5	NUM
fcis-27931	68	63	7	7	NUM
fcis-27931	68	64	3	3	NUM
fcis-27931	68	65	8	8	NUM
fcis-27931	68	66	5	5	NUM
fcis-27931	68	67	6	6	NUM
fcis-27931	68	68	4	4	NUM
fcis-27931	68	69	7	7	NUM
fcis-27931	68	70	1	1	NUM
fcis-27931	68	71	2	2	NUM
fcis-27931	68	72	7	7	NUM
fcis-27931	68	73	5	5	NUM
fcis-27931	68	74	8	8	NUM
fcis-27931	68	75	3	3	NUM
fcis-27931	68	76	6	6	NUM
fcis-27931	68	77	2	2	NUM
fcis-27931	68	78	1	1	NUM
fcis-27931	68	79	4	4	NUM
fcis-27931	68	80	4	4	NUM
fcis-27931	68	81	6	6	NUM
fcis-27931	68	82	3	3	NUM
fcis-27931	68	83	2	2	NUM
fcis-27931	68	84	1	1	NUM
fcis-27931	68	85	8	8	NUM
fcis-27931	68	86	5	5	NUM
fcis-27931	68	87	7	7	NUM
fcis-27931	68	88	3	3	NUM
fcis-27931	68	89	8	8	NUM
fcis-27931	68	90	5	5	NUM
fcis-27931	68	91	6	6	NUM
fcis-27931	68	92	4	4	NUM
fcis-27931	68	93	7	7	NUM
fcis-27931	68	94	1	1	NUM
fcis-27931	68	95	2	2	NUM
fcis-27931	68	96	7	7	NUM
fcis-27931	68	97	5	5	NUM
fcis-27931	68	98	8	8	NUM
fcis-27931	68	99	3	3	NUM
fcis-27931	68	100	6	6	NUM
fcis-27931	68	101	2	2	NUM
fcis-27931	68	102	1	1	NUM
fcis-27931	68	103	4	4	NUM
fcis-27931	68	104	4	4	NUM
fcis-27931	68	105	6	6	NUM
fcis-27931	68	106	3	3	NUM
fcis-27931	68	107	2	2	NUM
fcis-27931	68	108	1	1	NUM
fcis-27931	68	109	8	8	NUM
fcis-27931	68	110	5	5	NUM
fcis-27931	68	111	7	7	NUM
fcis-27931	68	112	3	3	NUM
fcis-27931	68	113	8	8	NUM
fcis-27931	68	114	5	5	NUM
fcis-27931	68	115	6	6	NUM
fcis-27931	68	116	4	4	NUM
fcis-27931	68	117	7	7	NUM
fcis-27931	68	118	1	1	NUM
fcis-27931	68	119	2	2	NUM
fcis-27931	68	120	7	7	NUM
fcis-27931	68	121	5	5	NUM
fcis-27931	68	122	8	8	NUM
fcis-27931	68	123	3	3	NUM
fcis-27931	68	124	6	6	NUM
fcis-27931	68	125	2	2	NUM
fcis-27931	68	126	1	1	NUM
fcis-27931	68	127	4	4	NUM
fcis-27931	68	128	4	4	NUM
fcis-27931	68	129	6	6	NUM
fcis-27931	68	130	3	3	NUM
fcis-27931	68	131	2	2	NUM
fcis-27931	68	132	1	1	NUM
fcis-27931	68	133	8	8	NUM
fcis-27931	68	134	5	5	NUM
fcis-27931	68	135	7	7	NUM
fcis-27931	68	136	3	3	NUM
fcis-27931	68	137	8	8	NUM
fcis-27931	68	138	5	5	NUM
fcis-27931	68	139	6	6	NUM
fcis-27931	68	140	4	4	NUM
fcis-27931	68	141	7	7	NUM
fcis-27931	68	142	1	1	NUM
fcis-27931	68	143	2	2	NUM
fcis-27931	68	144	7	7	NUM
fcis-27931	68	145	5	5	NUM
fcis-27931	68	146	8	8	NUM
fcis-27931	68	147	3	3	NUM
fcis-27931	68	148	6	6	NUM
fcis-27931	68	149	2	2	NUM
fcis-27931	68	150	1	1	NUM
fcis-27931	68	151	4	4	NUM
fcis-27931	68	152	4	4	NUM
fcis-27931	68	153	7	7	NUM
fcis-27931	68	154	1	1	NUM
fcis-27931	68	155	9	9	NUM
fcis-27931	68	156	step1	step1	PROPN
fcis-27931	68	157	step2	step2	PROPN
fcis-27931	68	158	step3	step3	PROPN
fcis-27931	68	159	step5	step5	PROPN
fcis-27931	68	160	step6	step6	PROPN
fcis-27931	68	161	step4	step4	PROPN
fcis-27931	68	162	4	4	NUM
fcis-27931	68	163	7	7	NUM
fcis-27931	68	164	1	1	NUM
fcis-27931	68	165	9	9	NUM
fcis-27931	68	166	8	8	NUM
fcis-27931	68	167	3	3	NUM
fcis-27931	68	168	10	10	NUM
fcis-27931	68	169	2	2	NUM
fcis-27931	68	170	6	6	NUM
fcis-27931	68	171	5	5	NUM
fcis-27931	68	172	cis	cis	NOUN
fcis-27931	68	173	-	-	PUNCT
fcis-27931	68	174	directed	direct	VERB
fcis-27931	68	175	daughter	daughter	NOUN
fcis-27931	68	176	chromosomes	chromosome	NOUN
fcis-27931	68	177	parent1	parent1	NOUN
fcis-27931	69	1	parent2	parent2	VERB
fcis-27931	69	2	parent3	parent3	NOUN
fcis-27931	69	3	4	4	NUM
fcis-27931	69	4	7	7	NUM
fcis-27931	69	5	1	1	NUM
fcis-27931	69	6	9	9	NUM
fcis-27931	69	7	8	8	NUM
fcis-27931	69	8	3	3	NUM
fcis-27931	69	9	10	10	NUM
fcis-27931	69	10	step7	step7	NOUN
fcis-27931	69	11	figure	figure	NOUN
fcis-27931	69	12	4	4	NUM
fcis-27931	69	13	.	.	PUNCT
fcis-27931	69	14	heuristic	heuristic	ADJ
fcis-27931	69	15	two	two	NUM
fcis-27931	69	16	-	-	PUNCT
fcis-27931	69	17	way	way	NOUN
fcis-27931	69	18	three	three	NUM
fcis-27931	69	19	-	-	PUNCT
fcis-27931	69	20	crossover	crossover	NOUN
fcis-27931	69	21	process	process	NOUN
fcis-27931	69	22	3.3	3.3	NUM
fcis-27931	69	23	.	.	PUNCT
fcis-27931	70	1	multi	multi	ADJ
fcis-27931	70	2	-	-	ADJ
fcis-27931	70	3	variation	variation	ADJ
fcis-27931	70	4	strategy	strategy	NOUN
fcis-27931	70	5	the	the	DET
fcis-27931	70	6	main	main	ADJ
fcis-27931	70	7	function	function	NOUN
fcis-27931	70	8	of	of	ADP
fcis-27931	70	9	the	the	DET
fcis-27931	70	10	mutation	mutation	NOUN
fcis-27931	70	11	operator	operator	NOUN
fcis-27931	70	12	is	be	AUX
fcis-27931	70	13	to	to	PART
fcis-27931	70	14	prevent	prevent	VERB
fcis-27931	70	15	the	the	DET
fcis-27931	70	16	algorithm	algorithm	NOUN
fcis-27931	70	17	from	from	ADP
fcis-27931	70	18	falling	fall	VERB
fcis-27931	70	19	into	into	ADP
fcis-27931	70	20	the	the	DET
fcis-27931	70	21	local	local	ADJ
fcis-27931	70	22	optimum	optimum	NOUN
fcis-27931	70	23	during	during	ADP
fcis-27931	70	24	the	the	DET
fcis-27931	70	25	iterative	iterative	NOUN
fcis-27931	70	26	search	search	NOUN
fcis-27931	70	27	process[14	process[14	PROPN
fcis-27931	70	28	]	]	PUNCT
fcis-27931	70	29	.	.	PUNCT
fcis-27931	71	1	traditional	traditional	ADJ
fcis-27931	71	2	genetic	genetic	ADJ
fcis-27931	71	3	algorithms	algorithm	NOUN
fcis-27931	71	4	only	only	ADV
fcis-27931	71	5	use	use	VERB
fcis-27931	71	6	single	single	ADJ
fcis-27931	71	7	-	-	PUNCT
fcis-27931	71	8	point	point	NOUN
fcis-27931	71	9	random	random	ADJ
fcis-27931	71	10	mutation	mutation	NOUN
fcis-27931	71	11	methods	method	NOUN
fcis-27931	71	12	,	,	PUNCT
fcis-27931	71	13	which	which	PRON
fcis-27931	71	14	can	can	AUX
fcis-27931	71	15	not	not	PART
fcis-27931	71	16	guarantee	guarantee	VERB
fcis-27931	71	17	that	that	SCONJ
fcis-27931	71	18	the	the	DET
fcis-27931	71	19	algorithm	algorithm	NOUN
fcis-27931	71	20	will	will	AUX
fcis-27931	71	21	jump	jump	VERB
fcis-27931	71	22	out	out	ADP
fcis-27931	71	23	of	of	ADP
fcis-27931	71	24	the	the	DET
fcis-27931	71	25	local	local	ADJ
fcis-27931	71	26	optimum	optimum	NOUN
fcis-27931	71	27	.	.	PUNCT
fcis-27931	72	1	to	to	PART
fcis-27931	72	2	address	address	VERB
fcis-27931	72	3	the	the	DET
fcis-27931	72	4	above	above	ADJ
fcis-27931	72	5	problems	problem	NOUN
fcis-27931	72	6	,	,	PUNCT
fcis-27931	72	7	this	this	DET
fcis-27931	72	8	paper	paper	NOUN
fcis-27931	72	9	introduces	introduce	NOUN
fcis-27931	72	10	insertion	insertion	NOUN
fcis-27931	72	11	mutation	mutation	NOUN
fcis-27931	72	12	and	and	CCONJ
fcis-27931	72	13	heuristic	heuristic	ADJ
fcis-27931	72	14	reversal	reversal	NOUN
fcis-27931	72	15	mutation	mutation	NOUN
fcis-27931	72	16	to	to	PART
fcis-27931	72	17	improve	improve	VERB
fcis-27931	72	18	the	the	DET
fcis-27931	72	19	diversity	diversity	NOUN
fcis-27931	72	20	of	of	ADP
fcis-27931	72	21	the	the	DET
fcis-27931	72	22	population	population	NOUN
fcis-27931	72	23	and	and	CCONJ
fcis-27931	72	24	enhance	enhance	VERB
fcis-27931	72	25	the	the	DET
fcis-27931	72	26	ability	ability	NOUN
fcis-27931	72	27	of	of	ADP
fcis-27931	72	28	the	the	DET
fcis-27931	72	29	algorithm	algorithm	NOUN
fcis-27931	72	30	to	to	PART
fcis-27931	72	31	jump	jump	VERB
fcis-27931	72	32	out	out	ADP
fcis-27931	72	33	of	of	ADP
fcis-27931	72	34	the	the	DET
fcis-27931	72	35	local	local	ADJ
fcis-27931	72	36	optimum	optimum	NOUN
fcis-27931	72	37	.	.	PUNCT
fcis-27931	73	1	the	the	DET
fcis-27931	73	2	insertion	insertion	NOUN
fcis-27931	73	3	mutation	mutation	NOUN
fcis-27931	73	4	method	method	NOUN
fcis-27931	73	5	randomly	randomly	ADV
fcis-27931	73	6	selects	select	VERB
fcis-27931	73	7	two	two	NUM
fcis-27931	73	8	points	point	NOUN
fcis-27931	73	9	from	from	ADP
fcis-27931	73	10	the	the	DET
fcis-27931	73	11	parent	parent	NOUN
fcis-27931	73	12	individuals	individual	NOUN
fcis-27931	73	13	and	and	CCONJ
fcis-27931	73	14	inserts	insert	VERB
fcis-27931	73	15	the	the	DET
fcis-27931	73	16	point	point	NOUN
fcis-27931	73	17	with	with	ADP
fcis-27931	73	18	the	the	DET
fcis-27931	73	19	front	front	ADJ
fcis-27931	73	20	position	position	NOUN
fcis-27931	73	21	behind	behind	ADP
fcis-27931	73	22	the	the	DET
fcis-27931	73	23	other	other	ADJ
fcis-27931	73	24	point	point	NOUN
fcis-27931	73	25	.	.	PUNCT
fcis-27931	74	1	this	this	DET
fcis-27931	74	2	method	method	NOUN
fcis-27931	74	3	can	can	AUX
fcis-27931	74	4	not	not	PART
fcis-27931	74	5	only	only	ADV
fcis-27931	74	6	retain	retain	VERB
fcis-27931	74	7	the	the	DET
fcis-27931	74	8	excellent	excellent	ADJ
fcis-27931	74	9	gene	gene	NOUN
fcis-27931	74	10	fragments	fragment	NOUN
fcis-27931	74	11	of	of	ADP
fcis-27931	74	12	the	the	DET
fcis-27931	74	13	parent	parent	NOUN
fcis-27931	74	14	,	,	PUNCT
fcis-27931	74	15	but	but	CCONJ
fcis-27931	74	16	also	also	ADV
fcis-27931	74	17	effectively	effectively	ADV
fcis-27931	74	18	increase	increase	VERB
fcis-27931	74	19	the	the	DET
fcis-27931	74	20	diversity	diversity	NOUN
fcis-27931	74	21	of	of	ADP
fcis-27931	74	22	the	the	DET
fcis-27931	74	23	population	population	NOUN
fcis-27931	74	24	.	.	PUNCT
fcis-27931	75	1	insertion	insertion	NOUN
fcis-27931	75	2	mutation	mutation	NOUN
fcis-27931	75	3	is	be	AUX
fcis-27931	75	4	shown	show	VERB
fcis-27931	75	5	in	in	ADP
fcis-27931	75	6	figure	figure	NOUN
fcis-27931	75	7	5	5	NUM
fcis-27931	75	8	.	.	NOUN
fcis-27931	76	1	4	4	NUM
fcis-27931	76	2	6	6	NUM
fcis-27931	76	3	3	3	NUM
fcis-27931	76	4	2	2	NUM
fcis-27931	76	5	1	1	NUM
fcis-27931	76	6	8	8	NUM
fcis-27931	76	7	5	5	NUM
fcis-27931	76	8	7	7	NUM
fcis-27931	76	9	4	4	NUM
fcis-27931	76	10	6	6	NUM
fcis-27931	76	11	2	2	NUM
fcis-27931	76	12	1	1	NUM
fcis-27931	76	13	8	8	NUM
fcis-27931	76	14	3	3	NUM
fcis-27931	76	15	5	5	NUM
fcis-27931	76	16	7	7	NUM
fcis-27931	76	17	before	before	ADP
fcis-27931	76	18	mutation	mutation	NOUN
fcis-27931	76	19	after	after	ADP
fcis-27931	76	20	mutation	mutation	NOUN
fcis-27931	76	21	figure	figure	NOUN
fcis-27931	76	22	5	5	NUM
fcis-27931	76	23	.	.	PUNCT
fcis-27931	76	24	insertion	insertion	NOUN
fcis-27931	76	25	mutation	mutation	NOUN
fcis-27931	76	26	the	the	DET
fcis-27931	76	27	heuristic	heuristic	ADJ
fcis-27931	76	28	reversal	reversal	NOUN
fcis-27931	76	29	mutation	mutation	NOUN
fcis-27931	76	30	method	method	NOUN
fcis-27931	76	31	randomly	randomly	ADV
fcis-27931	76	32	selects	select	VERB
fcis-27931	76	33	a	a	DET
fcis-27931	76	34	gene	gene	NOUN
fcis-27931	76	35	sequence	sequence	NOUN
fcis-27931	76	36	in	in	ADP
fcis-27931	76	37	the	the	DET
fcis-27931	76	38	parent	parent	NOUN
fcis-27931	76	39	generation	generation	NOUN
fcis-27931	76	40	,	,	PUNCT
fcis-27931	76	41	reverses	reverse	VERB
fcis-27931	76	42	its	its	PRON
fcis-27931	76	43	order	order	NOUN
fcis-27931	76	44	,	,	PUNCT
fcis-27931	76	45	obtains	obtain	VERB
fcis-27931	76	46	a	a	DET
fcis-27931	76	47	new	new	ADJ
fcis-27931	76	48	individual	individual	NOUN
fcis-27931	76	49	,	,	PUNCT
fcis-27931	76	50	and	and	CCONJ
fcis-27931	76	51	then	then	ADV
fcis-27931	76	52	compares	compare	VERB
fcis-27931	76	53	the	the	DET
fcis-27931	76	54	fitness	fitness	NOUN
fcis-27931	76	55	values	value	NOUN
fcis-27931	76	56	before	before	ADP
fcis-27931	76	57	and	and	CCONJ
fcis-27931	76	58	after	after	ADP
fcis-27931	76	59	the	the	DET
fcis-27931	76	60	mutation	mutation	NOUN
fcis-27931	76	61	to	to	PART
fcis-27931	76	62	decide	decide	VERB
fcis-27931	76	63	whether	whether	SCONJ
fcis-27931	76	64	to	to	PART
fcis-27931	76	65	keep	keep	VERB
fcis-27931	76	66	the	the	DET
fcis-27931	76	67	offspring	offspring	NOUN
fcis-27931	76	68	individual	individual	NOUN
fcis-27931	76	69	.	.	PUNCT
fcis-27931	77	1	the	the	DET
fcis-27931	77	2	heuristic	heuristic	ADJ
fcis-27931	77	3	reversal	reversal	NOUN
fcis-27931	77	4	mutation	mutation	NOUN
fcis-27931	77	5	operation	operation	NOUN
fcis-27931	77	6	process	process	NOUN
fcis-27931	77	7	is	be	AUX
fcis-27931	77	8	shown	show	VERB
fcis-27931	77	9	in	in	ADP
fcis-27931	77	10	figure	figure	NOUN
fcis-27931	77	11	6	6	NUM
fcis-27931	77	12	.	.	PUNCT
fcis-27931	77	13	by	by	ADP
fcis-27931	77	14	adopting	adopt	VERB
fcis-27931	77	15	a	a	DET
fcis-27931	77	16	multi	multi	ADJ
fcis-27931	77	17	-	-	ADJ
fcis-27931	77	18	variation	variation	ADJ
fcis-27931	77	19	strategy	strategy	NOUN
fcis-27931	77	20	,	,	PUNCT
fcis-27931	77	21	not	not	PART
fcis-27931	77	22	only	only	ADV
fcis-27931	77	23	the	the	DET
fcis-27931	77	24	excellent	excellent	ADJ
fcis-27931	77	25	gene	gene	NOUN
fcis-27931	77	26	fragments	fragment	NOUN
fcis-27931	77	27	in	in	ADP
fcis-27931	77	28	the	the	DET
fcis-27931	77	29	parent	parent	NOUN
fcis-27931	77	30	generation	generation	NOUN
fcis-27931	77	31	are	be	AUX
fcis-27931	77	32	retained	retain	VERB
fcis-27931	77	33	,	,	PUNCT
fcis-27931	77	34	but	but	CCONJ
fcis-27931	77	35	also	also	ADV
fcis-27931	77	36	the	the	DET
fcis-27931	77	37	diversity	diversity	NOUN
fcis-27931	77	38	of	of	ADP
fcis-27931	77	39	the	the	DET
fcis-27931	77	40	population	population	NOUN
fcis-27931	77	41	is	be	AUX
fcis-27931	77	42	improved	improve	VERB
fcis-27931	77	43	,	,	PUNCT
fcis-27931	77	44	thereby	thereby	ADV
fcis-27931	77	45	enhancing	enhance	VERB
fcis-27931	77	46	the	the	DET
fcis-27931	77	47	algorithm	algorithm	NOUN
fcis-27931	77	48	's	's	PART
fcis-27931	77	49	ability	ability	NOUN
fcis-27931	77	50	to	to	PART
fcis-27931	77	51	escape	escape	VERB
fcis-27931	77	52	from	from	ADP
fcis-27931	77	53	the	the	DET
fcis-27931	77	54	local	local	ADJ
fcis-27931	77	55	optimum	optimum	NOUN
fcis-27931	77	56	.	.	PUNCT
fcis-27931	78	1	4	4	X
fcis-27931	78	2	.	.	X
fcis-27931	78	3	simulation	simulation	NOUN
fcis-27931	78	4	results	result	NOUN
fcis-27931	78	5	and	and	CCONJ
fcis-27931	78	6	analysis	analysis	NOUN
fcis-27931	78	7	in	in	ADP
fcis-27931	78	8	order	order	NOUN
fcis-27931	78	9	to	to	PART
fcis-27931	78	10	further	far	ADV
fcis-27931	78	11	verify	verify	VERB
fcis-27931	78	12	the	the	DET
fcis-27931	78	13	performance	performance	NOUN
fcis-27931	78	14	of	of	ADP
fcis-27931	78	15	the	the	DET
fcis-27931	78	16	algorithm	algorithm	NOUN
fcis-27931	78	17	proposed	propose	VERB
fcis-27931	78	18	in	in	ADP
fcis-27931	78	19	this	this	DET
fcis-27931	78	20	paper	paper	NOUN
fcis-27931	78	21	in	in	ADP
fcis-27931	78	22	solving	solve	VERB
fcis-27931	78	23	the	the	DET
fcis-27931	78	24	robot	robot	NOUN
fcis-27931	78	25	task	task	PROPN
fcis-27931	78	26	allocation	allocation	NOUN
fcis-27931	78	27	problem	problem	NOUN
fcis-27931	78	28	,	,	PUNCT
fcis-27931	78	29	simulation	simulation	NOUN
fcis-27931	78	30	experiments	experiment	NOUN
fcis-27931	78	31	were	be	AUX
fcis-27931	78	32	carried	carry	VERB
fcis-27931	78	33	out	out	ADP
fcis-27931	78	34	on	on	ADP
fcis-27931	78	35	it	it	PRON
fcis-27931	78	36	.	.	PUNCT
fcis-27931	79	1	the	the	DET
fcis-27931	79	2	experimental	experimental	ADJ
fcis-27931	79	3	environment	environment	NOUN
fcis-27931	79	4	was	be	AUX
fcis-27931	79	5	python3.6	python3.6	PROPN
fcis-27931	79	6	.	.	PUNCT
fcis-27931	80	1	three	three	NUM
fcis-27931	80	2	groups	group	NOUN
fcis-27931	80	3	of	of	ADP
fcis-27931	80	4	simulation	simulation	NOUN
fcis-27931	80	5	experiments	experiment	NOUN
fcis-27931	80	6	were	be	AUX
fcis-27931	80	7	carried	carry	VERB
fcis-27931	80	8	out	out	ADP
fcis-27931	80	9	and	and	CCONJ
fcis-27931	80	10	analyzed	analyze	VERB
fcis-27931	80	11	by	by	ADP
fcis-27931	80	12	taking	take	VERB
fcis-27931	80	13	the	the	DET
fcis-27931	80	14	system	system	NOUN
fcis-27931	80	15	to	to	PART
fcis-27931	80	16	allocate	allocate	VERB
fcis-27931	80	17	30	30	NUM
fcis-27931	80	18	,	,	PUNCT
fcis-27931	80	19	50	50	NUM
fcis-27931	80	20	and	and	CCONJ
fcis-27931	80	21	100	100	NUM
fcis-27931	80	22	tasks	task	NOUN
fcis-27931	80	23	as	as	ADP
fcis-27931	80	24	examples	example	NOUN
fcis-27931	80	25	.	.	PUNCT
fcis-27931	81	1	according	accord	VERB
fcis-27931	81	2	to	to	ADP
fcis-27931	81	3	the	the	DET
fcis-27931	81	4	tasks	task	NOUN
fcis-27931	81	5	of	of	ADP
fcis-27931	81	6	different	different	ADJ
fcis-27931	81	7	scales	scale	NOUN
fcis-27931	81	8	,	,	PUNCT
fcis-27931	81	9	the	the	DET
fcis-27931	81	10	number	number	NOUN
fcis-27931	81	11	of	of	ADP
fcis-27931	81	12	robots	robot	NOUN
fcis-27931	81	13	was	be	AUX
fcis-27931	81	14	3	3	NUM
fcis-27931	81	15	,	,	PUNCT
fcis-27931	81	16	5	5	NUM
fcis-27931	81	17	and	and	CCONJ
fcis-27931	81	18	10	10	NUM
fcis-27931	81	19	respectively	respectively	ADV
fcis-27931	81	20	.	.	PUNCT
fcis-27931	82	1	the	the	DET
fcis-27931	82	2	algorithm	algorithm	NOUN
fcis-27931	82	3	proposed	propose	VERB
fcis-27931	82	4	in	in	ADP
fcis-27931	82	5	this	this	DET
fcis-27931	82	6	paper	paper	NOUN
fcis-27931	82	7	was	be	AUX
fcis-27931	82	8	compared	compare	VERB
fcis-27931	82	9	with	with	ADP
fcis-27931	82	10	the	the	DET
fcis-27931	82	11	traditional	traditional	ADJ
fcis-27931	82	12	genetic	genetic	ADJ
fcis-27931	82	13	algorithm	algorithm	NOUN
fcis-27931	82	14	[	[	X
fcis-27931	82	15	15	15	NUM
fcis-27931	82	16	]	]	X
fcis-27931	82	17	(	(	PUNCT
fcis-27931	82	18	genetic	genetic	ADJ
fcis-27931	82	19	algorithm	algorithm	NOUN
fcis-27931	82	20	,	,	PUNCT
fcis-27931	82	21	ga	ga	PROPN
fcis-27931	82	22	)	)	PUNCT
fcis-27931	82	23	and	and	CCONJ
fcis-27931	82	24	simulated	simulate	VERB
fcis-27931	82	25	annealing	anneal	VERB
fcis-27931	82	26	algorithm	algorithm	NOUN
fcis-27931	82	27	(	(	PUNCT
fcis-27931	82	28	simulated	simulate	VERB
fcis-27931	82	29	annealing	annealing	NOUN
fcis-27931	82	30	,	,	PUNCT
fcis-27931	82	31	sa	sa	NOUN
fcis-27931	82	32	)	)	PUNCT
fcis-27931	82	33	in	in	ADP
fcis-27931	82	34	the	the	DET
fcis-27931	82	35	experiment	experiment	NOUN
fcis-27931	82	36	.	.	PUNCT
fcis-27931	83	1	yes	yes	INTJ
fcis-27931	84	1	no	no	DET
fcis-27931	84	2	heuristic	heuristic	ADJ
fcis-27931	84	3	reversal	reversal	NOUN
fcis-27931	84	4	mutation	mutation	NOUN
fcis-27931	84	5	select	select	VERB
fcis-27931	84	6	individuals	individual	NOUN
fcis-27931	84	7	based	base	VERB
fcis-27931	84	8	on	on	ADP
fcis-27931	84	9	mutation	mutation	NOUN
fcis-27931	84	10	probability	probability	NOUN
fcis-27931	84	11	randomly	randomly	ADV
fcis-27931	84	12	select	select	ADJ
fcis-27931	84	13	gene	gene	NOUN
fcis-27931	84	14	sequences	sequence	NOUN
fcis-27931	84	15	and	and	CCONJ
fcis-27931	84	16	reverse	reverse	VERB
fcis-27931	84	17	their	their	PRON
fcis-27931	84	18	order	order	NOUN
fcis-27931	84	19	is	be	AUX
fcis-27931	84	20	the	the	DET
fcis-27931	84	21	offspring	offspring	NOUN
fcis-27931	84	22	better	well	ADJ
fcis-27931	84	23	than	than	ADP
fcis-27931	84	24	the	the	DET
fcis-27931	84	25	parent	parent	NOUN
fcis-27931	84	26	?	?	PUNCT
fcis-27931	85	1	finish	finish	AUX
fcis-27931	85	2	recalculate	recalculate	VERB
fcis-27931	85	3	fitness	fitness	NOUN
fcis-27931	85	4	value	value	NOUN
fcis-27931	85	5	abandon	abandon	NOUN
fcis-27931	85	6	offspring	offspring	NOUN
fcis-27931	85	7	individuals	individual	NOUN
fcis-27931	85	8	keep	keep	VERB
fcis-27931	85	9	offspring	offspre	VERB
fcis-27931	85	10	individuals	individual	NOUN
fcis-27931	85	11	figure	figure	VERB
fcis-27931	85	12	6	6	NUM
fcis-27931	85	13	.	.	PUNCT
fcis-27931	86	1	heuristic	heuristic	ADJ
fcis-27931	86	2	reversal	reversal	NOUN
fcis-27931	86	3	mutation	mutation	NOUN
fcis-27931	86	4	process	process	NOUN
fcis-27931	86	5	the	the	DET
fcis-27931	86	6	algorithm	algorithm	NOUN
fcis-27931	86	7	proposed	propose	VERB
fcis-27931	86	8	in	in	ADP
fcis-27931	86	9	this	this	DET
fcis-27931	86	10	paper	paper	NOUN
fcis-27931	86	11	is	be	AUX
fcis-27931	86	12	used	use	VERB
fcis-27931	86	13	to	to	PART
fcis-27931	86	14	assign	assign	VERB
fcis-27931	86	15	30	30	NUM
fcis-27931	86	16	tasks	task	NOUN
fcis-27931	86	17	to	to	ADP
fcis-27931	86	18	3	3	NUM
fcis-27931	86	19	robots	robot	NOUN
fcis-27931	86	20	,	,	PUNCT
fcis-27931	86	21	and	and	CCONJ
fcis-27931	87	1	the	the	DET
fcis-27931	87	2	task	task	NOUN
fcis-27931	87	3	assignment	assignment	NOUN
fcis-27931	87	4	results	result	NOUN
fcis-27931	87	5	of	of	ADP
fcis-27931	87	6	each	each	DET
fcis-27931	87	7	robot	robot	NOUN
fcis-27931	87	8	are	be	AUX
fcis-27931	87	9	shown	show	VERB
fcis-27931	87	10	in	in	ADP
fcis-27931	87	11	table	table	NOUN
fcis-27931	87	12	2	2	NUM
fcis-27931	87	13	.	.	PUNCT
fcis-27931	88	1	according	accord	VERB
fcis-27931	88	2	to	to	ADP
fcis-27931	88	3	the	the	DET
fcis-27931	88	4	execution	execution	NOUN
fcis-27931	88	5	task	task	NOUN
fcis-27931	88	6	sequence	sequence	NOUN
fcis-27931	88	7	in	in	ADP
fcis-27931	88	8	the	the	DET
fcis-27931	88	9	table	table	NOUN
fcis-27931	88	10	,	,	PUNCT
fcis-27931	88	11	it	it	PRON
fcis-27931	88	12	can	can	AUX
fcis-27931	88	13	be	be	AUX
fcis-27931	88	14	seen	see	VERB
fcis-27931	88	15	intuitively	intuitively	ADV
fcis-27931	88	16	that	that	SCONJ
fcis-27931	88	17	the	the	DET
fcis-27931	88	18	task	task	PROPN
fcis-27931	88	19	allocation	allocation	NOUN
fcis-27931	88	20	scheme	scheme	NOUN
fcis-27931	88	21	of	of	ADP
fcis-27931	88	22	the	the	DET
fcis-27931	88	23	algorithm	algorithm	NOUN
fcis-27931	88	24	in	in	ADP
fcis-27931	88	25	this	this	DET
fcis-27931	88	26	paper	paper	NOUN
fcis-27931	88	27	tends	tend	VERB
fcis-27931	88	28	to	to	PART
fcis-27931	88	29	be	be	AUX
fcis-27931	88	30	balanced	balance	VERB
fcis-27931	88	31	and	and	CCONJ
fcis-27931	88	32	more	more	ADV
fcis-27931	88	33	reasonable	reasonable	ADJ
fcis-27931	88	34	.	.	PUNCT
fcis-27931	89	1	9	9	NUM
fcis-27931	89	2	table	table	NOUN
fcis-27931	89	3	2	2	NUM
fcis-27931	89	4	.	.	PUNCT
fcis-27931	89	5	task	task	NOUN
fcis-27931	89	6	allocation	allocation	NOUN
fcis-27931	89	7	results	result	VERB
fcis-27931	89	8	robot	robot	NOUN
fcis-27931	89	9	number	number	NOUN
fcis-27931	89	10	execute	execute	VERB
fcis-27931	89	11	task	task	NOUN
fcis-27931	89	12	sequence	sequence	NOUN
fcis-27931	89	13	maximum	maximum	ADJ
fcis-27931	89	14	single	single	ADJ
fcis-27931	89	15	robot	robot	NOUN
fcis-27931	89	16	path	path	NOUN
fcis-27931	89	17	/m	/m	PUNCT
fcis-27931	89	18	total	total	ADJ
fcis-27931	89	19	path	path	NOUN
fcis-27931	89	20	cost	cost	NOUN
fcis-27931	89	21	/m	/m	PUNCT
fcis-27931	89	22	robot	robot	NOUN
fcis-27931	89	23	1	1	NUM
fcis-27931	89	24	25,28,30,27,29,24,26,2,13,14	25,28,30,27,29,24,26,2,13,14	NUM
fcis-27931	89	25	247	247	NUM
fcis-27931	89	26	721	721	NUM
fcis-27931	89	27	robot	robot	NOUN
fcis-27931	89	28	2	2	NUM
fcis-27931	89	29	1,11,9,7,10,12,5,8,5,4,3	1,11,9,7,10,12,5,8,5,4,3	NUM
fcis-27931	89	30	robot	robot	NOUN
fcis-27931	89	31	3	3	NUM
fcis-27931	89	32	15,20,17,18,21,23,19,21,16	15,20,17,18,21,23,19,21,16	NUM
fcis-27931	89	33	in	in	ADP
fcis-27931	89	34	order	order	NOUN
fcis-27931	89	35	to	to	PART
fcis-27931	89	36	fully	fully	ADV
fcis-27931	89	37	verify	verify	VERB
fcis-27931	89	38	the	the	DET
fcis-27931	89	39	feasibility	feasibility	NOUN
fcis-27931	89	40	of	of	ADP
fcis-27931	89	41	the	the	DET
fcis-27931	89	42	improved	improved	ADJ
fcis-27931	89	43	algorithm	algorithm	NOUN
fcis-27931	89	44	in	in	ADP
fcis-27931	89	45	this	this	DET
fcis-27931	89	46	paper	paper	NOUN
fcis-27931	89	47	,	,	PUNCT
fcis-27931	89	48	the	the	DET
fcis-27931	89	49	average	average	ADJ
fcis-27931	89	50	values	value	NOUN
fcis-27931	89	51	of	of	ADP
fcis-27931	89	52	the	the	DET
fcis-27931	89	53	three	three	NUM
fcis-27931	89	54	algorithms	algorithm	NOUN
fcis-27931	89	55	running	run	VERB
fcis-27931	89	56	20	20	NUM
fcis-27931	89	57	times	time	NOUN
fcis-27931	89	58	under	under	ADP
fcis-27931	89	59	three	three	NUM
fcis-27931	89	60	different	different	ADJ
fcis-27931	89	61	task	task	NOUN
fcis-27931	89	62	scales	scale	NOUN
fcis-27931	89	63	are	be	AUX
fcis-27931	89	64	compared	compare	VERB
fcis-27931	89	65	.	.	PUNCT
fcis-27931	90	1	the	the	DET
fcis-27931	90	2	average	average	ADJ
fcis-27931	90	3	values	value	NOUN
fcis-27931	90	4	of	of	ADP
fcis-27931	90	5	the	the	DET
fcis-27931	90	6	robot	robot	NOUN
fcis-27931	90	7	's	's	PART
fcis-27931	90	8	total	total	ADJ
fcis-27931	90	9	path	path	NOUN
fcis-27931	90	10	,	,	PUNCT
fcis-27931	90	11	the	the	DET
fcis-27931	90	12	maximum	maximum	ADJ
fcis-27931	90	13	single	single	ADJ
fcis-27931	90	14	-	-	PUNCT
fcis-27931	90	15	vehicle	vehicle	NOUN
fcis-27931	90	16	path	path	NOUN
fcis-27931	90	17	and	and	CCONJ
fcis-27931	90	18	the	the	DET
fcis-27931	90	19	number	number	NOUN
fcis-27931	90	20	of	of	ADP
fcis-27931	90	21	algorithm	algorithm	NOUN
fcis-27931	90	22	iterations	iteration	NOUN
fcis-27931	90	23	are	be	AUX
fcis-27931	90	24	shown	show	VERB
fcis-27931	90	25	in	in	ADP
fcis-27931	90	26	table	table	NOUN
fcis-27931	90	27	3	3	NUM
fcis-27931	90	28	.	.	PUNCT
fcis-27931	90	29	table	table	NOUN
fcis-27931	90	30	3	3	NUM
fcis-27931	90	31	.	.	PUNCT
fcis-27931	90	32	experimental	experimental	ADJ
fcis-27931	90	33	results	result	NOUN
fcis-27931	90	34	of	of	ADP
fcis-27931	90	35	different	different	ADJ
fcis-27931	90	36	algorithms	algorithm	NOUN
fcis-27931	90	37	and	and	CCONJ
fcis-27931	90	38	different	different	ADJ
fcis-27931	90	39	task	task	NOUN
fcis-27931	90	40	scales	scale	VERB
fcis-27931	90	41	number	number	NOUN
fcis-27931	90	42	of	of	ADP
fcis-27931	90	43	tasks	task	NOUN
fcis-27931	90	44	algorithm	algorithm	NOUN
fcis-27931	90	45	average	average	ADJ
fcis-27931	90	46	total	total	ADJ
fcis-27931	90	47	path	path	NOUN
fcis-27931	90	48	/m	/m	PUNCT
fcis-27931	90	49	average	average	ADJ
fcis-27931	90	50	maximum	maximum	ADJ
fcis-27931	90	51	single	single	ADJ
fcis-27931	90	52	robot	robot	NOUN
fcis-27931	90	53	path	path	NOUN
fcis-27931	90	54	/m	/m	PUNCT
fcis-27931	90	55	average	average	ADJ
fcis-27931	90	56	number	number	NOUN
fcis-27931	90	57	of	of	ADP
fcis-27931	90	58	iterations	iteration	NOUN
fcis-27931	90	59	30	30	NUM
fcis-27931	90	60	ga	ga	NOUN
fcis-27931	90	61	845.7	845.7	NUM
fcis-27931	90	62	320	320	NUM
fcis-27931	90	63	200	200	NUM
fcis-27931	90	64	sa	sa	NOUN
fcis-27931	90	65	1069.7	1069.7	NUM
fcis-27931	90	66	357.4	357.4	NUM
fcis-27931	90	67	180	180	NUM
fcis-27931	90	68	improve	improve	VERB
fcis-27931	90	69	ga	ga	PROPN
fcis-27931	90	70	731.3	731.3	NUM
fcis-27931	90	71	247.4	247.4	NUM
fcis-27931	90	72	35	35	NUM
fcis-27931	90	73	50	50	NUM
fcis-27931	90	74	ga	ga	NOUN
fcis-27931	90	75	1019.4	1019.4	NUM
fcis-27931	90	76	211.4	211.4	NUM
fcis-27931	90	77	220	220	NUM
fcis-27931	90	78	sa	sa	NOUN
fcis-27931	90	79	998.4	998.4	NUM
fcis-27931	90	80	199.5	199.5	NUM
fcis-27931	90	81	140	140	NUM
fcis-27931	90	82	improve	improve	VERB
fcis-27931	90	83	ga	ga	PROPN
fcis-27931	90	84	852	852	NUM
fcis-27931	90	85	182.5	182.5	NUM
fcis-27931	90	86	52	52	NUM
fcis-27931	90	87	100	100	NUM
fcis-27931	90	88	ga	ga	NOUN
fcis-27931	90	89	1850	1850	NUM
fcis-27931	90	90	507	507	NUM
fcis-27931	90	91	280	280	NUM
fcis-27931	90	92	sa	sa	PROPN
fcis-27931	90	93	1776.8	1776.8	NUM
fcis-27931	90	94	225	225	NUM
fcis-27931	90	95	200	200	NUM
fcis-27931	90	96	improve	improve	NOUN
fcis-27931	90	97	ga	ga	PROPN
fcis-27931	90	98	1724.5	1724.5	NUM
fcis-27931	90	99	205.8	205.8	NUM
fcis-27931	90	100	101	101	NUM
fcis-27931	90	101	it	it	PRON
fcis-27931	90	102	can	can	AUX
fcis-27931	90	103	be	be	AUX
fcis-27931	90	104	seen	see	VERB
fcis-27931	90	105	from	from	ADP
fcis-27931	90	106	table	table	NOUN
fcis-27931	90	107	3	3	NUM
fcis-27931	90	108	that	that	SCONJ
fcis-27931	90	109	the	the	DET
fcis-27931	90	110	improved	improved	ADJ
fcis-27931	90	111	ga	ga	NOUN
fcis-27931	90	112	algorithm	algorithm	NOUN
fcis-27931	90	113	proposed	propose	VERB
fcis-27931	90	114	in	in	ADP
fcis-27931	90	115	this	this	DET
fcis-27931	90	116	paper	paper	NOUN
fcis-27931	90	117	has	have	VERB
fcis-27931	90	118	certain	certain	ADJ
fcis-27931	90	119	improvements	improvement	NOUN
fcis-27931	90	120	in	in	ADP
fcis-27931	90	121	convergence	convergence	NOUN
fcis-27931	90	122	speed	speed	NOUN
fcis-27931	90	123	and	and	CCONJ
fcis-27931	90	124	solution	solution	NOUN
fcis-27931	90	125	accuracy	accuracy	NOUN
fcis-27931	90	126	.	.	PUNCT
fcis-27931	91	1	it	it	PRON
fcis-27931	91	2	can	can	AUX
fcis-27931	91	3	be	be	AUX
fcis-27931	91	4	seen	see	VERB
fcis-27931	91	5	from	from	ADP
fcis-27931	91	6	the	the	DET
fcis-27931	91	7	maximum	maximum	ADJ
fcis-27931	91	8	single	single	ADJ
fcis-27931	91	9	-	-	PUNCT
fcis-27931	91	10	vehicle	vehicle	NOUN
fcis-27931	91	11	path	path	NOUN
fcis-27931	91	12	that	that	PRON
fcis-27931	91	13	the	the	DET
fcis-27931	91	14	solution	solution	NOUN
fcis-27931	91	15	of	of	ADP
fcis-27931	91	16	the	the	DET
fcis-27931	91	17	improved	improved	ADJ
fcis-27931	91	18	ga	ga	NOUN
fcis-27931	91	19	algorithm	algorithm	NOUN
fcis-27931	91	20	is	be	AUX
fcis-27931	91	21	more	more	ADV
fcis-27931	91	22	reasonable	reasonable	ADJ
fcis-27931	91	23	.	.	PUNCT
fcis-27931	92	1	figure	figure	NOUN
fcis-27931	92	2	7	7	NUM
fcis-27931	92	3	shows	show	VERB
fcis-27931	92	4	the	the	DET
fcis-27931	92	5	convergence	convergence	NOUN
fcis-27931	92	6	curves	curve	NOUN
fcis-27931	92	7	of	of	ADP
fcis-27931	92	8	the	the	DET
fcis-27931	92	9	ga	ga	PROPN
fcis-27931	92	10	,	,	PUNCT
fcis-27931	92	11	sa	sa	PROPN
fcis-27931	92	12	and	and	CCONJ
fcis-27931	92	13	improved	improve	VERB
fcis-27931	92	14	ga	ga	NOUN
fcis-27931	92	15	algorithms	algorithm	NOUN
fcis-27931	92	16	when	when	SCONJ
fcis-27931	92	17	assigning	assign	VERB
fcis-27931	92	18	tasks	task	NOUN
fcis-27931	92	19	of	of	ADP
fcis-27931	92	20	different	different	ADJ
fcis-27931	92	21	sizes	size	NOUN
fcis-27931	92	22	.	.	PUNCT
fcis-27931	93	1	(	(	PUNCT
fcis-27931	93	2	a)number	a)number	PROPN
fcis-27931	93	3	of	of	ADP
fcis-27931	93	4	tasks	task	NOUN
fcis-27931	93	5	:	:	PUNCT
fcis-27931	93	6	30	30	NUM
fcis-27931	93	7	(	(	PUNCT
fcis-27931	93	8	b)number	b)number	NOUN
fcis-27931	93	9	of	of	ADP
fcis-27931	93	10	tasks	task	NOUN
fcis-27931	93	11	:	:	PUNCT
fcis-27931	93	12	50	50	NUM
fcis-27931	93	13	(	(	PUNCT
fcis-27931	93	14	c)number	c)number	NOUN
fcis-27931	93	15	of	of	ADP
fcis-27931	93	16	tasks	task	NOUN
fcis-27931	93	17	:	:	PUNCT
fcis-27931	93	18	100	100	NUM
fcis-27931	93	19	figure	figure	NOUN
fcis-27931	93	20	7	7	NUM
fcis-27931	93	21	.	.	PUNCT
fcis-27931	93	22	convergence	convergence	NOUN
fcis-27931	93	23	curves	curve	NOUN
fcis-27931	93	24	of	of	ADP
fcis-27931	93	25	different	different	ADJ
fcis-27931	93	26	scale	scale	NOUN
fcis-27931	93	27	task	task	NOUN
fcis-27931	93	28	allocation	allocation	NOUN
fcis-27931	93	29	algorithms	algorithm	NOUN
fcis-27931	93	30	from	from	ADP
fcis-27931	93	31	the	the	DET
fcis-27931	93	32	convergence	convergence	NOUN
fcis-27931	93	33	curve	curve	NOUN
fcis-27931	93	34	and	and	CCONJ
fcis-27931	93	35	fitness	fitness	NOUN
fcis-27931	93	36	value	value	NOUN
fcis-27931	93	37	in	in	ADP
fcis-27931	93	38	figure	figure	NOUN
fcis-27931	93	39	7	7	NUM
fcis-27931	93	40	,	,	PUNCT
fcis-27931	93	41	we	we	PRON
fcis-27931	93	42	can	can	AUX
fcis-27931	93	43	see	see	VERB
fcis-27931	93	44	that	that	SCONJ
fcis-27931	93	45	the	the	DET
fcis-27931	93	46	improved	improved	ADJ
fcis-27931	93	47	ga	ga	NOUN
fcis-27931	93	48	algorithm	algorithm	NOUN
fcis-27931	93	49	proposed	propose	VERB
fcis-27931	93	50	in	in	ADP
fcis-27931	93	51	this	this	DET
fcis-27931	93	52	paper	paper	NOUN
fcis-27931	93	53	performs	perform	VERB
fcis-27931	93	54	well	well	ADV
fcis-27931	93	55	in	in	ADP
fcis-27931	93	56	solving	solve	VERB
fcis-27931	93	57	the	the	DET
fcis-27931	93	58	initial	initial	ADJ
fcis-27931	93	59	population	population	NOUN
fcis-27931	93	60	.	.	PUNCT
fcis-27931	94	1	it	it	PRON
fcis-27931	94	2	expands	expand	VERB
fcis-27931	94	3	the	the	DET
fcis-27931	94	4	search	search	NOUN
fcis-27931	94	5	range	range	NOUN
fcis-27931	94	6	through	through	ADP
fcis-27931	94	7	heuristic	heuristic	ADJ
fcis-27931	94	8	two	two	NUM
fcis-27931	94	9	-	-	PUNCT
fcis-27931	94	10	way	way	NOUN
fcis-27931	94	11	threecrossover	threecrossover	NOUN
fcis-27931	94	12	,	,	PUNCT
fcis-27931	94	13	and	and	CCONJ
fcis-27931	94	14	the	the	DET
fcis-27931	94	15	multi	multi	ADJ
fcis-27931	94	16	-	-	ADJ
fcis-27931	94	17	mutation	mutation	ADJ
fcis-27931	94	18	strategy	strategy	NOUN
fcis-27931	94	19	enables	enable	VERB
fcis-27931	94	20	the	the	DET
fcis-27931	94	21	algorithm	algorithm	NOUN
fcis-27931	94	22	to	to	PART
fcis-27931	94	23	jump	jump	VERB
fcis-27931	94	24	out	out	ADP
fcis-27931	94	25	of	of	ADP
fcis-27931	94	26	the	the	DET
fcis-27931	94	27	local	local	ADJ
fcis-27931	94	28	optimum	optimum	NOUN
fcis-27931	94	29	.	.	PUNCT
fcis-27931	95	1	5	5	X
fcis-27931	95	2	.	.	X
fcis-27931	95	3	conclusion	conclusion	NOUN
fcis-27931	95	4	this	this	DET
fcis-27931	95	5	paper	paper	NOUN
fcis-27931	95	6	proposes	propose	VERB
fcis-27931	95	7	an	an	DET
fcis-27931	95	8	improved	improved	ADJ
fcis-27931	95	9	genetic	genetic	ADJ
fcis-27931	95	10	algorithm	algorithm	NOUN
fcis-27931	95	11	to	to	PART
fcis-27931	95	12	solve	solve	VERB
fcis-27931	95	13	the	the	DET
fcis-27931	95	14	problems	problem	NOUN
fcis-27931	95	15	of	of	ADP
fcis-27931	95	16	low	low	ADJ
fcis-27931	95	17	efficiency	efficiency	NOUN
fcis-27931	95	18	and	and	CCONJ
fcis-27931	95	19	unbalanced	unbalanced	ADJ
fcis-27931	95	20	task	task	NOUN
fcis-27931	95	21	allocation	allocation	NOUN
fcis-27931	95	22	of	of	ADP
fcis-27931	95	23	traditional	traditional	ADJ
fcis-27931	95	24	genetic	genetic	ADJ
fcis-27931	95	25	algorithms	algorithm	NOUN
fcis-27931	95	26	in	in	ADP
fcis-27931	95	27	multi	multi	ADJ
fcis-27931	95	28	-	-	ADJ
fcis-27931	95	29	robot	robot	ADJ
fcis-27931	95	30	task	task	NOUN
fcis-27931	95	31	allocation	allocation	NOUN
fcis-27931	95	32	in	in	ADP
fcis-27931	95	33	intelligent	intelligent	ADJ
fcis-27931	95	34	warehousing	warehousing	NOUN
fcis-27931	95	35	.	.	PUNCT
fcis-27931	96	1	first	first	ADV
fcis-27931	96	2	,	,	PUNCT
fcis-27931	96	3	the	the	DET
fcis-27931	96	4	greedy	greedy	ADJ
fcis-27931	96	5	algorithm	algorithm	NOUN
fcis-27931	96	6	is	be	AUX
fcis-27931	96	7	used	use	VERB
fcis-27931	96	8	to	to	PART
fcis-27931	96	9	generate	generate	VERB
fcis-27931	96	10	the	the	DET
fcis-27931	96	11	initial	initial	ADJ
fcis-27931	96	12	population	population	NOUN
fcis-27931	96	13	to	to	PART
fcis-27931	96	14	improve	improve	VERB
fcis-27931	96	15	the	the	DET
fcis-27931	96	16	quality	quality	NOUN
fcis-27931	96	17	of	of	ADP
fcis-27931	96	18	the	the	DET
fcis-27931	96	19	initial	initial	ADJ
fcis-27931	96	20	population	population	NOUN
fcis-27931	96	21	of	of	ADP
fcis-27931	96	22	the	the	DET
fcis-27931	96	23	genetic	genetic	ADJ
fcis-27931	96	24	algorithm	algorithm	NOUN
fcis-27931	96	25	;	;	PUNCT
fcis-27931	96	26	secondly	secondly	ADV
fcis-27931	96	27	,	,	PUNCT
fcis-27931	96	28	a	a	DET
fcis-27931	96	29	heuristic	heuristic	ADJ
fcis-27931	96	30	two	two	NUM
fcis-27931	96	31	-	-	PUNCT
fcis-27931	96	32	way	way	NOUN
fcis-27931	96	33	three	three	NUM
fcis-27931	96	34	-	-	PUNCT
fcis-27931	96	35	crossover	crossover	NOUN
fcis-27931	96	36	operator	operator	NOUN
fcis-27931	96	37	is	be	AUX
fcis-27931	96	38	designed	design	VERB
fcis-27931	96	39	to	to	PART
fcis-27931	96	40	improve	improve	VERB
fcis-27931	96	41	the	the	DET
fcis-27931	96	42	search	search	NOUN
fcis-27931	96	43	ability	ability	NOUN
fcis-27931	96	44	of	of	ADP
fcis-27931	96	45	the	the	DET
fcis-27931	96	46	algorithm	algorithm	NOUN
fcis-27931	96	47	;	;	PUNCT
fcis-27931	96	48	finally	finally	ADV
fcis-27931	96	49	,	,	PUNCT
fcis-27931	96	50	a	a	DET
fcis-27931	96	51	multi	multi	ADJ
fcis-27931	96	52	-	-	ADJ
fcis-27931	96	53	mutation	mutation	ADJ
fcis-27931	96	54	strategy	strategy	NOUN
fcis-27931	96	55	is	be	AUX
fcis-27931	96	56	introduced	introduce	VERB
fcis-27931	96	57	to	to	PART
fcis-27931	96	58	enhance	enhance	VERB
fcis-27931	96	59	the	the	DET
fcis-27931	96	60	ability	ability	NOUN
fcis-27931	96	61	of	of	ADP
fcis-27931	96	62	the	the	DET
fcis-27931	96	63	algorithm	algorithm	NOUN
fcis-27931	96	64	to	to	PART
fcis-27931	96	65	jump	jump	VERB
fcis-27931	96	66	out	out	ADP
fcis-27931	96	67	of	of	ADP
fcis-27931	96	68	the	the	DET
fcis-27931	96	69	local	local	ADJ
fcis-27931	96	70	optimum	optimum	NOUN
fcis-27931	96	71	.	.	PUNCT
fcis-27931	97	1	through	through	ADP
fcis-27931	97	2	experimental	experimental	ADJ
fcis-27931	97	3	comparison	comparison	NOUN
fcis-27931	97	4	,	,	PUNCT
fcis-27931	97	5	the	the	DET
fcis-27931	97	6	algorithm	algorithm	NOUN
fcis-27931	97	7	in	in	ADP
fcis-27931	97	8	this	this	DET
fcis-27931	97	9	paper	paper	NOUN
fcis-27931	97	10	has	have	AUX
fcis-27931	97	11	improved	improve	VERB
fcis-27931	97	12	the	the	DET
fcis-27931	97	13	balance	balance	NOUN
fcis-27931	97	14	of	of	ADP
fcis-27931	97	15	task	task	NOUN
fcis-27931	97	16	allocation	allocation	NOUN
fcis-27931	97	17	and	and	CCONJ
fcis-27931	97	18	solution	solution	NOUN
fcis-27931	97	19	efficiency	efficiency	NOUN
fcis-27931	97	20	,	,	PUNCT
fcis-27931	97	21	can	can	AUX
fcis-27931	97	22	adapt	adapt	VERB
fcis-27931	97	23	to	to	ADP
fcis-27931	97	24	the	the	DET
fcis-27931	97	25	task	task	NOUN
fcis-27931	97	26	allocation	allocation	NOUN
fcis-27931	97	27	of	of	ADP
fcis-27931	97	28	warehousing	warehouse	VERB
fcis-27931	97	29	environments	environment	NOUN
fcis-27931	97	30	with	with	ADP
fcis-27931	97	31	different	different	ADJ
fcis-27931	97	32	degrees	degree	NOUN
fcis-27931	97	33	of	of	ADP
fcis-27931	97	34	task	task	NOUN
fcis-27931	97	35	numbers	number	NOUN
fcis-27931	97	36	,	,	PUNCT
fcis-27931	97	37	and	and	CCONJ
fcis-27931	97	38	has	have	VERB
fcis-27931	97	39	obvious	obvious	ADJ
fcis-27931	97	40	advantages	advantage	NOUN
fcis-27931	97	41	in	in	ADP
fcis-27931	97	42	solving	solve	VERB
fcis-27931	97	43	multi	multi	ADJ
fcis-27931	97	44	-	-	ADJ
fcis-27931	97	45	robot	robot	ADJ
fcis-27931	97	46	task	task	NOUN
fcis-27931	97	47	allocation	allocation	NOUN
fcis-27931	97	48	.	.	PUNCT
fcis-27931	98	1	acknowledgments	acknowledgment	NOUN
fcis-27931	98	2	jilin	jilin	PROPN
fcis-27931	98	3	province	province	PROPN
fcis-27931	98	4	science	science	PROPN
fcis-27931	98	5	and	and	CCONJ
fcis-27931	98	6	technology	technology	NOUN
fcis-27931	98	7	development	development	NOUN
fcis-27931	98	8	project	project	NOUN
fcis-27931	98	9	(	(	PUNCT
fcis-27931	98	10	ydzj202201zyts555	ydzj202201zyts555	NOUN
fcis-27931	98	11	)	)	PUNCT
fcis-27931	98	12	.	.	PUNCT
fcis-27931	99	1	references	reference	NOUN
fcis-27931	99	2	[	[	X
fcis-27931	99	3	1	1	NUM
fcis-27931	99	4	]	]	X
fcis-27931	99	5	li	li	PROPN
fcis-27931	99	6	yansheng	yansheng	PROPN
fcis-27931	99	7	,	,	PUNCT
fcis-27931	99	8	wan	wan	PROPN
fcis-27931	99	9	yong	yong	PROPN
fcis-27931	99	10	,	,	PUNCT
fcis-27931	99	11	zhang	zhang	PROPN
fcis-27931	99	12	yi	yi	PROPN
fcis-27931	99	13	,	,	PUNCT
fcis-27931	99	14	et	et	PROPN
fcis-27931	99	15	al	al	PROPN
fcis-27931	99	16	.	.	PROPN
fcis-27931	99	17	path	path	PROPN
fcis-27931	99	18	planning	planning	PROPN
fcis-27931	99	19	of	of	ADP
fcis-27931	99	20	storage	storage	NOUN
fcis-27931	99	21	robot	robot	NOUN
fcis-27931	99	22	based	base	VERB
fcis-27931	99	23	on	on	ADP
fcis-27931	99	24	artificial	artificial	ADJ
fcis-27931	99	25	bee	bee	NOUN
fcis-27931	99	26	colony	colony	NOUN
fcis-27931	99	27	-	-	PUNCT
fcis-27931	99	28	adaptive	adaptive	ADJ
fcis-27931	99	29	genetic	genetic	ADJ
fcis-27931	99	30	algorithm	algorithm	NOUN
fcis-27931	100	1	[	[	X
fcis-27931	100	2	j	j	X
fcis-27931	100	3	]	]	X
fcis-27931	100	4	.	.	PUNCT
fcis-27931	101	1	chinese	chinese	ADJ
fcis-27931	101	2	journal	journal	PROPN
fcis-27931	101	3	of	of	ADP
fcis-27931	101	4	scientific	scientific	ADJ
fcis-27931	101	5	instrument,2022	instrument,2022	NOUN
fcis-27931	101	6	,	,	PUNCT
fcis-27931	101	7	43	43	NUM
fcis-27931	101	8	(	(	PUNCT
fcis-27931	101	9	04	04	NUM
fcis-27931	101	10	):	):	PUNCT
fcis-27931	101	11	282	282	NUM
fcis-27931	101	12	-	-	SYM
fcis-27931	101	13	290	290	NUM
fcis-27931	101	14	.	.	PUNCT
fcis-27931	102	1	[	[	X
fcis-27931	102	2	2	2	NUM
fcis-27931	102	3	]	]	PUNCT
fcis-27931	102	4	m.	m.	NOUN
fcis-27931	102	5	rohini	rohini	PROPN
fcis-27931	102	6	.	.	PUNCT
fcis-27931	102	7	,	,	PUNCT
fcis-27931	102	8	b.	b.	PROPN
fcis-27931	102	9	manohari	manohari	PROPN
fcis-27931	102	10	.	.	PUNCT
fcis-27931	102	11	and	and	CCONJ
fcis-27931	102	12	s.	s.	PROPN
fcis-27931	102	13	adhithyan	adhithyan	PROPN
fcis-27931	102	14	.	.	PUNCT
fcis-27931	102	15	,	,	PUNCT
fcis-27931	102	16	genetic	genetic	ADJ
fcis-27931	102	17	algorithm	algorithm	NOUN
fcis-27931	102	18	based	base	VERB
fcis-27931	102	19	optimization	optimization	NOUN
fcis-27931	102	20	in	in	ADP
fcis-27931	102	21	solving	solve	VERB
fcis-27931	102	22	multi	multi	ADJ
fcis-27931	102	23	robot	robot	NOUN
fcis-27931	102	24	task	task	PROPN
fcis-27931	102	25	allocation	allocation	PROPN
fcis-27931	102	26	problems,2022	problems,2022	PROPN
fcis-27931	102	27	international	international	ADJ
fcis-27931	102	28	conference	conference	NOUN
fcis-27931	102	29	on	on	ADP
fcis-27931	102	30	computing	computing	NOUN
fcis-27931	102	31	,	,	PUNCT
fcis-27931	102	32	communication	communication	NOUN
fcis-27931	102	33	,	,	PUNCT
fcis-27931	102	34	and	and	CCONJ
fcis-27931	102	35	intelligent	intelligent	ADJ
fcis-27931	102	36	systems	system	NOUN
fcis-27931	102	37	(	(	PUNCT
fcis-27931	102	38	icccis	icccis	NOUN
fcis-27931	102	39	)	)	PUNCT
fcis-27931	102	40	,	,	PUNCT
fcis-27931	102	41	greater	great	ADJ
fcis-27931	102	42	noida	noida	PROPN
fcis-27931	102	43	,	,	PUNCT
fcis-27931	102	44	india	india	PROPN
fcis-27931	102	45	,	,	PUNCT
fcis-27931	102	46	2022	2022	NUM
fcis-27931	102	47	,	,	PUNCT
fcis-27931	102	48	pp	pp	ADJ
fcis-27931	102	49	.	.	PUNCT
fcis-27931	103	1	344	344	NUM
fcis-27931	103	2	-	-	SYM
fcis-27931	103	3	350	350	NUM
fcis-27931	103	4	.	.	PUNCT
fcis-27931	104	1	[	[	X
fcis-27931	104	2	3	3	X
fcis-27931	104	3	]	]	X
fcis-27931	104	4	yang	yang	PROPN
fcis-27931	104	5	guihua	guihua	PROPN
fcis-27931	104	6	,	,	PUNCT
fcis-27931	104	7	wei	wei	PROPN
fcis-27931	104	8	jiale	jiale	PROPN
fcis-27931	104	9	.	.	PUNCT
fcis-27931	105	1	warehouse	warehouse	NOUN
fcis-27931	105	2	task	task	NOUN
fcis-27931	105	3	scheduling	scheduling	NOUN
fcis-27931	105	4	based	base	VERB
fcis-27931	105	5	on	on	ADP
fcis-27931	105	6	immune	immune	ADJ
fcis-27931	105	7	ant	ant	ADJ
fcis-27931	105	8	colony	colony	NOUN
fcis-27931	105	9	optimization	optimization	NOUN
fcis-27931	105	10	algorithm[j	algorithm[j	PROPN
fcis-27931	105	11	]	]	PUNCT
fcis-27931	105	12	.	.	PUNCT
fcis-27931	106	1	modular	modular	ADJ
fcis-27931	106	2	machine	machine	NOUN
fcis-27931	106	3	tools	tool	NOUN
fcis-27931	106	4	and	and	CCONJ
fcis-27931	106	5	automated	automated	ADJ
fcis-27931	106	6	processing	processing	NOUN
fcis-27931	106	7	technology	technology	NOUN
fcis-27931	106	8	,	,	PUNCT
fcis-27931	106	9	2023	2023	NUM
fcis-27931	106	10	,	,	PUNCT
fcis-27931	106	11	(	(	PUNCT
fcis-27931	106	12	01):179	01):179	PROPN
fcis-27931	106	13	-	-	PUNCT
fcis-27931	106	14	183	183	NUM
fcis-27931	106	15	.	.	PUNCT
fcis-27931	107	1	[	[	X
fcis-27931	107	2	4	4	NUM
fcis-27931	107	3	]	]	X
fcis-27931	107	4	zhou	zhou	PROPN
fcis-27931	107	5	hang	hang	PROPN
fcis-27931	107	6	,	,	PUNCT
fcis-27931	107	7	qin	qin	PROPN
fcis-27931	107	8	shihong	shihong	PROPN
fcis-27931	107	9	,	,	PUNCT
fcis-27931	107	10	fang	fang	PROPN
fcis-27931	107	11	jingcheng	jingcheng	PROPN
fcis-27931	107	12	.	.	PUNCT
fcis-27931	108	1	multi	multi	ADJ
fcis-27931	108	2	-	-	ADJ
fcis-27931	108	3	robot	robot	ADJ
fcis-27931	108	4	task	task	NOUN
fcis-27931	108	5	allocation	allocation	NOUN
fcis-27931	108	6	based	base	VERB
fcis-27931	108	7	on	on	ADP
fcis-27931	108	8	hybrid	hybrid	ADJ
fcis-27931	108	9	genetic	genetic	ADJ
fcis-27931	108	10	taboo	taboo	NOUN
fcis-27931	108	11	search	search	NOUN
fcis-27931	108	12	algorithm[j	algorithm[j	PROPN
fcis-27931	108	13	]	]	PUNCT
fcis-27931	108	14	.	.	PUNCT
fcis-27931	109	1	automation	automation	PROPN
fcis-27931	109	2	&	&	CCONJ
fcis-27931	109	3	instrumentation,2023,38(11):35	instrumentation,2023,38(11):35	PROPN
fcis-27931	109	4	-	-	PUNCT
fcis-27931	109	5	39	39	NUM
fcis-27931	109	6	.	.	PUNCT
fcis-27931	110	1	10	10	NUM
fcis-27931	111	1	[	[	SYM
fcis-27931	111	2	5	5	NUM
fcis-27931	111	3	]	]	X
fcis-27931	111	4	deng	deng	PROPN
fcis-27931	111	5	fuqin	fuqin	PROPN
fcis-27931	111	6	,	,	PUNCT
fcis-27931	111	7	huang	huang	PROPN
fcis-27931	111	8	huanzhao	huanzhao	PROPN
fcis-27931	111	9	,	,	PUNCT
fcis-27931	111	10	tan	tan	PROPN
fcis-27931	111	11	chaoen	chaoen	NOUN
fcis-27931	111	12	,	,	PUNCT
fcis-27931	111	13	et	et	PROPN
fcis-27931	111	14	al	al	PROPN
fcis-27931	111	15	.	.	PUNCT
fcis-27931	112	1	multi	multi	ADJ
fcis-27931	112	2	-	-	ADJ
fcis-27931	112	3	robot	robot	ADJ
fcis-27931	112	4	task	task	NOUN
fcis-27931	112	5	allocation	allocation	NOUN
fcis-27931	112	6	algorithm	algorithm	NOUN
fcis-27931	112	7	combining	combine	VERB
fcis-27931	112	8	genetic	genetic	ADJ
fcis-27931	112	9	algorithm	algorithm	NOUN
fcis-27931	112	10	and	and	CCONJ
fcis-27931	112	11	rolling	rolling	ADJ
fcis-27931	112	12	scheduling[j	scheduling[j	PROPN
fcis-27931	112	13	]	]	PUNCT
fcis-27931	112	14	.	.	PUNCT
fcis-27931	113	1	journal	journal	PROPN
fcis-27931	113	2	of	of	ADP
fcis-27931	113	3	computer	computer	PROPN
fcis-27931	113	4	applications,2023	applications,2023	PROPN
fcis-27931	113	5	,	,	PUNCT
fcis-27931	113	6	43	43	NUM
fcis-27931	113	7	(	(	PUNCT
fcis-27931	113	8	12):3833	12):3833	NUM
fcis-27931	113	9	-	-	SYM
fcis-27931	113	10	3839	3839	NUM
fcis-27931	113	11	.	.	PUNCT
fcis-27931	114	1	[	[	X
fcis-27931	114	2	6	6	NUM
fcis-27931	114	3	]	]	X
fcis-27931	114	4	zhu	zhu	PROPN
fcis-27931	114	5	bowen	bowen	PROPN
fcis-27931	114	6	,	,	PUNCT
fcis-27931	114	7	cui	cui	VERB
fcis-27931	114	8	fengying	fengying	NOUN
fcis-27931	114	9	.	.	PUNCT
fcis-27931	115	1	warehouse	warehouse	NOUN
fcis-27931	115	2	robot	robot	NOUN
fcis-27931	115	3	task	task	PROPN
fcis-27931	115	4	scheduling	scheduling	NOUN
fcis-27931	115	5	algorithm	algorithm	NOUN
fcis-27931	115	6	integrating	integrate	VERB
fcis-27931	115	7	multi	multi	ADJ
fcis-27931	115	8	-	-	ADJ
fcis-27931	115	9	strategy	strategy	ADJ
fcis-27931	115	10	optimization	optimization	NOUN
fcis-27931	115	11	ssa[j	ssa[j	PROPN
fcis-27931	115	12	]	]	PUNCT
fcis-27931	115	13	.	.	PUNCT
fcis-27931	116	1	combined	combine	VERB
fcis-27931	116	2	machine	machine	NOUN
fcis-27931	116	3	tool	tool	NOUN
fcis-27931	116	4	and	and	CCONJ
fcis-27931	116	5	automation	automation	NOUN
fcis-27931	116	6	processing	processing	NOUN
fcis-27931	116	7	technology	technology	NOUN
fcis-27931	116	8	,	,	PUNCT
fcis-27931	116	9	2024,(05):183	2024,(05):183	NUM
fcis-27931	116	10	-	-	SYM
fcis-27931	116	11	187	187	NUM
fcis-27931	116	12	+	+	NOUN
fcis-27931	116	13	192	192	NUM
fcis-27931	116	14	.	.	PUNCT
fcis-27931	117	1	[	[	X
fcis-27931	117	2	7	7	X
fcis-27931	117	3	]	]	X
fcis-27931	117	4	hamza	hamza	PROPN
fcis-27931	117	5	c	c	PROPN
fcis-27931	117	6	,	,	PUNCT
fcis-27931	117	7	françois	françois	PROPN
fcis-27931	117	8	g	g	PROPN
fcis-27931	117	9	,	,	PUNCT
fcis-27931	117	10	edouard	edouard	PROPN
fcis-27931	117	11	l	l	PROPN
fcis-27931	117	12	,	,	PUNCT
fcis-27931	117	13	et	et	PROPN
fcis-27931	117	14	al	al	PROPN
fcis-27931	117	15	.optimization	.optimization	VERB
fcis-27931	117	16	techniques	technique	NOUN
fcis-27931	117	17	for	for	ADP
fcis-27931	117	18	multi	multi	ADJ
fcis-27931	117	19	-	-	ADJ
fcis-27931	117	20	robot	robot	ADJ
fcis-27931	117	21	task	task	NOUN
fcis-27931	117	22	allocation	allocation	NOUN
fcis-27931	117	23	problems	problem	NOUN
fcis-27931	117	24	:	:	PUNCT
fcis-27931	117	25	review	review	NOUN
fcis-27931	117	26	on	on	ADP
fcis-27931	117	27	the	the	DET
fcis-27931	117	28	state	state	NOUN
fcis-27931	117	29	-	-	PUNCT
fcis-27931	117	30	of	of	ADP
fcis-27931	117	31	-	-	PUNCT
fcis-27931	117	32	the	the	DET
fcis-27931	117	33	-	-	PUNCT
fcis-27931	117	34	art[j].robotics	art[j].robotic	NOUN
fcis-27931	117	35	and	and	CCONJ
fcis-27931	117	36	autonomous	autonomous	ADJ
fcis-27931	117	37	systems	system	NOUN
fcis-27931	117	38	,	,	PUNCT
fcis-27931	117	39	2023	2023	NUM
fcis-27931	117	40	,	,	PUNCT
fcis-27931	117	41	168	168	NUM
fcis-27931	117	42	.	.	PUNCT
fcis-27931	118	1	[	[	X
fcis-27931	118	2	8	8	NUM
fcis-27931	118	3	]	]	X
fcis-27931	118	4	wang	wang	PROPN
fcis-27931	118	5	jing	jing	PROPN
fcis-27931	118	6	,	,	PUNCT
fcis-27931	118	7	zhang	zhang	PROPN
fcis-27931	118	8	gong	gong	PROPN
fcis-27931	118	9	,	,	PUNCT
fcis-27931	118	10	zheng	zheng	PROPN
fcis-27931	118	11	jiahong	jiahong	PROPN
fcis-27931	118	12	,	,	PUNCT
fcis-27931	118	13	et	et	PROPN
fcis-27931	118	14	al	al	PROPN
fcis-27931	118	15	.	.	PUNCT
fcis-27931	118	16	research	research	PROPN
fcis-27931	118	17	review	review	NOUN
fcis-27931	118	18	and	and	CCONJ
fcis-27931	118	19	prospect	prospect	NOUN
fcis-27931	118	20	of	of	ADP
fcis-27931	118	21	multi	multi	ADJ
fcis-27931	118	22	-	-	ADJ
fcis-27931	118	23	robot	robot	ADJ
fcis-27931	118	24	optimization	optimization	NOUN
fcis-27931	118	25	layout	layout	NOUN
fcis-27931	118	26	and	and	CCONJ
fcis-27931	118	27	task	task	NOUN
fcis-27931	118	28	allocation	allocation	NOUN
fcis-27931	118	29	[	[	X
fcis-27931	118	30	j	j	X
fcis-27931	118	31	]	]	X
fcis-27931	118	32	.	.	PUNCT
fcis-27931	118	33	machine	machine	NOUN
fcis-27931	118	34	tool	tool	NOUN
fcis-27931	118	35	and	and	CCONJ
fcis-27931	118	36	hydraulics,2021,49(16):161167	hydraulics,2021,49(16):161167	PROPN
fcis-27931	118	37	.	.	PUNCT
fcis-27931	119	1	[	[	X
fcis-27931	119	2	9	9	NUM
fcis-27931	119	3	]	]	X
fcis-27931	119	4	sun	sun	NOUN
fcis-27931	119	5	bing	bing	NOUN
fcis-27931	119	6	,	,	PUNCT
fcis-27931	119	7	wang	wang	PROPN
fcis-27931	119	8	chuan	chuan	PROPN
fcis-27931	119	9	,	,	PUNCT
fcis-27931	119	10	yang	yang	PROPN
fcis-27931	119	11	qiang	qiang	PROPN
fcis-27931	119	12	,	,	PUNCT
fcis-27931	119	13	et	et	PROPN
fcis-27931	119	14	al	al	PROPN
fcis-27931	119	15	.	.	PROPN
fcis-27931	119	16	evolutionary	evolutionary	ADJ
fcis-27931	119	17	algorithm	algorithm	NOUN
fcis-27931	119	18	for	for	ADP
fcis-27931	119	19	multi	multi	ADJ
fcis-27931	119	20	-	-	ADJ
fcis-27931	119	21	starting	starting	ADJ
fcis-27931	119	22	point	point	NOUN
fcis-27931	119	23	equilibrium	equilibrium	NOUN
fcis-27931	119	24	multi	multi	ADJ
fcis-27931	119	25	-	-	ADJ
fcis-27931	119	26	traveling	traveling	ADJ
fcis-27931	119	27	salesman	salesman	NOUN
fcis-27931	119	28	problem[j	problem[j	NOUN
fcis-27931	119	29	]	]	PUNCT
fcis-27931	119	30	.	.	PUNCT
fcis-27931	120	1	computer	computer	NOUN
fcis-27931	120	2	engineering	engineering	NOUN
fcis-27931	120	3	and	and	CCONJ
fcis-27931	120	4	design	design	NOUN
fcis-27931	120	5	,	,	PUNCT
fcis-27931	120	6	2023	2023	NUM
fcis-27931	120	7	,	,	PUNCT
fcis-27931	120	8	44	44	NUM
fcis-27931	120	9	(	(	PUNCT
fcis-27931	120	10	07	07	NUM
fcis-27931	120	11	):	):	PUNCT
fcis-27931	120	12	2030	2030	NUM
fcis-27931	120	13	-	-	SYM
fcis-27931	120	14	2038	2038	NUM
fcis-27931	120	15	.	.	PUNCT
fcis-27931	121	1	[	[	X
fcis-27931	121	2	10	10	NUM
fcis-27931	121	3	]	]	PUNCT
fcis-27931	121	4	s.	s.	PROPN
fcis-27931	121	5	yang	yang	PROPN
fcis-27931	121	6	et	et	PROPN
fcis-27931	121	7	al	al	PROPN
fcis-27931	121	8	.	.	PROPN
fcis-27931	121	9	,	,	PUNCT
fcis-27931	121	10	a	a	DET
fcis-27931	121	11	novel	novel	ADJ
fcis-27931	121	12	maximin	maximin	NOUN
fcis-27931	121	13	-	-	PUNCT
fcis-27931	121	14	based	base	VERB
fcis-27931	121	15	multi	multi	ADJ
fcis-27931	121	16	-	-	ADJ
fcis-27931	121	17	objective	objective	ADJ
fcis-27931	121	18	evolutionary	evolutionary	ADJ
fcis-27931	121	19	algorithm	algorithm	NOUN
fcis-27931	121	20	using	use	VERB
fcis-27931	121	21	one	one	NUM
fcis-27931	121	22	-	-	PUNCT
fcis-27931	121	23	by	by	ADP
fcis-27931	121	24	-	-	PUNCT
fcis-27931	121	25	one	one	NUM
fcis-27931	121	26	update	update	NOUN
fcis-27931	121	27	scheme	scheme	NOUN
fcis-27931	121	28	for	for	ADP
fcis-27931	121	29	multi	multi	ADJ
fcis-27931	121	30	-	-	ADJ
fcis-27931	121	31	robot	robot	ADJ
fcis-27931	121	32	scheduling	scheduling	NOUN
fcis-27931	121	33	optimization	optimization	NOUN
fcis-27931	121	34	.	.	PUNCT
fcis-27931	122	1	in	in	ADP
fcis-27931	122	2	ieee	ieee	NOUN
fcis-27931	122	3	access	access	NOUN
fcis-27931	122	4	,	,	PUNCT
fcis-27931	122	5	2021	2021	NUM
fcis-27931	122	6	,	,	PUNCT
fcis-27931	122	7	vol	vol	NOUN
fcis-27931	122	8	.	.	PUNCT
fcis-27931	123	1	9,121316	9,121316	NUM
fcis-27931	123	2	-	-	SYM
fcis-27931	123	3	121328	121328	NUM
fcis-27931	123	4	.	.	PUNCT
fcis-27931	124	1	[	[	X
fcis-27931	124	2	11	11	NUM
fcis-27931	124	3	]	]	PUNCT
fcis-27931	124	4	xue	xue	PROPN
fcis-27931	124	5	j	j	PROPN
fcis-27931	124	6	k	k	PROPN
fcis-27931	124	7	,	,	PUNCT
fcis-27931	124	8	shen	shen	PROPN
fcis-27931	124	9	b.	b.	PROPN
fcis-27931	124	10	a	a	DET
fcis-27931	124	11	novel	novel	ADJ
fcis-27931	124	12	swarm	swarm	NOUN
fcis-27931	124	13	intelligence	intelligence	NOUN
fcis-27931	124	14	optimization	optimization	NOUN
fcis-27931	124	15	approach	approach	NOUN
fcis-27931	124	16	:	:	PUNCT
fcis-27931	124	17	sparrow	sparrow	PROPN
fcis-27931	124	18	search	search	PROPN
fcis-27931	124	19	algorithm[j	algorithm[j	PROPN
fcis-27931	124	20	]	]	PUNCT
fcis-27931	124	21	.systems	.systems	PRON
fcis-27931	124	22	science	science	PROPN
fcis-27931	124	23	&	&	CCONJ
fcis-27931	124	24	control	control	PROPN
fcis-27931	124	25	engineering	engineering	PROPN
fcis-27931	124	26	,	,	PUNCT
fcis-27931	124	27	2020,8(1):22	2020,8(1):22	PROPN
fcis-27931	124	28	-	-	SYM
fcis-27931	124	29	34	34	NUM
fcis-27931	124	30	.	.	PUNCT
fcis-27931	125	1	[	[	X
fcis-27931	125	2	12	12	NUM
fcis-27931	125	3	]	]	X
fcis-27931	125	4	chen	chen	PROPN
fcis-27931	125	5	k	k	PROPN
fcis-27931	125	6	-	-	PROPN
fcis-27931	125	7	c	c	PROPN
fcis-27931	125	8	,	,	PUNCT
fcis-27931	125	9	lin	lin	PROPN
fcis-27931	125	10	s	s	PROPN
fcis-27931	125	11	-	-	PUNCT
fcis-27931	125	12	c	c	PROPN
fcis-27931	125	13	,	,	PUNCT
fcis-27931	125	14	hsiao	hsiao	PROPN
fcis-27931	125	15	j	j	PROPN
fcis-27931	125	16	-	-	PROPN
fcis-27931	125	17	h	h	PROPN
fcis-27931	125	18	,	,	PUNCT
fcis-27931	125	19	et	et	PROPN
fcis-27931	125	20	al	al	PROPN
fcis-27931	125	21	.	.	PROPN
fcis-27931	125	22	wireless	wireless	PROPN
fcis-27931	125	23	networked	network	VERB
fcis-27931	125	24	multirobot	multirobot	NOUN
fcis-27931	125	25	systems	system	NOUN
fcis-27931	125	26	in	in	ADP
fcis-27931	125	27	smart	smart	ADJ
fcis-27931	125	28	factories	factory	NOUN
fcis-27931	125	29	[	[	X
fcis-27931	125	30	j	j	X
fcis-27931	125	31	]	]	X
fcis-27931	125	32	.	.	PUNCT
fcis-27931	126	1	proceedings	proceeding	NOUN
fcis-27931	126	2	of	of	ADP
fcis-27931	126	3	the	the	DET
fcis-27931	126	4	ieee	ieee	NOUN
fcis-27931	126	5	,	,	PUNCT
fcis-27931	126	6	2020	2020	NUM
fcis-27931	126	7	,	,	PUNCT
fcis-27931	126	8	109(4	109(4	NUM
fcis-27931	126	9	):	):	PUNCT
fcis-27931	126	10	468	468	NUM
fcis-27931	126	11	-	-	SYM
fcis-27931	126	12	494	494	NUM
fcis-27931	126	13	.	.	PUNCT
fcis-27931	127	1	[	[	X
fcis-27931	127	2	13	13	NUM
fcis-27931	127	3	]	]	X
fcis-27931	127	4	kim	kim	PROPN
fcis-27931	127	5	j	j	PROPN
fcis-27931	127	6	,	,	PUNCT
fcis-27931	127	7	son	son	NOUN
fcis-27931	127	8	hi	hi	INTJ
fcis-27931	127	9	.	.	PUNCT
fcis-27931	128	1	avoronoi	avoronoi	PROPN
fcis-27931	128	2	diagram	diagram	PROPN
fcis-27931	128	3	-	-	PUNCT
fcis-27931	128	4	based	base	VERB
fcis-27931	128	5	workspace	workspace	NOUN
fcis-27931	128	6	partition	partition	NOUN
fcis-27931	128	7	for	for	ADP
fcis-27931	128	8	weak	weak	ADJ
fcis-27931	128	9	cooperation	cooperation	NOUN
fcis-27931	128	10	of	of	ADP
fcis-27931	128	11	multi	multi	ADJ
fcis-27931	128	12	-	-	ADJ
fcis-27931	128	13	robot	robot	ADJ
fcis-27931	128	14	system	system	NOUN
fcis-27931	128	15	in	in	ADP
fcis-27931	128	16	orchard	orchard	NOUN
fcis-27931	129	1	[	[	X
fcis-27931	129	2	j	j	X
fcis-27931	129	3	]	]	X
fcis-27931	129	4	.	.	PUNCT
fcis-27931	130	1	ieee	ieee	NOUN
fcis-27931	130	2	access	access	NOUN
fcis-27931	130	3	,	,	PUNCT
fcis-27931	130	4	2020	2020	NUM
fcis-27931	130	5	,	,	PUNCT
fcis-27931	130	6	8	8	NUM
fcis-27931	130	7	:	:	SYM
fcis-27931	130	8	20676	20676	NUM
fcis-27931	130	9	-	-	SYM
fcis-27931	130	10	20686	20686	NUM
fcis-27931	130	11	.	.	PUNCT
fcis-27931	131	1	[	[	X
fcis-27931	131	2	14	14	NUM
fcis-27931	131	3	]	]	X
fcis-27931	131	4	yang	yang	PROPN
fcis-27931	131	5	wei	wei	PROPN
fcis-27931	131	6	,	,	PUNCT
fcis-27931	131	7	li	li	PROPN
fcis-27931	131	8	ran	run	VERB
fcis-27931	131	9	,	,	PUNCT
fcis-27931	131	10	zhang	zhang	PROPN
fcis-27931	131	11	kun	kun	PROPN
fcis-27931	131	12	.	.	PUNCT
fcis-27931	132	1	optimization	optimization	NOUN
fcis-27931	132	2	of	of	ADP
fcis-27931	132	3	multiautomatic	multiautomatic	ADJ
fcis-27931	132	4	guided	guide	VERB
fcis-27931	132	5	vehicle	vehicle	NOUN
fcis-27931	132	6	task	task	NOUN
fcis-27931	132	7	allocation	allocation	NOUN
fcis-27931	132	8	based	base	VERB
fcis-27931	132	9	on	on	ADP
fcis-27931	132	10	variable	variable	ADJ
fcis-27931	132	11	neighborhood	neighborhood	NOUN
fcis-27931	132	12	simulated	simulate	VERB
fcis-27931	132	13	annealing	anneal	VERB
fcis-27931	132	14	algorithm[j	algorithm[j	PROPN
fcis-27931	132	15	]	]	PUNCT
fcis-27931	132	16	.	.	PUNCT
fcis-27931	133	1	journal	journal	PROPN
fcis-27931	133	2	of	of	ADP
fcis-27931	133	3	computer	computer	NOUN
fcis-27931	133	4	applications,2021,41(10):3056	applications,2021,41(10):3056	PROPN
fcis-27931	133	5	-	-	PUNCT
fcis-27931	133	6	3062	3062	NUM
fcis-27931	133	7	.	.	PUNCT
fcis-27931	134	1	[	[	X
fcis-27931	134	2	15	15	NUM
fcis-27931	134	3	]	]	X
fcis-27931	134	4	katoch	katoch	PROPN
fcis-27931	134	5	,	,	PUNCT
fcis-27931	134	6	s.	s.	PROPN
fcis-27931	134	7	,	,	PUNCT
fcis-27931	134	8	chauhan	chauhan	PROPN
fcis-27931	134	9	,	,	PUNCT
fcis-27931	134	10	s.s	s.s	PROPN
fcis-27931	134	11	.	.	PROPN
fcis-27931	134	12	&	&	CCONJ
fcis-27931	134	13	kumar	kumar	PROPN
fcis-27931	134	14	,	,	PUNCT
fcis-27931	134	15	v.	v.	ADP
fcis-27931	134	16	a	a	DET
fcis-27931	134	17	review	review	NOUN
fcis-27931	134	18	on	on	ADP
fcis-27931	134	19	genetic	genetic	ADJ
fcis-27931	134	20	algorithm	algorithm	NOUN
fcis-27931	134	21	:	:	PUNCT
fcis-27931	134	22	past	past	ADJ
fcis-27931	134	23	,	,	PUNCT
fcis-27931	134	24	present	present	ADJ
fcis-27931	134	25	,	,	PUNCT
fcis-27931	134	26	and	and	CCONJ
fcis-27931	134	27	future	future	NOUN
fcis-27931	134	28	.	.	PUNCT
fcis-27931	135	1	multimed	multime	VERB
fcis-27931	135	2	tools	tool	NOUN
fcis-27931	135	3	appl	appl	NOUN
fcis-27931	135	4	,	,	PUNCT
fcis-27931	135	5	2021	2021	NUM
fcis-27931	135	6	,	,	PUNCT
fcis-27931	135	7	80	80	NUM
fcis-27931	135	8	,	,	PUNCT
fcis-27931	135	9	8091–8126	8091–8126	NOUN
fcis-27931	135	10	.	.	PUNCT