id	sid	tid	token	lemma	pos
fcis-30392	1	1	frontiers	frontier	NOUN
fcis-30392	1	2	in	in	ADP
fcis-30392	1	3	computing	computing	NOUN
fcis-30392	1	4	and	and	CCONJ
fcis-30392	1	5	intelligent	intelligent	ADJ
fcis-30392	1	6	systems	system	NOUN
fcis-30392	1	7	issn	issn	VERB
fcis-30392	1	8	:	:	PUNCT
fcis-30392	1	9	2832	2832	NUM
fcis-30392	1	10	-	-	SYM
fcis-30392	1	11	6024	6024	NUM
fcis-30392	1	12	|	|	NOUN
fcis-30392	1	13	vol	vol	NOUN
fcis-30392	1	14	.	.	PROPN
fcis-30392	2	1	12	12	NUM
fcis-30392	2	2	,	,	PUNCT
fcis-30392	2	3	no	no	INTJ
fcis-30392	2	4	.	.	NOUN
fcis-30392	2	5	1	1	NUM
fcis-30392	2	6	,	,	PUNCT
fcis-30392	2	7	2025	2025	NUM
fcis-30392	2	8	47	47	NUM
fcis-30392	2	9	design	design	NOUN
fcis-30392	2	10	of	of	ADP
fcis-30392	2	11	an	an	DET
fcis-30392	2	12	intelligent	intelligent	ADJ
fcis-30392	2	13	agv	agv	NOUN
fcis-30392	2	14	system	system	NOUN
fcis-30392	2	15	based	base	VERB
fcis-30392	2	16	on	on	ADP
fcis-30392	2	17	dynamic	dynamic	ADJ
fcis-30392	2	18	navigation	navigation	NOUN
fcis-30392	2	19	and	and	CCONJ
fcis-30392	2	20	warehouse	warehouse	NOUN
fcis-30392	2	21	visualization	visualization	NOUN
fcis-30392	2	22	can	can	AUX
fcis-30392	2	23	liang	liang	PROPN
fcis-30392	2	24	,	,	PUNCT
fcis-30392	2	25	liangxu	liangxu	PROPN
fcis-30392	2	26	sun	sun	PROPN
fcis-30392	2	27	*	*	PROPN
fcis-30392	2	28	,	,	PUNCT
fcis-30392	2	29	shuaiye	shuaiye	PROPN
fcis-30392	2	30	luo	luo	PROPN
fcis-30392	2	31	,	,	PUNCT
fcis-30392	2	32	ruihao	ruihao	NOUN
fcis-30392	2	33	wu	wu	PROPN
fcis-30392	2	34	,	,	PUNCT
fcis-30392	2	35	xingnuo	xingnuo	PROPN
fcis-30392	2	36	liu	liu	PROPN
fcis-30392	2	37	university	university	PROPN
fcis-30392	2	38	of	of	ADP
fcis-30392	2	39	science	science	NOUN
fcis-30392	2	40	and	and	CCONJ
fcis-30392	2	41	technology	technology	NOUN
fcis-30392	2	42	liaoning	liaoning	NOUN
fcis-30392	2	43	,	,	PUNCT
fcis-30392	2	44	anshan	anshan	PROPN
fcis-30392	2	45	liaoning	liaoning	NOUN
fcis-30392	2	46	,	,	PUNCT
fcis-30392	2	47	114051	114051	NUM
fcis-30392	2	48	,	,	PUNCT
fcis-30392	2	49	china	china	PROPN
fcis-30392	2	50	*	*	PUNCT
fcis-30392	2	51	corresponding	correspond	VERB
fcis-30392	2	52	author	author	NOUN
fcis-30392	2	53	:	:	PUNCT
fcis-30392	2	54	liangxu	liangxu	PROPN
fcis-30392	2	55	sun	sun	PROPN
fcis-30392	2	56	abstract	abstract	NOUN
fcis-30392	2	57	:	:	PUNCT
fcis-30392	2	58	focusing	focus	VERB
fcis-30392	2	59	on	on	ADP
fcis-30392	2	60	the	the	DET
fcis-30392	2	61	core	core	ADJ
fcis-30392	2	62	role	role	NOUN
fcis-30392	2	63	of	of	ADP
fcis-30392	2	64	intelligent	intelligent	ADJ
fcis-30392	2	65	agv	agv	NOUN
fcis-30392	2	66	systems	system	NOUN
fcis-30392	2	67	in	in	ADP
fcis-30392	2	68	smart	smart	ADJ
fcis-30392	2	69	warehousing	warehousing	NOUN
fcis-30392	2	70	,	,	PUNCT
fcis-30392	2	71	this	this	DET
fcis-30392	2	72	paper	paper	NOUN
fcis-30392	2	73	proposes	propose	VERB
fcis-30392	2	74	a	a	DET
fcis-30392	2	75	hybrid	hybrid	ADJ
fcis-30392	2	76	navigation	navigation	NOUN
fcis-30392	2	77	architecture	architecture	NOUN
fcis-30392	2	78	integrating	integrate	VERB
fcis-30392	2	79	magnetic	magnetic	ADJ
fcis-30392	2	80	guidance	guidance	NOUN
fcis-30392	2	81	and	and	CCONJ
fcis-30392	2	82	visual	visual	ADJ
fcis-30392	2	83	slam	slam	NOUN
fcis-30392	2	84	,	,	PUNCT
fcis-30392	2	85	combined	combine	VERB
fcis-30392	2	86	with	with	ADP
fcis-30392	2	87	visualization	visualization	NOUN
fcis-30392	2	88	technology	technology	NOUN
fcis-30392	2	89	to	to	PART
fcis-30392	2	90	achieve	achieve	VERB
fcis-30392	2	91	full	full	ADJ
fcis-30392	2	92	-	-	PUNCT
fcis-30392	2	93	process	process	NOUN
fcis-30392	2	94	monitoring	monitoring	NOUN
fcis-30392	2	95	of	of	ADP
fcis-30392	2	96	warehouse	warehouse	NOUN
fcis-30392	2	97	operations	operation	NOUN
fcis-30392	2	98	.	.	PUNCT
fcis-30392	3	1	the	the	DET
fcis-30392	3	2	system	system	NOUN
fcis-30392	3	3	enhances	enhance	VERB
fcis-30392	3	4	environmental	environmental	ADJ
fcis-30392	3	5	adaptability	adaptability	NOUN
fcis-30392	3	6	through	through	ADP
fcis-30392	3	7	multi	multi	ADJ
fcis-30392	3	8	-	-	ADJ
fcis-30392	3	9	source	source	ADJ
fcis-30392	3	10	sensor	sensor	NOUN
fcis-30392	3	11	data	data	NOUN
fcis-30392	3	12	fusion	fusion	NOUN
fcis-30392	3	13	(	(	PUNCT
fcis-30392	3	14	magnetic	magnetic	ADJ
fcis-30392	3	15	guidance	guidance	NOUN
fcis-30392	3	16	accuracy	accuracy	NOUN
fcis-30392	3	17	:	:	PUNCT
fcis-30392	3	18	±1	±1	VERB
fcis-30392	3	19	cm	cm	NOUN
fcis-30392	3	20	,	,	PUNCT
fcis-30392	3	21	visual	visual	ADJ
fcis-30392	3	22	slam	slam	NOUN
fcis-30392	3	23	dynamic	dynamic	ADJ
fcis-30392	3	24	correction	correction	NOUN
fcis-30392	3	25	)	)	PUNCT
fcis-30392	3	26	.	.	PUNCT
fcis-30392	4	1	efficient	efficient	ADJ
fcis-30392	4	2	obstacle	obstacle	NOUN
fcis-30392	4	3	avoidance	avoidance	NOUN
fcis-30392	4	4	is	be	AUX
fcis-30392	4	5	realized	realize	VERB
fcis-30392	4	6	via	via	ADP
fcis-30392	4	7	a	a	DET
fcis-30392	4	8	*	*	ADJ
fcis-30392	4	9	global	global	ADJ
fcis-30392	4	10	path	path	NOUN
fcis-30392	4	11	planning	planning	NOUN
fcis-30392	4	12	and	and	CCONJ
fcis-30392	4	13	the	the	DET
fcis-30392	4	14	dynamic	dynamic	ADJ
fcis-30392	4	15	window	window	NOUN
fcis-30392	4	16	approach	approach	NOUN
fcis-30392	4	17	(	(	PUNCT
fcis-30392	4	18	dwa	dwa	PROPN
fcis-30392	4	19	)	)	PUNCT
fcis-30392	4	20	.	.	PUNCT
fcis-30392	5	1	a	a	DET
fcis-30392	5	2	digital	digital	ADJ
fcis-30392	5	3	twin	twin	ADJ
fcis-30392	5	4	visualization	visualization	NOUN
fcis-30392	5	5	platform	platform	NOUN
fcis-30392	5	6	is	be	AUX
fcis-30392	5	7	constructed	construct	VERB
fcis-30392	5	8	using	use	VERB
fcis-30392	5	9	the	the	DET
fcis-30392	5	10	three.js	three.js	NUM
fcis-30392	5	11	engine	engine	NOUN
fcis-30392	5	12	,	,	PUNCT
fcis-30392	5	13	supporting	support	VERB
fcis-30392	5	14	real	real	ADJ
fcis-30392	5	15	-	-	PUNCT
fcis-30392	5	16	time	time	NOUN
fcis-30392	5	17	agv	agv	NOUN
fcis-30392	5	18	trajectory	trajectory	NOUN
fcis-30392	5	19	rendering	rendering	NOUN
fcis-30392	5	20	and	and	CCONJ
fcis-30392	5	21	anomaly	anomaly	NOUN
fcis-30392	5	22	warnings	warning	NOUN
fcis-30392	5	23	.	.	PUNCT
fcis-30392	6	1	the	the	DET
fcis-30392	6	2	design	design	NOUN
fcis-30392	6	3	adopts	adopt	VERB
fcis-30392	6	4	a	a	DET
fcis-30392	6	5	distributed	distribute	VERB
fcis-30392	6	6	fault	fault	NOUN
fcis-30392	6	7	-	-	PUNCT
fcis-30392	6	8	tolerant	tolerant	ADJ
fcis-30392	6	9	mechanism	mechanism	NOUN
fcis-30392	6	10	(	(	PUNCT
fcis-30392	6	11	hardware	hardware	NOUN
fcis-30392	6	12	redundancy	redundancy	NOUN
fcis-30392	6	13	+	+	CCONJ
fcis-30392	6	14	software	software	NOUN
fcis-30392	6	15	degradation	degradation	NOUN
fcis-30392	6	16	)	)	PUNCT
fcis-30392	6	17	to	to	PART
fcis-30392	6	18	ensure	ensure	VERB
fcis-30392	6	19	system	system	NOUN
fcis-30392	6	20	reliability	reliability	NOUN
fcis-30392	6	21	,	,	PUNCT
fcis-30392	6	22	providing	provide	VERB
fcis-30392	6	23	scalable	scalable	ADJ
fcis-30392	6	24	technical	technical	ADJ
fcis-30392	6	25	references	reference	NOUN
fcis-30392	6	26	for	for	ADP
fcis-30392	6	27	warehouse	warehouse	NOUN
fcis-30392	6	28	automation	automation	NOUN
fcis-30392	6	29	upgrades	upgrade	NOUN
fcis-30392	6	30	.	.	PUNCT
fcis-30392	7	1	keywords	keyword	NOUN
fcis-30392	7	2	:	:	PUNCT
fcis-30392	7	3	agv	agv	NOUN
fcis-30392	7	4	navigation	navigation	NOUN
fcis-30392	7	5	;	;	PUNCT
fcis-30392	7	6	digital	digital	ADJ
fcis-30392	7	7	twin	twin	NOUN
fcis-30392	7	8	;	;	PUNCT
fcis-30392	7	9	dynamic	dynamic	ADJ
fcis-30392	7	10	path	path	NOUN
fcis-30392	7	11	planning	planning	NOUN
fcis-30392	7	12	;	;	PUNCT
fcis-30392	7	13	three.js	three.js	NUM
fcis-30392	7	14	;	;	PUNCT
fcis-30392	7	15	fault	fault	NOUN
fcis-30392	7	16	-	-	PUNCT
fcis-30392	7	17	tolerant	tolerant	ADJ
fcis-30392	7	18	mechanism	mechanism	NOUN
fcis-30392	7	19	.	.	PUNCT
fcis-30392	8	1	1	1	X
fcis-30392	8	2	.	.	X
fcis-30392	8	3	introduction	introduction	NOUN
fcis-30392	8	4	with	with	ADP
fcis-30392	8	5	the	the	DET
fcis-30392	8	6	rapid	rapid	ADJ
fcis-30392	8	7	expansion	expansion	NOUN
fcis-30392	8	8	of	of	ADP
fcis-30392	8	9	e	e	PROPN
fcis-30392	8	10	-	-	PROPN
fcis-30392	8	11	commerce	commerce	NOUN
fcis-30392	8	12	logistics	logistic	NOUN
fcis-30392	8	13	,	,	PUNCT
fcis-30392	8	14	traditional	traditional	ADJ
fcis-30392	8	15	warehouse	warehouse	NOUN
fcis-30392	8	16	automation	automation	NOUN
fcis-30392	8	17	systems	system	NOUN
fcis-30392	8	18	face	face	VERB
fcis-30392	8	19	severe	severe	ADJ
fcis-30392	8	20	challenges	challenge	NOUN
fcis-30392	8	21	.	.	PUNCT
fcis-30392	9	1	existing	exist	VERB
fcis-30392	9	2	agvs	agv	NOUN
fcis-30392	9	3	(	(	PUNCT
fcis-30392	9	4	automated	automate	VERB
fcis-30392	9	5	guided	guide	VERB
fcis-30392	9	6	vehicles	vehicle	NOUN
fcis-30392	9	7	)	)	PUNCT
fcis-30392	9	8	predominantly	predominantly	ADV
fcis-30392	9	9	rely	rely	VERB
fcis-30392	9	10	on	on	ADP
fcis-30392	9	11	single	single	ADJ
fcis-30392	9	12	navigation	navigation	NOUN
fcis-30392	9	13	technologies	technology	NOUN
fcis-30392	9	14	.	.	PUNCT
fcis-30392	10	1	for	for	ADP
fcis-30392	10	2	example	example	NOUN
fcis-30392	10	3	,	,	PUNCT
fcis-30392	10	4	magnetic	magnetic	ADJ
fcis-30392	10	5	guidance	guidance	NOUN
fcis-30392	10	6	is	be	AUX
fcis-30392	10	7	cost	cost	NOUN
fcis-30392	10	8	-	-	PUNCT
fcis-30392	10	9	effective	effective	ADJ
fcis-30392	10	10	but	but	CCONJ
fcis-30392	10	11	rigid	rigid	ADJ
fcis-30392	10	12	in	in	ADP
fcis-30392	10	13	path	path	NOUN
fcis-30392	10	14	planning	planning	NOUN
fcis-30392	10	15	,	,	PUNCT
fcis-30392	10	16	making	make	VERB
fcis-30392	10	17	it	it	PRON
fcis-30392	10	18	unsuitable	unsuitable	ADJ
fcis-30392	10	19	for	for	ADP
fcis-30392	10	20	high	high	ADJ
fcis-30392	10	21	-	-	PUNCT
fcis-30392	10	22	frequency	frequency	NOUN
fcis-30392	10	23	shelf	shelf	NOUN
fcis-30392	10	24	adjustments	adjustment	NOUN
fcis-30392	10	25	.	.	PUNCT
fcis-30392	11	1	visual	visual	ADJ
fcis-30392	11	2	slam	slam	PROPN
fcis-30392	11	3	,	,	PUNCT
fcis-30392	11	4	while	while	SCONJ
fcis-30392	11	5	capable	capable	ADJ
fcis-30392	11	6	of	of	ADP
fcis-30392	11	7	dynamic	dynamic	ADJ
fcis-30392	11	8	environmental	environmental	ADJ
fcis-30392	11	9	perception	perception	NOUN
fcis-30392	11	10	,	,	PUNCT
fcis-30392	11	11	suffers	suffer	VERB
fcis-30392	11	12	from	from	ADP
fcis-30392	11	13	positioning	positioning	NOUN
fcis-30392	11	14	drift	drift	NOUN
fcis-30392	11	15	and	and	CCONJ
fcis-30392	11	16	latency	latency	NOUN
fcis-30392	11	17	due	due	ADP
fcis-30392	11	18	to	to	ADP
fcis-30392	11	19	insufficient	insufficient	ADJ
fcis-30392	11	20	computational	computational	ADJ
fcis-30392	11	21	power	power	NOUN
fcis-30392	11	22	.	.	PUNCT
fcis-30392	12	1	additionally	additionally	ADV
fcis-30392	12	2	,	,	PUNCT
fcis-30392	12	3	the	the	DET
fcis-30392	12	4	lack	lack	NOUN
fcis-30392	12	5	of	of	ADP
fcis-30392	12	6	a	a	DET
fcis-30392	12	7	global	global	ADJ
fcis-30392	12	8	visualization	visualization	NOUN
fcis-30392	12	9	monitoring	monitoring	NOUN
fcis-30392	12	10	system	system	NOUN
fcis-30392	12	11	hinders	hinder	VERB
fcis-30392	12	12	managers	manager	NOUN
fcis-30392	12	13	from	from	ADP
fcis-30392	12	14	promptly	promptly	ADV
fcis-30392	12	15	grasping	grasp	VERB
fcis-30392	12	16	agv	agv	NOUN
fcis-30392	12	17	operational	operational	ADJ
fcis-30392	12	18	status	status	NOUN
fcis-30392	12	19	and	and	CCONJ
fcis-30392	12	20	warehouse	warehouse	NOUN
fcis-30392	12	21	resource	resource	NOUN
fcis-30392	12	22	distribution	distribution	NOUN
fcis-30392	12	23	,	,	PUNCT
fcis-30392	12	24	leading	lead	VERB
fcis-30392	12	25	to	to	ADP
fcis-30392	12	26	delayed	delay	VERB
fcis-30392	12	27	anomaly	anomaly	NOUN
fcis-30392	12	28	responses	response	NOUN
fcis-30392	12	29	and	and	CCONJ
fcis-30392	12	30	inefficient	inefficient	ADJ
fcis-30392	12	31	decision	decision	NOUN
fcis-30392	12	32	-	-	PUNCT
fcis-30392	12	33	making	making	NOUN
fcis-30392	12	34	.	.	PUNCT
fcis-30392	13	1	current	current	ADJ
fcis-30392	13	2	research	research	NOUN
fcis-30392	13	3	attempts	attempt	VERB
fcis-30392	13	4	to	to	PART
fcis-30392	13	5	integrate	integrate	VERB
fcis-30392	13	6	multi	multi	ADJ
fcis-30392	13	7	-	-	ADJ
fcis-30392	13	8	modal	modal	ADJ
fcis-30392	13	9	navigation	navigation	NOUN
fcis-30392	13	10	technologies	technology	NOUN
fcis-30392	13	11	,	,	PUNCT
fcis-30392	13	12	yet	yet	CCONJ
fcis-30392	13	13	significant	significant	ADJ
fcis-30392	13	14	gaps	gap	NOUN
fcis-30392	13	15	remain	remain	VERB
fcis-30392	13	16	in	in	ADP
fcis-30392	13	17	lightweight	lightweight	ADJ
fcis-30392	13	18	digital	digital	ADJ
fcis-30392	13	19	twin	twin	ADJ
fcis-30392	13	20	architectures	architecture	NOUN
fcis-30392	13	21	,	,	PUNCT
fcis-30392	13	22	dynamic	dynamic	ADJ
fcis-30392	13	23	coordination	coordination	NOUN
fcis-30392	13	24	of	of	ADP
fcis-30392	13	25	multisource	multisource	ADJ
fcis-30392	13	26	data	datum	NOUN
fcis-30392	13	27	,	,	PUNCT
fcis-30392	13	28	and	and	CCONJ
fcis-30392	13	29	distributed	distribute	VERB
fcis-30392	13	30	fault	fault	NOUN
fcis-30392	13	31	-	-	PUNCT
fcis-30392	13	32	tolerant	tolerant	ADJ
fcis-30392	13	33	mechanisms	mechanism	NOUN
fcis-30392	13	34	,	,	PUNCT
fcis-30392	13	35	making	make	VERB
fcis-30392	13	36	it	it	PRON
fcis-30392	13	37	difficult	difficult	ADJ
fcis-30392	13	38	to	to	PART
fcis-30392	13	39	balance	balance	VERB
fcis-30392	13	40	accuracy	accuracy	NOUN
fcis-30392	13	41	,	,	PUNCT
fcis-30392	13	42	cost	cost	NOUN
fcis-30392	13	43	,	,	PUNCT
fcis-30392	13	44	and	and	CCONJ
fcis-30392	13	45	system	system	NOUN
fcis-30392	13	46	reliability	reliability	NOUN
fcis-30392	13	47	.	.	PUNCT
fcis-30392	14	1	to	to	PART
fcis-30392	14	2	address	address	VERB
fcis-30392	14	3	these	these	DET
fcis-30392	14	4	issues	issue	NOUN
fcis-30392	14	5	,	,	PUNCT
fcis-30392	14	6	this	this	DET
fcis-30392	14	7	paper	paper	NOUN
fcis-30392	14	8	proposes	propose	VERB
fcis-30392	14	9	an	an	DET
fcis-30392	14	10	intelligent	intelligent	ADJ
fcis-30392	14	11	agv	agv	NOUN
fcis-30392	14	12	system	system	NOUN
fcis-30392	14	13	design	design	NOUN
fcis-30392	14	14	for	for	ADP
fcis-30392	14	15	smart	smart	ADJ
fcis-30392	14	16	warehousing	warehousing	NOUN
fcis-30392	14	17	.	.	PUNCT
fcis-30392	15	1	by	by	ADP
fcis-30392	15	2	combining	combine	VERB
fcis-30392	15	3	the	the	DET
fcis-30392	15	4	high	high	ADJ
fcis-30392	15	5	-	-	PUNCT
fcis-30392	15	6	precision	precision	NOUN
fcis-30392	15	7	positioning	positioning	NOUN
fcis-30392	15	8	of	of	ADP
fcis-30392	15	9	magnetic	magnetic	ADJ
fcis-30392	15	10	guidance	guidance	NOUN
fcis-30392	15	11	(	(	PUNCT
fcis-30392	15	12	±1	±1	VERB
fcis-30392	15	13	cm	cm	NOUN
fcis-30392	15	14	)	)	PUNCT
fcis-30392	15	15	with	with	ADP
fcis-30392	15	16	the	the	DET
fcis-30392	15	17	dynamic	dynamic	ADJ
fcis-30392	15	18	environmental	environmental	ADJ
fcis-30392	15	19	adaptability	adaptability	NOUN
fcis-30392	15	20	of	of	ADP
fcis-30392	15	21	visual	visual	ADJ
fcis-30392	15	22	slam	slam	PROPN
fcis-30392	15	23	,	,	PUNCT
fcis-30392	15	24	a	a	DET
fcis-30392	15	25	hybrid	hybrid	ADJ
fcis-30392	15	26	navigation	navigation	NOUN
fcis-30392	15	27	architecture	architecture	NOUN
fcis-30392	15	28	is	be	AUX
fcis-30392	15	29	constructed	construct	VERB
fcis-30392	15	30	to	to	PART
fcis-30392	15	31	balance	balance	VERB
fcis-30392	15	32	cost	cost	NOUN
fcis-30392	15	33	and	and	CCONJ
fcis-30392	15	34	flexibility	flexibility	NOUN
fcis-30392	15	35	.	.	PUNCT
fcis-30392	16	1	a	a	DET
fcis-30392	16	2	lightweight	lightweight	ADJ
fcis-30392	16	3	3d	3d	NOUN
fcis-30392	16	4	visualization	visualization	NOUN
fcis-30392	16	5	platform	platform	NOUN
fcis-30392	16	6	is	be	AUX
fcis-30392	16	7	developed	develop	VERB
fcis-30392	16	8	using	use	VERB
fcis-30392	16	9	the	the	DET
fcis-30392	16	10	three.js	three.js	NUM
fcis-30392	16	11	engine	engine	NOUN
fcis-30392	16	12	and	and	CCONJ
fcis-30392	16	13	webgl	webgl	NOUN
fcis-30392	16	14	technology	technology	NOUN
fcis-30392	16	15	,	,	PUNCT
fcis-30392	16	16	achieving	achieve	VERB
fcis-30392	16	17	millisecond	millisecond	NOUN
fcis-30392	16	18	-	-	PUNCT
fcis-30392	16	19	level	level	NOUN
fcis-30392	16	20	agv	agv	NOUN
fcis-30392	16	21	trajectory	trajectory	NOUN
fcis-30392	16	22	rendering	rendering	NOUN
fcis-30392	16	23	and	and	CCONJ
fcis-30392	16	24	real	real	ADJ
fcis-30392	16	25	-	-	PUNCT
fcis-30392	16	26	time	time	NOUN
fcis-30392	16	27	anomaly	anomaly	NOUN
fcis-30392	16	28	event	event	NOUN
fcis-30392	16	29	annotation	annotation	NOUN
fcis-30392	16	30	.	.	PUNCT
fcis-30392	17	1	a	a	DET
fcis-30392	17	2	"	"	PUNCT
fcis-30392	17	3	hardware	hardware	NOUN
fcis-30392	17	4	redundancy	redundancy	NOUN
fcis-30392	17	5	-	-	PUNCT
fcis-30392	17	6	software	software	NOUN
fcis-30392	17	7	degradation	degradation	NOUN
fcis-30392	17	8	"	"	PUNCT
fcis-30392	17	9	multi	multi	ADJ
fcis-30392	17	10	-	-	ADJ
fcis-30392	17	11	level	level	ADJ
fcis-30392	17	12	fault	fault	NOUN
fcis-30392	17	13	-	-	PUNCT
fcis-30392	17	14	tolerant	tolerant	ADJ
fcis-30392	17	15	mechanism	mechanism	NOUN
fcis-30392	17	16	is	be	AUX
fcis-30392	17	17	designed	design	VERB
fcis-30392	17	18	,	,	PUNCT
fcis-30392	17	19	enhancing	enhance	VERB
fcis-30392	17	20	system	system	NOUN
fcis-30392	17	21	robustness	robustness	NOUN
fcis-30392	17	22	through	through	ADP
fcis-30392	17	23	dual	dual	ADJ
fcis-30392	17	24	can	can	AUX
fcis-30392	17	25	bus	bus	VERB
fcis-30392	17	26	communication	communication	NOUN
fcis-30392	17	27	and	and	CCONJ
fcis-30392	17	28	finite	finite	ADJ
fcis-30392	17	29	state	state	NOUN
fcis-30392	17	30	machines	machine	NOUN
fcis-30392	18	1	[	[	X
fcis-30392	18	2	1	1	NUM
fcis-30392	18	3	]	]	PUNCT
fcis-30392	18	4	.	.	PUNCT
fcis-30392	19	1	this	this	DET
fcis-30392	19	2	solution	solution	NOUN
fcis-30392	19	3	aims	aim	VERB
fcis-30392	19	4	to	to	PART
fcis-30392	19	5	overcome	overcome	VERB
fcis-30392	19	6	the	the	DET
fcis-30392	19	7	technical	technical	ADJ
fcis-30392	19	8	bottlenecks	bottleneck	NOUN
fcis-30392	19	9	of	of	ADP
fcis-30392	19	10	traditional	traditional	ADJ
fcis-30392	19	11	agv	agv	NOUN
fcis-30392	19	12	systems	system	NOUN
fcis-30392	19	13	,	,	PUNCT
fcis-30392	19	14	providing	provide	VERB
fcis-30392	19	15	a	a	DET
fcis-30392	19	16	highly	highly	ADV
fcis-30392	19	17	reliable	reliable	ADJ
fcis-30392	19	18	and	and	CCONJ
fcis-30392	19	19	lowcost	lowcost	AUX
fcis-30392	19	20	approach	approach	VERB
fcis-30392	19	21	for	for	ADP
fcis-30392	19	22	warehouse	warehouse	NOUN
fcis-30392	19	23	automation	automation	NOUN
fcis-30392	19	24	upgrades	upgrade	NOUN
fcis-30392	19	25	,	,	PUNCT
fcis-30392	19	26	thereby	thereby	ADV
fcis-30392	19	27	advancing	advance	VERB
fcis-30392	19	28	the	the	DET
fcis-30392	19	29	logistics	logistic	NOUN
fcis-30392	19	30	industry	industry	NOUN
fcis-30392	19	31	toward	toward	ADP
fcis-30392	19	32	flexibility	flexibility	NOUN
fcis-30392	19	33	and	and	CCONJ
fcis-30392	19	34	intelligence	intelligence	NOUN
fcis-30392	19	35	.	.	PUNCT
fcis-30392	20	1	2	2	X
fcis-30392	20	2	.	.	X
fcis-30392	20	3	system	system	NOUN
fcis-30392	20	4	architecture	architecture	NOUN
fcis-30392	20	5	design	design	NOUN
fcis-30392	20	6	(	(	PUNCT
fcis-30392	20	7	1	1	NUM
fcis-30392	20	8	)	)	PUNCT
fcis-30392	20	9	design	design	NOUN
fcis-30392	20	10	framework	framework	NOUN
fcis-30392	20	11	the	the	DET
fcis-30392	20	12	system	system	NOUN
fcis-30392	20	13	adopts	adopt	VERB
fcis-30392	20	14	a	a	DET
fcis-30392	20	15	layered	layered	ADJ
fcis-30392	20	16	architecture	architecture	NOUN
fcis-30392	20	17	as	as	ADP
fcis-30392	20	18	figure	figure	NOUN
fcis-30392	20	19	1	1	NUM
fcis-30392	20	20	,	,	PUNCT
fcis-30392	20	21	achieving	achieve	VERB
fcis-30392	20	22	efficient	efficient	ADJ
fcis-30392	20	23	collaboration	collaboration	NOUN
fcis-30392	20	24	through	through	ADP
fcis-30392	20	25	modular	modular	ADJ
fcis-30392	20	26	division	division	NOUN
fcis-30392	20	27	.	.	PUNCT
fcis-30392	21	1	the	the	DET
fcis-30392	21	2	perception	perception	NOUN
fcis-30392	21	3	layer	layer	NOUN
fcis-30392	21	4	integrates	integrate	VERB
fcis-30392	21	5	multi	multi	ADJ
fcis-30392	21	6	-	-	ADJ
fcis-30392	21	7	source	source	NOUN
fcis-30392	21	8	sensors	sensor	NOUN
fcis-30392	21	9	:	:	PUNCT
fcis-30392	21	10	a	a	DET
fcis-30392	21	11	magnetic	magnetic	ADJ
fcis-30392	21	12	sensor	sensor	NOUN
fcis-30392	21	13	array	array	NOUN
fcis-30392	21	14	(	(	PUNCT
fcis-30392	21	15	±1	±1	VERB
fcis-30392	21	16	cm	cm	NOUN
fcis-30392	21	17	positioning	positioning	NOUN
fcis-30392	21	18	accuracy	accuracy	NOUN
fcis-30392	21	19	)	)	PUNCT
fcis-30392	21	20	collects	collect	VERB
fcis-30392	21	21	electromagnetic	electromagnetic	ADJ
fcis-30392	21	22	guidance	guidance	NOUN
fcis-30392	21	23	signals	signal	NOUN
fcis-30392	21	24	in	in	ADP
fcis-30392	21	25	real	real	ADJ
fcis-30392	21	26	-	-	PUNCT
fcis-30392	21	27	time	time	NOUN
fcis-30392	21	28	;	;	PUNCT
fcis-30392	21	29	a	a	DET
fcis-30392	21	30	camera	camera	NOUN
fcis-30392	21	31	(	(	PUNCT
fcis-30392	21	32	30	30	NUM
fcis-30392	21	33	fps	fps	PROPN
fcis-30392	21	34	)	)	PUNCT
fcis-30392	21	35	and	and	CCONJ
fcis-30392	21	36	lidar	lidar	NOUN
fcis-30392	21	37	(	(	PUNCT
fcis-30392	21	38	16	16	NUM
fcis-30392	21	39	-	-	PUNCT
fcis-30392	21	40	line	line	NOUN
fcis-30392	21	41	)	)	PUNCT
fcis-30392	21	42	collaboratively	collaboratively	ADV
fcis-30392	21	43	build	build	VERB
fcis-30392	21	44	environmental	environmental	ADJ
fcis-30392	21	45	point	point	NOUN
fcis-30392	21	46	cloud	cloud	NOUN
fcis-30392	21	47	data	datum	NOUN
fcis-30392	21	48	;	;	PUNCT
fcis-30392	21	49	and	and	CCONJ
fcis-30392	21	50	an	an	DET
fcis-30392	21	51	imu	imu	NOUN
fcis-30392	21	52	(	(	PUNCT
fcis-30392	21	53	inertial	inertial	ADJ
fcis-30392	21	54	measurement	measurement	NOUN
fcis-30392	21	55	unit	unit	NOUN
fcis-30392	21	56	)	)	PUNCT
fcis-30392	21	57	provides	provide	VERB
fcis-30392	21	58	attitude	attitude	NOUN
fcis-30392	21	59	angle	angle	NOUN
fcis-30392	21	60	and	and	CCONJ
fcis-30392	21	61	acceleration	acceleration	NOUN
fcis-30392	21	62	compensation	compensation	NOUN
fcis-30392	21	63	to	to	PART
fcis-30392	21	64	ensure	ensure	VERB
fcis-30392	21	65	data	datum	NOUN
fcis-30392	21	66	completeness	completeness	NOUN
fcis-30392	21	67	in	in	ADP
fcis-30392	21	68	dynamic	dynamic	ADJ
fcis-30392	21	69	scenarios	scenario	NOUN
fcis-30392	21	70	.	.	PUNCT
fcis-30392	22	1	the	the	DET
fcis-30392	22	2	control	control	NOUN
fcis-30392	22	3	layer	layer	NOUN
fcis-30392	22	4	employs	employ	VERB
fcis-30392	22	5	an	an	DET
fcis-30392	22	6	edge	edge	NOUN
fcis-30392	22	7	-	-	PUNCT
fcis-30392	22	8	device	device	NOUN
fcis-30392	22	9	collaborative	collaborative	ADJ
fcis-30392	22	10	computing	computing	NOUN
fcis-30392	22	11	architecture	architecture	NOUN
fcis-30392	22	12	:	:	PUNCT
fcis-30392	22	13	nvidia	nvidia	PROPN
fcis-30392	22	14	jetson	jetson	PROPN
fcis-30392	22	15	edge	edge	PROPN
fcis-30392	22	16	nodes	node	NOUN
fcis-30392	22	17	execute	execute	VERB
fcis-30392	22	18	visual	visual	ADJ
fcis-30392	22	19	slam	slam	NOUN
fcis-30392	22	20	algorithms	algorithms	NOUN
fcis-30392	22	21	(	(	PUNCT
fcis-30392	22	22	orb	orb	NOUN
fcis-30392	22	23	-	-	PUNCT
fcis-30392	22	24	slam3	slam3	NOUN
fcis-30392	22	25	)	)	PUNCT
fcis-30392	22	26	and	and	CCONJ
fcis-30392	22	27	path	path	NOUN
fcis-30392	22	28	planning	planning	NOUN
fcis-30392	22	29	engines	engine	NOUN
fcis-30392	22	30	,	,	PUNCT
fcis-30392	22	31	while	while	SCONJ
fcis-30392	22	32	an	an	DET
fcis-30392	22	33	stm32	stm32	PROPN
fcis-30392	22	34	master	master	NOUN
fcis-30392	22	35	chip	chip	NOUN
fcis-30392	22	36	controls	control	VERB
fcis-30392	22	37	four	four	NUM
fcis-30392	22	38	-	-	PUNCT
fcis-30392	22	39	wheel	wheel	NOUN
fcis-30392	22	40	drive	drive	NOUN
fcis-30392	22	41	motors	motor	NOUN
fcis-30392	22	42	via	via	ADP
fcis-30392	22	43	pid	pid	CCONJ
fcis-30392	22	44	closed	close	VERB
fcis-30392	22	45	-	-	PUNCT
fcis-30392	22	46	loop	loop	NOUN
fcis-30392	22	47	control	control	NOUN
fcis-30392	22	48	,	,	PUNCT
fcis-30392	22	49	achieving	achieve	VERB
fcis-30392	22	50	sub	sub	ADJ
fcis-30392	22	51	-	-	ADJ
fcis-30392	22	52	centimeter	centimeter	ADJ
fcis-30392	22	53	motion	motion	NOUN
fcis-30392	22	54	accuracy	accuracy	NOUN
fcis-30392	22	55	.	.	PUNCT
fcis-30392	23	1	the	the	DET
fcis-30392	23	2	application	application	NOUN
fcis-30392	23	3	layer	layer	NOUN
fcis-30392	23	4	integrates	integrate	VERB
fcis-30392	23	5	path	path	NOUN
fcis-30392	23	6	planning	planning	NOUN
fcis-30392	23	7	,	,	PUNCT
fcis-30392	23	8	visualization	visualization	NOUN
fcis-30392	23	9	,	,	PUNCT
fcis-30392	23	10	and	and	CCONJ
fcis-30392	23	11	maintenance	maintenance	NOUN
fcis-30392	23	12	functions	function	NOUN
fcis-30392	23	13	:	:	PUNCT
fcis-30392	23	14	the	the	DET
fcis-30392	23	15	path	path	NOUN
fcis-30392	23	16	planning	planning	NOUN
fcis-30392	23	17	engine	engine	NOUN
fcis-30392	23	18	adopts	adopt	VERB
fcis-30392	23	19	a	a	DET
fcis-30392	23	20	dual	dual	ADJ
fcis-30392	23	21	-	-	PUNCT
fcis-30392	23	22	layer	layer	NOUN
fcis-30392	23	23	strategy	strategy	NOUN
fcis-30392	23	24	of	of	ADP
fcis-30392	23	25	a	a	DET
fcis-30392	23	26	*	*	X
fcis-30392	23	27	global	global	ADJ
fcis-30392	23	28	optimization	optimization	NOUN
fcis-30392	23	29	and	and	CCONJ
fcis-30392	23	30	dwa	dwa	VERB
fcis-30392	23	31	local	local	ADJ
fcis-30392	23	32	obstacle	obstacle	NOUN
fcis-30392	23	33	avoidance	avoidance	NOUN
fcis-30392	23	34	;	;	PUNCT
fcis-30392	23	35	a	a	DET
fcis-30392	23	36	three.js	three.js	NUM
fcis-30392	23	37	based	base	VERB
fcis-30392	23	38	3d	3d	PROPN
fcis-30392	23	39	digital	digital	ADJ
fcis-30392	23	40	twin	twin	ADJ
fcis-30392	23	41	platform	platform	NOUN
fcis-30392	23	42	dynamically	dynamically	ADV
fcis-30392	23	43	maps	map	VERB
fcis-30392	23	44	the	the	DET
fcis-30392	23	45	physical	physical	ADJ
fcis-30392	23	46	warehouse	warehouse	NOUN
fcis-30392	23	47	layout	layout	NOUN
fcis-30392	23	48	;	;	PUNCT
fcis-30392	23	49	an	an	DET
fcis-30392	23	50	echarts	echart	NOUN
fcis-30392	23	51	dashboard	dashboard	NOUN
fcis-30392	23	52	displays	display	VERB
fcis-30392	23	53	task	task	NOUN
fcis-30392	23	54	efficiency	efficiency	NOUN
fcis-30392	23	55	and	and	CCONJ
fcis-30392	23	56	equipment	equipment	NOUN
fcis-30392	23	57	health	health	NOUN
fcis-30392	23	58	metrics	metric	NOUN
fcis-30392	23	59	;	;	PUNCT
fcis-30392	23	60	and	and	CCONJ
fcis-30392	23	61	the	the	DET
fcis-30392	23	62	maintenance	maintenance	NOUN
fcis-30392	23	63	module	module	NOUN
fcis-30392	23	64	supports	support	VERB
fcis-30392	23	65	preventive	preventive	ADJ
fcis-30392	23	66	maintenance	maintenance	NOUN
fcis-30392	23	67	decisions	decision	NOUN
fcis-30392	23	68	through	through	ADP
fcis-30392	23	69	anomaly	anomaly	NOUN
fcis-30392	23	70	log	log	NOUN
fcis-30392	23	71	clustering	cluster	VERB
fcis-30392	23	72	analysis	analysis	NOUN
fcis-30392	23	73	.	.	PUNCT
fcis-30392	24	1	(	(	PUNCT
fcis-30392	24	2	2	2	X
fcis-30392	24	3	)	)	PUNCT
fcis-30392	24	4	technical	technical	ADJ
fcis-30392	24	5	approach	approach	NOUN
fcis-30392	24	6	the	the	DET
fcis-30392	24	7	hybrid	hybrid	NOUN
fcis-30392	24	8	navigation	navigation	NOUN
fcis-30392	24	9	uses	use	VERB
fcis-30392	24	10	magnetic	magnetic	ADJ
fcis-30392	24	11	guidance	guidance	NOUN
fcis-30392	24	12	as	as	ADP
fcis-30392	24	13	the	the	DET
fcis-30392	24	14	core	core	NOUN
fcis-30392	24	15	path	path	NOUN
fcis-30392	24	16	reference	reference	NOUN
fcis-30392	24	17	,	,	PUNCT
fcis-30392	24	18	with	with	ADP
fcis-30392	24	19	visual	visual	ADJ
fcis-30392	24	20	slam	slam	NOUN
fcis-30392	24	21	dynamically	dynamically	ADV
fcis-30392	24	22	correcting	correct	VERB
fcis-30392	24	23	cumulative	cumulative	ADJ
fcis-30392	24	24	errors	error	NOUN
fcis-30392	24	25	.	.	PUNCT
fcis-30392	25	1	the	the	DET
fcis-30392	25	2	magnetic	magnetic	ADJ
fcis-30392	25	3	sensor	sensor	NOUN
fcis-30392	25	4	array	array	NOUN
fcis-30392	25	5	calculates	calculate	VERB
fcis-30392	25	6	lateral	lateral	ADJ
fcis-30392	25	7	offsets	offset	NOUN
fcis-30392	25	8	via	via	ADP
fcis-30392	25	9	differential	differential	ADJ
fcis-30392	25	10	signals	signal	NOUN
fcis-30392	25	11	,	,	PUNCT
fcis-30392	25	12	fused	fuse	VERB
fcis-30392	25	13	with	with	ADP
fcis-30392	25	14	imu	imu	ADJ
fcis-30392	25	15	data	datum	NOUN
fcis-30392	25	16	through	through	ADP
fcis-30392	25	17	kalman	kalman	PROPN
fcis-30392	25	18	filtering	filter	VERB
fcis-30392	25	19	to	to	AUX
fcis-30392	25	20	output	output	VERB
fcis-30392	25	21	stable	stable	ADJ
fcis-30392	25	22	poses	pose	NOUN
fcis-30392	25	23	.	.	PUNCT
fcis-30392	26	1	visual	visual	ADJ
fcis-30392	26	2	slam	slam	PROPN
fcis-30392	26	3	,	,	PUNCT
fcis-30392	26	4	based	base	VERB
fcis-30392	26	5	on	on	ADP
fcis-30392	26	6	orb	orb	NOUN
fcis-30392	26	7	feature	feature	NOUN
fcis-30392	26	8	point	point	NOUN
fcis-30392	26	9	matching	matching	NOUN
fcis-30392	26	10	and	and	CCONJ
fcis-30392	26	11	lidar	lidar	NOUN
fcis-30392	26	12	point	point	NOUN
fcis-30392	26	13	cloud	cloud	NOUN
fcis-30392	26	14	registration	registration	NOUN
fcis-30392	26	15	,	,	PUNCT
fcis-30392	26	16	constructs	construct	VERB
fcis-30392	26	17	local	local	ADJ
fcis-30392	26	18	environmental	environmental	ADJ
fcis-30392	26	19	maps	map	NOUN
fcis-30392	26	20	in	in	ADP
fcis-30392	26	21	real	real	ADJ
fcis-30392	26	22	-	-	PUNCT
fcis-30392	26	23	time	time	NOUN
fcis-30392	26	24	and	and	CCONJ
fcis-30392	26	25	corrects	correct	VERB
fcis-30392	26	26	magnetic	magnetic	ADJ
fcis-30392	26	27	guidance	guidance	NOUN
fcis-30392	26	28	deviations	deviation	NOUN
fcis-30392	26	29	via	via	ADP
fcis-30392	26	30	a	a	DET
fcis-30392	26	31	weight	weight	NOUN
fcis-30392	26	32	-	-	PUNCT
fcis-30392	26	33	adaptive	adaptive	ADJ
fcis-30392	26	34	algorithm	algorithm	NOUN
fcis-30392	26	35	(	(	PUNCT
fcis-30392	26	36	dynamic	dynamic	ADJ
fcis-30392	26	37	confidence	confidence	NOUN
fcis-30392	26	38	threshold	threshold	NOUN
fcis-30392	26	39	)	)	PUNCT
fcis-30392	26	40	,	,	PUNCT
fcis-30392	26	41	limiting	limit	VERB
fcis-30392	26	42	positioning	positioning	NOUN
fcis-30392	26	43	errors	error	NOUN
fcis-30392	26	44	to	to	ADP
fcis-30392	26	45	±1.5	±1.5	PROPN
fcis-30392	26	46	cm	cm	NOUN
fcis-30392	26	47	in	in	ADP
fcis-30392	26	48	complex	complex	ADJ
fcis-30392	26	49	scenarios	scenario	NOUN
fcis-30392	26	50	(	(	PUNCT
fcis-30392	26	51	e.g.	e.g.	ADV
fcis-30392	26	52	,	,	PUNCT
fcis-30392	26	53	temporary	temporary	ADJ
fcis-30392	26	54	obstacles	obstacle	NOUN
fcis-30392	26	55	)	)	PUNCT
fcis-30392	26	56	.	.	PUNCT
fcis-30392	27	1	the	the	DET
fcis-30392	27	2	digital	digital	ADJ
fcis-30392	27	3	twin	twin	ADJ
fcis-30392	27	4	architecture	architecture	NOUN
fcis-30392	27	5	48	48	NUM
fcis-30392	27	6	employs	employ	VERB
fcis-30392	27	7	the	the	DET
fcis-30392	27	8	three.js	three.js	NUM
fcis-30392	27	9	lightweight	lightweight	ADJ
fcis-30392	27	10	rendering	rendering	NOUN
fcis-30392	27	11	engine	engine	NOUN
fcis-30392	27	12	,	,	PUNCT
fcis-30392	27	13	loading	loading	NOUN
fcis-30392	27	14	warehouse	warehouse	NOUN
fcis-30392	27	15	3d	3d	NOUN
fcis-30392	27	16	models	model	NOUN
fcis-30392	27	17	in	in	ADP
fcis-30392	27	18	gltf	gltf	NOUN
fcis-30392	27	19	format	format	NOUN
fcis-30392	27	20	and	and	CCONJ
fcis-30392	27	21	enabling	enable	VERB
fcis-30392	27	22	efficient	efficient	ADJ
fcis-30392	27	23	rendering	rendering	NOUN
fcis-30392	27	24	of	of	ADP
fcis-30392	27	25	thousands	thousand	NOUN
fcis-30392	27	26	of	of	ADP
fcis-30392	27	27	shelves	shelf	NOUN
fcis-30392	27	28	and	and	CCONJ
fcis-30392	27	29	agv	agv	NOUN
fcis-30392	27	30	trajectories	trajectory	NOUN
fcis-30392	27	31	via	via	ADP
fcis-30392	27	32	webgl	webgl	NOUN
fcis-30392	27	33	instancing	instancing	NOUN
fcis-30392	27	34	.	.	PUNCT
fcis-30392	28	1	the	the	DET
fcis-30392	28	2	echarts	echart	NOUN
fcis-30392	28	3	dashboard	dashboard	NOUN
fcis-30392	28	4	synchronizes	synchronize	VERB
fcis-30392	28	5	real	real	ADJ
fcis-30392	28	6	-	-	PUNCT
fcis-30392	28	7	time	time	NOUN
fcis-30392	28	8	data	datum	NOUN
fcis-30392	28	9	(	(	PUNCT
fcis-30392	28	10	e.g.	e.g.	ADV
fcis-30392	28	11	,	,	PUNCT
fcis-30392	28	12	agv	agv	NOUN
fcis-30392	28	13	battery	battery	NOUN
fcis-30392	28	14	levels	level	NOUN
fcis-30392	28	15	,	,	PUNCT
fcis-30392	28	16	task	task	NOUN
fcis-30392	28	17	progress	progress	NOUN
fcis-30392	28	18	)	)	PUNCT
fcis-30392	28	19	from	from	ADP
fcis-30392	28	20	edge	edge	NOUN
fcis-30392	28	21	nodes	node	NOUN
fcis-30392	28	22	via	via	ADP
fcis-30392	28	23	websocket	websocket	NOUN
fcis-30392	28	24	and	and	CCONJ
fcis-30392	28	25	visualizes	visualize	VERB
fcis-30392	28	26	warehouse	warehouse	NOUN
fcis-30392	28	27	efficiency	efficiency	NOUN
fcis-30392	28	28	metrics	metric	NOUN
fcis-30392	28	29	using	use	VERB
fcis-30392	28	30	scatter	scatter	NOUN
fcis-30392	28	31	plots	plot	NOUN
fcis-30392	28	32	and	and	CCONJ
fcis-30392	28	33	heatmaps	heatmap	NOUN
fcis-30392	28	34	.	.	PUNCT
fcis-30392	29	1	the	the	DET
fcis-30392	29	2	communication	communication	NOUN
fcis-30392	29	3	architecture	architecture	NOUN
fcis-30392	29	4	,	,	PUNCT
fcis-30392	29	5	based	base	VERB
fcis-30392	29	6	on	on	ADP
fcis-30392	29	7	mqtt	mqtt	PROPN
fcis-30392	29	8	protocol	protocol	NOUN
fcis-30392	29	9	,	,	PUNCT
fcis-30392	29	10	publishes	publish	VERB
fcis-30392	29	11	agv	agv	NOUN
fcis-30392	29	12	status	status	NOUN
fcis-30392	29	13	data	datum	NOUN
fcis-30392	29	14	(	(	PUNCT
fcis-30392	29	15	json	json	NOUN
fcis-30392	29	16	format	format	NOUN
fcis-30392	29	17	)	)	PUNCT
fcis-30392	29	18	from	from	ADP
fcis-30392	29	19	edge	edge	NOUN
fcis-30392	29	20	nodes	node	NOUN
fcis-30392	29	21	to	to	ADP
fcis-30392	29	22	cloud	cloud	ADJ
fcis-30392	29	23	topics	topic	NOUN
fcis-30392	29	24	,	,	PUNCT
fcis-30392	29	25	with	with	ADP
fcis-30392	29	26	the	the	DET
fcis-30392	29	27	visualization	visualization	NOUN
fcis-30392	29	28	platform	platform	NOUN
fcis-30392	29	29	subscribing	subscribe	VERB
fcis-30392	29	30	to	to	ADP
fcis-30392	29	31	these	these	DET
fcis-30392	29	32	topics	topic	NOUN
fcis-30392	29	33	for	for	ADP
fcis-30392	29	34	end	end	NOUN
fcis-30392	29	35	-	-	PUNCT
fcis-30392	29	36	to	to	ADP
fcis-30392	29	37	-	-	PUNCT
fcis-30392	29	38	end	end	NOUN
fcis-30392	29	39	transmission	transmission	NOUN
fcis-30392	29	40	delays≤200	delays≤200	PROPN
fcis-30392	29	41	ms	ms	PROPN
fcis-30392	29	42	.	.	PROPN
fcis-30392	29	43	critical	critical	ADJ
fcis-30392	29	44	commands	command	NOUN
fcis-30392	29	45	(	(	PUNCT
fcis-30392	29	46	e.g.	e.g.	ADV
fcis-30392	29	47	,	,	PUNCT
fcis-30392	29	48	emergency	emergency	NOUN
fcis-30392	29	49	stops	stop	NOUN
fcis-30392	29	50	)	)	PUNCT
fcis-30392	29	51	are	be	AUX
fcis-30392	29	52	ensured	ensure	VERB
fcis-30392	29	53	via	via	ADP
fcis-30392	29	54	qos2	qos2	NOUN
fcis-30392	29	55	-	-	PUNCT
fcis-30392	29	56	level	level	NOUN
fcis-30392	29	57	transmission	transmission	NOUN
fcis-30392	29	58	,	,	PUNCT
fcis-30392	29	59	achieving	achieve	VERB
fcis-30392	29	60	a	a	DET
fcis-30392	29	61	packet	packet	NOUN
fcis-30392	29	62	loss	loss	NOUN
fcis-30392	29	63	rate	rate	NOUN
fcis-30392	29	64	below	below	ADP
fcis-30392	29	65	0.01	0.01	NUM
fcis-30392	29	66	%	%	NOUN
fcis-30392	29	67	.	.	PUNCT
fcis-30392	30	1	figure	figure	NOUN
fcis-30392	30	2	1	1	NUM
fcis-30392	30	3	.	.	PUNCT
fcis-30392	30	4	system	system	NOUN
fcis-30392	30	5	layered	layer	VERB
fcis-30392	30	6	architecture	architecture	NOUN
fcis-30392	30	7	interaction	interaction	NOUN
fcis-30392	30	8	diagram	diagram	NOUN
fcis-30392	30	9	3	3	NUM
fcis-30392	30	10	.	.	PUNCT
fcis-30392	30	11	agv	agv	NOUN
fcis-30392	30	12	dynamic	dynamic	ADJ
fcis-30392	30	13	navigation	navigation	NOUN
fcis-30392	30	14	design	design	NOUN
fcis-30392	30	15	(	(	PUNCT
fcis-30392	30	16	1	1	NUM
fcis-30392	30	17	)	)	PUNCT
fcis-30392	30	18	hardware	hardware	NOUN
fcis-30392	30	19	architecture	architecture	NOUN
fcis-30392	30	20	the	the	DET
fcis-30392	30	21	agv	agv	NOUN
fcis-30392	30	22	magnetic	magnetic	PROPN
fcis-30392	30	23	navigation	navigation	NOUN
fcis-30392	30	24	module	module	NOUN
fcis-30392	30	25	adopts	adopt	VERB
fcis-30392	30	26	a	a	DET
fcis-30392	30	27	4×4	4×4	NUM
fcis-30392	30	28	hall	hall	NOUN
fcis-30392	30	29	sensor	sensor	NOUN
fcis-30392	30	30	array	array	VERB
fcis-30392	30	31	layout	layout	NOUN
fcis-30392	30	32	,	,	PUNCT
fcis-30392	30	33	achieving	achieve	VERB
fcis-30392	30	34	±1	±1	ADJ
fcis-30392	30	35	cm	cm	NOUN
fcis-30392	30	36	positioning	positioning	NOUN
fcis-30392	30	37	accuracy	accuracy	NOUN
fcis-30392	30	38	through	through	ADP
fcis-30392	30	39	differential	differential	ADJ
fcis-30392	30	40	signal	signal	NOUN
fcis-30392	30	41	detection	detection	NOUN
fcis-30392	30	42	.	.	PUNCT
fcis-30392	31	1	the	the	DET
fcis-30392	31	2	array	array	NOUN
fcis-30392	31	3	is	be	AUX
fcis-30392	31	4	uniformly	uniformly	ADV
fcis-30392	31	5	distributed	distribute	VERB
fcis-30392	31	6	around	around	ADP
fcis-30392	31	7	the	the	DET
fcis-30392	31	8	agv	agv	NOUN
fcis-30392	31	9	chassis	chassis	NOUN
fcis-30392	31	10	with	with	ADP
fcis-30392	31	11	15	15	NUM
fcis-30392	31	12	cm	cm	NOUN
fcis-30392	31	13	spacing	spacing	NOUN
fcis-30392	31	14	between	between	ADP
fcis-30392	31	15	adjacent	adjacent	ADJ
fcis-30392	31	16	sensors	sensor	NOUN
fcis-30392	31	17	,	,	PUNCT
fcis-30392	31	18	covering	cover	VERB
fcis-30392	31	19	omnidirectional	omnidirectional	ADJ
fcis-30392	31	20	electromagnetic	electromagnetic	ADJ
fcis-30392	31	21	guidance	guidance	NOUN
fcis-30392	31	22	line	line	NOUN
fcis-30392	31	23	detection	detection	NOUN
fcis-30392	31	24	.	.	PUNCT
fcis-30392	32	1	the	the	DET
fcis-30392	32	2	signal	signal	ADJ
fcis-30392	32	3	conditioning	conditioning	NOUN
fcis-30392	32	4	circuit	circuit	NOUN
fcis-30392	32	5	integrates	integrate	VERB
fcis-30392	32	6	a	a	DET
fcis-30392	32	7	second	second	ADJ
fcis-30392	32	8	-	-	PUNCT
fcis-30392	32	9	order	order	NOUN
fcis-30392	32	10	butterworth	butterworth	ADJ
fcis-30392	32	11	low	low	ADJ
fcis-30392	32	12	-	-	PUNCT
fcis-30392	32	13	pass	pass	NOUN
fcis-30392	32	14	filter	filter	NOUN
fcis-30392	32	15	(	(	PUNCT
fcis-30392	32	16	cutoff	cutoff	NOUN
fcis-30392	32	17	frequency	frequency	NOUN
fcis-30392	32	18	:	:	PUNCT
fcis-30392	32	19	1	1	NUM
fcis-30392	32	20	khz	khz	NOUN
fcis-30392	32	21	)	)	PUNCT
fcis-30392	32	22	and	and	CCONJ
fcis-30392	32	23	a	a	DET
fcis-30392	32	24	24	24	NUM
fcis-30392	32	25	-	-	PUNCT
fcis-30392	32	26	bit	bit	NOUN
fcis-30392	32	27	ad	ad	NOUN
fcis-30392	32	28	sampling	sampling	NOUN
fcis-30392	32	29	module	module	NOUN
fcis-30392	32	30	,	,	PUNCT
fcis-30392	32	31	effectively	effectively	ADV
fcis-30392	32	32	suppressing	suppress	VERB
fcis-30392	32	33	high	high	ADJ
fcis-30392	32	34	-	-	PUNCT
fcis-30392	32	35	frequency	frequency	NOUN
fcis-30392	32	36	motor	motor	NOUN
fcis-30392	32	37	interference	interference	NOUN
fcis-30392	32	38	and	and	CCONJ
fcis-30392	32	39	improving	improve	VERB
fcis-30392	32	40	the	the	DET
fcis-30392	32	41	signal	signal	NOUN
fcis-30392	32	42	-	-	PUNCT
fcis-30392	32	43	to	to	ADP
fcis-30392	32	44	-	-	PUNCT
fcis-30392	32	45	noise	noise	NOUN
fcis-30392	32	46	ratio	ratio	NOUN
fcis-30392	32	47	to	to	ADP
fcis-30392	32	48	60	60	NUM
fcis-30392	32	49	db	db	NOUN
fcis-30392	32	50	.	.	PUNCT
fcis-30392	33	1	the	the	DET
fcis-30392	33	2	visual	visual	ADJ
fcis-30392	33	3	slam	slam	NOUN
fcis-30392	33	4	module	module	NOUN
fcis-30392	33	5	,	,	PUNCT
fcis-30392	33	6	based	base	VERB
fcis-30392	33	7	on	on	ADP
fcis-30392	33	8	orb	orb	NOUN
fcis-30392	33	9	-	-	PUNCT
fcis-30392	33	10	slam3	slam3	NOUN
fcis-30392	33	11	,	,	PUNCT
fcis-30392	33	12	enables	enable	VERB
fcis-30392	33	13	dynamic	dynamic	ADJ
fcis-30392	33	14	environmental	environmental	ADJ
fcis-30392	33	15	perception	perception	NOUN
fcis-30392	33	16	through	through	ADP
fcis-30392	33	17	fast	fast	ADJ
fcis-30392	33	18	feature	feature	NOUN
fcis-30392	33	19	point	point	NOUN
fcis-30392	33	20	extraction	extraction	NOUN
fcis-30392	33	21	,	,	PUNCT
fcis-30392	33	22	bow	bow	NOUN
fcis-30392	33	23	(	(	PUNCT
fcis-30392	33	24	bag	bag	NOUN
fcis-30392	33	25	of	of	ADP
fcis-30392	33	26	words	word	NOUN
fcis-30392	33	27	)	)	PUNCT
fcis-30392	33	28	model	model	NOUN
fcis-30392	33	29	matching	matching	NOUN
fcis-30392	33	30	,	,	PUNCT
fcis-30392	33	31	and	and	CCONJ
fcis-30392	33	32	tightly	tightly	ADV
fcis-30392	33	33	coupled	couple	VERB
fcis-30392	33	34	imu	imu	NOUN
fcis-30392	33	35	optimization	optimization	NOUN
fcis-30392	33	36	,	,	PUNCT
fcis-30392	33	37	with	with	ADP
fcis-30392	33	38	singleframe	singleframe	NOUN
fcis-30392	33	39	processing	processing	NOUN
fcis-30392	33	40	time	time	NOUN
fcis-30392	33	41	≤30	≤30	DET
fcis-30392	33	42	ms	ms	NOUN
fcis-30392	33	43	on	on	ADP
fcis-30392	33	44	nvidia	nvidia	PROPN
fcis-30392	33	45	jetson	jetson	PROPN
fcis-30392	33	46	xavier	xavier	PROPN
fcis-30392	34	1	[	[	X
fcis-30392	34	2	2	2	NUM
fcis-30392	34	3	]	]	PUNCT
fcis-30392	34	4	.	.	PUNCT
fcis-30392	35	1	lidar	lidar	NOUN
fcis-30392	35	2	(	(	PUNCT
fcis-30392	35	3	16	16	NUM
fcis-30392	35	4	-	-	PUNCT
fcis-30392	35	5	line	line	NOUN
fcis-30392	35	6	)	)	PUNCT
fcis-30392	35	7	and	and	CCONJ
fcis-30392	35	8	stereo	stereo	PROPN
fcis-30392	35	9	camera	camera	NOUN
fcis-30392	35	10	(	(	PUNCT
fcis-30392	35	11	30	30	NUM
fcis-30392	35	12	fps	fps	PROPN
fcis-30392	35	13	)	)	PUNCT
fcis-30392	35	14	data	datum	NOUN
fcis-30392	35	15	are	be	AUX
fcis-30392	35	16	synchronized	synchronize	VERB
fcis-30392	35	17	via	via	ADP
fcis-30392	35	18	hardware	hardware	NOUN
fcis-30392	35	19	triggers	trigger	NOUN
fcis-30392	35	20	for	for	ADP
fcis-30392	35	21	timestamp	timestamp	NOUN
fcis-30392	35	22	alignment	alignment	NOUN
fcis-30392	35	23	,	,	PUNCT
fcis-30392	35	24	and	and	CCONJ
fcis-30392	35	25	point	point	VERB
fcis-30392	35	26	cloud	cloud	ADJ
fcis-30392	35	27	-	-	PUNCT
fcis-30392	35	28	image	image	NOUN
fcis-30392	35	29	feature	feature	NOUN
fcis-30392	35	30	fusion	fusion	NOUN
fcis-30392	35	31	via	via	ADP
fcis-30392	35	32	extended	extended	ADJ
fcis-30392	35	33	kalman	kalman	NOUN
fcis-30392	35	34	filter	filter	PROPN
fcis-30392	35	35	(	(	PUNCT
fcis-30392	35	36	ekf	ekf	PROPN
fcis-30392	35	37	)	)	PUNCT
fcis-30392	35	38	achieves	achieve	VERB
fcis-30392	35	39	≥95	≥95	NUM
fcis-30392	35	40	%	%	NOUN
fcis-30392	35	41	accuracy	accuracy	NOUN
fcis-30392	35	42	in	in	ADP
fcis-30392	35	43	dynamic	dynamic	ADJ
fcis-30392	35	44	obstacle	obstacle	NOUN
fcis-30392	35	45	detection	detection	NOUN
fcis-30392	35	46	.	.	PUNCT
fcis-30392	36	1	(	(	PUNCT
fcis-30392	36	2	2	2	X
fcis-30392	36	3	)	)	PUNCT
fcis-30392	36	4	path	path	NOUN
fcis-30392	36	5	planning	planning	NOUN
fcis-30392	36	6	algorithm	algorithm	PROPN
fcis-30392	36	7	global	global	PROPN
fcis-30392	36	8	path	path	PROPN
fcis-30392	36	9	planning	planning	NOUN
fcis-30392	36	10	employs	employ	VERB
fcis-30392	36	11	an	an	DET
fcis-30392	36	12	improved	improved	ADJ
fcis-30392	36	13	a	a	DET
fcis-30392	36	14	*	*	ADJ
fcis-30392	36	15	algorithm	algorithm	NOUN
fcis-30392	36	16	with	with	ADP
fcis-30392	36	17	a	a	DET
fcis-30392	36	18	cost	cost	NOUN
fcis-30392	36	19	function	function	NOUN
fcis-30392	36	20	defined	define	VERB
fcis-30392	36	21	as	as	ADP
fcis-30392	36	22	:	:	PUNCT
fcis-30392	36	23	f(n)=g(n)+λ*h(n	f(n)=g(n)+λ*h(n	NOUN
fcis-30392	36	24	)	)	PUNCT
fcis-30392	36	25	where	where	SCONJ
fcis-30392	36	26	g(n	g(n	PROPN
fcis-30392	36	27	)	)	PUNCT
fcis-30392	36	28	is	be	AUX
fcis-30392	36	29	the	the	DET
fcis-30392	36	30	actual	actual	ADJ
fcis-30392	36	31	movement	movement	NOUN
fcis-30392	36	32	cost	cost	NOUN
fcis-30392	36	33	,	,	PUNCT
fcis-30392	36	34	h(n	h(n	PROPN
fcis-30392	36	35	)	)	PUNCT
fcis-30392	36	36	uses	use	VERB
fcis-30392	36	37	manhattan	manhattan	PROPN
fcis-30392	36	38	distance	distance	NOUN
fcis-30392	36	39	weighted	weight	VERB
fcis-30392	36	40	by	by	ADP
fcis-30392	36	41	dynamic	dynamic	ADJ
fcis-30392	36	42	environmental	environmental	ADJ
fcis-30392	36	43	risk	risk	NOUN
fcis-30392	36	44	coefficients	coefficient	NOUN
fcis-30392	36	45	(	(	PUNCT
fcis-30392	36	46	e.g.	e.g.	ADV
fcis-30392	36	47	,	,	PUNCT
fcis-30392	36	48	path	path	NOUN
fcis-30392	36	49	congestion	congestion	PROPN
fcis-30392	36	50	index	index	PROPN
fcis-30392	36	51	)	)	PUNCT
fcis-30392	36	52	,	,	PUNCT
fcis-30392	36	53	and	and	CCONJ
fcis-30392	36	54	the	the	DET
fcis-30392	36	55	weight	weight	NOUN
fcis-30392	36	56	λ	λ	PROPN
fcis-30392	36	57	dynamically	dynamically	ADV
fcis-30392	36	58	adjusts	adjust	VERB
fcis-30392	36	59	with	with	ADP
fcis-30392	36	60	agv	agv	NOUN
fcis-30392	36	61	battery	battery	NOUN
fcis-30392	36	62	levels	level	NOUN
fcis-30392	36	63	(	(	PUNCT
fcis-30392	36	64	0.8–1.2)[3	0.8–1.2)[3	NUM
fcis-30392	36	65	]	]	PUNCT
fcis-30392	36	66	.	.	PUNCT
fcis-30392	37	1	the	the	DET
fcis-30392	37	2	open	open	ADJ
fcis-30392	37	3	list	list	NOUN
fcis-30392	37	4	utilizes	utilize	VERB
fcis-30392	37	5	a	a	DET
fcis-30392	37	6	min	min	NOUN
fcis-30392	37	7	-	-	ADJ
fcis-30392	37	8	heap	heap	NOUN
fcis-30392	37	9	to	to	PART
fcis-30392	37	10	optimize	optimize	VERB
fcis-30392	37	11	node	node	ADJ
fcis-30392	37	12	expansion	expansion	NOUN
fcis-30392	37	13	efficiency	efficiency	NOUN
fcis-30392	37	14	,	,	PUNCT
fcis-30392	37	15	achieving	achieve	VERB
fcis-30392	37	16	path	path	NOUN
fcis-30392	37	17	planning	planning	NOUN
fcis-30392	37	18	times	time	NOUN
fcis-30392	37	19	≤200	≤200	PROPN
fcis-30392	37	20	ms	ms	NOUN
fcis-30392	37	21	for	for	ADP
fcis-30392	37	22	10,000cell	10,000cell	NUM
fcis-30392	37	23	grid	grid	NOUN
fcis-30392	37	24	maps	map	NOUN
fcis-30392	37	25	.	.	PUNCT
fcis-30392	38	1	local	local	ADJ
fcis-30392	38	2	obstacle	obstacle	NOUN
fcis-30392	38	3	avoidance	avoidance	NOUN
fcis-30392	38	4	applies	apply	VERB
fcis-30392	38	5	the	the	DET
fcis-30392	38	6	dynamic	dynamic	ADJ
fcis-30392	38	7	window	window	NOUN
fcis-30392	38	8	approach	approach	NOUN
fcis-30392	38	9	(	(	PUNCT
fcis-30392	38	10	dwa	dwa	PROPN
fcis-30392	38	11	)	)	PUNCT
fcis-30392	38	12	,	,	PUNCT
fcis-30392	38	13	with	with	ADP
fcis-30392	38	14	velocity	velocity	NOUN
fcis-30392	38	15	sampling	sample	VERB
fcis-30392	38	16	space	space	NOUN
fcis-30392	38	17	limited	limit	VERB
fcis-30392	38	18	to	to	ADP
fcis-30392	38	19	v∈[0,1.5	v∈[0,1.5	PROPN
fcis-30392	38	20	 	 	SPACE
fcis-30392	38	21	m	m	PROPN
fcis-30392	38	22	/	/	SYM
fcis-30392	38	23	s],ω∈[−0.8,0.8	s],ω∈[−0.8,0.8	ADJ
fcis-30392	38	24	]	]	PUNCT
fcis-30392	38	25	 	 	SPACE
fcis-30392	38	26	rad	rad	PROPN
fcis-30392	38	27	/	/	SYM
fcis-30392	38	28	s.	s.	PROPN
fcis-30392	38	29	the	the	DET
fcis-30392	38	30	evaluation	evaluation	NOUN
fcis-30392	38	31	function	function	NOUN
fcis-30392	38	32	integrates	integrate	VERB
fcis-30392	38	33	three	three	NUM
fcis-30392	38	34	metrics	metric	NOUN
fcis-30392	38	35	:	:	PUNCT
fcis-30392	38	36	g(v	g(v	NOUN
fcis-30392	38	37	,	,	PUNCT
fcis-30392	38	38	ω)=0.6*headingalign+0.3*obstacledist+0.1*velocitypref	ω)=0.6*headingalign+0.3*obstacledist+0.1*velocitypref	PROPN
fcis-30392	38	39	here	here	ADV
fcis-30392	38	40	,	,	PUNCT
fcis-30392	38	41	path	path	NOUN
fcis-30392	38	42	alignment	alignment	NOUN
fcis-30392	38	43	(	(	PUNCT
fcis-30392	38	44	headingalign	headingalign	NOUN
fcis-30392	38	45	)	)	PUNCT
fcis-30392	38	46	is	be	AUX
fcis-30392	38	47	calculated	calculate	VERB
fcis-30392	38	48	via	via	ADP
fcis-30392	38	49	cosine	cosine	NOUN
fcis-30392	38	50	similarity	similarity	NOUN
fcis-30392	38	51	,	,	PUNCT
fcis-30392	38	52	obstacle	obstacle	NOUN
fcis-30392	38	53	distance	distance	NOUN
fcis-30392	38	54	(	(	PUNCT
fcis-30392	38	55	obstacledist	obstacledist	NOUN
fcis-30392	38	56	)	)	PUNCT
fcis-30392	38	57	via	via	ADP
fcis-30392	38	58	lidar	lidar	NOUN
fcis-30392	38	59	point	point	NOUN
fcis-30392	38	60	cloud	cloud	ADJ
fcis-30392	38	61	nearest	near	ADJ
fcis-30392	38	62	-	-	PUNCT
fcis-30392	38	63	neighbor	neighbor	NOUN
fcis-30392	38	64	search	search	NOUN
fcis-30392	38	65	,	,	PUNCT
fcis-30392	38	66	and	and	CCONJ
fcis-30392	38	67	velocity	velocity	NOUN
fcis-30392	38	68	preference	preference	NOUN
fcis-30392	38	69	(	(	PUNCT
fcis-30392	38	70	velocitypref	velocitypref	NOUN
fcis-30392	38	71	)	)	PUNCT
fcis-30392	38	72	correlates	correlate	VERB
fcis-30392	38	73	with	with	ADP
fcis-30392	38	74	task	task	NOUN
fcis-30392	38	75	urgency	urgency	NOUN
fcis-30392	38	76	.	.	PUNCT
fcis-30392	39	1	code	code	NOUN
fcis-30392	39	2	example	example	NOUN
fcis-30392	39	3	(	(	PUNCT
fcis-30392	39	4	python	python	NOUN
fcis-30392	39	5	):	):	PUNCT
fcis-30392	39	6	#	#	NOUN
fcis-30392	39	7	core	core	NOUN
fcis-30392	39	8	logic	logic	NOUN
fcis-30392	39	9	of	of	ADP
fcis-30392	39	10	dynamic	dynamic	ADJ
fcis-30392	39	11	-	-	PUNCT
fcis-30392	39	12	weight	weight	NOUN
fcis-30392	39	13	a	a	DET
fcis-30392	39	14	*	*	PUNCT
fcis-30392	39	15	algorithm	algorithm	PROPN
fcis-30392	39	16	def	def	PROPN
fcis-30392	39	17	improved_astar(start_node	improved_astar(start_node	PROPN
fcis-30392	39	18	,	,	PUNCT
fcis-30392	39	19	goal_node	goal_node	PROPN
fcis-30392	39	20	,	,	PUNCT
fcis-30392	39	21	battery_level	battery_level	PROPN
fcis-30392	39	22	):	):	PUNCT
fcis-30392	39	23	open_set	open_set	NOUN
fcis-30392	39	24	=	=	SYM
fcis-30392	39	25	priorityqueue	priorityqueue	NOUN
fcis-30392	39	26	(	(	PUNCT
fcis-30392	39	27	)	)	PUNCT
fcis-30392	39	28	open_set.put(start_node	open_set.put(start_node	NUM
fcis-30392	39	29	,	,	PUNCT
fcis-30392	39	30	0	0	NUM
fcis-30392	39	31	)	)	PUNCT
fcis-30392	39	32	came_from	came_from	NOUN
fcis-30392	40	1	=	=	PUNCT
fcis-30392	40	2	{	{	PUNCT
fcis-30392	40	3	}	}	PUNCT
fcis-30392	40	4	#	#	NOUN
fcis-30392	40	5	path	path	NOUN
fcis-30392	40	6	backtracking	backtrack	VERB
fcis-30392	40	7	dictionary	dictionary	NOUN
fcis-30392	40	8	g_score	g_score	ADJ
fcis-30392	40	9	=	=	PUNCT
fcis-30392	40	10	defaultdict(lambda	defaultdict(lambda	PROPN
fcis-30392	40	11	:	:	PUNCT
fcis-30392	40	12	float('inf	float('inf	NOUN
fcis-30392	40	13	'	'	PUNCT
fcis-30392	40	14	)	)	PUNCT
fcis-30392	40	15	)	)	PUNCT
fcis-30392	41	1	g_score[start_node	g_score[start_node	X
fcis-30392	41	2	]	]	PUNCT
fcis-30392	42	1	=	=	SYM
fcis-30392	42	2	0	0	PUNCT
fcis-30392	42	3	while	while	SCONJ
fcis-30392	42	4	not	not	PART
fcis-30392	42	5	open_set.empty	open_set.empty	ADV
fcis-30392	42	6	(	(	PUNCT
fcis-30392	42	7	):	):	PUNCT
fcis-30392	42	8	current	current	ADJ
fcis-30392	42	9	=	=	SYM
fcis-30392	42	10	open_set.get	open_set.get	NOUN
fcis-30392	42	11	(	(	PUNCT
fcis-30392	42	12	)	)	PUNCT
fcis-30392	42	13	if	if	SCONJ
fcis-30392	42	14	current	current	ADJ
fcis-30392	42	15	=	=	NOUN
fcis-30392	42	16	=	=	SYM
fcis-30392	42	17	goal_node	goal_node	PROPN
fcis-30392	42	18	:	:	PUNCT
fcis-30392	42	19	return	return	VERB
fcis-30392	42	20	reconstruct_path(came_from	reconstruct_path(came_from	ADP
fcis-30392	42	21	,	,	PUNCT
fcis-30392	42	22	current	current	ADJ
fcis-30392	42	23	)	)	PUNCT
fcis-30392	42	24	for	for	ADP
fcis-30392	42	25	neighbor	neighbor	NOUN
fcis-30392	42	26	in	in	ADP
fcis-30392	42	27	get_neighbors(current	get_neighbors(current	PROPN
fcis-30392	42	28	):	):	PUNCT
fcis-30392	42	29	#	#	NOUN
fcis-30392	42	30	calculate	calculate	NOUN
fcis-30392	42	31	actual	actual	ADJ
fcis-30392	42	32	movement	movement	NOUN
fcis-30392	42	33	cost	cost	NOUN
fcis-30392	42	34	(	(	PUNCT
fcis-30392	42	35	considering	consider	VERB
fcis-30392	42	36	terrain	terrain	NOUN
fcis-30392	42	37	slope	slope	NOUN
fcis-30392	42	38	)	)	PUNCT
fcis-30392	42	39	tentative_g	tentative_g	NOUN
fcis-30392	42	40	=	=	NOUN
fcis-30392	42	41	g_score[current	g_score[current	NOUN
fcis-30392	42	42	]	]	PUNCT
fcis-30392	42	43	+	+	CCONJ
fcis-30392	42	44	calculate_terrain_cost(current	calculate_terrain_cost(current	ADJ
fcis-30392	42	45	,	,	PUNCT
fcis-30392	42	46	neighbor	neighbor	NOUN
fcis-30392	42	47	)	)	PUNCT
fcis-30392	42	48	if	if	SCONJ
fcis-30392	42	49	tentative_g	tentative_g	NOUN
fcis-30392	42	50	<	<	X
fcis-30392	42	51	g_score[neighbor	g_score[neighbor	NOUN
fcis-30392	42	52	]	]	X
fcis-30392	42	53	:	:	PUNCT
fcis-30392	42	54	came_from[neighbor	came_from[neighbor	X
fcis-30392	42	55	]	]	PUNCT
fcis-30392	42	56	=	=	SYM
fcis-30392	42	57	current	current	ADJ
fcis-30392	42	58	g_score[neighbor	g_score[neighbor	NOUN
fcis-30392	42	59	]	]	PUNCT
fcis-30392	42	60	=	=	SYM
fcis-30392	42	61	tentative_g	tentative_g	NOUN
fcis-30392	42	62	#	#	NOUN
fcis-30392	42	63	dynamically	dynamically	ADV
fcis-30392	42	64	adjust	adjust	VERB
fcis-30392	42	65	heuristic	heuristic	ADJ
fcis-30392	42	66	weight	weight	NOUN
fcis-30392	42	67	λ	λ	PROPN
fcis-30392	42	68	(	(	PUNCT
fcis-30392	42	69	based	base	VERB
fcis-30392	42	70	on	on	ADP
fcis-30392	42	71	battery	battery	NOUN
fcis-30392	42	72	level	level	NOUN
fcis-30392	42	73	)	)	PUNCT
fcis-30392	43	1	lambda_weight	lambda_weight	ADJ
fcis-30392	43	2	=	=	PUNCT
fcis-30392	44	1	0.8	0.8	NUM
fcis-30392	44	2	+	+	NUM
fcis-30392	44	3	0.4	0.4	NUM
fcis-30392	44	4	*	*	PUNCT
fcis-30392	44	5	(	(	PUNCT
fcis-30392	44	6	1	1	NUM
fcis-30392	44	7	battery_level	battery_level	NOUN
fcis-30392	44	8	)	)	PUNCT
fcis-30392	44	9	h	h	NOUN
fcis-30392	44	10	=	=	SYM
fcis-30392	44	11	heuristic(neighbor	heuristic(neighbor	PROPN
fcis-30392	44	12	,	,	PUNCT
fcis-30392	44	13	goal_node	goal_node	PROPN
fcis-30392	44	14	)	)	PUNCT
fcis-30392	44	15	f_score	f_score	NOUN
fcis-30392	44	16	=	=	NOUN
fcis-30392	44	17	tentative_g	tentative_g	NOUN
fcis-30392	45	1	+	+	X
fcis-30392	45	2	lambda_weight	lambda_weight	ADJ
fcis-30392	45	3	*	*	PUNCT
fcis-30392	45	4	h	h	NOUN
fcis-30392	45	5	open_set.put(neighbor	open_set.put(neighbor	ADJ
fcis-30392	45	6	,	,	PUNCT
fcis-30392	45	7	f_score	f_score	NOUN
fcis-30392	45	8	)	)	PUNCT
fcis-30392	45	9	return	return	NOUN
fcis-30392	45	10	none	none	NOUN
fcis-30392	45	11	#	#	NOUN
fcis-30392	45	12	no	no	DET
fcis-30392	45	13	feasible	feasible	ADJ
fcis-30392	45	14	path	path	NOUN
fcis-30392	45	15	found	find	VERB
fcis-30392	45	16	(	(	PUNCT
fcis-30392	45	17	3	3	X
fcis-30392	45	18	)	)	PUNCT
fcis-30392	45	19	multi	multi	ADJ
fcis-30392	45	20	-	-	ADJ
fcis-30392	45	21	level	level	ADJ
fcis-30392	45	22	fault	fault	NOUN
fcis-30392	45	23	-	-	PUNCT
fcis-30392	45	24	tolerant	tolerant	ADJ
fcis-30392	45	25	mechanism	mechanism	NOUN
fcis-30392	45	26	hardware	hardware	NOUN
fcis-30392	45	27	redundancy	redundancy	NOUN
fcis-30392	45	28	adopts	adopt	VERB
fcis-30392	45	29	a	a	DET
fcis-30392	45	30	dual	dual	ADJ
fcis-30392	45	31	can	can	AUX
fcis-30392	45	32	bus	bus	NOUN
fcis-30392	45	33	architecture	architecture	NOUN
fcis-30392	45	34	:	:	PUNCT
fcis-30392	45	35	the	the	DET
fcis-30392	45	36	primary	primary	ADJ
fcis-30392	45	37	bus	bus	NOUN
fcis-30392	45	38	(	(	PUNCT
fcis-30392	45	39	500	500	NUM
fcis-30392	45	40	kbps	kbps	NOUN
fcis-30392	45	41	)	)	PUNCT
fcis-30392	45	42	and	and	CCONJ
fcis-30392	45	43	backup	backup	ADJ
fcis-30392	45	44	bus	bus	NOUN
fcis-30392	45	45	(	(	PUNCT
fcis-30392	45	46	250	250	NUM
fcis-30392	45	47	kbps	kbps	NOUN
fcis-30392	45	48	)	)	PUNCT
fcis-30392	45	49	achieve	achieve	VERB
fcis-30392	45	50	seamless	seamless	ADJ
fcis-30392	45	51	switching	switching	NOUN
fcis-30392	45	52	via	via	ADP
fcis-30392	45	53	heartbeat	heartbeat	NOUN
fcis-30392	45	54	monitoring	monitoring	NOUN
fcis-30392	45	55	,	,	PUNCT
fcis-30392	45	56	with	with	ADP
fcis-30392	45	57	communication	communication	NOUN
fcis-30392	45	58	recovery	recovery	NOUN
fcis-30392	45	59	time	time	NOUN
fcis-30392	45	60	≤10	≤10	PROPN
fcis-30392	45	61	ms	ms	PROPN
fcis-30392	45	62	.	.	PROPN
fcis-30392	45	63	software	software	PROPN
fcis-30392	45	64	degradation	degradation	NOUN
fcis-30392	45	65	employs	employ	VERB
fcis-30392	45	66	a	a	DET
fcis-30392	45	67	finite	finite	ADJ
fcis-30392	45	68	state	state	NOUN
fcis-30392	45	69	machine	machine	NOUN
fcis-30392	45	70	;	;	PUNCT
fcis-30392	45	71	if	if	SCONJ
fcis-30392	45	72	lidar	lidar	NOUN
fcis-30392	45	73	fails	fail	VERB
fcis-30392	45	74	,	,	PUNCT
fcis-30392	45	75	the	the	DET
fcis-30392	45	76	system	system	NOUN
fcis-30392	45	77	switches	switch	VERB
fcis-30392	45	78	to	to	ADP
fcis-30392	45	79	magnetic	magnetic	ADJ
fcis-30392	45	80	guidance	guidance	NOUN
fcis-30392	45	81	as	as	ADP
fcis-30392	45	82	the	the	DET
fcis-30392	45	83	primary	primary	ADJ
fcis-30392	45	84	mode	mode	NOUN
fcis-30392	45	85	,	,	PUNCT
fcis-30392	45	86	compensates	compensate	VERB
fcis-30392	45	87	localization	localization	NOUN
fcis-30392	45	88	via	via	ADP
fcis-30392	45	89	historical	historical	ADJ
fcis-30392	45	90	path	path	NOUN
fcis-30392	45	91	interpolation	interpolation	NOUN
fcis-30392	45	92	,	,	PUNCT
fcis-30392	45	93	and	and	CCONJ
fcis-30392	45	94	maintains	maintain	VERB
fcis-30392	45	95	task	task	NOUN
fcis-30392	45	96	success	success	NOUN
fcis-30392	45	97	rates	rate	NOUN
fcis-30392	45	98	≥85	≥85	PRON
fcis-30392	45	99	%	%	NOUN
fcis-30392	45	100	.	.	PUNCT
fcis-30392	46	1	the	the	DET
fcis-30392	46	2	anomaly	anomaly	NOUN
fcis-30392	46	3	handling	handling	NOUN
fcis-30392	46	4	process	process	NOUN
fcis-30392	46	5	integrates	integrate	VERB
fcis-30392	46	6	an	an	DET
fcis-30392	46	7	online	online	ADJ
fcis-30392	46	8	diagnostic	diagnostic	ADJ
fcis-30392	46	9	engine	engine	NOUN
fcis-30392	46	10	,	,	PUNCT
fcis-30392	46	11	monitoring	monitor	VERB
fcis-30392	46	12	17	17	NUM
fcis-30392	46	13	49	49	NUM
fcis-30392	46	14	device	device	NOUN
fcis-30392	46	15	parameters	parameter	NOUN
fcis-30392	46	16	(	(	PUNCT
fcis-30392	46	17	e.g.	e.g.	ADV
fcis-30392	46	18	,	,	PUNCT
fcis-30392	46	19	motor	motor	NOUN
fcis-30392	46	20	temperature	temperature	NOUN
fcis-30392	46	21	,	,	PUNCT
fcis-30392	46	22	battery	battery	NOUN
fcis-30392	46	23	soh	soh	PROPN
fcis-30392	46	24	)	)	PUNCT
fcis-30392	46	25	.	.	PUNCT
fcis-30392	47	1	anomalies	anomaly	NOUN
fcis-30392	47	2	are	be	AUX
fcis-30392	47	3	reported	report	VERB
fcis-30392	47	4	via	via	ADP
fcis-30392	47	5	rocketmq	rocketmq	ADJ
fcis-30392	47	6	priority	priority	NOUN
fcis-30392	47	7	queues	queue	NOUN
fcis-30392	47	8	,	,	PUNCT
fcis-30392	47	9	and	and	CCONJ
fcis-30392	47	10	the	the	DET
fcis-30392	47	11	task	task	NOUN
fcis-30392	47	12	scheduler	scheduler	NOUN
fcis-30392	47	13	dynamically	dynamically	ADV
fcis-30392	47	14	reallocates	reallocate	VERB
fcis-30392	47	15	agv	agv	NOUN
fcis-30392	47	16	tasks	task	NOUN
fcis-30392	47	17	while	while	SCONJ
fcis-30392	47	18	triggering	trigger	VERB
fcis-30392	47	19	audible	audible	ADJ
fcis-30392	47	20	/	/	SYM
fcis-30392	47	21	visual	visual	ADJ
fcis-30392	47	22	alarms	alarm	NOUN
fcis-30392	47	23	,	,	PUNCT
fcis-30392	47	24	achieving	achieve	VERB
fcis-30392	47	25	end	end	NOUN
fcis-30392	47	26	-	-	PUNCT
fcis-30392	47	27	to	to	ADP
fcis-30392	47	28	-	-	PUNCT
fcis-30392	47	29	end	end	NOUN
fcis-30392	47	30	response	response	NOUN
fcis-30392	47	31	latency	latency	NOUN
fcis-30392	47	32	≤1	≤1	PROPN
fcis-30392	47	33	s.	s.	PROPN
fcis-30392	47	34	figure	figure	VERB
fcis-30392	47	35	2	2	NUM
fcis-30392	47	36	.	.	PUNCT
fcis-30392	47	37	agv	agv	NOUN
fcis-30392	47	38	prototype	prototype	PROPN
fcis-30392	47	39	test	test	NOUN
fcis-30392	47	40	diagram	diagram	NOUN
fcis-30392	47	41	4	4	NUM
fcis-30392	47	42	.	.	PUNCT
fcis-30392	48	1	warehouse	warehouse	NOUN
fcis-30392	48	2	visualization	visualization	NOUN
fcis-30392	48	3	system	system	NOUN
fcis-30392	48	4	design	design	NOUN
fcis-30392	48	5	(	(	PUNCT
fcis-30392	48	6	1	1	NUM
fcis-30392	48	7	)	)	PUNCT
fcis-30392	48	8	hybrid	hybrid	ADJ
fcis-30392	48	9	visualization	visualization	NOUN
fcis-30392	48	10	architecture	architecture	NOUN
fcis-30392	48	11	the	the	DET
fcis-30392	48	12	system	system	NOUN
fcis-30392	48	13	adopts	adopt	VERB
fcis-30392	48	14	a	a	DET
fcis-30392	48	15	"	"	PUNCT
fcis-30392	48	16	3d	3d	NUM
fcis-30392	48	17	scene	scene	NOUN
fcis-30392	48	18	+	+	CCONJ
fcis-30392	48	19	2d	2d	NUM
fcis-30392	48	20	dashboard	dashboard	NOUN
fcis-30392	48	21	"	"	PUNCT
fcis-30392	48	22	hybrid	hybrid	ADJ
fcis-30392	48	23	architecture	architecture	NOUN
fcis-30392	48	24	as	as	ADP
fcis-30392	48	25	figure	figure	NOUN
fcis-30392	48	26	3	3	NUM
fcis-30392	48	27	.	.	PUNCT
fcis-30392	49	1	the	the	DET
fcis-30392	49	2	three.js	three.js	NUM
fcis-30392	49	3	engine	engine	NOUN
fcis-30392	49	4	renders	render	VERB
fcis-30392	49	5	the	the	DET
fcis-30392	49	6	3d	3d	NUM
fcis-30392	49	7	warehouse	warehouse	NOUN
fcis-30392	49	8	model	model	NOUN
fcis-30392	49	9	,	,	PUNCT
fcis-30392	49	10	while	while	SCONJ
fcis-30392	49	11	echarts	echart	VERB
fcis-30392	49	12	2d	2d	NOUN
fcis-30392	49	13	charts	chart	NOUN
fcis-30392	49	14	enable	enable	VERB
fcis-30392	49	15	multidimensional	multidimensional	ADJ
fcis-30392	49	16	data	datum	NOUN
fcis-30392	49	17	linkage[4	linkage[4	PROPN
fcis-30392	49	18	]	]	PUNCT
fcis-30392	49	19	.	.	PUNCT
fcis-30392	50	1	the	the	DET
fcis-30392	50	2	3d	3d	PROPN
fcis-30392	50	3	scene	scene	NOUN
fcis-30392	50	4	loads	load	VERB
fcis-30392	50	5	shelf	shelf	NOUN
fcis-30392	50	6	and	and	CCONJ
fcis-30392	50	7	agv	agv	NOUN
fcis-30392	50	8	models	model	NOUN
fcis-30392	50	9	in	in	ADP
fcis-30392	50	10	lightweight	lightweight	ADJ
fcis-30392	50	11	glb	glb	NOUN
fcis-30392	50	12	format	format	NOUN
fcis-30392	50	13	,	,	PUNCT
fcis-30392	50	14	reducing	reduce	VERB
fcis-30392	50	15	memory	memory	NOUN
fcis-30392	50	16	usage	usage	NOUN
fcis-30392	50	17	(	(	PUNCT
fcis-30392	50	18	≤500	≤500	NUM
fcis-30392	50	19	polygons	polygon	NOUN
fcis-30392	50	20	per	per	ADP
fcis-30392	50	21	shelf	shelf	NOUN
fcis-30392	50	22	)	)	PUNCT
fcis-30392	50	23	via	via	ADP
fcis-30392	50	24	webgl	webgl	NOUN
fcis-30392	50	25	instancing	instancing	NOUN
fcis-30392	50	26	,	,	PUNCT
fcis-30392	50	27	and	and	CCONJ
fcis-30392	50	28	supports	support	VERB
fcis-30392	50	29	zooming	zooming	NOUN
fcis-30392	50	30	and	and	CCONJ
fcis-30392	50	31	drag	drag	NOUN
fcis-30392	50	32	interactions	interaction	NOUN
fcis-30392	50	33	.	.	PUNCT
fcis-30392	51	1	the	the	DET
fcis-30392	51	2	2d	2d	PROPN
fcis-30392	51	3	dashboard	dashboard	NOUN
fcis-30392	51	4	subscribes	subscribe	VERB
fcis-30392	51	5	to	to	PART
fcis-30392	51	6	edge	edge	VERB
fcis-30392	51	7	node	node	ADJ
fcis-30392	51	8	data	datum	NOUN
fcis-30392	51	9	via	via	ADP
fcis-30392	51	10	websocket	websocket	NOUN
fcis-30392	51	11	,	,	PUNCT
fcis-30392	51	12	dynamically	dynamically	ADV
fcis-30392	51	13	generating	generate	VERB
fcis-30392	51	14	task	task	NOUN
fcis-30392	51	15	efficiency	efficiency	NOUN
fcis-30392	51	16	line	line	NOUN
fcis-30392	51	17	charts	chart	NOUN
fcis-30392	51	18	,	,	PUNCT
fcis-30392	51	19	inventory	inventory	NOUN
fcis-30392	51	20	heatmaps	heatmap	NOUN
fcis-30392	51	21	,	,	PUNCT
fcis-30392	51	22	and	and	CCONJ
fcis-30392	51	23	equipment	equipment	NOUN
fcis-30392	51	24	health	health	NOUN
fcis-30392	51	25	gauges	gauge	NOUN
fcis-30392	51	26	.	.	PUNCT
fcis-30392	52	1	data	datum	NOUN
fcis-30392	52	2	flows	flow	VERB
fcis-30392	52	3	through	through	ADP
fcis-30392	52	4	a	a	DET
fcis-30392	52	5	unified	unified	ADJ
fcis-30392	52	6	message	message	NOUN
fcis-30392	52	7	bus	bus	NOUN
fcis-30392	52	8	(	(	PUNCT
fcis-30392	52	9	rocketmq	rocketmq	NOUN
fcis-30392	52	10	)	)	PUNCT
fcis-30392	52	11	to	to	PART
fcis-30392	52	12	synchronize	synchronize	VERB
fcis-30392	52	13	3d	3d	NUM
fcis-30392	52	14	and	and	CCONJ
fcis-30392	52	15	2d	2d	NUM
fcis-30392	52	16	components	component	NOUN
fcis-30392	52	17	,	,	PUNCT
fcis-30392	52	18	ensuring	ensure	VERB
fcis-30392	52	19	global	global	ADJ
fcis-30392	52	20	data	datum	NOUN
fcis-30392	52	21	consistency	consistency	NOUN
fcis-30392	52	22	.	.	PUNCT
fcis-30392	53	1	figure	figure	NOUN
fcis-30392	53	2	3	3	NUM
fcis-30392	53	3	.	.	PUNCT
fcis-30392	53	4	hybrid	hybrid	ADJ
fcis-30392	53	5	visualization	visualization	NOUN
fcis-30392	53	6	architecture	architecture	NOUN
fcis-30392	53	7	diagram	diagram	NOUN
fcis-30392	53	8	(	(	PUNCT
fcis-30392	53	9	2	2	X
fcis-30392	53	10	)	)	PUNCT
fcis-30392	53	11	anomaly	anomaly	NOUN
fcis-30392	53	12	warning	warning	NOUN
fcis-30392	53	13	and	and	CCONJ
fcis-30392	53	14	interaction	interaction	NOUN
fcis-30392	53	15	design	design	VERB
fcis-30392	53	16	the	the	DET
fcis-30392	53	17	system	system	NOUN
fcis-30392	53	18	implements	implement	VERB
fcis-30392	53	19	abnormal	abnormal	ADJ
fcis-30392	53	20	visualization	visualization	NOUN
fcis-30392	53	21	through	through	ADP
fcis-30392	53	22	a	a	DET
fcis-30392	53	23	cross	cross	ADJ
fcis-30392	53	24	-	-	ADJ
fcis-30392	53	25	dimensional	dimensional	ADJ
fcis-30392	53	26	alarm	alarm	NOUN
fcis-30392	53	27	linkage	linkage	NOUN
fcis-30392	53	28	mechanism	mechanism	NOUN
fcis-30392	53	29	:	:	PUNCT
fcis-30392	53	30	when	when	SCONJ
fcis-30392	53	31	glm-4v	glm-4v	PROPN
fcis-30392	53	32	detects	detect	VERB
fcis-30392	53	33	cargo	cargo	NOUN
fcis-30392	53	34	tilting	tilting	NOUN
fcis-30392	53	35	,	,	PUNCT
fcis-30392	53	36	dynamic	dynamic	ADJ
fcis-30392	53	37	red	red	ADJ
fcis-30392	53	38	patches	patch	NOUN
fcis-30392	53	39	with	with	ADP
fcis-30392	53	40	transparency	transparency	NOUN
fcis-30392	53	41	increasing	increase	VERB
fcis-30392	53	42	with	with	ADP
fcis-30392	53	43	risk	risk	NOUN
fcis-30392	53	44	levels	level	NOUN
fcis-30392	53	45	are	be	AUX
fcis-30392	53	46	generated	generate	VERB
fcis-30392	53	47	in	in	ADP
fcis-30392	53	48	the	the	DET
fcis-30392	53	49	corresponding	corresponding	ADJ
fcis-30392	53	50	area	area	NOUN
fcis-30392	53	51	of	of	ADP
fcis-30392	53	52	the	the	DET
fcis-30392	53	53	2d	2d	PROPN
fcis-30392	53	54	thermal	thermal	ADJ
fcis-30392	53	55	map	map	NOUN
fcis-30392	53	56	,	,	PUNCT
fcis-30392	53	57	while	while	SCONJ
fcis-30392	53	58	real	real	ADJ
fcis-30392	53	59	-	-	PUNCT
fcis-30392	53	60	time	time	NOUN
fcis-30392	53	61	surveillance	surveillance	NOUN
fcis-30392	53	62	thumbnail	thumbnail	NOUN
fcis-30392	53	63	of	of	ADP
fcis-30392	53	64	the	the	DET
fcis-30392	53	65	abnormal	abnormal	ADJ
fcis-30392	53	66	shelf	shelf	NOUN
fcis-30392	53	67	is	be	AUX
fcis-30392	53	68	displayed	display	VERB
fcis-30392	53	69	in	in	ADP
fcis-30392	53	70	a	a	DET
fcis-30392	53	71	pop	pop	VERB
fcis-30392	53	72	-	-	PUNCT
fcis-30392	53	73	up	up	ADP
fcis-30392	53	74	window	window	NOUN
fcis-30392	53	75	.	.	PUNCT
fcis-30392	54	1	agv	agv	NOUN
fcis-30392	54	2	fault	fault	NOUN
fcis-30392	54	3	events	event	NOUN
fcis-30392	54	4	are	be	AUX
fcis-30392	54	5	presented	present	VERB
fcis-30392	54	6	with	with	ADP
fcis-30392	54	7	dual	dual	ADJ
fcis-30392	54	8	identification	identification	NOUN
fcis-30392	54	9	methods	method	NOUN
fcis-30392	54	10	topological	topological	ADJ
fcis-30392	54	11	graph	graph	NOUN
fcis-30392	54	12	nodes	node	NOUN
fcis-30392	54	13	show	show	VERB
fcis-30392	54	14	color	color	NOUN
fcis-30392	54	15	gradient	gradient	NOUN
fcis-30392	54	16	changes	change	NOUN
fcis-30392	54	17	(	(	PUNCT
fcis-30392	54	18	green→yellow→red	green→yellow→re	VERB
fcis-30392	54	19	)	)	PUNCT
fcis-30392	54	20	reflecting	reflect	VERB
fcis-30392	54	21	health	health	NOUN
fcis-30392	54	22	decay	decay	NOUN
fcis-30392	54	23	trend	trend	NOUN
fcis-30392	54	24	,	,	PUNCT
fcis-30392	54	25	and	and	CCONJ
fcis-30392	54	26	time	time	NOUN
fcis-30392	54	27	stamps	stamp	NOUN
fcis-30392	54	28	on	on	ADP
fcis-30392	54	29	the	the	DET
fcis-30392	54	30	line	line	NOUN
fcis-30392	54	31	chart	chart	NOUN
fcis-30392	54	32	are	be	AUX
fcis-30392	54	33	inserted	insert	VERB
fcis-30392	54	34	with	with	ADP
fcis-30392	54	35	breakpoint	breakpoint	NOUN
fcis-30392	54	36	markers	marker	NOUN
fcis-30392	54	37	associated	associate	VERB
fcis-30392	54	38	with	with	ADP
fcis-30392	54	39	maintenance	maintenance	NOUN
fcis-30392	54	40	work	work	NOUN
fcis-30392	54	41	order	order	NOUN
fcis-30392	54	42	numbers	number	NOUN
fcis-30392	54	43	.	.	PUNCT
fcis-30392	55	1	the	the	DET
fcis-30392	55	2	interactive	interactive	ADJ
fcis-30392	55	3	design	design	NOUN
fcis-30392	55	4	includes	include	VERB
fcis-30392	55	5	three	three	NUM
fcis-30392	55	6	-	-	PUNCT
fcis-30392	55	7	level	level	NOUN
fcis-30392	55	8	penetration	penetration	NOUN
fcis-30392	55	9	analysis	analysis	NOUN
fcis-30392	55	10	:	:	PUNCT
fcis-30392	55	11	1	1	X
fcis-30392	55	12	)	)	PUNCT
fcis-30392	55	13	clicking	click	VERB
fcis-30392	55	14	thermal	thermal	ADJ
fcis-30392	55	15	map	map	NOUN
fcis-30392	55	16	patches	patch	NOUN
fcis-30392	55	17	triggers	trigger	VERB
fcis-30392	55	18	3d	3d	NUM
fcis-30392	55	19	scene	scene	NOUN
fcis-30392	55	20	perspective	perspective	NOUN
fcis-30392	55	21	focusing	focus	VERB
fcis-30392	55	22	;	;	PUNCT
fcis-30392	55	23	2	2	X
fcis-30392	55	24	)	)	PUNCT
fcis-30392	55	25	double	double	ADJ
fcis-30392	55	26	-	-	PUNCT
fcis-30392	55	27	clicking	click	VERB
fcis-30392	55	28	topological	topological	ADJ
fcis-30392	55	29	nodes	node	NOUN
fcis-30392	55	30	expands	expand	VERB
fcis-30392	55	31	equipment	equipment	NOUN
fcis-30392	55	32	sensor	sensor	NOUN
fcis-30392	55	33	time	time	NOUN
fcis-30392	55	34	-	-	PUNCT
fcis-30392	55	35	series	series	NOUN
fcis-30392	55	36	curves	curve	NOUN
fcis-30392	55	37	(	(	PUNCT
fcis-30392	55	38	voltage	voltage	NOUN
fcis-30392	55	39	,	,	PUNCT
fcis-30392	55	40	temperature	temperature	NOUN
fcis-30392	55	41	,	,	PUNCT
fcis-30392	55	42	etc	etc	X
fcis-30392	55	43	.	.	X
fcis-30392	55	44	)	)	PUNCT
fcis-30392	55	45	;	;	PUNCT
fcis-30392	55	46	3	3	X
fcis-30392	55	47	)	)	PUNCT
fcis-30392	55	48	dragging	drag	VERB
fcis-30392	55	49	the	the	DET
fcis-30392	55	50	timeline	timeline	NOUN
fcis-30392	55	51	initiates	initiate	VERB
fcis-30392	55	52	global	global	ADJ
fcis-30392	55	53	data	datum	NOUN
fcis-30392	55	54	backtracking	backtrack	VERB
fcis-30392	55	55	,	,	PUNCT
fcis-30392	55	56	supporting	support	VERB
fcis-30392	55	57	historical	historical	ADJ
fcis-30392	55	58	comparison	comparison	NOUN
fcis-30392	55	59	analysis	analysis	NOUN
fcis-30392	55	60	of	of	ADP
fcis-30392	55	61	agv	agv	NOUN
fcis-30392	55	62	trajectories	trajectory	NOUN
fcis-30392	55	63	and	and	CCONJ
fcis-30392	55	64	inventory	inventory	NOUN
fcis-30392	55	65	status	status	NOUN
fcis-30392	55	66	.	.	PUNCT
fcis-30392	56	1	(	(	PUNCT
fcis-30392	56	2	3	3	X
fcis-30392	56	3	)	)	PUNCT
fcis-30392	56	4	performance	performance	NOUN
fcis-30392	56	5	optimization	optimization	NOUN
fcis-30392	56	6	data	data	NOUN
fcis-30392	56	7	transmission	transmission	NOUN
fcis-30392	56	8	optimization	optimization	NOUN
fcis-30392	56	9	:	:	PUNCT
fcis-30392	56	10	high	high	ADJ
fcis-30392	56	11	-	-	PUNCT
fcis-30392	56	12	frequency	frequency	NOUN
fcis-30392	56	13	data	data	NOUN
fcis-30392	56	14	streams	stream	NOUN
fcis-30392	56	15	(	(	PUNCT
fcis-30392	56	16	agv	agv	NOUN
fcis-30392	56	17	coordinates	coordinate	NOUN
fcis-30392	56	18	,	,	PUNCT
fcis-30392	56	19	sensor	sensor	NOUN
fcis-30392	56	20	readings	reading	NOUN
fcis-30392	56	21	)	)	PUNCT
fcis-30392	56	22	use	use	VERB
fcis-30392	56	23	delta	delta	NOUN
fcis-30392	56	24	encoding	encode	VERB
fcis-30392	56	25	to	to	PART
fcis-30392	56	26	eliminate	eliminate	VERB
fcis-30392	56	27	redundant	redundant	ADJ
fcis-30392	56	28	information	information	NOUN
fcis-30392	56	29	(	(	PUNCT
fcis-30392	56	30	e.g.	e.g.	ADV
fcis-30392	56	31	,	,	PUNCT
fcis-30392	56	32	static	static	ADJ
fcis-30392	56	33	coordinates	coordinate	NOUN
fcis-30392	56	34	)	)	PUNCT
fcis-30392	56	35	,	,	PUNCT
fcis-30392	56	36	reducing	reduce	VERB
fcis-30392	56	37	bandwidth	bandwidth	ADJ
fcis-30392	56	38	usage	usage	NOUN
fcis-30392	56	39	by	by	ADP
fcis-30392	56	40	52	52	NUM
fcis-30392	56	41	%	%	NOUN
fcis-30392	56	42	(	(	PUNCT
fcis-30392	56	43	tested	test	VERB
fcis-30392	56	44	with	with	ADP
fcis-30392	56	45	100	100	NUM
fcis-30392	56	46	concurrent	concurrent	ADJ
fcis-30392	56	47	agvs	agv	NOUN
fcis-30392	56	48	)	)	PUNCT
fcis-30392	56	49	.	.	PUNCT
fcis-30392	57	1	low	low	ADJ
fcis-30392	57	2	-	-	PUNCT
fcis-30392	57	3	frequency	frequency	NOUN
fcis-30392	57	4	data	datum	NOUN
fcis-30392	57	5	(	(	PUNCT
fcis-30392	57	6	models	model	NOUN
fcis-30392	57	7	,	,	PUNCT
fcis-30392	57	8	logs	log	NOUN
fcis-30392	57	9	)	)	PUNCT
fcis-30392	57	10	are	be	AUX
fcis-30392	57	11	cached	cache	VERB
fcis-30392	57	12	via	via	ADP
fcis-30392	57	13	cdn	cdn	PROPN
fcis-30392	57	14	edge	edge	NOUN
fcis-30392	57	15	nodes	node	NOUN
fcis-30392	57	16	,	,	PUNCT
fcis-30392	57	17	with	with	ADP
fcis-30392	57	18	http/2	http/2	NOUN
fcis-30392	57	19	multiplexing	multiplexe	VERB
fcis-30392	57	20	reducing	reduce	VERB
fcis-30392	57	21	initial	initial	ADJ
fcis-30392	57	22	load	load	NOUN
fcis-30392	57	23	times	time	NOUN
fcis-30392	57	24	to	to	ADP
fcis-30392	57	25	1.2	1.2	NUM
fcis-30392	57	26	s	s	NOUN
fcis-30392	57	27	(	(	PUNCT
fcis-30392	57	28	baseline	baseline	NOUN
fcis-30392	57	29	:	:	PUNCT
fcis-30392	57	30	2.8	2.8	NUM
fcis-30392	57	31	s	s	NOUN
fcis-30392	57	32	)	)	PUNCT
fcis-30392	57	33	.	.	PUNCT
fcis-30392	58	1	rendering	render	VERB
fcis-30392	58	2	control	control	NOUN
fcis-30392	58	3	:	:	PUNCT
fcis-30392	58	4	frustum	frustum	NOUN
fcis-30392	58	5	culling	cull	VERB
fcis-30392	58	6	dynamically	dynamically	ADV
fcis-30392	58	7	manages	manage	VERB
fcis-30392	58	8	rendering	rendering	NOUN
fcis-30392	58	9	queues	queue	NOUN
fcis-30392	58	10	,	,	PUNCT
fcis-30392	58	11	using	use	VERB
fcis-30392	58	12	lod	lod	PROPN
fcis-30392	58	13	level	level	NOUN
fcis-30392	58	14	0	0	PUNCT
fcis-30392	59	1	(	(	PUNCT
fcis-30392	59	2	full	full	ADJ
fcis-30392	59	3	detail	detail	NOUN
fcis-30392	59	4	)	)	PUNCT
fcis-30392	59	5	for	for	ADP
fcis-30392	59	6	visible	visible	ADJ
fcis-30392	59	7	areas	area	NOUN
fcis-30392	59	8	and	and	CCONJ
fcis-30392	59	9	lod	lod	PROPN
fcis-30392	59	10	level	level	NOUN
fcis-30392	59	11	1	1	NUM
fcis-30392	59	12	(	(	PUNCT
fcis-30392	59	13	50	50	NUM
fcis-30392	59	14	%	%	NOUN
fcis-30392	59	15	polygon	polygon	NOUN
fcis-30392	59	16	reduction	reduction	NOUN
fcis-30392	59	17	)	)	PUNCT
fcis-30392	59	18	for	for	ADP
fcis-30392	59	19	non	non	ADJ
fcis-30392	59	20	-	-	ADJ
fcis-30392	59	21	focal	focal	ADJ
fcis-30392	59	22	regions	region	NOUN
fcis-30392	59	23	,	,	PUNCT
fcis-30392	59	24	cutting	cut	VERB
fcis-30392	59	25	gpu	gpu	NOUN
fcis-30392	59	26	memory	memory	NOUN
fcis-30392	59	27	usage	usage	NOUN
fcis-30392	59	28	by	by	ADP
fcis-30392	59	29	38	38	NUM
fcis-30392	59	30	%	%	NOUN
fcis-30392	59	31	(	(	PUNCT
fcis-30392	59	32	tested	test	VERB
fcis-30392	59	33	on	on	ADP
fcis-30392	59	34	nvidia	nvidia	PROPN
fcis-30392	59	35	quadro	quadro	PROPN
fcis-30392	59	36	p4000	p4000	PROPN
fcis-30392	59	37	)	)	PUNCT
fcis-30392	60	1	[	[	X
fcis-30392	60	2	5	5	NUM
fcis-30392	60	3	]	]	PUNCT
fcis-30392	60	4	.	.	PUNCT
fcis-30392	61	1	5	5	X
fcis-30392	61	2	.	.	X
fcis-30392	61	3	conclusion	conclusion	NOUN
fcis-30392	61	4	the	the	DET
fcis-30392	61	5	proposed	propose	VERB
fcis-30392	61	6	hybrid	hybrid	ADJ
fcis-30392	61	7	navigation	navigation	NOUN
fcis-30392	61	8	architecture	architecture	NOUN
fcis-30392	61	9	(	(	PUNCT
fcis-30392	61	10	magnetic	magnetic	ADJ
fcis-30392	61	11	guidance	guidance	NOUN
fcis-30392	61	12	+	+	CCONJ
fcis-30392	61	13	visual	visual	ADJ
fcis-30392	61	14	slam	slam	NOUN
fcis-30392	61	15	correction	correction	NOUN
fcis-30392	61	16	)	)	PUNCT
fcis-30392	61	17	and	and	CCONJ
fcis-30392	61	18	digital	digital	ADJ
fcis-30392	61	19	twin	twin	ADJ
fcis-30392	61	20	visualization	visualization	NOUN
fcis-30392	61	21	technology	technology	NOUN
fcis-30392	61	22	synergistically	synergistically	ADV
fcis-30392	61	23	achieve	achieve	VERB
fcis-30392	61	24	high	high	ADJ
fcis-30392	61	25	precision	precision	NOUN
fcis-30392	61	26	(	(	PUNCT
fcis-30392	61	27	±1.5	±1.5	NOUN
fcis-30392	61	28	cm	cm	NOUN
fcis-30392	61	29	)	)	PUNCT
fcis-30392	61	30	and	and	CCONJ
fcis-30392	61	31	adaptability	adaptability	NOUN
fcis-30392	61	32	(	(	PUNCT
fcis-30392	61	33	dynamic	dynamic	ADJ
fcis-30392	61	34	obstacle	obstacle	NOUN
fcis-30392	61	35	detection	detection	NOUN
fcis-30392	61	36	rate	rate	NOUN
fcis-30392	61	37	≥95	≥95	NOUN
fcis-30392	61	38	%	%	NOUN
fcis-30392	61	39	)	)	PUNCT
fcis-30392	61	40	for	for	ADP
fcis-30392	61	41	warehouse	warehouse	NOUN
fcis-30392	61	42	agv	agv	NOUN
fcis-30392	61	43	systems	system	NOUN
fcis-30392	61	44	.	.	PUNCT
fcis-30392	62	1	the	the	DET
fcis-30392	62	2	virtual	virtual	ADJ
fcis-30392	62	3	-	-	PUNCT
fcis-30392	62	4	physical	physical	ADJ
fcis-30392	62	5	mapping	mapping	NOUN
fcis-30392	62	6	via	via	ADP
fcis-30392	62	7	3d	3d	NOUN
fcis-30392	62	8	models	model	NOUN
fcis-30392	62	9	and	and	CCONJ
fcis-30392	62	10	real	real	ADJ
fcis-30392	62	11	-	-	PUNCT
fcis-30392	62	12	time	time	NOUN
fcis-30392	62	13	data	datum	NOUN
fcis-30392	62	14	significantly	significantly	ADV
fcis-30392	62	15	improves	improve	VERB
fcis-30392	62	16	anomaly	anomaly	NOUN
fcis-30392	62	17	response	response	NOUN
fcis-30392	62	18	efficiency	efficiency	NOUN
fcis-30392	62	19	(	(	PUNCT
fcis-30392	62	20	end	end	NOUN
fcis-30392	62	21	-	-	PUNCT
fcis-30392	62	22	toend	toend	NOUN
fcis-30392	62	23	latency	latency	NOUN
fcis-30392	62	24	≤500	≤500	SYM
fcis-30392	62	25	ms	ms	NOUN
fcis-30392	62	26	)	)	PUNCT
fcis-30392	62	27	.	.	PUNCT
fcis-30392	63	1	however	however	ADV
fcis-30392	63	2	,	,	PUNCT
fcis-30392	63	3	the	the	DET
fcis-30392	63	4	current	current	ADJ
fcis-30392	63	5	solution	solution	NOUN
fcis-30392	63	6	lacks	lack	VERB
fcis-30392	63	7	conflict	conflict	NOUN
fcis-30392	63	8	resolution	resolution	NOUN
fcis-30392	63	9	algorithms	algorithm	NOUN
fcis-30392	63	10	for	for	ADP
fcis-30392	63	11	multi	multi	ADJ
fcis-30392	63	12	-	-	ADJ
fcis-30392	63	13	agv	agv	ADJ
fcis-30392	63	14	clusters	cluster	NOUN
fcis-30392	63	15	,	,	PUNCT
fcis-30392	63	16	potentially	potentially	ADV
fcis-30392	63	17	causing	cause	VERB
fcis-30392	63	18	path	path	NOUN
fcis-30392	63	19	planning	planning	NOUN
fcis-30392	63	20	deadlocks	deadlock	NOUN
fcis-30392	63	21	in	in	ADP
fcis-30392	63	22	dense	dense	ADJ
fcis-30392	63	23	scenarios	scenario	NOUN
fcis-30392	63	24	(	(	PUNCT
fcis-30392	63	25	e.g.	e.g.	ADV
fcis-30392	63	26	,	,	PUNCT
fcis-30392	63	27	head	head	NOUN
fcis-30392	63	28	-	-	PUNCT
fcis-30392	63	29	on	on	ADP
fcis-30392	63	30	collisions	collision	NOUN
fcis-30392	63	31	)	)	PUNCT
fcis-30392	63	32	,	,	PUNCT
fcis-30392	63	33	limiting	limit	VERB
fcis-30392	63	34	scalability	scalability	NOUN
fcis-30392	63	35	.	.	PUNCT
fcis-30392	64	1	future	future	ADJ
fcis-30392	64	2	work	work	NOUN
fcis-30392	64	3	will	will	AUX
fcis-30392	64	4	integrate	integrate	VERB
fcis-30392	64	5	game	game	NOUN
fcis-30392	64	6	theory	theory	NOUN
fcis-30392	64	7	-	-	PUNCT
fcis-30392	64	8	based	base	VERB
fcis-30392	64	9	distributed	distribute	VERB
fcis-30392	64	10	negotiation	negotiation	NOUN
fcis-30392	64	11	mechanisms	mechanism	NOUN
fcis-30392	64	12	and	and	CCONJ
fcis-30392	64	13	explore	explore	VERB
fcis-30392	64	14	deterministic	deterministic	ADJ
fcis-30392	64	15	communication	communication	NOUN
fcis-30392	64	16	via	via	ADP
fcis-30392	64	17	5g	5g	NUM
fcis-30392	64	18	-	-	PUNCT
fcis-30392	64	19	tsn	tsn	NOUN
fcis-30392	64	20	networks	network	NOUN
fcis-30392	64	21	to	to	PART
fcis-30392	64	22	enable	enable	VERB
fcis-30392	64	23	ultra	ultra	ADJ
fcis-30392	64	24	-	-	ADJ
fcis-30392	64	25	largescale	largescale	ADJ
fcis-30392	64	26	agv	agv	NOUN
fcis-30392	64	27	collaboration	collaboration	NOUN
fcis-30392	64	28	.	.	PUNCT
fcis-30392	65	1	acknowledgments	acknowledgment	NOUN
fcis-30392	65	2	this	this	DET
fcis-30392	65	3	research	research	NOUN
fcis-30392	65	4	was	be	AUX
fcis-30392	65	5	supported	support	VERB
fcis-30392	65	6	by	by	ADP
fcis-30392	65	7	the	the	DET
fcis-30392	65	8	2025	2025	NUM
fcis-30392	65	9	college	college	NOUN
fcis-30392	65	10	student	student	NOUN
fcis-30392	65	11	innovation	innovation	NOUN
fcis-30392	65	12	and	and	CCONJ
fcis-30392	65	13	entrepreneurship	entrepreneurship	NOUN
fcis-30392	65	14	training	training	NOUN
fcis-30392	65	15	program	program	NOUN
fcis-30392	65	16	of	of	ADP
fcis-30392	65	17	university	university	NOUN
fcis-30392	65	18	of	of	ADP
fcis-30392	65	19	science	science	NOUN
fcis-30392	65	20	and	and	CCONJ
fcis-30392	65	21	technology	technology	NOUN
fcis-30392	65	22	liaoning	liaoning	NOUN
fcis-30392	65	23	.	.	PUNCT
fcis-30392	66	1	references	reference	NOUN
fcis-30392	66	2	[	[	X
fcis-30392	66	3	1	1	NUM
fcis-30392	66	4	]	]	X
fcis-30392	66	5	zhang	zhang	PROPN
fcis-30392	66	6	,	,	PUNCT
fcis-30392	66	7	w.	w.	PROPN
fcis-30392	66	8	,	,	PUNCT
fcis-30392	66	9	yang	yang	PROPN
fcis-30392	66	10	,	,	PUNCT
fcis-30392	66	11	w.	w.	PROPN
fcis-30392	66	12	,	,	PUNCT
fcis-30392	66	13	&	&	CCONJ
fcis-30392	66	14	li	li	PROPN
fcis-30392	66	15	,	,	PUNCT
fcis-30392	66	16	f.	f.	PROPN
fcis-30392	66	17	(	(	PUNCT
fcis-30392	66	18	2024	2024	NUM
fcis-30392	66	19	)	)	PUNCT
fcis-30392	66	20	.	.	PUNCT
fcis-30392	67	1	the	the	DET
fcis-30392	67	2	path	path	NOUN
fcis-30392	67	3	of	of	ADP
fcis-30392	67	4	social	social	ADJ
fcis-30392	67	5	work	work	NOUN
fcis-30392	67	6	professional	professional	ADJ
fcis-30392	67	7	advantages	advantage	NOUN
fcis-30392	67	8	in	in	ADP
fcis-30392	67	9	promoting	promote	VERB
fcis-30392	67	10	the	the	DET
fcis-30392	67	11	modernization	modernization	NOUN
fcis-30392	67	12	of	of	ADP
fcis-30392	67	13	social	social	ADJ
fcis-30392	67	14	governance	governance	NOUN
fcis-30392	67	15	.	.	PUNCT
fcis-30392	68	1	journal	journal	PROPN
fcis-30392	68	2	of	of	ADP
fcis-30392	68	3	nanjing	nanjing	PROPN
fcis-30392	68	4	institute	institute	PROPN
fcis-30392	68	5	of	of	ADP
fcis-30392	68	6	engineering	engineering	PROPN
fcis-30392	68	7	(	(	PUNCT
fcis-30392	68	8	social	social	ADJ
fcis-30392	68	9	science	science	NOUN
fcis-30392	68	10	edition	edition	PROPN
fcis-30392	68	11	)	)	PUNCT
fcis-30392	68	12	,	,	PUNCT
fcis-30392	68	13	24(01	24(01	NOUN
fcis-30392	68	14	)	)	PUNCT
fcis-30392	68	15	,	,	PUNCT
fcis-30392	68	16	39	39	NUM
fcis-30392	68	17	-	-	SYM
fcis-30392	68	18	45	45	NUM
fcis-30392	68	19	.	.	PUNCT
fcis-30392	69	1	[	[	X
fcis-30392	69	2	2	2	NUM
fcis-30392	69	3	]	]	X
fcis-30392	69	4	mur	mur	PROPN
fcis-30392	69	5	-	-	PROPN
fcis-30392	69	6	artal	artal	PROPN
fcis-30392	69	7	,	,	PUNCT
fcis-30392	69	8	r.	r.	PROPN
fcis-30392	69	9	,	,	PUNCT
fcis-30392	69	10	&	&	CCONJ
fcis-30392	69	11	tardós	tardós	PROPN
fcis-30392	69	12	,	,	PUNCT
fcis-30392	69	13	j.	j.	PROPN
fcis-30392	69	14	d.	d.	PROPN
fcis-30392	69	15	(	(	PUNCT
fcis-30392	69	16	2017	2017	NUM
fcis-30392	69	17	)	)	PUNCT
fcis-30392	69	18	.	.	PUNCT
fcis-30392	70	1	orb	orb	NOUN
fcis-30392	70	2	-	-	PUNCT
fcis-30392	70	3	slam2	slam2	NOUN
fcis-30392	70	4	:	:	PUNCT
fcis-30392	70	5	an	an	DET
fcis-30392	70	6	open	open	ADJ
fcis-30392	70	7	-	-	PUNCT
fcis-30392	70	8	source	source	NOUN
fcis-30392	70	9	slam	slam	NOUN
fcis-30392	70	10	system	system	NOUN
fcis-30392	70	11	for	for	ADP
fcis-30392	70	12	monocular	monocular	ADJ
fcis-30392	70	13	,	,	PUNCT
fcis-30392	70	14	stereo	stereo	ADJ
fcis-30392	70	15	,	,	PUNCT
fcis-30392	70	16	and	and	CCONJ
fcis-30392	70	17	rgbd	rgbd	NOUN
fcis-30392	70	18	cameras	camera	NOUN
fcis-30392	70	19	.	.	PUNCT
fcis-30392	71	1	ieee	ieee	NOUN
fcis-30392	71	2	transactions	transaction	NOUN
fcis-30392	71	3	on	on	ADP
fcis-30392	71	4	robotics	robotic	NOUN
fcis-30392	71	5	,	,	PUNCT
fcis-30392	71	6	33(5	33(5	NUM
fcis-30392	71	7	)	)	PUNCT
fcis-30392	71	8	,	,	PUNCT
fcis-30392	71	9	1255	1255	NUM
fcis-30392	71	10	-	-	SYM
fcis-30392	71	11	1262	1262	NUM
fcis-30392	71	12	.	.	PUNCT
fcis-30392	72	1	[	[	X
fcis-30392	72	2	3	3	NUM
fcis-30392	72	3	]	]	X
fcis-30392	72	4	chunyan	chunyan	NOUN
fcis-30392	72	5	,	,	PUNCT
fcis-30392	72	6	l.	l.	PROPN
fcis-30392	72	7	,	,	PUNCT
fcis-30392	72	8	bao	bao	PROPN
fcis-30392	72	9	,	,	PUNCT
fcis-30392	72	10	l.	l.	PROPN
fcis-30392	72	11	,	,	PUNCT
fcis-30392	72	12	chonglin	chonglin	PROPN
fcis-30392	72	13	,	,	PUNCT
fcis-30392	72	14	g.	g.	PROPN
fcis-30392	72	15	et	et	PROPN
fcis-30392	72	16	al	al	PROPN
fcis-30392	72	17	.	.	PROPN
fcis-30392	72	18	tws	tws	PROPN
fcis-30392	72	19	-	-	PUNCT
fcis-30392	72	20	based	base	VERB
fcis-30392	72	21	path	path	NOUN
fcis-30392	72	22	planning	planning	NOUN
fcis-30392	72	23	of	of	ADP
fcis-30392	72	24	multi	multi	NOUN
fcis-30392	72	25	-	-	ADJ
fcis-30392	72	26	agvs	agvs	ADJ
fcis-30392	72	27	for	for	ADP
fcis-30392	72	28	logistics	logistic	NOUN
fcis-30392	72	29	center	center	NOUN
fcis-30392	72	30	auto	auto	NOUN
fcis-30392	72	31	-	-	PUNCT
fcis-30392	72	32	sorting	sorting	NOUN
fcis-30392	72	33	.	.	PUNCT
fcis-30392	73	1	ccf	ccf	PROPN
fcis-30392	73	2	trans	trans	PROPN
fcis-30392	73	3	.	.	PROPN
fcis-30392	74	1	pervasive	pervasive	ADJ
fcis-30392	74	2	comp	comp	PROPN
fcis-30392	74	3	.	.	PUNCT
fcis-30392	75	1	interact	interact	VERB
fcis-30392	75	2	.	.	PUNCT
fcis-30392	76	1	6	6	NUM
fcis-30392	76	2	,	,	PUNCT
fcis-30392	76	3	165–181	165–181	NUM
fcis-30392	76	4	(	(	PUNCT
fcis-30392	76	5	2024	2024	NUM
fcis-30392	76	6	)	)	PUNCT
fcis-30392	76	7	.	.	PUNCT
fcis-30392	77	1	[	[	X
fcis-30392	77	2	4	4	NUM
fcis-30392	77	3	]	]	X
fcis-30392	77	4	zhu	zhu	PROPN
fcis-30392	77	5	,	,	PUNCT
fcis-30392	77	6	x.	x.	PROPN
fcis-30392	77	7	,	,	PUNCT
fcis-30392	77	8	han	han	PROPN
fcis-30392	77	9	,	,	PUNCT
fcis-30392	77	10	y.	y.	PROPN
fcis-30392	77	11	,	,	PUNCT
fcis-30392	77	12	wang	wang	PROPN
fcis-30392	77	13	,	,	PUNCT
fcis-30392	77	14	b.	b.	PROPN
fcis-30392	77	15	,	,	PUNCT
fcis-30392	77	16	et	et	PROPN
fcis-30392	77	17	al	al	PROPN
fcis-30392	77	18	.	.	PROPN
fcis-30392	77	19	(	(	PUNCT
fcis-30392	77	20	2025	2025	NUM
fcis-30392	77	21	)	)	PUNCT
fcis-30392	77	22	.	.	PUNCT
fcis-30392	78	1	research	research	NOUN
fcis-30392	78	2	on	on	ADP
fcis-30392	78	3	the	the	DET
fcis-30392	78	4	collaborative	collaborative	ADJ
fcis-30392	78	5	development	development	NOUN
fcis-30392	78	6	of	of	ADP
fcis-30392	78	7	jd	jd	PROPN
fcis-30392	78	8	logistics	logistic	NOUN
fcis-30392	78	9	and	and	CCONJ
fcis-30392	78	10	e	e	NOUN
fcis-30392	78	11	-	-	NOUN
fcis-30392	78	12	commerce	commerce	NOUN
fcis-30392	78	13	in	in	ADP
fcis-30392	78	14	the	the	DET
fcis-30392	78	15	context	context	NOUN
fcis-30392	78	16	of	of	ADP
fcis-30392	78	17	the	the	DET
fcis-30392	78	18	digital	digital	ADJ
fcis-30392	78	19	economy	economy	NOUN
fcis-30392	78	20	.	.	PUNCT
fcis-30392	79	1	china	china	PROPN
fcis-30392	79	2	market	market	PROPN
fcis-30392	79	3	,	,	PUNCT
fcis-30392	79	4	(	(	PUNCT
fcis-30392	79	5	08	08	NUM
fcis-30392	79	6	)	)	PUNCT
fcis-30392	79	7	,	,	PUNCT
fcis-30392	79	8	187	187	NUM
fcis-30392	79	9	-	-	SYM
fcis-30392	79	10	190	190	NUM
fcis-30392	79	11	.	.	PUNCT
fcis-30392	80	1	[	[	X
fcis-30392	80	2	5	5	NUM
fcis-30392	80	3	]	]	X
fcis-30392	80	4	lim	lim	PROPN
fcis-30392	80	5	,	,	PUNCT
fcis-30392	80	6	s.	s.	PROPN
fcis-30392	80	7	,	,	PUNCT
fcis-30392	80	8	jin	jin	PROPN
fcis-30392	80	9	,	,	PUNCT
fcis-30392	80	10	s.	s.	PROPN
fcis-30392	80	11	safe	safe	ADJ
fcis-30392	80	12	trajectory	trajectory	NOUN
fcis-30392	80	13	path	path	NOUN
fcis-30392	80	14	planning	planning	NOUN
fcis-30392	80	15	algorithm	algorithm	NOUN
fcis-30392	80	16	based	base	VERB
fcis-30392	80	17	on	on	ADP
fcis-30392	80	18	rrt	rrt	NOUN
fcis-30392	80	19	*	*	VERB
fcis-30392	80	20	while	while	SCONJ
fcis-30392	80	21	maintaining	maintain	VERB
fcis-30392	80	22	moderate	moderate	ADJ
fcis-30392	80	23	margin	margin	NOUN
fcis-30392	80	24	from	from	ADP
fcis-30392	80	25	obstacles	obstacle	NOUN
fcis-30392	80	26	.	.	PUNCT
fcis-30392	81	1	int	int	NOUN
fcis-30392	81	2	.	.	PUNCT
fcis-30392	82	1	j.	j.	PROPN
fcis-30392	82	2	control	control	PROPN
fcis-30392	82	3	autom	autom	PROPN
fcis-30392	82	4	.	.	PUNCT
fcis-30392	83	1	syst	syst	PROPN
fcis-30392	83	2	.	.	PUNCT
fcis-30392	84	1	21	21	NUM
fcis-30392	84	2	,	,	PUNCT
fcis-30392	84	3	3540–3550	3540–3550	NUM
fcis-30392	84	4	(	(	PUNCT
fcis-30392	84	5	2023	2023	NUM
fcis-30392	84	6	)	)	PUNCT
fcis-30392	84	7	.	.	PUNCT
fcis-30392	85	1	[	[	X
fcis-30392	85	2	6	6	NUM
fcis-30392	85	3	]	]	X
fcis-30392	85	4	gan	gan	PROPN
fcis-30392	85	5	,	,	PUNCT
fcis-30392	85	6	y.	y.	PROPN
fcis-30392	85	7	,	,	PUNCT
fcis-30392	85	8	zhang	zhang	PROPN
fcis-30392	85	9	,	,	PUNCT
fcis-30392	85	10	b.	b.	PROPN
fcis-30392	85	11	,	,	PUNCT
fcis-30392	85	12	ke	ke	PROPN
fcis-30392	85	13	,	,	PUNCT
fcis-30392	85	14	c.	c.	PROPN
fcis-30392	85	15	et	et	PROPN
fcis-30392	85	16	al	al	PROPN
fcis-30392	85	17	.	.	PROPN
fcis-30392	85	18	research	research	NOUN
fcis-30392	85	19	on	on	ADP
fcis-30392	85	20	robot	robot	NOUN
fcis-30392	85	21	motion	motion	NOUN
fcis-30392	85	22	planning	planning	NOUN
fcis-30392	85	23	based	base	VERB
fcis-30392	85	24	on	on	ADP
fcis-30392	85	25	rrt	rrt	ADJ
fcis-30392	85	26	algorithm	algorithm	NOUN
fcis-30392	85	27	with	with	ADP
fcis-30392	85	28	nonholonomic	nonholonomic	ADJ
fcis-30392	85	29	constraints	constraint	NOUN
fcis-30392	85	30	.	.	PUNCT
fcis-30392	86	1	neural	neural	ADJ
fcis-30392	86	2	process	process	NOUN
fcis-30392	86	3	lett	lett	PROPN
fcis-30392	86	4	53	53	NUM
fcis-30392	86	5	,	,	PUNCT
fcis-30392	86	6	3011–3029	3011–3029	NUM
fcis-30392	86	7	(	(	PUNCT
fcis-30392	86	8	2021	2021	NUM
fcis-30392	86	9	)	)	PUNCT
fcis-30392	86	10	.	.	PUNCT