id	sid	tid	token	lemma	pos
fcis-30675	1	1	frontiers	frontier	NOUN
fcis-30675	1	2	in	in	ADP
fcis-30675	1	3	computing	computing	NOUN
fcis-30675	1	4	and	and	CCONJ
fcis-30675	1	5	intelligent	intelligent	ADJ
fcis-30675	1	6	systems	system	NOUN
fcis-30675	1	7	issn	issn	VERB
fcis-30675	1	8	:	:	PUNCT
fcis-30675	1	9	2832	2832	NUM
fcis-30675	1	10	-	-	SYM
fcis-30675	1	11	6024	6024	NUM
fcis-30675	1	12	|	|	NOUN
fcis-30675	1	13	vol	vol	NOUN
fcis-30675	1	14	.	.	PROPN
fcis-30675	2	1	12	12	NUM
fcis-30675	2	2	,	,	PUNCT
fcis-30675	2	3	no	no	INTJ
fcis-30675	2	4	.	.	NOUN
fcis-30675	2	5	1	1	NUM
fcis-30675	2	6	,	,	PUNCT
fcis-30675	2	7	2025	2025	NUM
fcis-30675	2	8	216	216	NUM
fcis-30675	2	9	research	research	NOUN
fcis-30675	2	10	on	on	ADP
fcis-30675	2	11	navigation	navigation	NOUN
fcis-30675	2	12	of	of	ADP
fcis-30675	2	13	smart	smart	ADJ
fcis-30675	2	14	robots	robot	NOUN
fcis-30675	2	15	in	in	ADP
fcis-30675	2	16	gerocomium	gerocomium	NOUN
fcis-30675	2	17	based	base	VERB
fcis-30675	2	18	on	on	ADP
fcis-30675	2	19	dwa	dwa	PROPN
fcis-30675	2	20	xiaotao	xiaotao	PROPN
fcis-30675	2	21	wang	wang	PROPN
fcis-30675	2	22	,	,	PUNCT
fcis-30675	2	23	hongyan	hongyan	PROPN
fcis-30675	2	24	zhang	zhang	PROPN
fcis-30675	2	25	*	*	PROPN
fcis-30675	2	26	,	,	PUNCT
fcis-30675	2	27	huijie	huijie	PROPN
fcis-30675	2	28	liu	liu	PROPN
fcis-30675	2	29	,	,	PUNCT
fcis-30675	2	30	renjie	renjie	PROPN
fcis-30675	2	31	sun	sun	PROPN
fcis-30675	2	32	,	,	PUNCT
fcis-30675	2	33	haitao	haitao	PROPN
fcis-30675	2	34	zhang	zhang	PROPN
fcis-30675	2	35	school	school	PROPN
fcis-30675	2	36	of	of	ADP
fcis-30675	2	37	mechanical	mechanical	ADJ
fcis-30675	2	38	and	and	CCONJ
fcis-30675	2	39	electrical	electrical	ADJ
fcis-30675	2	40	engineering	engineering	NOUN
fcis-30675	2	41	,	,	PUNCT
fcis-30675	2	42	jilin	jilin	PROPN
fcis-30675	2	43	institute	institute	PROPN
fcis-30675	2	44	of	of	ADP
fcis-30675	2	45	chemical	chemical	PROPN
fcis-30675	2	46	technology	technology	PROPN
fcis-30675	2	47	,	,	PUNCT
fcis-30675	2	48	jilin	jilin	PROPN
fcis-30675	2	49	jilin	jilin	PROPN
fcis-30675	2	50	,	,	PUNCT
fcis-30675	2	51	132022	132022	NUM
fcis-30675	2	52	,	,	PUNCT
fcis-30675	2	53	china	china	PROPN
fcis-30675	2	54	*	*	PUNCT
fcis-30675	2	55	corresponding	correspond	VERB
fcis-30675	2	56	author	author	NOUN
fcis-30675	2	57	:	:	PUNCT
fcis-30675	2	58	hongyan	hongyan	PROPN
fcis-30675	2	59	zhang	zhang	PROPN
fcis-30675	2	60	abstract	abstract	PROPN
fcis-30675	2	61	:	:	PUNCT
fcis-30675	2	62	the	the	DET
fcis-30675	2	63	elderly	elderly	ADJ
fcis-30675	2	64	moving	move	VERB
fcis-30675	2	65	slowly	slowly	ADV
fcis-30675	2	66	in	in	ADP
fcis-30675	2	67	the	the	DET
fcis-30675	2	68	gerocomium	gerocomium	NOUN
fcis-30675	2	69	and	and	CCONJ
fcis-30675	2	70	the	the	DET
fcis-30675	2	71	staff	staff	NOUN
fcis-30675	2	72	going	go	VERB
fcis-30675	2	73	back	back	ADV
fcis-30675	2	74	and	and	CCONJ
fcis-30675	2	75	forth	forth	ADV
fcis-30675	2	76	to	to	ADP
fcis-30675	2	77	the	the	DET
fcis-30675	2	78	pharmacy	pharmacy	NOUN
fcis-30675	2	79	will	will	AUX
fcis-30675	2	80	all	all	ADV
fcis-30675	2	81	become	become	VERB
fcis-30675	2	82	obstacles	obstacle	NOUN
fcis-30675	2	83	in	in	ADP
fcis-30675	2	84	the	the	DET
fcis-30675	2	85	navigation	navigation	NOUN
fcis-30675	2	86	path	path	NOUN
fcis-30675	2	87	of	of	ADP
fcis-30675	2	88	the	the	DET
fcis-30675	2	89	intelligent	intelligent	ADJ
fcis-30675	2	90	robot	robot	NOUN
fcis-30675	2	91	in	in	ADP
fcis-30675	2	92	the	the	DET
fcis-30675	2	93	gerocomium	gerocomium	NOUN
fcis-30675	2	94	.	.	PUNCT
fcis-30675	3	1	in	in	ADP
fcis-30675	3	2	scenarios	scenario	NOUN
fcis-30675	3	3	with	with	ADP
fcis-30675	3	4	significant	significant	ADJ
fcis-30675	3	5	changes	change	NOUN
fcis-30675	3	6	in	in	ADP
fcis-30675	3	7	lighting	lighting	NOUN
fcis-30675	3	8	intensity	intensity	NOUN
fcis-30675	3	9	,	,	PUNCT
fcis-30675	3	10	the	the	DET
fcis-30675	3	11	robot	robot	NOUN
fcis-30675	3	12	may	may	AUX
fcis-30675	3	13	encounter	encounter	VERB
fcis-30675	3	14	problems	problem	NOUN
fcis-30675	3	15	such	such	ADJ
fcis-30675	3	16	as	as	ADP
fcis-30675	3	17	path	path	NOUN
fcis-30675	3	18	positioning	positioning	NOUN
fcis-30675	3	19	loss	loss	NOUN
fcis-30675	3	20	and	and	CCONJ
fcis-30675	3	21	incorrect	incorrect	ADJ
fcis-30675	3	22	path	path	NOUN
fcis-30675	3	23	planning	planning	NOUN
fcis-30675	3	24	.	.	PUNCT
fcis-30675	4	1	facing	face	VERB
fcis-30675	4	2	the	the	DET
fcis-30675	4	3	above	above	ADJ
fcis-30675	4	4	challenges	challenge	NOUN
fcis-30675	4	5	,	,	PUNCT
fcis-30675	4	6	this	this	DET
fcis-30675	4	7	paper	paper	NOUN
fcis-30675	4	8	proposes	propose	VERB
fcis-30675	4	9	two	two	NUM
fcis-30675	4	10	innovative	innovative	ADJ
fcis-30675	4	11	ideas	idea	NOUN
fcis-30675	4	12	to	to	PART
fcis-30675	4	13	optimize	optimize	VERB
fcis-30675	4	14	the	the	DET
fcis-30675	4	15	dwa	dwa	PROPN
fcis-30675	4	16	algorithm	algorithm	NOUN
fcis-30675	4	17	:	:	PUNCT
fcis-30675	4	18	(	(	PUNCT
fcis-30675	4	19	1	1	X
fcis-30675	4	20	)	)	PUNCT
fcis-30675	4	21	for	for	ADP
fcis-30675	4	22	the	the	DET
fcis-30675	4	23	first	first	ADJ
fcis-30675	4	24	time	time	NOUN
fcis-30675	4	25	,	,	PUNCT
fcis-30675	4	26	it	it	PRON
fcis-30675	4	27	is	be	AUX
fcis-30675	4	28	proposed	propose	VERB
fcis-30675	4	29	to	to	PART
fcis-30675	4	30	combine	combine	VERB
fcis-30675	4	31	the	the	DET
fcis-30675	4	32	face	face	NOUN
fcis-30675	4	33	detection	detection	NOUN
fcis-30675	4	34	based	base	VERB
fcis-30675	4	35	on	on	ADP
fcis-30675	4	36	yolov8	yolov8	NOUN
fcis-30675	4	37	with	with	ADP
fcis-30675	4	38	dwa	dwa	PROPN
fcis-30675	4	39	,	,	PUNCT
fcis-30675	4	40	and	and	CCONJ
fcis-30675	4	41	a	a	DET
fcis-30675	4	42	new	new	ADJ
fcis-30675	4	43	face	face	NOUN
fcis-30675	4	44	attraction	attraction	NOUN
fcis-30675	4	45	term	term	NOUN
fcis-30675	4	46	is	be	AUX
fcis-30675	4	47	added	add	VERB
fcis-30675	4	48	.	.	PUNCT
fcis-30675	5	1	a	a	DET
fcis-30675	5	2	radius	radius	NOUN
fcis-30675	5	3	threshold	threshold	NOUN
fcis-30675	5	4	is	be	AUX
fcis-30675	5	5	set	set	VERB
fcis-30675	5	6	around	around	ADP
fcis-30675	5	7	the	the	DET
fcis-30675	5	8	face	face	NOUN
fcis-30675	5	9	.	.	PUNCT
fcis-30675	6	1	if	if	SCONJ
fcis-30675	6	2	the	the	DET
fcis-30675	6	3	distance	distance	NOUN
fcis-30675	6	4	between	between	ADP
fcis-30675	6	5	the	the	DET
fcis-30675	6	6	robot	robot	NOUN
fcis-30675	6	7	and	and	CCONJ
fcis-30675	6	8	the	the	DET
fcis-30675	6	9	face	face	NOUN
fcis-30675	6	10	is	be	AUX
fcis-30675	6	11	less	less	ADJ
fcis-30675	6	12	than	than	ADP
fcis-30675	6	13	this	this	DET
fcis-30675	6	14	value	value	NOUN
fcis-30675	6	15	,	,	PUNCT
fcis-30675	6	16	an	an	DET
fcis-30675	6	17	obstacle	obstacle	NOUN
fcis-30675	6	18	avoidance	avoidance	NOUN
fcis-30675	6	19	penalty	penalty	NOUN
fcis-30675	6	20	term	term	NOUN
fcis-30675	6	21	will	will	AUX
fcis-30675	6	22	be	be	AUX
fcis-30675	6	23	increased	increase	VERB
fcis-30675	6	24	.	.	PUNCT
fcis-30675	7	1	(	(	PUNCT
fcis-30675	7	2	2	2	X
fcis-30675	7	3	)	)	PUNCT
fcis-30675	7	4	dynamically	dynamically	ADV
fcis-30675	7	5	adjust	adjust	VERB
fcis-30675	7	6	the	the	DET
fcis-30675	7	7	cost	cost	NOUN
fcis-30675	7	8	function	function	NOUN
fcis-30675	7	9	of	of	ADP
fcis-30675	7	10	dwa	dwa	PROPN
fcis-30675	7	11	,	,	PUNCT
fcis-30675	7	12	and	and	CCONJ
fcis-30675	7	13	optimize	optimize	VERB
fcis-30675	7	14	the	the	DET
fcis-30675	7	15	smoothness	smoothness	NOUN
fcis-30675	7	16	and	and	CCONJ
fcis-30675	7	17	safety	safety	NOUN
fcis-30675	7	18	of	of	ADP
fcis-30675	7	19	the	the	DET
fcis-30675	7	20	dwa	dwa	PROPN
fcis-30675	7	21	navigation	navigation	NOUN
fcis-30675	7	22	path	path	NOUN
fcis-30675	7	23	by	by	ADP
fcis-30675	7	24	combining	combine	VERB
fcis-30675	7	25	the	the	DET
fcis-30675	7	26	newly	newly	ADV
fcis-30675	7	27	added	add	VERB
fcis-30675	7	28	face	face	NOUN
fcis-30675	7	29	attraction	attraction	NOUN
fcis-30675	7	30	term	term	NOUN
fcis-30675	7	31	and	and	CCONJ
fcis-30675	7	32	the	the	DET
fcis-30675	7	33	safety	safety	NOUN
fcis-30675	7	34	distance	distance	NOUN
fcis-30675	7	35	constraint	constraint	NOUN
fcis-30675	7	36	.	.	PUNCT
fcis-30675	8	1	adaptive	adaptive	ADJ
fcis-30675	8	2	weight	weight	NOUN
fcis-30675	8	3	allocation	allocation	NOUN
fcis-30675	8	4	is	be	AUX
fcis-30675	8	5	introduced	introduce	VERB
fcis-30675	8	6	into	into	ADP
fcis-30675	8	7	the	the	DET
fcis-30675	8	8	improved	improve	VERB
fcis-30675	8	9	dwa	dwa	NOUN
fcis-30675	8	10	to	to	PART
fcis-30675	8	11	balance	balance	VERB
fcis-30675	8	12	the	the	DET
fcis-30675	8	13	safe	safe	ADJ
fcis-30675	8	14	distance	distance	NOUN
fcis-30675	8	15	between	between	ADP
fcis-30675	8	16	the	the	DET
fcis-30675	8	17	robot	robot	NOUN
fcis-30675	8	18	and	and	CCONJ
fcis-30675	8	19	the	the	DET
fcis-30675	8	20	elderly	elderly	ADJ
fcis-30675	8	21	when	when	SCONJ
fcis-30675	8	22	they	they	PRON
fcis-30675	8	23	are	be	AUX
fcis-30675	8	24	close	close	ADJ
fcis-30675	8	25	,	,	PUNCT
fcis-30675	8	26	the	the	DET
fcis-30675	8	27	timeliness	timeliness	NOUN
fcis-30675	8	28	of	of	ADP
fcis-30675	8	29	the	the	DET
fcis-30675	8	30	robot	robot	NOUN
fcis-30675	8	31	avoiding	avoid	VERB
fcis-30675	8	32	the	the	DET
fcis-30675	8	33	slowly	slowly	ADV
fcis-30675	8	34	moving	move	VERB
fcis-30675	8	35	elderly	elderly	ADJ
fcis-30675	8	36	,	,	PUNCT
fcis-30675	8	37	and	and	CCONJ
fcis-30675	8	38	the	the	DET
fcis-30675	8	39	smoothness	smoothness	NOUN
fcis-30675	8	40	of	of	ADP
fcis-30675	8	41	the	the	DET
fcis-30675	8	42	robot	robot	NOUN
fcis-30675	8	43	's	's	PART
fcis-30675	8	44	navigation	navigation	NOUN
fcis-30675	8	45	path	path	NOUN
fcis-30675	8	46	.	.	PUNCT
fcis-30675	9	1	finally	finally	ADV
fcis-30675	9	2	,	,	PUNCT
fcis-30675	9	3	the	the	DET
fcis-30675	9	4	environment	environment	NOUN
fcis-30675	9	5	of	of	ADP
fcis-30675	9	6	the	the	DET
fcis-30675	9	7	gerocomium	gerocomium	NOUN
fcis-30675	9	8	is	be	AUX
fcis-30675	9	9	simulated	simulate	VERB
fcis-30675	9	10	in	in	ADP
fcis-30675	9	11	a	a	DET
fcis-30675	9	12	laboratory	laboratory	NOUN
fcis-30675	9	13	environment	environment	NOUN
fcis-30675	9	14	for	for	ADP
fcis-30675	9	15	experimental	experimental	ADJ
fcis-30675	9	16	testing	testing	NOUN
fcis-30675	9	17	.	.	PUNCT
fcis-30675	10	1	the	the	DET
fcis-30675	10	2	results	result	NOUN
fcis-30675	10	3	show	show	VERB
fcis-30675	10	4	that	that	SCONJ
fcis-30675	10	5	,	,	PUNCT
fcis-30675	10	6	compared	compare	VERB
fcis-30675	10	7	with	with	ADP
fcis-30675	10	8	the	the	DET
fcis-30675	10	9	traditional	traditional	ADJ
fcis-30675	10	10	dwa	dwa	NOUN
fcis-30675	10	11	,	,	PUNCT
fcis-30675	10	12	the	the	DET
fcis-30675	10	13	navigation	navigation	NOUN
fcis-30675	10	14	success	success	NOUN
fcis-30675	10	15	rate	rate	NOUN
fcis-30675	10	16	of	of	ADP
fcis-30675	10	17	the	the	DET
fcis-30675	10	18	optimized	optimize	VERB
fcis-30675	10	19	dwa	dwa	PROPN
fcis-30675	10	20	is	be	AUX
fcis-30675	10	21	increased	increase	VERB
fcis-30675	10	22	by	by	ADP
fcis-30675	10	23	21.5	21.5	NUM
fcis-30675	10	24	%	%	NOUN
fcis-30675	10	25	(	(	PUNCT
fcis-30675	10	26	from	from	ADP
fcis-30675	10	27	70.5	70.5	NUM
fcis-30675	10	28	%	%	NOUN
fcis-30675	10	29	to	to	ADP
fcis-30675	10	30	93.5	93.5	NUM
fcis-30675	10	31	%	%	NOUN
fcis-30675	10	32	)	)	PUNCT
fcis-30675	10	33	,	,	PUNCT
fcis-30675	10	34	the	the	DET
fcis-30675	10	35	minimum	minimum	NOUN
fcis-30675	10	36	safety	safety	NOUN
fcis-30675	10	37	distance	distance	NOUN
fcis-30675	10	38	is	be	AUX
fcis-30675	10	39	increased	increase	VERB
fcis-30675	10	40	by	by	ADP
fcis-30675	10	41	53.7	53.7	NUM
fcis-30675	10	42	%	%	NOUN
fcis-30675	10	43	(	(	PUNCT
fcis-30675	10	44	from	from	ADP
fcis-30675	10	45	0.37	0.37	NUM
fcis-30675	10	46	m	m	NOUN
fcis-30675	10	47	to	to	ADP
fcis-30675	10	48	0.72	0.72	NUM
fcis-30675	10	49	m	m	NOUN
fcis-30675	10	50	)	)	PUNCT
fcis-30675	10	51	,	,	PUNCT
fcis-30675	10	52	and	and	CCONJ
fcis-30675	10	53	the	the	DET
fcis-30675	10	54	smoothness	smoothness	NOUN
fcis-30675	10	55	of	of	ADP
fcis-30675	10	56	the	the	DET
fcis-30675	10	57	navigation	navigation	NOUN
fcis-30675	10	58	path	path	NOUN
fcis-30675	10	59	is	be	AUX
fcis-30675	10	60	increased	increase	VERB
fcis-30675	10	61	by	by	ADP
fcis-30675	10	62	71	71	NUM
fcis-30675	10	63	%	%	NOUN
fcis-30675	10	64	.	.	PUNCT
fcis-30675	11	1	this	this	DET
fcis-30675	11	2	method	method	NOUN
fcis-30675	11	3	provides	provide	VERB
fcis-30675	11	4	a	a	DET
fcis-30675	11	5	more	more	ADV
fcis-30675	11	6	secure	secure	ADJ
fcis-30675	11	7	,	,	PUNCT
fcis-30675	11	8	efficient	efficient	ADJ
fcis-30675	11	9	and	and	CCONJ
fcis-30675	11	10	powerful	powerful	ADJ
fcis-30675	11	11	guarantee	guarantee	NOUN
fcis-30675	11	12	for	for	ADP
fcis-30675	11	13	the	the	DET
fcis-30675	11	14	navigation	navigation	NOUN
fcis-30675	11	15	of	of	ADP
fcis-30675	11	16	robots	robot	NOUN
fcis-30675	11	17	in	in	ADP
fcis-30675	11	18	gerocomiums	gerocomium	NOUN
fcis-30675	11	19	.	.	PUNCT
fcis-30675	12	1	keywords	keyword	NOUN
fcis-30675	12	2	:	:	PUNCT
fcis-30675	12	3	l	l	NOUN
fcis-30675	12	4	multimodal	multimodal	ADJ
fcis-30675	12	5	perception	perception	NOUN
fcis-30675	12	6	;	;	PUNCT
fcis-30675	12	7	safety	safety	NOUN
fcis-30675	12	8	distance	distance	NOUN
fcis-30675	12	9	constraint	constraint	NOUN
fcis-30675	12	10	;	;	PUNCT
fcis-30675	12	11	yolov8	yolov8	NOUN
fcis-30675	12	12	;	;	PUNCT
fcis-30675	12	13	dynamically	dynamically	ADV
fcis-30675	12	14	adjust	adjust	VERB
fcis-30675	12	15	the	the	DET
fcis-30675	12	16	dwa	dwa	PROPN
fcis-30675	12	17	cost	cost	NOUN
fcis-30675	12	18	function	function	NOUN
fcis-30675	12	19	;	;	PUNCT
fcis-30675	12	20	face	face	NOUN
fcis-30675	12	21	attraction	attraction	NOUN
fcis-30675	12	22	term	term	NOUN
fcis-30675	12	23	.	.	PUNCT
fcis-30675	13	1	1	1	X
fcis-30675	13	2	.	.	X
fcis-30675	13	3	introduction	introduction	NOUN
fcis-30675	13	4	with	with	ADP
fcis-30675	13	5	the	the	DET
fcis-30675	13	6	increasing	increase	VERB
fcis-30675	13	7	severity	severity	NOUN
fcis-30675	13	8	of	of	ADP
fcis-30675	13	9	global	global	ADJ
fcis-30675	13	10	aging	aging	NOUN
fcis-30675	13	11	,	,	PUNCT
fcis-30675	13	12	the	the	DET
fcis-30675	13	13	application	application	NOUN
fcis-30675	13	14	of	of	ADP
fcis-30675	13	15	intelligent	intelligent	ADJ
fcis-30675	13	16	robots	robot	NOUN
fcis-30675	13	17	in	in	ADP
fcis-30675	13	18	gerocomiums	gerocomium	NOUN
fcis-30675	13	19	in	in	ADP
fcis-30675	13	20	the	the	DET
fcis-30675	13	21	elderly	elderly	ADJ
fcis-30675	13	22	care	care	NOUN
fcis-30675	13	23	market	market	NOUN
fcis-30675	13	24	is	be	AUX
fcis-30675	13	25	becoming	become	VERB
fcis-30675	13	26	more	more	ADV
fcis-30675	13	27	and	and	CCONJ
fcis-30675	13	28	more	more	ADV
fcis-30675	13	29	widespread	widespread	ADJ
fcis-30675	13	30	.	.	PUNCT
fcis-30675	14	1	at	at	ADP
fcis-30675	14	2	the	the	DET
fcis-30675	14	3	same	same	ADJ
fcis-30675	14	4	time	time	NOUN
fcis-30675	14	5	,	,	PUNCT
fcis-30675	14	6	the	the	DET
fcis-30675	14	7	problems	problem	NOUN
fcis-30675	14	8	faced	face	VERB
fcis-30675	14	9	by	by	ADP
fcis-30675	14	10	these	these	DET
fcis-30675	14	11	intelligent	intelligent	ADJ
fcis-30675	14	12	robots	robot	NOUN
fcis-30675	14	13	in	in	ADP
fcis-30675	14	14	gerocomiums	gerocomium	NOUN
fcis-30675	14	15	have	have	AUX
fcis-30675	14	16	also	also	ADV
fcis-30675	14	17	become	become	VERB
fcis-30675	14	18	more	more	ADV
fcis-30675	14	19	prominent	prominent	ADJ
fcis-30675	14	20	.	.	PUNCT
fcis-30675	15	1	the	the	DET
fcis-30675	15	2	autonomous	autonomous	ADJ
fcis-30675	15	3	navigation	navigation	NOUN
fcis-30675	15	4	algorithms	algorithm	NOUN
fcis-30675	15	5	of	of	ADP
fcis-30675	15	6	robots	robot	NOUN
fcis-30675	15	7	in	in	ADP
fcis-30675	15	8	gerocomiums	gerocomium	NOUN
fcis-30675	15	9	are	be	AUX
fcis-30675	15	10	characterized	characterize	VERB
fcis-30675	15	11	by	by	ADP
fcis-30675	15	12	low	low	ADJ
fcis-30675	15	13	accuracy	accuracy	NOUN
fcis-30675	15	14	,	,	PUNCT
fcis-30675	15	15	low	low	ADJ
fcis-30675	15	16	safety	safety	NOUN
fcis-30675	15	17	,	,	PUNCT
fcis-30675	15	18	and	and	CCONJ
fcis-30675	15	19	poor	poor	ADJ
fcis-30675	15	20	obstacle	obstacle	NOUN
fcis-30675	15	21	avoidance	avoidance	NOUN
fcis-30675	15	22	performance	performance	NOUN
fcis-30675	15	23	.	.	PUNCT
fcis-30675	16	1	specifically	specifically	ADV
fcis-30675	16	2	,	,	PUNCT
fcis-30675	16	3	the	the	DET
fcis-30675	16	4	movement	movement	NOUN
fcis-30675	16	5	routes	route	NOUN
fcis-30675	16	6	of	of	ADP
fcis-30675	16	7	robots	robot	NOUN
fcis-30675	16	8	are	be	AUX
fcis-30675	16	9	restricted	restrict	VERB
fcis-30675	16	10	in	in	ADP
fcis-30675	16	11	the	the	DET
fcis-30675	16	12	narrow	narrow	ADJ
fcis-30675	16	13	corridors	corridor	NOUN
fcis-30675	16	14	of	of	ADP
fcis-30675	16	15	gerocomiums	gerocomium	NOUN
fcis-30675	16	16	.	.	PUNCT
fcis-30675	17	1	the	the	DET
fcis-30675	17	2	elderly	elderly	ADJ
fcis-30675	17	3	and	and	CCONJ
fcis-30675	17	4	nursing	nursing	NOUN
fcis-30675	17	5	staff	staff	NOUN
fcis-30675	17	6	who	who	PRON
fcis-30675	17	7	walk	walk	VERB
fcis-30675	17	8	back	back	ADV
fcis-30675	17	9	and	and	CCONJ
fcis-30675	17	10	forth	forth	ADV
fcis-30675	17	11	also	also	ADV
fcis-30675	17	12	serve	serve	VERB
fcis-30675	17	13	as	as	ADP
fcis-30675	17	14	dynamic	dynamic	ADJ
fcis-30675	17	15	obstacles	obstacle	NOUN
fcis-30675	17	16	to	to	ADP
fcis-30675	17	17	the	the	DET
fcis-30675	17	18	robots	robot	NOUN
fcis-30675	17	19	'	'	PART
fcis-30675	17	20	navigation	navigation	NOUN
fcis-30675	17	21	.	.	PUNCT
fcis-30675	18	1	there	there	PRON
fcis-30675	18	2	have	have	AUX
fcis-30675	18	3	been	be	AUX
fcis-30675	18	4	repeated	repeat	VERB
fcis-30675	18	5	dangerous	dangerous	ADJ
fcis-30675	18	6	accidents	accident	NOUN
fcis-30675	18	7	where	where	SCONJ
fcis-30675	18	8	intelligent	intelligent	ADJ
fcis-30675	18	9	robots	robot	NOUN
fcis-30675	18	10	in	in	ADP
fcis-30675	18	11	gerocomiums	gerocomium	NOUN
fcis-30675	18	12	collide	collide	VERB
fcis-30675	18	13	with	with	ADP
fcis-30675	18	14	the	the	DET
fcis-30675	18	15	elderly.wang	elderly.wang	PROPN
fcis-30675	18	16	caiqi	caiqi	NOUN
fcis-30675	18	17	proposed	propose	VERB
fcis-30675	18	18	an	an	DET
fcis-30675	18	19	adaptive	adaptive	ADJ
fcis-30675	18	20	extended	extended	ADJ
fcis-30675	18	21	rrt	rrt	NOUN
fcis-30675	18	22	*	*	PUNCT
fcis-30675	18	23	path	path	NOUN
fcis-30675	18	24	planning	planning	NOUN
fcis-30675	18	25	algorithm	algorithm	NOUN
fcis-30675	18	26	based	base	VERB
fcis-30675	18	27	on	on	ADP
fcis-30675	18	28	the	the	DET
fcis-30675	18	29	distance	distance	NOUN
fcis-30675	18	30	from	from	ADP
fcis-30675	18	31	nodes	node	NOUN
fcis-30675	18	32	to	to	ADP
fcis-30675	18	33	obstacles	obstacle	NOUN
fcis-30675	18	34	,	,	PUNCT
fcis-30675	18	35	which	which	PRON
fcis-30675	18	36	improved	improve	VERB
fcis-30675	18	37	the	the	DET
fcis-30675	18	38	rrt	rrt	NOUN
fcis-30675	18	39	*	*	NOUN
fcis-30675	18	40	algorithm	algorithm	NOUN
fcis-30675	18	41	to	to	PART
fcis-30675	18	42	adapt	adapt	VERB
fcis-30675	18	43	to	to	ADP
fcis-30675	18	44	the	the	DET
fcis-30675	18	45	complex	complex	ADJ
fcis-30675	18	46	layout	layout	NOUN
fcis-30675	18	47	of	of	ADP
fcis-30675	18	48	gerocomium[1	gerocomium[1	PROPN
fcis-30675	18	49	]	]	X
fcis-30675	18	50	.	.	PUNCT
fcis-30675	19	1	xiao	xiao	PROPN
fcis-30675	19	2	shaotong	shaotong	PROPN
fcis-30675	19	3	proposed	propose	VERB
fcis-30675	19	4	the	the	DET
fcis-30675	19	5	positioning	positioning	NOUN
fcis-30675	19	6	of	of	ADP
fcis-30675	19	7	mobile	mobile	ADJ
fcis-30675	19	8	robots	robot	NOUN
fcis-30675	19	9	and	and	CCONJ
fcis-30675	19	10	multi	multi	ADJ
fcis-30675	19	11	-	-	ADJ
fcis-30675	19	12	angle	angle	ADJ
fcis-30675	19	13	target	target	NOUN
fcis-30675	19	14	recognition	recognition	NOUN
fcis-30675	19	15	based	base	VERB
fcis-30675	19	16	on	on	ADP
fcis-30675	19	17	rgbd	rgbd	NOUN
fcis-30675	19	18	information	information	NOUN
fcis-30675	19	19	.	.	PUNCT
fcis-30675	20	1	through	through	ADP
fcis-30675	20	2	sensors	sensor	NOUN
fcis-30675	20	3	such	such	ADJ
fcis-30675	20	4	as	as	ADP
fcis-30675	20	5	lidar	lidar	NOUN
fcis-30675	20	6	and	and	CCONJ
fcis-30675	20	7	rgb	rgb	PROPN
fcis-30675	20	8	-	-	PROPN
fcis-30675	20	9	d	d	PROPN
fcis-30675	20	10	cameras	camera	NOUN
fcis-30675	20	11	,	,	PUNCT
fcis-30675	20	12	environmental	environmental	ADJ
fcis-30675	20	13	modeling	modeling	NOUN
fcis-30675	20	14	was	be	AUX
fcis-30675	20	15	carried	carry	VERB
fcis-30675	20	16	out	out	ADP
fcis-30675	20	17	to	to	PART
fcis-30675	20	18	optimize	optimize	VERB
fcis-30675	20	19	the	the	DET
fcis-30675	20	20	path	path	NOUN
fcis-30675	20	21	planning	planning	NOUN
fcis-30675	20	22	of	of	ADP
fcis-30675	20	23	robots	robot	NOUN
fcis-30675	20	24	in	in	ADP
fcis-30675	20	25	gerocomiums[2	gerocomiums[2	PROPN
fcis-30675	20	26	]	]	PUNCT
fcis-30675	20	27	.	.	PUNCT
fcis-30675	21	1	by	by	ADP
fcis-30675	21	2	combining	combine	VERB
fcis-30675	21	3	ros	ros	PROPN
fcis-30675	21	4	(	(	PUNCT
fcis-30675	21	5	robot	robot	NOUN
fcis-30675	21	6	operating	operating	NOUN
fcis-30675	21	7	system	system	NOUN
fcis-30675	21	8	)	)	PUNCT
fcis-30675	21	9	with	with	ADP
fcis-30675	21	10	slam	slam	NOUN
fcis-30675	21	11	(	(	PUNCT
fcis-30675	21	12	simultaneous	simultaneous	ADJ
fcis-30675	21	13	localization	localization	NOUN
fcis-30675	21	14	and	and	CCONJ
fcis-30675	21	15	mapping	mapping	NOUN
fcis-30675	21	16	)	)	PUNCT
fcis-30675	21	17	technology	technology	NOUN
fcis-30675	21	18	,	,	PUNCT
fcis-30675	21	19	the	the	DET
fcis-30675	21	20	construction	construction	NOUN
fcis-30675	21	21	and	and	CCONJ
fcis-30675	21	22	update	update	NOUN
fcis-30675	21	23	of	of	ADP
fcis-30675	21	24	real	real	ADJ
fcis-30675	21	25	-	-	PUNCT
fcis-30675	21	26	time	time	NOUN
fcis-30675	21	27	environmental	environmental	ADJ
fcis-30675	21	28	maps	map	NOUN
fcis-30675	21	29	were	be	AUX
fcis-30675	21	30	achieved	achieve	VERB
fcis-30675	21	31	.	.	PUNCT
fcis-30675	22	1	internationally	internationally	ADV
fcis-30675	22	2	,	,	PUNCT
fcis-30675	22	3	advanced	advanced	ADJ
fcis-30675	22	4	technologies	technology	NOUN
fcis-30675	22	5	have	have	AUX
fcis-30675	22	6	been	be	AUX
fcis-30675	22	7	introduced	introduce	VERB
fcis-30675	22	8	into	into	ADP
fcis-30675	22	9	path	path	NOUN
fcis-30675	22	10	planning	planning	NOUN
fcis-30675	22	11	algorithms	algorithm	NOUN
fcis-30675	22	12	.	.	PUNCT
fcis-30675	23	1	for	for	ADP
fcis-30675	23	2	example	example	NOUN
fcis-30675	23	3	,	,	PUNCT
fcis-30675	23	4	in	in	ADP
fcis-30675	23	5	"	"	PUNCT
fcis-30675	23	6	a	a	DET
fcis-30675	23	7	modified	modified	ADJ
fcis-30675	23	8	rrt	rrt	NOUN
fcis-30675	23	9	*	*	PUNCT
fcis-30675	23	10	with	with	ADP
fcis-30675	23	11	rapid	rapid	ADJ
fcis-30675	23	12	convergence	convergence	NOUN
fcis-30675	23	13	in	in	ADP
fcis-30675	23	14	complex	complex	ADJ
fcis-30675	23	15	environments	environment	NOUN
fcis-30675	23	16	"	"	PUNCT
fcis-30675	23	17	proposed	propose	VERB
fcis-30675	23	18	by	by	ADP
fcis-30675	23	19	wang	wang	PROPN
fcis-30675	23	20	j	j	PROPN
fcis-30675	23	21	,	,	PUNCT
fcis-30675	23	22	graph	graph	NOUN
fcis-30675	23	23	-	-	PUNCT
fcis-30675	23	24	based	base	VERB
fcis-30675	23	25	algorithms	algorithm	NOUN
fcis-30675	23	26	such	such	ADJ
fcis-30675	23	27	as	as	ADP
fcis-30675	23	28	the	the	DET
fcis-30675	23	29	rrt	rrt	NOUN
fcis-30675	23	30	*	*	PUNCT
fcis-30675	23	31	(	(	PUNCT
fcis-30675	23	32	rapidly	rapidly	ADV
fcis-30675	23	33	-	-	PUNCT
fcis-30675	23	34	exploring	explore	VERB
fcis-30675	23	35	random	random	ADJ
fcis-30675	23	36	tree	tree	NOUN
fcis-30675	23	37	star	star	NOUN
fcis-30675	23	38	)	)	PUNCT
fcis-30675	23	39	algorithm	algorithm	NOUN
fcis-30675	23	40	and	and	CCONJ
fcis-30675	23	41	the	the	DET
fcis-30675	23	42	prm	prm	PROPN
fcis-30675	23	43	(	(	PUNCT
fcis-30675	23	44	probabilistic	probabilistic	ADJ
fcis-30675	23	45	roadmap	roadmap	NOUN
fcis-30675	23	46	)	)	PUNCT
fcis-30675	23	47	algorithm[3	algorithm[3	PROPN
fcis-30675	23	48	]	]	PUNCT
fcis-30675	23	49	have	have	AUX
fcis-30675	23	50	been	be	AUX
fcis-30675	23	51	adopted	adopt	VERB
fcis-30675	23	52	,	,	PUNCT
fcis-30675	23	53	which	which	PRON
fcis-30675	23	54	enhance	enhance	VERB
fcis-30675	23	55	the	the	DET
fcis-30675	23	56	path	path	NOUN
fcis-30675	23	57	planning	planning	NOUN
fcis-30675	23	58	capabilities	capability	NOUN
fcis-30675	23	59	of	of	ADP
fcis-30675	23	60	robots	robot	NOUN
fcis-30675	23	61	in	in	ADP
fcis-30675	23	62	complex	complex	ADJ
fcis-30675	23	63	environments	environment	NOUN
fcis-30675	23	64	.	.	PUNCT
fcis-30675	24	1	there	there	PRON
fcis-30675	24	2	are	be	VERB
fcis-30675	24	3	also	also	ADV
fcis-30675	24	4	studies	study	NOUN
fcis-30675	24	5	dedicated	dedicate	VERB
fcis-30675	24	6	to	to	ADP
fcis-30675	24	7	optimizing	optimize	VERB
fcis-30675	24	8	the	the	DET
fcis-30675	24	9	dwa	dwa	PROPN
fcis-30675	24	10	(	(	PUNCT
fcis-30675	24	11	dynamic	dynamic	ADJ
fcis-30675	24	12	window	window	NOUN
fcis-30675	24	13	approach	approach	NOUN
fcis-30675	24	14	)	)	PUNCT
fcis-30675	24	15	path	path	NOUN
fcis-30675	24	16	planning	planning	NOUN
fcis-30675	24	17	algorithm	algorithm	NOUN
fcis-30675	24	18	,	,	PUNCT
fcis-30675	24	19	enabling	enable	VERB
fcis-30675	24	20	robots	robot	NOUN
fcis-30675	24	21	to	to	PART
fcis-30675	24	22	adaptively	adaptively	ADV
fcis-30675	24	23	adjust	adjust	VERB
fcis-30675	24	24	their	their	PRON
fcis-30675	24	25	paths	path	NOUN
fcis-30675	24	26	in	in	ADP
fcis-30675	24	27	dynamically	dynamically	ADV
fcis-30675	24	28	changing	change	VERB
fcis-30675	24	29	environments	environment	NOUN
fcis-30675	24	30	.	.	PUNCT
fcis-30675	25	1	in	in	ADP
fcis-30675	25	2	this	this	DET
fcis-30675	25	3	paper	paper	NOUN
fcis-30675	25	4	,	,	PUNCT
fcis-30675	25	5	by	by	ADP
fcis-30675	25	6	combining	combine	VERB
fcis-30675	25	7	yolov8	yolov8	NOUN
fcis-30675	25	8	and	and	CCONJ
fcis-30675	25	9	the	the	DET
fcis-30675	25	10	dynamic	dynamic	ADJ
fcis-30675	25	11	adjustment	adjustment	NOUN
fcis-30675	25	12	of	of	ADP
fcis-30675	25	13	the	the	DET
fcis-30675	25	14	dwa	dwa	PROPN
fcis-30675	25	15	cost	cost	NOUN
fcis-30675	25	16	function	function	NOUN
fcis-30675	25	17	,	,	PUNCT
fcis-30675	25	18	the	the	DET
fcis-30675	25	19	daw	daw	PROPN
fcis-30675	25	20	navigation	navigation	NOUN
fcis-30675	25	21	algorithm	algorithm	NOUN
fcis-30675	25	22	is	be	AUX
fcis-30675	25	23	optimized	optimize	VERB
fcis-30675	25	24	for	for	ADP
fcis-30675	25	25	the	the	DET
fcis-30675	25	26	environment	environment	NOUN
fcis-30675	25	27	of	of	ADP
fcis-30675	25	28	gerocomiums	gerocomium	NOUN
fcis-30675	25	29	.	.	PUNCT
fcis-30675	26	1	the	the	DET
fcis-30675	26	2	path	path	NOUN
fcis-30675	26	3	is	be	AUX
fcis-30675	26	4	dynamically	dynamically	ADV
fcis-30675	26	5	adjusted	adjust	VERB
fcis-30675	26	6	through	through	ADP
fcis-30675	26	7	realtime	realtime	NOUN
fcis-30675	26	8	updated	update	VERB
fcis-30675	26	9	environmental	environmental	ADJ
fcis-30675	26	10	data	datum	NOUN
fcis-30675	26	11	,	,	PUNCT
fcis-30675	26	12	achieving	achieve	VERB
fcis-30675	26	13	more	more	ADV
fcis-30675	26	14	efficient	efficient	ADJ
fcis-30675	26	15	dynamic	dynamic	ADJ
fcis-30675	26	16	obstacle	obstacle	NOUN
fcis-30675	26	17	avoidance	avoidance	NOUN
fcis-30675	26	18	capabilities	capability	NOUN
fcis-30675	26	19	and	and	CCONJ
fcis-30675	26	20	environmental	environmental	ADJ
fcis-30675	26	21	adaptability	adaptability	NOUN
fcis-30675	26	22	,	,	PUNCT
fcis-30675	26	23	allowing	allow	VERB
fcis-30675	26	24	the	the	DET
fcis-30675	26	25	robot	robot	NOUN
fcis-30675	26	26	to	to	PART
fcis-30675	26	27	adapt	adapt	VERB
fcis-30675	26	28	to	to	ADP
fcis-30675	26	29	environmental	environmental	ADJ
fcis-30675	26	30	changes	change	NOUN
fcis-30675	26	31	in	in	ADP
fcis-30675	26	32	real	real	ADJ
fcis-30675	26	33	time	time	NOUN
fcis-30675	26	34	.	.	PUNCT
fcis-30675	27	1	2	2	X
fcis-30675	27	2	.	.	X
fcis-30675	27	3	design	design	NOUN
fcis-30675	27	4	of	of	ADP
fcis-30675	27	5	intelligent	intelligent	ADJ
fcis-30675	27	6	robots	robot	NOUN
fcis-30675	27	7	in	in	ADP
fcis-30675	27	8	gerocomiums	gerocomium	NOUN
fcis-30675	27	9	2.1	2.1	NUM
fcis-30675	27	10	.	.	PUNCT
fcis-30675	28	1	hardware	hardware	NOUN
fcis-30675	28	2	design	design	NOUN
fcis-30675	28	3	of	of	ADP
fcis-30675	28	4	the	the	DET
fcis-30675	28	5	robot	robot	NOUN
fcis-30675	28	6	as	as	SCONJ
fcis-30675	28	7	shown	show	VERB
fcis-30675	28	8	in	in	ADP
fcis-30675	28	9	figure	figure	NOUN
fcis-30675	28	10	1	1	NUM
fcis-30675	28	11	,	,	PUNCT
fcis-30675	28	12	to	to	PART
fcis-30675	28	13	meet	meet	VERB
fcis-30675	28	14	the	the	DET
fcis-30675	28	15	technical	technical	ADJ
fcis-30675	28	16	requirements	requirement	NOUN
fcis-30675	28	17	for	for	ADP
fcis-30675	28	18	the	the	DET
fcis-30675	28	19	movement	movement	NOUN
fcis-30675	28	20	of	of	ADP
fcis-30675	28	21	the	the	DET
fcis-30675	28	22	intelligent	intelligent	ADJ
fcis-30675	28	23	robot	robot	NOUN
fcis-30675	28	24	in	in	ADP
fcis-30675	28	25	the	the	DET
fcis-30675	28	26	gerocomium	gerocomium	NOUN
fcis-30675	28	27	and	and	CCONJ
fcis-30675	28	28	multi	multi	ADJ
fcis-30675	28	29	scenario	scenario	NOUN
fcis-30675	28	30	and	and	CCONJ
fcis-30675	28	31	multi	multi	ADJ
fcis-30675	28	32	target	target	NOUN
fcis-30675	28	33	point	point	NOUN
fcis-30675	28	34	navigation	navigation	NOUN
fcis-30675	28	35	,	,	PUNCT
fcis-30675	28	36	this	this	DET
fcis-30675	28	37	paper	paper	NOUN
fcis-30675	28	38	uses	use	VERB
fcis-30675	28	39	a	a	DET
fcis-30675	28	40	robot	robot	NOUN
fcis-30675	28	41	development	development	NOUN
fcis-30675	28	42	platform	platform	NOUN
fcis-30675	28	43	framework	framework	NOUN
fcis-30675	28	44	based	base	VERB
fcis-30675	28	45	on	on	ADP
fcis-30675	28	46	ros	ros	PROPN
fcis-30675	28	47	to	to	PART
fcis-30675	28	48	design	design	VERB
fcis-30675	28	49	the	the	DET
fcis-30675	28	50	robot	robot	NOUN
fcis-30675	28	51	.	.	PUNCT
fcis-30675	29	1	the	the	DET
fcis-30675	29	2	lower	low	ADJ
fcis-30675	29	3	computer	computer	NOUN
fcis-30675	29	4	of	of	ADP
fcis-30675	29	5	the	the	DET
fcis-30675	29	6	robot	robot	NOUN
fcis-30675	29	7	uses	use	VERB
fcis-30675	29	8	the	the	DET
fcis-30675	29	9	stm32f103zet6	stm32f103zet6	PROPN
fcis-30675	29	10	as	as	SCONJ
fcis-30675	29	11	the	the	DET
fcis-30675	29	12	main	main	ADJ
fcis-30675	29	13	control	control	NOUN
fcis-30675	29	14	chip	chip	NOUN
fcis-30675	29	15	to	to	PART
fcis-30675	29	16	control	control	VERB
fcis-30675	29	17	the	the	DET
fcis-30675	29	18	coded	code	VERB
fcis-30675	29	19	motor	motor	NOUN
fcis-30675	29	20	and	and	CCONJ
fcis-30675	29	21	the	the	DET
fcis-30675	29	22	servo	servo	NOUN
fcis-30675	29	23	,	,	PUNCT
fcis-30675	29	24	providing	provide	VERB
fcis-30675	29	25	the	the	DET
fcis-30675	29	26	robot	robot	NOUN
fcis-30675	29	27	with	with	ADP
fcis-30675	29	28	the	the	DET
fcis-30675	29	29	ability	ability	NOUN
fcis-30675	29	30	to	to	PART
fcis-30675	29	31	move	move	VERB
fcis-30675	29	32	forward	forward	ADV
fcis-30675	29	33	,	,	PUNCT
fcis-30675	29	34	backward	backward	ADV
fcis-30675	29	35	,	,	PUNCT
fcis-30675	29	36	and	and	CCONJ
fcis-30675	29	37	turn	turn	NOUN
fcis-30675	29	38	.	.	PUNCT
fcis-30675	30	1	meanwhile	meanwhile	ADV
fcis-30675	30	2	,	,	PUNCT
fcis-30675	30	3	an	an	DET
fcis-30675	30	4	infrared	infrared	ADJ
fcis-30675	30	5	ranging	ranging	NOUN
fcis-30675	30	6	module	module	NOUN
fcis-30675	30	7	is	be	AUX
fcis-30675	30	8	installed	instal	VERB
fcis-30675	30	9	at	at	ADP
fcis-30675	30	10	the	the	DET
fcis-30675	30	11	bottom	bottom	NOUN
fcis-30675	30	12	of	of	ADP
fcis-30675	30	13	the	the	DET
fcis-30675	30	14	robot	robot	NOUN
fcis-30675	30	15	to	to	PART
fcis-30675	30	16	detect	detect	VERB
fcis-30675	30	17	tiny	tiny	ADJ
fcis-30675	30	18	obstacles	obstacle	NOUN
fcis-30675	30	19	that	that	PRON
fcis-30675	30	20	can	can	AUX
fcis-30675	30	21	not	not	PART
fcis-30675	30	22	be	be	AUX
fcis-30675	30	23	captured	capture	VERB
fcis-30675	30	24	by	by	ADP
fcis-30675	30	25	the	the	DET
fcis-30675	30	26	lidar	lidar	NOUN
fcis-30675	30	27	and	and	CCONJ
fcis-30675	30	28	the	the	DET
fcis-30675	30	29	depth	depth	NOUN
fcis-30675	30	30	camera	camera	NOUN
fcis-30675	30	31	.	.	PUNCT
fcis-30675	31	1	as	as	SCONJ
fcis-30675	31	2	shown	show	VERB
fcis-30675	31	3	in	in	ADP
fcis-30675	31	4	figure	figure	NOUN
fcis-30675	31	5	2	2	NUM
fcis-30675	31	6	,	,	PUNCT
fcis-30675	31	7	the	the	DET
fcis-30675	31	8	robot	robot	NOUN
fcis-30675	31	9	is	be	AUX
fcis-30675	31	10	equipped	equip	VERB
fcis-30675	31	11	with	with	ADP
fcis-30675	31	12	a	a	DET
fcis-30675	31	13	drive	drive	ADJ
fcis-30675	31	14	shaft	shaft	NOUN
fcis-30675	31	15	and	and	CCONJ
fcis-30675	31	16	a	a	DET
fcis-30675	31	17	medicine	medicine	NOUN
fcis-30675	31	18	box	box	NOUN
fcis-30675	31	19	to	to	PART
fcis-30675	31	20	fulfill	fulfill	VERB
fcis-30675	31	21	functions	function	NOUN
fcis-30675	31	22	such	such	ADJ
fcis-30675	31	23	as	as	ADP
fcis-30675	31	24	delivering	deliver	VERB
fcis-30675	31	25	medicine	medicine	NOUN
fcis-30675	31	26	to	to	ADP
fcis-30675	31	27	the	the	DET
fcis-30675	31	28	elderly	elderly	ADJ
fcis-30675	31	29	.	.	PUNCT
fcis-30675	32	1	217	217	NUM
fcis-30675	32	2	figure	figure	NOUN
fcis-30675	32	3	1	1	NUM
fcis-30675	32	4	.	.	PUNCT
fcis-30675	32	5	hardware	hardware	NOUN
fcis-30675	32	6	relationship	relationship	NOUN
fcis-30675	32	7	diagram	diagram	NOUN
fcis-30675	32	8	of	of	ADP
fcis-30675	32	9	the	the	DET
fcis-30675	32	10	intelligent	intelligent	ADJ
fcis-30675	32	11	robot	robot	NOUN
fcis-30675	32	12	in	in	ADP
fcis-30675	32	13	the	the	DET
fcis-30675	32	14	gerocomium	gerocomium	NOUN
fcis-30675	32	15	for	for	ADP
fcis-30675	32	16	the	the	DET
fcis-30675	32	17	elderly	elderly	ADJ
fcis-30675	32	18	figure	figure	NOUN
fcis-30675	32	19	2	2	NUM
fcis-30675	32	20	.	.	PUNCT
fcis-30675	32	21	physical	physical	ADJ
fcis-30675	32	22	diagram	diagram	NOUN
fcis-30675	32	23	of	of	ADP
fcis-30675	32	24	the	the	DET
fcis-30675	32	25	intelligent	intelligent	ADJ
fcis-30675	32	26	robot	robot	NOUN
fcis-30675	32	27	in	in	ADP
fcis-30675	32	28	the	the	DET
fcis-30675	32	29	gerocomium	gerocomium	ADJ
fcis-30675	32	30	figure	figure	NOUN
fcis-30675	32	31	3	3	NUM
fcis-30675	32	32	.	.	PUNCT
fcis-30675	32	33	schematic	schematic	ADJ
fcis-30675	32	34	diagram	diagram	NOUN
fcis-30675	32	35	of	of	ADP
fcis-30675	32	36	the	the	DET
fcis-30675	32	37	lidar	lidar	NOUN
fcis-30675	32	38	positioning	positioning	NOUN
fcis-30675	32	39	principle	principle	NOUN
fcis-30675	32	40	218	218	NUM
fcis-30675	32	41	2.2	2.2	NUM
fcis-30675	32	42	.	.	PUNCT
fcis-30675	33	1	the	the	DET
fcis-30675	33	2	robot	robot	NOUN
fcis-30675	33	3	is	be	AUX
fcis-30675	33	4	equipped	equip	VERB
fcis-30675	33	5	with	with	ADP
fcis-30675	33	6	multiple	multiple	ADJ
fcis-30675	33	7	sensors	sensor	NOUN
fcis-30675	33	8	table	table	NOUN
fcis-30675	33	9	1	1	NUM
fcis-30675	33	10	.	.	PUNCT
fcis-30675	33	11	hardware	hardware	NOUN
fcis-30675	33	12	composition	composition	NOUN
fcis-30675	33	13	and	and	CCONJ
fcis-30675	33	14	configuration	configuration	NOUN
fcis-30675	33	15	of	of	ADP
fcis-30675	33	16	the	the	DET
fcis-30675	33	17	intelligent	intelligent	ADJ
fcis-30675	33	18	robot	robot	NOUN
fcis-30675	33	19	in	in	ADP
fcis-30675	33	20	the	the	DET
fcis-30675	33	21	gerocomium	gerocomium	NOUN
fcis-30675	33	22	for	for	ADP
fcis-30675	33	23	the	the	DET
fcis-30675	33	24	elderly	elderly	ADJ
fcis-30675	33	25	serial	serial	ADJ
fcis-30675	33	26	number	number	NOUN
fcis-30675	33	27	name	name	NOUN
fcis-30675	33	28	model	model	NOUN
fcis-30675	33	29	and	and	CCONJ
fcis-30675	33	30	configuration	configuration	NOUN
fcis-30675	33	31	1	1	NUM
fcis-30675	33	32	lidar	lidar	NOUN
fcis-30675	33	33	sensor	sensor	NOUN
fcis-30675	33	34	ledong	ledong	ADJ
fcis-30675	33	35	14p	14p	NUM
fcis-30675	33	36	single	single	ADJ
fcis-30675	33	37	-	-	PUNCT
fcis-30675	33	38	line	line	NOUN
fcis-30675	33	39	lidar	lidar	NOUN
fcis-30675	33	40	2	2	NUM
fcis-30675	33	41	lower	low	ADJ
fcis-30675	33	42	computer	computer	NOUN
fcis-30675	33	43	main	main	ADJ
fcis-30675	33	44	control	control	NOUN
fcis-30675	33	45	raspberry	raspberry	PROPN
fcis-30675	33	46	pi	pi	NOUN
fcis-30675	33	47	4b	4b	PROPN
fcis-30675	33	48	3	3	NUM
fcis-30675	33	49	binocular	binocular	ADJ
fcis-30675	33	50	depth	depth	NOUN
fcis-30675	33	51	camera	camera	NOUN
fcis-30675	33	52	sensor	sensor	NOUN
fcis-30675	33	53	orbbec	orbbec	PROPN
fcis-30675	33	54	astra	astra	PROPN
fcis-30675	33	55	4	4	NUM
fcis-30675	33	56	servo	servo	NOUN
fcis-30675	33	57	pan	pan	ADJ
fcis-30675	33	58	-	-	ADJ
fcis-30675	33	59	tilt	tilt	ADJ
fcis-30675	33	60	combination	combination	NOUN
fcis-30675	33	61	of	of	ADP
fcis-30675	33	62	dual	dual	ADJ
fcis-30675	33	63	servo	servo	NOUN
fcis-30675	33	64	motors	motor	NOUN
fcis-30675	33	65	5	5	NUM
fcis-30675	33	66	graphical	graphical	ADJ
fcis-30675	33	67	display	display	NOUN
fcis-30675	33	68	screen	screen	NOUN
fcis-30675	33	69	of	of	ADP
fcis-30675	33	70	the	the	DET
fcis-30675	33	71	robot	robot	NOUN
fcis-30675	33	72	7	7	NUM
fcis-30675	33	73	-	-	PUNCT
fcis-30675	33	74	inch	inch	NOUN
fcis-30675	33	75	isp	isp	ADJ
fcis-30675	33	76	high	high	ADJ
fcis-30675	33	77	-	-	PUNCT
fcis-30675	33	78	definition	definition	NOUN
fcis-30675	33	79	display	display	NOUN
fcis-30675	33	80	screen	screen	NOUN
fcis-30675	33	81	6	6	NUM
fcis-30675	33	82	imu	imu	NOUN
fcis-30675	33	83	(	(	PUNCT
fcis-30675	33	84	inertial	inertial	ADJ
fcis-30675	33	85	measurement	measurement	NOUN
fcis-30675	33	86	unit	unit	NOUN
fcis-30675	33	87	)	)	PUNCT
fcis-30675	33	88	pose	pose	VERB
fcis-30675	33	89	sensor	sensor	NOUN
fcis-30675	33	90	six	six	NUM
fcis-30675	33	91	-	-	PUNCT
fcis-30675	33	92	axis	axis	NOUN
fcis-30675	33	93	(	(	PUNCT
fcis-30675	33	94	three	three	NUM
fcis-30675	33	95	-	-	PUNCT
fcis-30675	33	96	axis	axis	NOUN
fcis-30675	33	97	gyroscope	gyroscope	NOUN
fcis-30675	33	98	,	,	PUNCT
fcis-30675	33	99	three	three	NUM
fcis-30675	33	100	-	-	PUNCT
fcis-30675	33	101	axis	axis	NOUN
fcis-30675	33	102	accelerometer	accelerometer	NOUN
fcis-30675	33	103	)	)	PUNCT
fcis-30675	33	104	7	7	NUM
fcis-30675	33	105	odometer	odometer	NOUN
fcis-30675	33	106	sensor	sensor	NOUN
fcis-30675	33	107	encoded	encode	VERB
fcis-30675	33	108	motor	motor	NOUN
fcis-30675	33	109	8	8	NUM
fcis-30675	33	110	bottom	bottom	ADJ
fcis-30675	33	111	-	-	PUNCT
fcis-30675	33	112	layer	layer	NOUN
fcis-30675	33	113	control	control	NOUN
fcis-30675	33	114	chip	chip	NOUN
fcis-30675	33	115	stm32f103zet6	stm32f103zet6	NOUN
fcis-30675	33	116	9	9	NUM
fcis-30675	33	117	support	support	NOUN
fcis-30675	33	118	plate	plate	NOUN
fcis-30675	33	119	acrylic	acrylic	NOUN
fcis-30675	33	120	plate	plate	NOUN
fcis-30675	33	121	10	10	NUM
fcis-30675	33	122	driving	driving	NOUN
fcis-30675	33	123	wheel	wheel	NOUN
fcis-30675	33	124	rubber	rubber	NOUN
fcis-30675	33	125	tire	tire	NOUN
fcis-30675	33	126	the	the	DET
fcis-30675	33	127	intelligent	intelligent	ADJ
fcis-30675	33	128	robot	robot	NOUN
fcis-30675	33	129	in	in	ADP
fcis-30675	33	130	the	the	DET
fcis-30675	33	131	gerocomium	gerocomium	NOUN
fcis-30675	33	132	for	for	ADP
fcis-30675	33	133	the	the	DET
fcis-30675	33	134	elderly	elderly	ADJ
fcis-30675	33	135	adopts	adopt	VERB
fcis-30675	33	136	a	a	DET
fcis-30675	33	137	three	three	NUM
fcis-30675	33	138	-	-	PUNCT
fcis-30675	33	139	layer	layer	NOUN
fcis-30675	33	140	structure	structure	NOUN
fcis-30675	33	141	design	design	NOUN
fcis-30675	33	142	,	,	PUNCT
fcis-30675	33	143	as	as	SCONJ
fcis-30675	33	144	shown	show	VERB
fcis-30675	33	145	in	in	ADP
fcis-30675	33	146	figure	figure	NOUN
fcis-30675	33	147	3	3	NUM
fcis-30675	33	148	.	.	PUNCT
fcis-30675	34	1	the	the	DET
fcis-30675	34	2	first	first	ADJ
fcis-30675	34	3	layer	layer	NOUN
fcis-30675	34	4	is	be	AUX
fcis-30675	34	5	the	the	DET
fcis-30675	34	6	chassis	chassis	NOUN
fcis-30675	34	7	structure	structure	NOUN
fcis-30675	34	8	of	of	ADP
fcis-30675	34	9	the	the	DET
fcis-30675	34	10	robot	robot	NOUN
fcis-30675	34	11	,	,	PUNCT
fcis-30675	34	12	which	which	PRON
fcis-30675	34	13	provides	provide	VERB
fcis-30675	34	14	power	power	NOUN
fcis-30675	34	15	for	for	ADP
fcis-30675	34	16	the	the	DET
fcis-30675	34	17	robot	robot	NOUN
fcis-30675	34	18	.	.	PUNCT
fcis-30675	35	1	the	the	DET
fcis-30675	35	2	second	second	ADJ
fcis-30675	35	3	layer	layer	NOUN
fcis-30675	35	4	is	be	AUX
fcis-30675	35	5	equipped	equip	VERB
fcis-30675	35	6	with	with	ADP
fcis-30675	35	7	sensors	sensor	NOUN
fcis-30675	35	8	such	such	ADJ
fcis-30675	35	9	as	as	ADP
fcis-30675	35	10	a	a	DET
fcis-30675	35	11	lidar	lidar	NOUN
fcis-30675	35	12	,	,	PUNCT
fcis-30675	35	13	an	an	DET
fcis-30675	35	14	imu	imu	NOUN
fcis-30675	35	15	pose	pose	NOUN
fcis-30675	35	16	sensor	sensor	NOUN
fcis-30675	35	17	,	,	PUNCT
fcis-30675	35	18	a	a	DET
fcis-30675	35	19	binocular	binocular	ADJ
fcis-30675	35	20	depth	depth	NOUN
fcis-30675	35	21	camera	camera	NOUN
fcis-30675	35	22	,	,	PUNCT
fcis-30675	35	23	and	and	CCONJ
fcis-30675	35	24	their	their	PRON
fcis-30675	35	25	circuit	circuit	NOUN
fcis-30675	35	26	parts	part	NOUN
fcis-30675	35	27	,	,	PUNCT
fcis-30675	35	28	providing	provide	VERB
fcis-30675	35	29	the	the	DET
fcis-30675	35	30	robot	robot	NOUN
fcis-30675	35	31	with	with	ADP
fcis-30675	35	32	environmental	environmental	ADJ
fcis-30675	35	33	perception	perception	NOUN
fcis-30675	35	34	and	and	CCONJ
fcis-30675	35	35	core	core	NOUN
fcis-30675	35	36	computing	computing	NOUN
fcis-30675	35	37	power	power	NOUN
fcis-30675	35	38	functions	function	NOUN
fcis-30675	35	39	.	.	PUNCT
fcis-30675	36	1	the	the	DET
fcis-30675	36	2	third	third	ADJ
fcis-30675	36	3	layer	layer	NOUN
fcis-30675	36	4	is	be	AUX
fcis-30675	36	5	equipped	equip	VERB
fcis-30675	36	6	with	with	ADP
fcis-30675	36	7	the	the	DET
fcis-30675	36	8	robot	robot	NOUN
fcis-30675	36	9	's	's	PART
fcis-30675	36	10	binocular	binocular	ADJ
fcis-30675	36	11	depth	depth	NOUN
fcis-30675	36	12	camera	camera	NOUN
fcis-30675	36	13	,	,	PUNCT
fcis-30675	36	14	servo	servo	VERB
fcis-30675	36	15	pan	pan	NOUN
fcis-30675	36	16	-	-	ADJ
fcis-30675	36	17	tilt	tilt	ADJ
fcis-30675	36	18	,	,	PUNCT
fcis-30675	36	19	medicine	medicine	NOUN
fcis-30675	36	20	storage	storage	NOUN
fcis-30675	36	21	structure	structure	NOUN
fcis-30675	36	22	of	of	ADP
fcis-30675	36	23	the	the	DET
fcis-30675	36	24	medicine	medicine	NOUN
fcis-30675	36	25	box	box	NOUN
fcis-30675	36	26	,	,	PUNCT
fcis-30675	36	27	and	and	CCONJ
fcis-30675	36	28	its	its	PRON
fcis-30675	36	29	conveyor	conveyor	NOUN
fcis-30675	36	30	belt	belt	NOUN
fcis-30675	36	31	part	part	NOUN
fcis-30675	36	32	.	.	PUNCT
fcis-30675	37	1	the	the	DET
fcis-30675	37	2	main	main	ADJ
fcis-30675	37	3	devices	device	NOUN
fcis-30675	37	4	of	of	ADP
fcis-30675	37	5	the	the	DET
fcis-30675	37	6	intelligent	intelligent	ADJ
fcis-30675	37	7	robot	robot	NOUN
fcis-30675	37	8	in	in	ADP
fcis-30675	37	9	the	the	DET
fcis-30675	37	10	gerocomium	gerocomium	NOUN
fcis-30675	37	11	for	for	ADP
fcis-30675	37	12	the	the	DET
fcis-30675	37	13	elderly	elderly	ADJ
fcis-30675	37	14	in	in	ADP
fcis-30675	37	15	this	this	DET
fcis-30675	37	16	article	article	NOUN
fcis-30675	37	17	correspond	correspond	VERB
fcis-30675	37	18	to	to	ADP
fcis-30675	37	19	each	each	DET
fcis-30675	37	20	label	label	NOUN
fcis-30675	37	21	,	,	PUNCT
fcis-30675	37	22	and	and	CCONJ
fcis-30675	37	23	the	the	DET
fcis-30675	37	24	specific	specific	ADJ
fcis-30675	37	25	parameters	parameter	NOUN
fcis-30675	37	26	are	be	AUX
fcis-30675	37	27	shown	show	VERB
fcis-30675	37	28	in	in	ADP
fcis-30675	37	29	table	table	NOUN
fcis-30675	37	30	1	1	NUM
fcis-30675	37	31	.	.	PUNCT
fcis-30675	38	1	the	the	DET
fcis-30675	38	2	robot	robot	NOUN
fcis-30675	38	3	is	be	AUX
fcis-30675	38	4	equipped	equip	VERB
fcis-30675	38	5	with	with	ADP
fcis-30675	38	6	an	an	DET
fcis-30675	38	7	ld14p	ld14p	ADJ
fcis-30675	38	8	single	single	ADJ
fcis-30675	38	9	-	-	PUNCT
fcis-30675	38	10	line	line	NOUN
fcis-30675	38	11	lidar	lidar	NOUN
fcis-30675	38	12	.	.	PUNCT
fcis-30675	39	1	its	its	PRON
fcis-30675	39	2	measurement	measurement	NOUN
fcis-30675	39	3	range	range	NOUN
fcis-30675	39	4	is	be	AUX
fcis-30675	39	5	0.1	0.1	NUM
fcis-30675	39	6	to	to	PART
fcis-30675	39	7	8	8	NUM
fcis-30675	39	8	meters	meter	NOUN
fcis-30675	39	9	,	,	PUNCT
fcis-30675	39	10	the	the	DET
fcis-30675	39	11	scanning	scanning	NOUN
fcis-30675	39	12	frequency	frequency	NOUN
fcis-30675	39	13	is	be	AUX
fcis-30675	39	14	6	6	NUM
fcis-30675	39	15	hz	hz	NOUN
fcis-30675	39	16	,	,	PUNCT
fcis-30675	39	17	the	the	DET
fcis-30675	39	18	measurement	measurement	NOUN
fcis-30675	39	19	frequency	frequency	NOUN
fcis-30675	39	20	is	be	AUX
fcis-30675	39	21	4000	4000	NUM
fcis-30675	39	22	times	time	NOUN
fcis-30675	39	23	per	per	ADP
fcis-30675	39	24	second	second	NOUN
fcis-30675	39	25	,	,	PUNCT
fcis-30675	39	26	the	the	DET
fcis-30675	39	27	scanning	scan	VERB
fcis-30675	39	28	angle	angle	NOUN
fcis-30675	39	29	of	of	ADP
fcis-30675	39	30	view	view	NOUN
fcis-30675	39	31	is	be	AUX
fcis-30675	39	32	0	0	NUM
fcis-30675	39	33	to	to	ADP
fcis-30675	39	34	360	360	NUM
fcis-30675	39	35	degrees	degree	NOUN
fcis-30675	39	36	,	,	PUNCT
fcis-30675	39	37	and	and	CCONJ
fcis-30675	39	38	the	the	DET
fcis-30675	39	39	pitch	pitch	NOUN
fcis-30675	39	40	angle	angle	NOUN
fcis-30675	39	41	ranges	range	VERB
fcis-30675	39	42	from	from	ADP
fcis-30675	39	43	0	0	NUM
fcis-30675	39	44	to	to	PART
fcis-30675	39	45	10	10	NUM
fcis-30675	39	46	degrees	degree	NOUN
fcis-30675	39	47	.	.	PUNCT
fcis-30675	40	1	it	it	PRON
fcis-30675	40	2	is	be	AUX
fcis-30675	40	3	also	also	ADV
fcis-30675	40	4	equipped	equip	VERB
fcis-30675	40	5	with	with	ADP
fcis-30675	40	6	a	a	DET
fcis-30675	40	7	4	4	NUM
fcis-30675	40	8	-	-	PUNCT
fcis-30675	40	9	megapixel	megapixel	ADJ
fcis-30675	40	10	1080p	1080p	NUM
fcis-30675	40	11	binocular	binocular	ADJ
fcis-30675	40	12	synchronous	synchronous	ADJ
fcis-30675	40	13	depth	depth	NOUN
fcis-30675	40	14	camera	camera	NOUN
fcis-30675	40	15	with	with	ADP
fcis-30675	40	16	a	a	DET
fcis-30675	40	17	depth	depth	NOUN
fcis-30675	40	18	ranging	range	VERB
fcis-30675	40	19	range	range	NOUN
fcis-30675	40	20	of	of	ADP
fcis-30675	40	21	0.6	0.6	NUM
fcis-30675	40	22	to	to	PART
fcis-30675	40	23	8	8	NUM
fcis-30675	40	24	meters	meter	NOUN
fcis-30675	40	25	.	.	PUNCT
fcis-30675	41	1	in	in	ADP
fcis-30675	41	2	cooperation	cooperation	NOUN
fcis-30675	41	3	with	with	ADP
fcis-30675	41	4	the	the	DET
fcis-30675	41	5	servo	servo	NOUN
fcis-30675	41	6	pan	pan	NOUN
fcis-30675	41	7	-	-	NOUN
fcis-30675	41	8	tilt	tilt	NOUN
fcis-30675	41	9	,	,	PUNCT
fcis-30675	41	10	it	it	PRON
fcis-30675	41	11	can	can	AUX
fcis-30675	41	12	rotate	rotate	VERB
fcis-30675	41	13	360	360	NUM
fcis-30675	41	14	degrees	degree	NOUN
fcis-30675	41	15	to	to	PART
fcis-30675	41	16	track	track	VERB
fcis-30675	41	17	objects	object	NOUN
fcis-30675	41	18	in	in	ADP
fcis-30675	41	19	real	real	ADJ
fcis-30675	41	20	time	time	NOUN
fcis-30675	41	21	,	,	PUNCT
fcis-30675	41	22	perform	perform	VERB
fcis-30675	41	23	augmented	augmented	ADJ
fcis-30675	41	24	reality	reality	NOUN
fcis-30675	41	25	,	,	PUNCT
fcis-30675	41	26	3d	3d	NUM
fcis-30675	41	27	reconstruction	reconstruction	NOUN
fcis-30675	41	28	,	,	PUNCT
fcis-30675	41	29	etc	etc	X
fcis-30675	41	30	.	.	X
fcis-30675	41	31	,	,	PUNCT
fcis-30675	41	32	and	and	CCONJ
fcis-30675	41	33	is	be	AUX
fcis-30675	41	34	used	use	VERB
fcis-30675	41	35	for	for	ADP
fcis-30675	41	36	multi	multi	ADJ
fcis-30675	41	37	-	-	ADJ
fcis-30675	41	38	modal	modal	ADJ
fcis-30675	41	39	environmental	environmental	ADJ
fcis-30675	41	40	perception	perception	NOUN
fcis-30675	41	41	.	.	PUNCT
fcis-30675	42	1	at	at	ADP
fcis-30675	42	2	the	the	DET
fcis-30675	42	3	same	same	ADJ
fcis-30675	42	4	time	time	NOUN
fcis-30675	42	5	,	,	PUNCT
fcis-30675	42	6	an	an	DET
fcis-30675	42	7	stm32	stm32	PROPN
fcis-30675	42	8	single	single	ADJ
fcis-30675	42	9	-	-	PUNCT
fcis-30675	42	10	chip	chip	NOUN
fcis-30675	42	11	microcomputer	microcomputer	NOUN
fcis-30675	42	12	is	be	AUX
fcis-30675	42	13	installed	instal	VERB
fcis-30675	42	14	to	to	PART
fcis-30675	42	15	control	control	VERB
fcis-30675	42	16	the	the	DET
fcis-30675	42	17	underlying	underlie	VERB
fcis-30675	42	18	drive	drive	NOUN
fcis-30675	42	19	of	of	ADP
fcis-30675	42	20	the	the	DET
fcis-30675	42	21	robot	robot	NOUN
fcis-30675	42	22	.	.	PUNCT
fcis-30675	43	1	to	to	PART
fcis-30675	43	2	obtain	obtain	VERB
fcis-30675	43	3	environmental	environmental	ADJ
fcis-30675	43	4	data	datum	NOUN
fcis-30675	43	5	using	use	VERB
fcis-30675	43	6	the	the	DET
fcis-30675	43	7	ledong	ledong	ADJ
fcis-30675	43	8	14p	14p	NUM
fcis-30675	43	9	lidar	lidar	NOUN
fcis-30675	43	10	,	,	PUNCT
fcis-30675	43	11	first	first	ADV
fcis-30675	43	12	,	,	PUNCT
fcis-30675	43	13	import	import	VERB
fcis-30675	43	14	the	the	DET
fcis-30675	43	15	sdk	sdk	NOUN
fcis-30675	43	16	of	of	ADP
fcis-30675	43	17	the	the	DET
fcis-30675	43	18	ledong	ledong	ADJ
fcis-30675	43	19	14p	14p	NUM
fcis-30675	43	20	lidar	lidar	NOUN
fcis-30675	43	21	and	and	CCONJ
fcis-30675	43	22	the	the	DET
fcis-30675	43	23	ldlidar	ldlidar	NOUN
fcis-30675	43	24	function	function	NOUN
fcis-30675	43	25	package	package	NOUN
fcis-30675	43	26	into	into	ADP
fcis-30675	43	27	the	the	DET
fcis-30675	43	28	workspace	workspace	NOUN
fcis-30675	43	29	named	name	VERB
fcis-30675	43	30	"	"	PUNCT
fcis-30675	43	31	workspace	workspace	NOUN
fcis-30675	43	32	"	"	PUNCT
fcis-30675	43	33	in	in	ADP
fcis-30675	43	34	the	the	DET
fcis-30675	43	35	ubuntu	ubuntu	ADJ
fcis-30675	43	36	system	system	NOUN
fcis-30675	43	37	and	and	CCONJ
fcis-30675	43	38	perform	perform	VERB
fcis-30675	43	39	a	a	DET
fcis-30675	43	40	catkin_make	catkin_make	NOUN
fcis-30675	43	41	compilation	compilation	NOUN
fcis-30675	43	42	.	.	PUNCT
fcis-30675	44	1	secondly	secondly	ADV
fcis-30675	44	2	,	,	PUNCT
fcis-30675	44	3	insert	insert	VERB
fcis-30675	44	4	the	the	DET
fcis-30675	44	5	usb	usb	NOUN
fcis-30675	44	6	interface	interface	NOUN
fcis-30675	44	7	of	of	ADP
fcis-30675	44	8	the	the	DET
fcis-30675	44	9	lidar	lidar	NOUN
fcis-30675	44	10	and	and	CCONJ
fcis-30675	44	11	configure	configure	NOUN
fcis-30675	44	12	and	and	CCONJ
fcis-30675	44	13	identify	identify	VERB
fcis-30675	44	14	the	the	DET
fcis-30675	44	15	lidar	lidar	NOUN
fcis-30675	44	16	interface	interface	NOUN
fcis-30675	44	17	ttyama0	ttyama0	NOUN
fcis-30675	44	18	in	in	ADP
fcis-30675	44	19	the	the	DET
fcis-30675	44	20	ros	ros	PROPN
fcis-30675	44	21	system	system	NOUN
fcis-30675	44	22	environment	environment	NOUN
fcis-30675	44	23	.	.	PUNCT
fcis-30675	45	1	finally	finally	ADV
fcis-30675	45	2	,	,	PUNCT
fcis-30675	45	3	in	in	ADP
fcis-30675	45	4	the	the	DET
fcis-30675	45	5	ldlidar	ldlidar	NOUN
fcis-30675	45	6	workspace	workspace	NOUN
fcis-30675	45	7	,	,	PUNCT
fcis-30675	45	8	enter	enter	VERB
fcis-30675	45	9	"	"	PUNCT
fcis-30675	45	10	roslaunch	roslaunch	VERB
fcis-30675	45	11	ldlidar	ldlidar	NOUN
fcis-30675	45	12	ld14p.launch	ld14p.launch	NOUN
fcis-30675	45	13	"	"	PUNCT
fcis-30675	45	14	to	to	PART
fcis-30675	45	15	start	start	VERB
fcis-30675	45	16	the	the	DET
fcis-30675	45	17	launch	launch	NOUN
fcis-30675	45	18	file	file	NOUN
fcis-30675	45	19	and	and	CCONJ
fcis-30675	45	20	activate	activate	VERB
fcis-30675	45	21	the	the	PRON
fcis-30675	45	22	lidar.after	lidar.after	ADP
fcis-30675	45	23	the	the	DET
fcis-30675	45	24	lidar	lidar	NOUN
fcis-30675	45	25	is	be	AUX
fcis-30675	45	26	started	start	VERB
fcis-30675	45	27	,	,	PUNCT
fcis-30675	45	28	the	the	DET
fcis-30675	45	29	acquired	acquire	VERB
fcis-30675	45	30	information	information	NOUN
fcis-30675	45	31	will	will	AUX
fcis-30675	45	32	be	be	AUX
fcis-30675	45	33	published	publish	VERB
fcis-30675	45	34	in	in	ADP
fcis-30675	45	35	the	the	DET
fcis-30675	45	36	/scan	/scan	NOUN
fcis-30675	45	37	topic	topic	NOUN
fcis-30675	45	38	.	.	PUNCT
fcis-30675	46	1	the	the	DET
fcis-30675	46	2	rviz	rviz	NOUN
fcis-30675	46	3	visualization	visualization	NOUN
fcis-30675	46	4	software	software	NOUN
fcis-30675	46	5	within	within	ADP
fcis-30675	46	6	the	the	DET
fcis-30675	46	7	ros	ros	PROPN
fcis-30675	46	8	system	system	NOUN
fcis-30675	46	9	can	can	AUX
fcis-30675	46	10	subscribe	subscribe	VERB
fcis-30675	46	11	to	to	ADP
fcis-30675	46	12	the	the	DET
fcis-30675	46	13	/scan	/scan	ADJ
fcis-30675	46	14	topic	topic	NOUN
fcis-30675	46	15	and	and	CCONJ
fcis-30675	46	16	view	view	VERB
fcis-30675	46	17	the	the	DET
fcis-30675	46	18	point	point	NOUN
fcis-30675	46	19	cloud	cloud	NOUN
fcis-30675	46	20	map	map	NOUN
fcis-30675	46	21	generated	generate	VERB
fcis-30675	46	22	by	by	ADP
fcis-30675	46	23	the	the	DET
fcis-30675	46	24	lidar	lidar	NOUN
fcis-30675	46	25	in	in	ADP
fcis-30675	46	26	the	the	DET
fcis-30675	46	27	/scan	/scan	ADJ
fcis-30675	46	28	topic	topic	NOUN
fcis-30675	46	29	in	in	ADP
fcis-30675	46	30	real	real	ADJ
fcis-30675	46	31	time	time	NOUN
fcis-30675	46	32	.	.	PUNCT
fcis-30675	47	1	the	the	DET
fcis-30675	47	2	lidar	lidar	NOUN
fcis-30675	47	3	emits	emit	VERB
fcis-30675	47	4	rays	ray	NOUN
fcis-30675	47	5	through	through	ADP
fcis-30675	47	6	the	the	DET
fcis-30675	47	7	laser	laser	NOUN
fcis-30675	47	8	emitter	emitter	NOUN
fcis-30675	47	9	.	.	PUNCT
fcis-30675	48	1	after	after	SCONJ
fcis-30675	48	2	the	the	DET
fcis-30675	48	3	rays	ray	NOUN
fcis-30675	48	4	are	be	AUX
fcis-30675	48	5	reflected	reflect	VERB
fcis-30675	48	6	by	by	ADP
fcis-30675	48	7	the	the	DET
fcis-30675	48	8	obstacles	obstacle	NOUN
fcis-30675	48	9	and	and	CCONJ
fcis-30675	48	10	return	return	VERB
fcis-30675	48	11	to	to	ADP
fcis-30675	48	12	the	the	DET
fcis-30675	48	13	camera	camera	NOUN
fcis-30675	48	14	,	,	PUNCT
fcis-30675	48	15	the	the	DET
fcis-30675	48	16	distance	distance	NOUN
fcis-30675	48	17	to	to	ADP
fcis-30675	48	18	the	the	DET
fcis-30675	48	19	obstacles	obstacle	NOUN
fcis-30675	48	20	is	be	AUX
fcis-30675	48	21	calculated	calculate	VERB
fcis-30675	48	22	through	through	ADP
fcis-30675	48	23	triangulation	triangulation	NOUN
fcis-30675	48	24	,	,	PUNCT
fcis-30675	48	25	and	and	CCONJ
fcis-30675	48	26	finally	finally	ADV
fcis-30675	48	27	,	,	PUNCT
fcis-30675	48	28	it	it	PRON
fcis-30675	48	29	is	be	AUX
fcis-30675	48	30	generated	generate	VERB
fcis-30675	48	31	in	in	ADP
fcis-30675	48	32	the	the	DET
fcis-30675	48	33	map	map	NOUN
fcis-30675	48	34	.	.	PUNCT
fcis-30675	49	1	2.3	2.3	NUM
fcis-30675	49	2	.	.	PUNCT
fcis-30675	50	1	software	software	NOUN
fcis-30675	50	2	designpage	designpage	NOUN
fcis-30675	50	3	numbers	number	NOUN
fcis-30675	50	4	.	.	PUNCT
fcis-30675	51	1	figure	figure	VERB
fcis-30675	51	2	4	4	NUM
fcis-30675	51	3	.	.	PUNCT
fcis-30675	51	4	overall	overall	ADJ
fcis-30675	51	5	block	block	NOUN
fcis-30675	51	6	diagram	diagram	NOUN
fcis-30675	51	7	of	of	ADP
fcis-30675	51	8	the	the	DET
fcis-30675	51	9	robot	robot	NOUN
fcis-30675	51	10	software	software	VERB
fcis-30675	51	11	the	the	DET
fcis-30675	51	12	intelligent	intelligent	ADJ
fcis-30675	51	13	robot	robot	NOUN
fcis-30675	51	14	in	in	ADP
fcis-30675	51	15	the	the	DET
fcis-30675	51	16	gerocomium	gerocomium	NOUN
fcis-30675	51	17	uses	use	VERB
fcis-30675	51	18	a	a	DET
fcis-30675	51	19	raspberry	raspberry	NOUN
fcis-30675	51	20	pi	pi	NOUN
fcis-30675	51	21	4b	4b	PROPN
fcis-30675	51	22	as	as	ADP
fcis-30675	51	23	the	the	DET
fcis-30675	51	24	upper	upper	ADJ
fcis-30675	51	25	computer	computer	NOUN
fcis-30675	51	26	.	.	PUNCT
fcis-30675	52	1	the	the	DET
fcis-30675	52	2	raspberry	raspberry	PROPN
fcis-30675	52	3	pi	pi	NOUN
fcis-30675	52	4	4b	4b	PROPN
fcis-30675	52	5	establishes	establish	VERB
fcis-30675	52	6	a	a	DET
fcis-30675	52	7	remote	remote	ADJ
fcis-30675	52	8	connection	connection	NOUN
fcis-30675	52	9	with	with	ADP
fcis-30675	52	10	the	the	DET
fcis-30675	52	11	pc	pc	NOUN
fcis-30675	52	12	terminal	terminal	NOUN
fcis-30675	52	13	through	through	ADP
fcis-30675	52	14	ssh	ssh	NOUN
fcis-30675	52	15	to	to	PART
fcis-30675	52	16	achieve	achieve	VERB
fcis-30675	52	17	human	human	ADJ
fcis-30675	52	18	-	-	PUNCT
fcis-30675	52	19	computer	computer	NOUN
fcis-30675	52	20	interaction	interaction	NOUN
fcis-30675	52	21	.	.	PUNCT
fcis-30675	53	1	the	the	DET
fcis-30675	53	2	lower	low	ADJ
fcis-30675	53	3	computer	computer	NOUN
fcis-30675	53	4	219	219	NUM
fcis-30675	53	5	uses	use	VERB
fcis-30675	53	6	an	an	DET
fcis-30675	53	7	stm32	stm32	PROPN
fcis-30675	53	8	single	single	ADJ
fcis-30675	53	9	-	-	PUNCT
fcis-30675	53	10	chip	chip	NOUN
fcis-30675	53	11	microcomputer	microcomputer	NOUN
fcis-30675	53	12	to	to	PART
fcis-30675	53	13	control	control	VERB
fcis-30675	53	14	the	the	DET
fcis-30675	53	15	chassis	chassis	NOUN
fcis-30675	53	16	,	,	PUNCT
fcis-30675	53	17	providing	provide	VERB
fcis-30675	53	18	the	the	DET
fcis-30675	53	19	robot	robot	NOUN
fcis-30675	53	20	with	with	ADP
fcis-30675	53	21	movement	movement	NOUN
fcis-30675	53	22	functions	function	NOUN
fcis-30675	53	23	.	.	PUNCT
fcis-30675	54	1	after	after	SCONJ
fcis-30675	54	2	the	the	DET
fcis-30675	54	3	system	system	NOUN
fcis-30675	54	4	is	be	AUX
fcis-30675	54	5	powered	power	VERB
fcis-30675	54	6	on	on	ADP
fcis-30675	54	7	,	,	PUNCT
fcis-30675	54	8	the	the	DET
fcis-30675	54	9	raspberry	raspberry	NOUN
fcis-30675	54	10	pi	pi	NOUN
fcis-30675	54	11	host	host	NOUN
fcis-30675	54	12	is	be	AUX
fcis-30675	54	13	started	start	VERB
fcis-30675	54	14	.	.	PUNCT
fcis-30675	55	1	the	the	DET
fcis-30675	55	2	raspberry	raspberry	NOUN
fcis-30675	55	3	pi	pi	NOUN
fcis-30675	55	4	host	host	NOUN
fcis-30675	55	5	executes	execute	VERB
fcis-30675	55	6	the	the	DET
fcis-30675	55	7	startup	startup	NOUN
fcis-30675	55	8	file	file	NOUN
fcis-30675	55	9	according	accord	VERB
fcis-30675	55	10	to	to	ADP
fcis-30675	55	11	the	the	DET
fcis-30675	55	12	command	command	NOUN
fcis-30675	55	13	and	and	CCONJ
fcis-30675	55	14	starts	start	VERB
fcis-30675	55	15	the	the	DET
fcis-30675	55	16	robot	robot	NOUN
fcis-30675	55	17	chassis	chassis	NOUN
fcis-30675	55	18	drive	drive	NOUN
fcis-30675	55	19	module	module	NOUN
fcis-30675	55	20	.	.	PUNCT
fcis-30675	56	1	when	when	SCONJ
fcis-30675	56	2	all	all	DET
fcis-30675	56	3	modules	module	NOUN
fcis-30675	56	4	are	be	AUX
fcis-30675	56	5	working	work	VERB
fcis-30675	56	6	properly	properly	ADV
fcis-30675	56	7	,	,	PUNCT
fcis-30675	56	8	the	the	DET
fcis-30675	56	9	startup	startup	NOUN
fcis-30675	56	10	file	file	NOUN
fcis-30675	56	11	ldlidar_ld14	ldlidar_ld14	PROPN
fcis-30675	56	12	of	of	ADP
fcis-30675	56	13	the	the	DET
fcis-30675	56	14	lidar	lidar	NOUN
fcis-30675	56	15	will	will	AUX
fcis-30675	56	16	be	be	AUX
fcis-30675	56	17	executed	execute	VERB
fcis-30675	56	18	within	within	ADP
fcis-30675	56	19	the	the	DET
fcis-30675	56	20	ros	ros	PROPN
fcis-30675	56	21	system	system	NOUN
fcis-30675	56	22	to	to	PART
fcis-30675	56	23	publish	publish	VERB
fcis-30675	56	24	the	the	DET
fcis-30675	56	25	lidar	lidar	NOUN
fcis-30675	56	26	topic	topic	NOUN
fcis-30675	56	27	/scan	/scan	PUNCT
fcis-30675	56	28	.	.	PUNCT
fcis-30675	57	1	then	then	ADV
fcis-30675	57	2	,	,	PUNCT
fcis-30675	57	3	the	the	DET
fcis-30675	57	4	camer_ws	camer_ws	PROPN
fcis-30675	57	5	startup	startup	NOUN
fcis-30675	57	6	file	file	NOUN
fcis-30675	57	7	is	be	AUX
fcis-30675	57	8	executed	execute	VERB
fcis-30675	57	9	to	to	PART
fcis-30675	57	10	start	start	VERB
fcis-30675	57	11	the	the	DET
fcis-30675	57	12	binocular	binocular	ADJ
fcis-30675	57	13	depth	depth	NOUN
fcis-30675	57	14	camera	camera	NOUN
fcis-30675	57	15	to	to	PART
fcis-30675	57	16	obtain	obtain	VERB
fcis-30675	57	17	environmental	environmental	ADJ
fcis-30675	57	18	depth	depth	NOUN
fcis-30675	57	19	information	information	NOUN
fcis-30675	57	20	,	,	PUNCT
fcis-30675	57	21	thereby	thereby	ADV
fcis-30675	57	22	publishing	publish	VERB
fcis-30675	57	23	the	the	DET
fcis-30675	57	24	topic	topic	NOUN
fcis-30675	57	25	camer_depth	camer_depth	NOUN
fcis-30675	57	26	.	.	PUNCT
fcis-30675	58	1	next	next	ADV
fcis-30675	58	2	,	,	PUNCT
fcis-30675	58	3	the	the	DET
fcis-30675	58	4	ros_imu	ros_imu	ADJ
fcis-30675	58	5	startup	startup	NOUN
fcis-30675	58	6	file	file	NOUN
fcis-30675	58	7	is	be	AUX
fcis-30675	58	8	executed	execute	VERB
fcis-30675	58	9	to	to	PART
fcis-30675	58	10	start	start	VERB
fcis-30675	58	11	the	the	DET
fcis-30675	58	12	imu	imu	NOUN
fcis-30675	58	13	to	to	PART
fcis-30675	58	14	obtain	obtain	VERB
fcis-30675	58	15	information	information	NOUN
fcis-30675	58	16	such	such	ADJ
fcis-30675	58	17	as	as	ADP
fcis-30675	58	18	the	the	DET
fcis-30675	58	19	robot	robot	NOUN
fcis-30675	58	20	's	's	PART
fcis-30675	58	21	pose	pose	NOUN
fcis-30675	58	22	and	and	CCONJ
fcis-30675	58	23	acceleration	acceleration	NOUN
fcis-30675	58	24	,	,	PUNCT
fcis-30675	58	25	and	and	CCONJ
fcis-30675	58	26	then	then	ADV
fcis-30675	58	27	publish	publish	VERB
fcis-30675	58	28	the	the	DET
fcis-30675	58	29	topic	topic	NOUN
fcis-30675	58	30	imu_date	imu_date	NOUN
fcis-30675	58	31	.	.	PUNCT
fcis-30675	59	1	these	these	DET
fcis-30675	59	2	data	datum	NOUN
fcis-30675	59	3	are	be	AUX
fcis-30675	59	4	transmitted	transmit	VERB
fcis-30675	59	5	to	to	ADP
fcis-30675	59	6	the	the	DET
fcis-30675	59	7	raspberry	raspberry	NOUN
fcis-30675	59	8	pi	pi	NOUN
fcis-30675	59	9	4b	4b	PROPN
fcis-30675	59	10	through	through	ADP
fcis-30675	59	11	the	the	DET
fcis-30675	59	12	usb	usb	NOUN
fcis-30675	59	13	port	port	NOUN
fcis-30675	59	14	for	for	ADP
fcis-30675	59	15	data	data	NOUN
fcis-30675	59	16	processing	processing	NOUN
fcis-30675	59	17	.	.	PUNCT
fcis-30675	60	1	at	at	ADP
fcis-30675	60	2	the	the	DET
fcis-30675	60	3	same	same	ADJ
fcis-30675	60	4	time	time	NOUN
fcis-30675	60	5	,	,	PUNCT
fcis-30675	60	6	the	the	DET
fcis-30675	60	7	underlying	underlie	VERB
fcis-30675	60	8	control	control	NOUN
fcis-30675	60	9	board	board	PROPN
fcis-30675	60	10	stm32f103zet6	stm32f103zet6	PROPN
fcis-30675	60	11	obtains	obtain	VERB
fcis-30675	60	12	the	the	DET
fcis-30675	60	13	information	information	NOUN
fcis-30675	60	14	of	of	ADP
fcis-30675	60	15	the	the	DET
fcis-30675	60	16	encoded	encode	VERB
fcis-30675	60	17	motor	motor	NOUN
fcis-30675	60	18	for	for	ADP
fcis-30675	60	19	the	the	DET
fcis-30675	60	20	robot	robot	NOUN
fcis-30675	60	21	's	's	PART
fcis-30675	60	22	movement	movement	NOUN
fcis-30675	60	23	and	and	CCONJ
fcis-30675	60	24	transmits	transmit	VERB
fcis-30675	60	25	it	it	PRON
fcis-30675	60	26	to	to	ADP
fcis-30675	60	27	the	the	DET
fcis-30675	60	28	raspberry	raspberry	NOUN
fcis-30675	60	29	pi	pi	NOUN
fcis-30675	60	30	4b	4b	PROPN
fcis-30675	60	31	.	.	PUNCT
fcis-30675	61	1	after	after	ADP
fcis-30675	61	2	being	be	AUX
fcis-30675	61	3	fused	fuse	VERB
fcis-30675	61	4	with	with	ADP
fcis-30675	61	5	part	part	NOUN
fcis-30675	61	6	of	of	ADP
fcis-30675	61	7	the	the	DET
fcis-30675	61	8	data	datum	NOUN
fcis-30675	61	9	from	from	ADP
fcis-30675	61	10	the	the	DET
fcis-30675	61	11	imu	imu	NOUN
fcis-30675	61	12	,	,	PUNCT
fcis-30675	61	13	it	it	PRON
fcis-30675	61	14	outputs	output	VERB
fcis-30675	61	15	the	the	DET
fcis-30675	61	16	topic	topic	NOUN
fcis-30675	61	17	information	information	NOUN
fcis-30675	61	18	of	of	ADP
fcis-30675	61	19	odom_cominded	odom_cominde	VERB
fcis-30675	61	20	to	to	PART
fcis-30675	61	21	confirm	confirm	VERB
fcis-30675	61	22	the	the	DET
fcis-30675	61	23	robot	robot	NOUN
fcis-30675	61	24	's	's	PART
fcis-30675	61	25	odometer	odometer	NOUN
fcis-30675	61	26	information.after	information.after	NOUN
fcis-30675	61	27	all	all	DET
fcis-30675	61	28	the	the	DET
fcis-30675	61	29	input	input	NOUN
fcis-30675	61	30	information	information	NOUN
fcis-30675	61	31	reaches	reach	VERB
fcis-30675	61	32	the	the	DET
fcis-30675	61	33	raspberry	raspberry	NOUN
fcis-30675	61	34	pi	pi	NOUN
fcis-30675	61	35	4b	4b	PROPN
fcis-30675	61	36	,	,	PUNCT
fcis-30675	61	37	it	it	PRON
fcis-30675	61	38	is	be	AUX
fcis-30675	61	39	processed	process	VERB
fcis-30675	61	40	in	in	ADP
fcis-30675	61	41	combination	combination	NOUN
fcis-30675	61	42	with	with	ADP
fcis-30675	61	43	the	the	DET
fcis-30675	61	44	data	datum	NOUN
fcis-30675	61	45	of	of	ADP
fcis-30675	61	46	the	the	DET
fcis-30675	61	47	optimized	optimize	VERB
fcis-30675	61	48	dwa	dwa	PROPN
fcis-30675	61	49	algorithm	algorithm	PROPN
fcis-30675	61	50	.	.	PUNCT
fcis-30675	62	1	the	the	DET
fcis-30675	62	2	navigation	navigation	NOUN
fcis-30675	62	3	plans	plan	VERB
fcis-30675	62	4	a	a	DET
fcis-30675	62	5	locally	locally	ADV
fcis-30675	62	6	optimal	optimal	ADJ
fcis-30675	62	7	path	path	NOUN
fcis-30675	62	8	.	.	PUNCT
fcis-30675	63	1	ros	ros	PROPN
fcis-30675	63	2	publishes	publish	VERB
fcis-30675	63	3	the	the	DET
fcis-30675	63	4	cmd_vel	cmd_vel	NOUN
fcis-30675	63	5	topic	topic	NOUN
fcis-30675	63	6	to	to	ADP
fcis-30675	63	7	the	the	DET
fcis-30675	63	8	underlying	underlying	ADJ
fcis-30675	63	9	control	control	NOUN
fcis-30675	63	10	system	system	NOUN
fcis-30675	63	11	,	,	PUNCT
fcis-30675	63	12	which	which	PRON
fcis-30675	63	13	is	be	AUX
fcis-30675	63	14	finally	finally	ADV
fcis-30675	63	15	converted	convert	VERB
fcis-30675	63	16	into	into	ADP
fcis-30675	63	17	the	the	DET
fcis-30675	63	18	number	number	NOUN
fcis-30675	63	19	of	of	ADP
fcis-30675	63	20	pulses	pulse	NOUN
fcis-30675	63	21	to	to	PART
fcis-30675	63	22	control	control	VERB
fcis-30675	63	23	the	the	DET
fcis-30675	63	24	rotation	rotation	NOUN
fcis-30675	63	25	of	of	ADP
fcis-30675	63	26	the	the	DET
fcis-30675	63	27	motor	motor	NOUN
fcis-30675	63	28	and	and	CCONJ
fcis-30675	63	29	drive	drive	VERB
fcis-30675	63	30	the	the	DET
fcis-30675	63	31	robot	robot	NOUN
fcis-30675	63	32	for	for	ADP
fcis-30675	63	33	navigation	navigation	NOUN
fcis-30675	63	34	.	.	PUNCT
fcis-30675	64	1	the	the	DET
fcis-30675	64	2	overall	overall	ADJ
fcis-30675	64	3	transmission	transmission	NOUN
fcis-30675	64	4	framework	framework	NOUN
fcis-30675	64	5	of	of	ADP
fcis-30675	64	6	the	the	DET
fcis-30675	64	7	robot	robot	NOUN
fcis-30675	64	8	in	in	ADP
fcis-30675	64	9	this	this	DET
fcis-30675	64	10	article	article	NOUN
fcis-30675	64	11	is	be	AUX
fcis-30675	64	12	shown	show	VERB
fcis-30675	64	13	in	in	ADP
fcis-30675	64	14	the	the	DET
fcis-30675	64	15	figure	figure	NOUN
fcis-30675	64	16	above	above	ADV
fcis-30675	64	17	.	.	PUNCT
fcis-30675	65	1	3	3	X
fcis-30675	65	2	.	.	X
fcis-30675	65	3	improvement	improvement	NOUN
fcis-30675	65	4	of	of	ADP
fcis-30675	65	5	the	the	DET
fcis-30675	65	6	dwa	dwa	PROPN
fcis-30675	65	7	algorithm	algorithm	PROPN
fcis-30675	65	8	3.1	3.1	NUM
fcis-30675	65	9	.	.	PUNCT
fcis-30675	66	1	improvement	improvement	NOUN
fcis-30675	66	2	of	of	ADP
fcis-30675	66	3	the	the	DET
fcis-30675	66	4	dynamic	dynamic	ADJ
fcis-30675	66	5	window	window	NOUN
fcis-30675	66	6	approach	approach	NOUN
fcis-30675	66	7	(	(	PUNCT
fcis-30675	66	8	dwa	dwa	PROPN
fcis-30675	66	9	)	)	PUNCT
fcis-30675	66	10	the	the	DET
fcis-30675	66	11	traditional	traditional	ADJ
fcis-30675	66	12	dwa	dwa	PROPN
fcis-30675	66	13	generates	generate	VERB
fcis-30675	66	14	local	local	ADJ
fcis-30675	66	15	paths	path	NOUN
fcis-30675	66	16	through	through	ADP
fcis-30675	66	17	speed	speed	NOUN
fcis-30675	66	18	space	space	NOUN
fcis-30675	66	19	sampling	sampling	NOUN
fcis-30675	66	20	,	,	PUNCT
fcis-30675	66	21	but	but	CCONJ
fcis-30675	66	22	its	its	PRON
fcis-30675	66	23	assumption	assumption	NOUN
fcis-30675	66	24	of	of	ADP
fcis-30675	66	25	static	static	ADJ
fcis-30675	66	26	obstacles	obstacle	NOUN
fcis-30675	66	27	makes	make	VERB
fcis-30675	66	28	it	it	PRON
fcis-30675	66	29	difficult	difficult	ADJ
fcis-30675	66	30	to	to	PART
fcis-30675	66	31	adapt	adapt	VERB
fcis-30675	66	32	to	to	ADP
fcis-30675	66	33	dynamic	dynamic	ADJ
fcis-30675	66	34	scenarios	scenario	NOUN
fcis-30675	66	35	.	.	PUNCT
fcis-30675	67	1	zhang	zhang	PROPN
fcis-30675	67	2	jinze[4]proposed	jinze[4]propose	VERB
fcis-30675	67	3	an	an	DET
fcis-30675	67	4	obstacle	obstacle	NOUN
fcis-30675	67	5	avoidance	avoidance	NOUN
fcis-30675	67	6	model	model	NOUN
fcis-30675	67	7	based	base	VERB
fcis-30675	67	8	on	on	ADP
fcis-30675	67	9	linear	linear	PROPN
fcis-30675	67	10	prediction	prediction	NOUN
fcis-30675	67	11	,	,	PUNCT
fcis-30675	67	12	but	but	CCONJ
fcis-30675	67	13	did	do	AUX
fcis-30675	67	14	not	not	PART
fcis-30675	67	15	take	take	VERB
fcis-30675	67	16	into	into	ADP
fcis-30675	67	17	account	account	NOUN
fcis-30675	67	18	the	the	DET
fcis-30675	67	19	target	target	NOUN
fcis-30675	67	20	semantic	semantic	ADJ
fcis-30675	67	21	information	information	NOUN
fcis-30675	67	22	;	;	PUNCT
fcis-30675	67	23	wang	wang	PROPN
fcis-30675	67	24	wenfei[5	wenfei[5	PROPN
fcis-30675	67	25	]	]	PUNCT
fcis-30675	67	26	introduced	introduce	VERB
fcis-30675	67	27	deep	deep	ADJ
fcis-30675	67	28	learning	learning	NOUN
fcis-30675	67	29	to	to	PART
fcis-30675	67	30	optimize	optimize	VERB
fcis-30675	67	31	the	the	DET
fcis-30675	67	32	trajectory	trajectory	NOUN
fcis-30675	67	33	smoothness	smoothness	NOUN
fcis-30675	67	34	,	,	PUNCT
fcis-30675	67	35	but	but	CCONJ
fcis-30675	67	36	the	the	DET
fcis-30675	67	37	computational	computational	ADJ
fcis-30675	67	38	cost	cost	NOUN
fcis-30675	67	39	is	be	AUX
fcis-30675	67	40	relatively	relatively	ADV
fcis-30675	67	41	high	high	ADJ
fcis-30675	67	42	.	.	PUNCT
fcis-30675	68	1	in	in	ADP
fcis-30675	68	2	recent	recent	ADJ
fcis-30675	68	3	years	year	NOUN
fcis-30675	68	4	,	,	PUNCT
fcis-30675	68	5	research	research	NOUN
fcis-30675	68	6	has	have	AUX
fcis-30675	68	7	improved	improve	VERB
fcis-30675	68	8	the	the	DET
fcis-30675	68	9	navigation	navigation	NOUN
fcis-30675	68	10	accuracy	accuracy	NOUN
fcis-30675	68	11	by	by	ADP
fcis-30675	68	12	fusing	fuse	VERB
fcis-30675	68	13	visual	visual	ADJ
fcis-30675	68	14	and	and	CCONJ
fcis-30675	68	15	lidar	lidar	NOUN
fcis-30675	68	16	data	data	PROPN
fcis-30675	68	17	.	.	PUNCT
fcis-30675	69	1	cong	cong	NOUN
fcis-30675	69	2	peichao	peichao	PROPN
fcis-30675	69	3	used	use	VERB
fcis-30675	69	4	orb	orb	NOUN
fcis-30675	69	5	-	-	PUNCT
fcis-30675	69	6	slam	slam	NOUN
fcis-30675	69	7	to	to	PART
fcis-30675	69	8	construct	construct	VERB
fcis-30675	69	9	a	a	DET
fcis-30675	69	10	semantic	semantic	ADJ
fcis-30675	69	11	map	map	NOUN
fcis-30675	69	12	,	,	PUNCT
fcis-30675	69	13	but	but	CCONJ
fcis-30675	69	14	it	it	PRON
fcis-30675	69	15	lacks	lack	VERB
fcis-30675	69	16	real	real	ADJ
fcis-30675	69	17	-	-	PUNCT
fcis-30675	69	18	time	time	NOUN
fcis-30675	69	19	performance	performance	NOUN
fcis-30675	69	20	.	.	PUNCT
fcis-30675	70	1	therefore	therefore	ADV
fcis-30675	70	2	,	,	PUNCT
fcis-30675	70	3	this	this	DET
fcis-30675	70	4	paper	paper	NOUN
fcis-30675	70	5	combines	combine	VERB
fcis-30675	70	6	yolov8	yolov8	NOUN
fcis-30675	70	7	to	to	PART
fcis-30675	70	8	improve	improve	VERB
fcis-30675	70	9	the	the	DET
fcis-30675	70	10	dwa	dwa	PROPN
fcis-30675	70	11	navigation	navigation	NOUN
fcis-30675	70	12	algorithm	algorithm	NOUN
fcis-30675	70	13	.	.	PUNCT
fcis-30675	71	1	the	the	DET
fcis-30675	71	2	three	three	NUM
fcis-30675	71	3	major	major	ADJ
fcis-30675	71	4	core	core	NOUN
fcis-30675	71	5	challenges	challenge	NOUN
fcis-30675	71	6	of	of	ADP
fcis-30675	71	7	navigation	navigation	NOUN
fcis-30675	71	8	in	in	ADP
fcis-30675	71	9	a	a	DET
fcis-30675	71	10	gerocomium	gerocomium	NOUN
fcis-30675	71	11	for	for	ADP
fcis-30675	71	12	the	the	DET
fcis-30675	71	13	elderly	elderly	ADJ
fcis-30675	71	14	:	:	PUNCT
fcis-30675	71	15	(	(	PUNCT
fcis-30675	71	16	1	1	X
fcis-30675	71	17	)	)	PUNCT
fcis-30675	71	18	there	there	PRON
fcis-30675	71	19	is	be	VERB
fcis-30675	71	20	a	a	DET
fcis-30675	71	21	risk	risk	NOUN
fcis-30675	71	22	of	of	ADP
fcis-30675	71	23	the	the	DET
fcis-30675	71	24	robot	robot	NOUN
fcis-30675	71	25	colliding	collide	VERB
fcis-30675	71	26	with	with	ADP
fcis-30675	71	27	the	the	DET
fcis-30675	71	28	elderly	elderly	ADJ
fcis-30675	71	29	during	during	ADP
fcis-30675	71	30	its	its	PRON
fcis-30675	71	31	movement	movement	NOUN
fcis-30675	71	32	.	.	PUNCT
fcis-30675	72	1	(	(	PUNCT
fcis-30675	72	2	2	2	NUM
fcis-30675	72	3	)	)	PUNCT
fcis-30675	72	4	avoidance	avoidance	NOUN
fcis-30675	72	5	of	of	ADP
fcis-30675	72	6	dynamic	dynamic	ADJ
fcis-30675	72	7	obstacles	obstacle	NOUN
fcis-30675	72	8	:	:	PUNCT
fcis-30675	72	9	the	the	DET
fcis-30675	72	10	elderly	elderly	ADJ
fcis-30675	72	11	moving	move	VERB
fcis-30675	72	12	slowly	slowly	ADV
fcis-30675	72	13	in	in	ADP
fcis-30675	72	14	the	the	DET
fcis-30675	72	15	gerocomium	gerocomium	NOUN
fcis-30675	72	16	and	and	CCONJ
fcis-30675	72	17	the	the	DET
fcis-30675	72	18	staff	staff	NOUN
fcis-30675	72	19	going	go	VERB
fcis-30675	72	20	back	back	ADV
fcis-30675	72	21	and	and	CCONJ
fcis-30675	72	22	forth	forth	ADV
fcis-30675	72	23	to	to	ADP
fcis-30675	72	24	the	the	DET
fcis-30675	72	25	medicine	medicine	NOUN
fcis-30675	72	26	dispensing	dispensing	NOUN
fcis-30675	72	27	room	room	NOUN
fcis-30675	72	28	will	will	AUX
fcis-30675	72	29	all	all	ADV
fcis-30675	72	30	become	become	VERB
fcis-30675	72	31	obstacles	obstacle	NOUN
fcis-30675	72	32	on	on	ADP
fcis-30675	72	33	the	the	DET
fcis-30675	72	34	navigation	navigation	NOUN
fcis-30675	72	35	path	path	NOUN
fcis-30675	72	36	of	of	ADP
fcis-30675	72	37	the	the	DET
fcis-30675	72	38	intelligent	intelligent	ADJ
fcis-30675	72	39	robot	robot	NOUN
fcis-30675	72	40	in	in	ADP
fcis-30675	72	41	the	the	DET
fcis-30675	72	42	gerocomium	gerocomium	NOUN
fcis-30675	72	43	.	.	PUNCT
fcis-30675	73	1	the	the	DET
fcis-30675	73	2	sudden	sudden	ADJ
fcis-30675	73	3	movement	movement	NOUN
fcis-30675	73	4	of	of	ADP
fcis-30675	73	5	people	people	NOUN
fcis-30675	73	6	requires	require	VERB
fcis-30675	73	7	a	a	DET
fcis-30675	73	8	prediction	prediction	NOUN
fcis-30675	73	9	mechanism	mechanism	NOUN
fcis-30675	73	10	.	.	PUNCT
fcis-30675	74	1	(	(	PUNCT
fcis-30675	74	2	3	3	X
fcis-30675	74	3	)	)	PUNCT
fcis-30675	74	4	in	in	ADP
fcis-30675	74	5	scenarios	scenario	NOUN
fcis-30675	74	6	where	where	SCONJ
fcis-30675	74	7	there	there	PRON
fcis-30675	74	8	are	be	VERB
fcis-30675	74	9	significant	significant	ADJ
fcis-30675	74	10	changes	change	NOUN
fcis-30675	74	11	in	in	ADP
fcis-30675	74	12	the	the	DET
fcis-30675	74	13	intensity	intensity	NOUN
fcis-30675	74	14	of	of	ADP
fcis-30675	74	15	lighting	lighting	NOUN
fcis-30675	74	16	,	,	PUNCT
fcis-30675	74	17	the	the	DET
fcis-30675	74	18	robot	robot	NOUN
fcis-30675	74	19	will	will	AUX
fcis-30675	74	20	encounter	encounter	VERB
fcis-30675	74	21	problems	problem	NOUN
fcis-30675	74	22	such	such	ADJ
fcis-30675	74	23	as	as	ADP
fcis-30675	74	24	the	the	DET
fcis-30675	74	25	loss	loss	NOUN
fcis-30675	74	26	of	of	ADP
fcis-30675	74	27	path	path	NOUN
fcis-30675	74	28	positioning	positioning	NOUN
fcis-30675	74	29	and	and	CCONJ
fcis-30675	74	30	errors	error	NOUN
fcis-30675	74	31	in	in	ADP
fcis-30675	74	32	path	path	NOUN
fcis-30675	74	33	planning	planning	NOUN
fcis-30675	74	34	.	.	PUNCT
fcis-30675	75	1	in	in	ADP
fcis-30675	75	2	the	the	DET
fcis-30675	75	3	face	face	NOUN
fcis-30675	75	4	of	of	ADP
fcis-30675	75	5	the	the	DET
fcis-30675	75	6	above	above	ADJ
fcis-30675	75	7	problems	problem	NOUN
fcis-30675	75	8	,	,	PUNCT
fcis-30675	75	9	a	a	DET
fcis-30675	75	10	three	three	NUM
fcis-30675	75	11	-	-	PUNCT
fcis-30675	75	12	layer	layer	NOUN
fcis-30675	75	13	module	module	NOUN
fcis-30675	75	14	is	be	AUX
fcis-30675	75	15	designed	design	VERB
fcis-30675	75	16	and	and	CCONJ
fcis-30675	75	17	three	three	NUM
fcis-30675	75	18	steps	step	NOUN
fcis-30675	75	19	are	be	AUX
fcis-30675	75	20	taken	take	VERB
fcis-30675	75	21	to	to	PART
fcis-30675	75	22	solve	solve	VERB
fcis-30675	75	23	the	the	DET
fcis-30675	75	24	difficult	difficult	ADJ
fcis-30675	75	25	problem	problem	NOUN
fcis-30675	75	26	of	of	ADP
fcis-30675	75	27	the	the	DET
fcis-30675	75	28	robot	robot	NOUN
fcis-30675	75	29	's	's	PART
fcis-30675	75	30	path	path	NOUN
fcis-30675	75	31	planning	planning	NOUN
fcis-30675	75	32	:	:	PUNCT
fcis-30675	75	33	perception	perception	NOUN
fcis-30675	75	34	layer	layer	NOUN
fcis-30675	75	35	:	:	PUNCT
fcis-30675	75	36	yolov8	yolov8	PROPN
fcis-30675	75	37	is	be	AUX
fcis-30675	75	38	used	use	VERB
fcis-30675	75	39	to	to	PART
fcis-30675	75	40	detect	detect	VERB
fcis-30675	75	41	human	human	ADJ
fcis-30675	75	42	faces	face	NOUN
fcis-30675	75	43	.	.	PUNCT
fcis-30675	76	1	the	the	DET
fcis-30675	76	2	orbbec	orbbec	ADJ
fcis-30675	76	3	binocular	binocular	ADJ
fcis-30675	76	4	depth	depth	NOUN
fcis-30675	76	5	camera	camera	NOUN
fcis-30675	76	6	is	be	AUX
fcis-30675	76	7	employed	employ	VERB
fcis-30675	76	8	to	to	PART
fcis-30675	76	9	obtain	obtain	VERB
fcis-30675	76	10	environmental	environmental	ADJ
fcis-30675	76	11	depth	depth	NOUN
fcis-30675	76	12	and	and	CCONJ
fcis-30675	76	13	texture	texture	ADJ
fcis-30675	76	14	information	information	NOUN
fcis-30675	76	15	,	,	PUNCT
fcis-30675	76	16	and	and	CCONJ
fcis-30675	76	17	the	the	DET
fcis-30675	76	18	lidar	lidar	NOUN
fcis-30675	76	19	is	be	AUX
fcis-30675	76	20	utilized	utilize	VERB
fcis-30675	76	21	to	to	PART
fcis-30675	76	22	acquire	acquire	VERB
fcis-30675	76	23	the	the	DET
fcis-30675	76	24	information	information	NOUN
fcis-30675	76	25	of	of	ADP
fcis-30675	76	26	obstacles	obstacle	NOUN
fcis-30675	76	27	on	on	ADP
fcis-30675	76	28	the	the	DET
fcis-30675	76	29	twodimensional	twodimensional	ADJ
fcis-30675	76	30	plane	plane	NOUN
fcis-30675	76	31	of	of	ADP
fcis-30675	76	32	the	the	DET
fcis-30675	76	33	environment	environment	NOUN
fcis-30675	76	34	.	.	PUNCT
fcis-30675	77	1	positioning	positioning	NOUN
fcis-30675	77	2	and	and	CCONJ
fcis-30675	77	3	mapping	mapping	NOUN
fcis-30675	77	4	layer	layer	NOUN
fcis-30675	77	5	:	:	PUNCT
fcis-30675	77	6	rtab	rtab	ADJ
fcis-30675	77	7	-	-	PUNCT
fcis-30675	77	8	map	map	NOUN
fcis-30675	77	9	fuses	fuse	VERB
fcis-30675	77	10	the	the	DET
fcis-30675	77	11	data	datum	NOUN
fcis-30675	77	12	from	from	ADP
fcis-30675	77	13	multiple	multiple	ADJ
fcis-30675	77	14	sensors	sensor	NOUN
fcis-30675	77	15	to	to	PART
fcis-30675	77	16	generate	generate	VERB
fcis-30675	77	17	a	a	DET
fcis-30675	77	18	global	global	ADJ
fcis-30675	77	19	semantic	semantic	ADJ
fcis-30675	77	20	map	map	NOUN
fcis-30675	77	21	.	.	PUNCT
fcis-30675	78	1	path	path	NOUN
fcis-30675	78	2	planning	planning	NOUN
fcis-30675	78	3	layer	layer	NOUN
fcis-30675	78	4	:	:	PUNCT
fcis-30675	78	5	based	base	VERB
fcis-30675	78	6	on	on	ADP
fcis-30675	78	7	the	the	DET
fcis-30675	78	8	improved	improved	ADJ
fcis-30675	78	9	dwa	dwa	PROPN
fcis-30675	78	10	,	,	PUNCT
fcis-30675	78	11	local	local	ADJ
fcis-30675	78	12	obstacle	obstacle	NOUN
fcis-30675	78	13	avoidance	avoidance	NOUN
fcis-30675	78	14	and	and	CCONJ
fcis-30675	78	15	trajectory	trajectory	NOUN
fcis-30675	78	16	optimization	optimization	NOUN
fcis-30675	78	17	are	be	AUX
fcis-30675	78	18	achieved	achieve	VERB
fcis-30675	78	19	.	.	PUNCT
fcis-30675	79	1	the	the	DET
fcis-30675	79	2	first	first	ADJ
fcis-30675	79	3	step	step	NOUN
fcis-30675	79	4	:	:	PUNCT
fcis-30675	79	5	face	face	NOUN
fcis-30675	79	6	recognition	recognition	NOUN
fcis-30675	79	7	.	.	PUNCT
fcis-30675	80	1	convert	convert	VERB
fcis-30675	80	2	the	the	DET
fcis-30675	80	3	coordinates	coordinate	NOUN
fcis-30675	80	4	of	of	ADP
fcis-30675	80	5	the	the	DET
fcis-30675	80	6	recognized	recognize	VERB
fcis-30675	80	7	face	face	NOUN
fcis-30675	80	8	into	into	ADP
fcis-30675	80	9	global	global	ADJ
fcis-30675	80	10	coordinates	coordinate	NOUN
fcis-30675	80	11	in	in	ADP
fcis-30675	80	12	the	the	DET
fcis-30675	80	13	map	map	NOUN
fcis-30675	80	14	.	.	PUNCT
fcis-30675	81	1	the	the	DET
fcis-30675	81	2	output	output	NOUN
fcis-30675	81	3	format	format	NOUN
fcis-30675	81	4	of	of	ADP
fcis-30675	81	5	yolov8	yolov8	NOUN
fcis-30675	81	6	is	be	AUX
fcis-30675	81	7	:	:	PUNCT
fcis-30675	81	8			PROPN
fcis-30675	81	9			PROPN
fcis-30675	81	10	1	1	NUM
fcis-30675	81	11	(	(	PUNCT
fcis-30675	81	12	,	,	PUNCT
fcis-30675	81	13	,	,	PUNCT
fcis-30675	81	14	,	,	PUNCT
fcis-30675	81	15	,	,	PUNCT
fcis-30675	81	16	,	,	PUNCT
fcis-30675	81	17	)	)	PUNCT
fcis-30675	81	18	n	n	CCONJ
fcis-30675	81	19	t	t	NOUN
fcis-30675	81	20	t	t	PROPN
fcis-30675	81	21	t	t	PROPN
fcis-30675	81	22	t	t	PROPN
fcis-30675	81	23	t	t	PROPN
fcis-30675	81	24	t	t	PROPN
fcis-30675	81	25	t	t	NOUN
fcis-30675	81	26	detection	detection	NOUN
fcis-30675	81	27	x	x	X
fcis-30675	81	28	y	y	PROPN
fcis-30675	81	29	w	w	PROPN
fcis-30675	81	30	h	h	PROPN
fcis-30675	81	31	s	s	PART
fcis-30675	81	32	c	c	NOUN
fcis-30675	82	1			NOUN
fcis-30675	83	1			NOUN
fcis-30675	84	1	(	(	PUNCT
fcis-30675	84	2	1	1	NUM
fcis-30675	84	3	)	)	PUNCT
fcis-30675	84	4	among	among	ADP
fcis-30675	84	5	them	they	PRON
fcis-30675	84	6	:	:	PUNCT
fcis-30675	84	7	(	(	PUNCT
fcis-30675	84	8	,	,	PUNCT
fcis-30675	84	9	)	)	PUNCT
fcis-30675	84	10	t	t	PROPN
fcis-30675	84	11	tx	tx	PROPN
fcis-30675	84	12	y	y	PROPN
fcis-30675	84	13	the	the	DET
fcis-30675	84	14	pixel	pixel	PROPN
fcis-30675	84	15	coordinates	coordinate	NOUN
fcis-30675	84	16	of	of	ADP
fcis-30675	84	17	the	the	DET
fcis-30675	84	18	center	center	NOUN
fcis-30675	84	19	of	of	ADP
fcis-30675	84	20	the	the	DET
fcis-30675	84	21	bounding	bounding	NOUN
fcis-30675	84	22	box	box	NOUN
fcis-30675	84	23	.	.	PUNCT
fcis-30675	85	1	(	(	PUNCT
fcis-30675	85	2	,	,	PUNCT
fcis-30675	85	3	)	)	PUNCT
fcis-30675	85	4	tw	tw	NOUN
fcis-30675	85	5	h	h	NOUN
fcis-30675	85	6	the	the	DET
fcis-30675	85	7	width	width	NOUN
fcis-30675	85	8	and	and	CCONJ
fcis-30675	85	9	height	height	NOUN
fcis-30675	85	10	of	of	ADP
fcis-30675	85	11	the	the	DET
fcis-30675	85	12	bounding	bounding	NOUN
fcis-30675	85	13	box	box	NOUN
fcis-30675	85	14	ts	ts	ADP
fcis-30675	85	15	confidence	confidence	NOUN
fcis-30675	85	16	score	score	NOUN
fcis-30675	85	17	tc	tc	NOUN
fcis-30675	85	18	face	face	NOUN
fcis-30675	85	19	label	label	NOUN
fcis-30675	85	20	coordinate	coordinate	NOUN
fcis-30675	85	21	transformation	transformation	NOUN
fcis-30675	85	22	:	:	PUNCT
fcis-30675	85	23	coordinate	coordinate	NOUN
fcis-30675	85	24	transformation	transformation	NOUN
fcis-30675	85	25	from	from	ADP
fcis-30675	85	26	pixel	pixel	PROPN
fcis-30675	85	27	coordinates	coordinate	NOUN
fcis-30675	85	28	to	to	ADP
fcis-30675	85	29	camera	camera	NOUN
fcis-30675	85	30	coordinates	coordinate	NOUN
fcis-30675	85	31	:	:	PUNCT
fcis-30675	85	32	assume	assume	VERB
fcis-30675	85	33	that	that	SCONJ
fcis-30675	85	34	the	the	DET
fcis-30675	85	35	camera	camera	NOUN
fcis-30675	85	36	intrinsic	intrinsic	ADJ
fcis-30675	85	37	parameter	parameter	NOUN
fcis-30675	85	38	matrix	matrix	NOUN
fcis-30675	85	39	is	be	AUX
fcis-30675	85	40	:	:	PUNCT
fcis-30675	85	41	f	f	PROPN
fcis-30675	85	42	0	0	NUM
fcis-30675	85	43	0	0	NUM
fcis-30675	85	44	0	0	NUM
fcis-30675	85	45	0	0	NUM
fcis-30675	85	46	1	1	NUM
fcis-30675	85	47	x	x	SYM
fcis-30675	85	48	x	x	PUNCT
fcis-30675	85	49	y	y	NOUN
fcis-30675	85	50	y	y	NOUN
fcis-30675	85	51	c	c	PROPN
fcis-30675	86	1	k	k	PROPN
fcis-30675	87	1	f	f	PROPN
fcis-30675	87	2	c	c	PROPN
fcis-30675	87	3			PROPN
fcis-30675	87	4			NOUN
fcis-30675	87	5			NOUN
fcis-30675	87	6			X
fcis-30675	87	7			NOUN
fcis-30675	87	8			PROPN
fcis-30675	87	9			NOUN
fcis-30675	87	10			PROPN
fcis-30675	87	11			PROPN
fcis-30675	87	12	(	(	PUNCT
fcis-30675	87	13	2	2	NUM
fcis-30675	87	14	)	)	PUNCT
fcis-30675	87	15	the	the	DET
fcis-30675	87	16	depth	depth	NOUN
fcis-30675	87	17	value	value	NOUN
fcis-30675	87	18	isz	isz	PROPN
fcis-30675	87	19	,	,	PUNCT
fcis-30675	87	20	then	then	ADV
fcis-30675	87	21	the	the	DET
fcis-30675	87	22	coordinates	coordinate	NOUN
fcis-30675	87	23	in	in	ADP
fcis-30675	87	24	the	the	DET
fcis-30675	87	25	camera	camera	NOUN
fcis-30675	87	26	coordinate	coordinate	NOUN
fcis-30675	87	27	system	system	NOUN
fcis-30675	87	28	are	be	AUX
fcis-30675	87	29	1	1	NUM
fcis-30675	87	30	u	u	NOUN
fcis-30675	87	31	1	1	NUM
fcis-30675	87	32	x	x	SYM
fcis-30675	87	33	x	x	X
fcis-30675	87	34	camera	camera	NOUN
fcis-30675	87	35	y	y	PROPN
fcis-30675	87	36	camera	camera	PROPN
fcis-30675	87	37	y	y	PROPN
fcis-30675	87	38	camera	camera	NOUN
fcis-30675	87	39	u	u	NOUN
fcis-30675	87	40	c	c	PROPN
fcis-30675	87	41	z	z	NOUN
fcis-30675	88	1	f	f	X
fcis-30675	89	1	x	x	X
fcis-30675	89	2	v	v	INTJ
fcis-30675	89	3	c	c	X
fcis-30675	89	4	y	y	PROPN
fcis-30675	89	5	z	z	PROPN
fcis-30675	89	6	k	k	PROPN
fcis-30675	90	1	v	v	INTJ
fcis-30675	90	2	z	z	NOUN
fcis-30675	90	3	f	f	PROPN
fcis-30675	90	4	z	z	NOUN
fcis-30675	90	5	z	z	PROPN
fcis-30675	90	6			NOUN
fcis-30675	90	7			NOUN
fcis-30675	90	8			NOUN
fcis-30675	90	9			NOUN
fcis-30675	90	10			NOUN
fcis-30675	90	11			NOUN
fcis-30675	90	12			NOUN
fcis-30675	90	13			NOUN
fcis-30675	90	14			PROPN
fcis-30675	90	15			ADJ
fcis-30675	90	16			PROPN
fcis-30675	90	17			NOUN
fcis-30675	90	18			NOUN
fcis-30675	90	19			NOUN
fcis-30675	90	20			NOUN
fcis-30675	91	1			NUM
fcis-30675	91	2			NUM
fcis-30675	91	3			NOUN
fcis-30675	91	4			NOUN
fcis-30675	91	5			PROPN
fcis-30675	91	6			NOUN
fcis-30675	91	7			NOUN
fcis-30675	91	8			NOUN
fcis-30675	91	9			PROPN
fcis-30675	91	10			PROPN
fcis-30675	91	11			NOUN
fcis-30675	91	12			PROPN
fcis-30675	91	13			PROPN
fcis-30675	91	14			NOUN
fcis-30675	91	15			PROPN
fcis-30675	91	16			NOUN
fcis-30675	91	17			PROPN
fcis-30675	91	18			NOUN
fcis-30675	91	19			NOUN
fcis-30675	91	20			VERB
fcis-30675	91	21			PROPN
fcis-30675	91	22			NUM
fcis-30675	91	23			NUM
fcis-30675	91	24			NUM
fcis-30675	91	25			NUM
fcis-30675	91	26	(	(	PUNCT
fcis-30675	91	27	3	3	X
fcis-30675	91	28	)	)	PUNCT
fcis-30675	91	29	transformation	transformation	NOUN
fcis-30675	91	30	from	from	ADP
fcis-30675	91	31	the	the	DET
fcis-30675	91	32	camera	camera	NOUN
fcis-30675	91	33	coordinate	coordinate	NOUN
fcis-30675	91	34	system	system	NOUN
fcis-30675	91	35	to	to	ADP
fcis-30675	91	36	the	the	DET
fcis-30675	91	37	global	global	ADJ
fcis-30675	91	38	coordinate	coordinate	NOUN
fcis-30675	91	39	system	system	NOUN
fcis-30675	91	40	:	:	PUNCT
fcis-30675	91	41	it	it	PRON
fcis-30675	91	42	is	be	AUX
fcis-30675	91	43	transformed	transform	VERB
fcis-30675	91	44	through	through	ADP
fcis-30675	91	45	the	the	DET
fcis-30675	91	46	camera	camera	NOUN
fcis-30675	91	47	pose	pose	NOUN
fcis-30675	91	48	transformation	transformation	NOUN
fcis-30675	91	49	matrix	matrix	NOUN
fcis-30675	91	50	provided	provide	VERB
fcis-30675	91	51	by	by	ADP
fcis-30675	91	52	rtab	rtab	NOUN
fcis-30675	91	53	-	-	PUNCT
fcis-30675	91	54	map	map	NOUN
fcis-30675	91	55	:	:	PUNCT
fcis-30675	91	56	g	g	NOUN
fcis-30675	91	57	:	:	PUNCT
fcis-30675	91	58	1	1	NUM
fcis-30675	91	59	camera	camera	NOUN
fcis-30675	91	60	camera	camera	NOUN
fcis-30675	91	61	cameraworld	cameraworld	NOUN
fcis-30675	91	62	world	world	PROPN
fcis-30675	91	63	camera	camera	PROPN
fcis-30675	91	64	lobal	lobal	PROPN
fcis-30675	91	65	camera	camera	PROPN
fcis-30675	91	66	camera	camera	NOUN
fcis-30675	91	67	camera	camera	NOUN
fcis-30675	91	68	camera	camera	NOUN
fcis-30675	91	69	x	x	PUNCT
fcis-30675	92	1	x	x	PUNCT
fcis-30675	92	2	y	y	NOUN
fcis-30675	92	3	t	t	PROPN
fcis-30675	92	4	p	p	X
fcis-30675	92	5	t	t	PROPN
fcis-30675	92	6	r	r	NOUN
fcis-30675	92	7	y	y	PROPN
fcis-30675	92	8	t	t	PROPN
fcis-30675	92	9	z	z	PROPN
fcis-30675	92	10	z	z	PROPN
fcis-30675	92	11			PROPN
fcis-30675	92	12			INTJ
fcis-30675	92	13			PROPN
fcis-30675	92	14			X
fcis-30675	92	15			ADJ
fcis-30675	92	16			NOUN
fcis-30675	92	17			PROPN
fcis-30675	92	18			PROPN
fcis-30675	92	19			PROPN
fcis-30675	93	1			ADJ
fcis-30675	93	2			NOUN
fcis-30675	93	3			NOUN
fcis-30675	93	4			NOUN
fcis-30675	93	5			PROPN
fcis-30675	93	6			NOUN
fcis-30675	93	7			AUX
fcis-30675	93	8			PROPN
fcis-30675	93	9			VERB
fcis-30675	93	10			PROPN
fcis-30675	93	11			NUM
fcis-30675	93	12			NUM
fcis-30675	93	13	(	(	PUNCT
fcis-30675	93	14	4	4	X
fcis-30675	93	15	)	)	PUNCT
fcis-30675	93	16	the	the	DET
fcis-30675	93	17	second	second	ADJ
fcis-30675	93	18	step	step	NOUN
fcis-30675	93	19	:	:	PUNCT
fcis-30675	93	20	optimization	optimization	NOUN
fcis-30675	93	21	of	of	ADP
fcis-30675	93	22	the	the	DET
fcis-30675	93	23	dwa	dwa	PROPN
fcis-30675	93	24	cost	cost	NOUN
fcis-30675	93	25	function	function	NOUN
fcis-30675	93	26	the	the	DET
fcis-30675	93	27	traditional	traditional	ADJ
fcis-30675	93	28	dwa	dwa	PROPN
fcis-30675	93	29	cost	cost	NOUN
fcis-30675	93	30	function	function	NOUN
fcis-30675	93	31	includes	include	VERB
fcis-30675	93	32	the	the	DET
fcis-30675	93	33	following	following	ADJ
fcis-30675	93	34	terms	term	NOUN
fcis-30675	93	35	:	:	PUNCT
fcis-30675	93	36	1	1	NUM
fcis-30675	93	37	2	2	NUM
fcis-30675	93	38	3total	3total	NUM
fcis-30675	93	39	goal	goal	NOUN
fcis-30675	93	40	obstacle	obstacle	NOUN
fcis-30675	93	41	smoothc	smoothc	PROPN
fcis-30675	93	42	w	w	PROPN
fcis-30675	93	43	c	c	PROPN
fcis-30675	93	44	w	w	PROPN
fcis-30675	93	45	c	c	PROPN
fcis-30675	93	46	w	w	PROPN
fcis-30675	93	47	c	c	NOUN
fcis-30675	93	48			PUNCT
fcis-30675	93	49			X
fcis-30675	93	50			NUM
fcis-30675	93	51			NUM
fcis-30675	93	52	(	(	PUNCT
fcis-30675	93	53	5	5	NUM
fcis-30675	93	54	)	)	PUNCT
fcis-30675	93	55	among	among	ADP
fcis-30675	93	56	them	they	PRON
fcis-30675	93	57	:	:	PUNCT
fcis-30675	93	58	r||	r||	X
fcis-30675	93	59	p	p	PROPN
fcis-30675	93	60	||total	||total	ADJ
fcis-30675	93	61	obot	obot	ADJ
fcis-30675	93	62	goalc	goalc	NOUN
fcis-30675	93	63	p	p	ADV
fcis-30675	93	64			NOUN
fcis-30675	93	65	:	:	PUNCT
fcis-30675	93	66	cost	cost	NOUN
fcis-30675	93	67	of	of	ADP
fcis-30675	93	68	the	the	DET
fcis-30675	93	69	distance	distance	NOUN
fcis-30675	93	70	to	to	ADP
fcis-30675	93	71	the	the	DET
fcis-30675	93	72	target	target	NOUN
fcis-30675	93	73	r	r	NOUN
fcis-30675	93	74	omin(||	omin(||	NOUN
fcis-30675	93	75	p	p	PROPN
fcis-30675	93	76	||)obstacle	||)obstacle	NOUN
fcis-30675	93	77	bot	bot	NOUN
fcis-30675	93	78	obstaclec	obstaclec	X
fcis-30675	93	79	p	p	NOUN
fcis-30675	94	1			NOUN
fcis-30675	94	2	:	:	PUNCT
fcis-30675	94	3	cost	cost	NOUN
fcis-30675	94	4	of	of	ADP
fcis-30675	94	5	the	the	DET
fcis-30675	94	6	distance	distance	NOUN
fcis-30675	94	7	to	to	ADP
fcis-30675	94	8	the	the	DET
fcis-30675	94	9	obstacle	obstacle	NOUN
fcis-30675	94	10	1||	1||	PROPN
fcis-30675	94	11	||i	||i	PROPN
fcis-30675	94	12	icsmooth	icsmooth	VERB
fcis-30675	94	13	v	v	ADP
fcis-30675	94	14	v	v	NUM
fcis-30675	94	15			X
fcis-30675	94	16			NOUN
fcis-30675	94	17	:	:	PUNCT
fcis-30675	94	18	cost	cost	NOUN
fcis-30675	94	19	of	of	ADP
fcis-30675	94	20	trajectory	trajectory	NOUN
fcis-30675	94	21	smoothness	smoothness	ADJ
fcis-30675	94	22	220	220	NUM
fcis-30675	94	23	add	add	VERB
fcis-30675	94	24	a	a	DET
fcis-30675	94	25	face	face	NOUN
fcis-30675	94	26	attractiveness	attractiveness	NOUN
fcis-30675	94	27	term	term	NOUN
fcis-30675	94	28	:	:	PUNCT
fcis-30675	94	29	r|||	r|||	VERB
fcis-30675	94	30	p	p	NOUN
fcis-30675	94	31	||face	||face	NOUN
fcis-30675	94	32	obot	obot	PROPN
fcis-30675	94	33	facec	facec	PROPN
fcis-30675	94	34	p	p	PROPN
fcis-30675	94	35			X
fcis-30675	94	36	(	(	PUNCT
fcis-30675	94	37	6	6	NUM
fcis-30675	94	38	)	)	PUNCT
fcis-30675	94	39	the	the	DET
fcis-30675	94	40	comprehensive	comprehensive	ADJ
fcis-30675	94	41	cost	cost	NOUN
fcis-30675	94	42	function	function	NOUN
fcis-30675	94	43	is	be	AUX
fcis-30675	94	44	:	:	PUNCT
fcis-30675	94	45	1	1	NUM
fcis-30675	94	46	2	2	NUM
fcis-30675	94	47	3	3	NUM
fcis-30675	94	48	4	4	NUM
fcis-30675	94	49	)	)	PUNCT
fcis-30675	94	50	total	total	ADJ
fcis-30675	94	51	goal	goal	NOUN
fcis-30675	94	52	obstacle	obstacle	VERB
fcis-30675	94	53	smooth	smooth	PROPN
fcis-30675	94	54	facec	facec	PROPN
fcis-30675	94	55	w	w	PROPN
fcis-30675	94	56	c	c	PROPN
fcis-30675	94	57	w	w	PROPN
fcis-30675	94	58	c	c	PROPN
fcis-30675	94	59	w	w	PROPN
fcis-30675	94	60	c	c	PROPN
fcis-30675	94	61	w	w	PROPN
fcis-30675	94	62	c	c	PROPN
fcis-30675	94	63			ADV
fcis-30675	94	64			PUNCT
fcis-30675	94	65			X
fcis-30675	94	66			NUM
fcis-30675	94	67			NUM
fcis-30675	94	68			NUM
fcis-30675	94	69	(	(	PUNCT
fcis-30675	94	70	7	7	X
fcis-30675	94	71	)	)	PUNCT
fcis-30675	94	72	the	the	DET
fcis-30675	94	73	third	third	ADJ
fcis-30675	94	74	step	step	NOUN
fcis-30675	94	75	:	:	PUNCT
fcis-30675	94	76	dynamic	dynamic	ADJ
fcis-30675	94	77	obstacle	obstacle	NOUN
fcis-30675	94	78	avoidance	avoidance	NOUN
fcis-30675	94	79	and	and	CCONJ
fcis-30675	94	80	safety	safety	NOUN
fcis-30675	94	81	distance	distance	NOUN
fcis-30675	94	82	.	.	PUNCT
fcis-30675	95	1	regard	regard	VERB
fcis-30675	95	2	the	the	DET
fcis-30675	95	3	position	position	NOUN
fcis-30675	95	4	of	of	ADP
fcis-30675	95	5	the	the	DET
fcis-30675	95	6	human	human	ADJ
fcis-30675	95	7	face	face	NOUN
fcis-30675	95	8	as	as	ADP
fcis-30675	95	9	a	a	DET
fcis-30675	95	10	dynamic	dynamic	ADJ
fcis-30675	95	11	obstacle	obstacle	NOUN
fcis-30675	95	12	,	,	PUNCT
fcis-30675	95	13	and	and	CCONJ
fcis-30675	95	14	set	set	VERB
fcis-30675	95	15	the	the	DET
fcis-30675	95	16	safe	safe	ADJ
fcis-30675	95	17	radius	radius	NOUN
fcis-30675	95	18	rsafe	rsafe	NOUN
fcis-30675	95	19	rif	rif	PROPN
fcis-30675	95	20	||	||	PROPN
fcis-30675	96	1	p	p	X
fcis-30675	96	2	||	||	NOUN
fcis-30675	97	1	0.4obot	0.4obot	NUM
fcis-30675	97	2	face	face	NOUN
fcis-30675	97	3	safep	safep	VERB
fcis-30675	97	4	r	r	NOUN
fcis-30675	97	5	m	m	NOUN
fcis-30675	97	6			PROPN
fcis-30675	98	1			NUM
fcis-30675	99	1	trigger	trigger	NOUN
fcis-30675	99	2	deceleration	deceleration	NOUN
fcis-30675	99	3	or	or	CCONJ
fcis-30675	99	4	stop	stop	VERB
fcis-30675	99	5	4	4	NUM
fcis-30675	99	6	.	.	PUNCT
fcis-30675	99	7	experimental	experimental	ADJ
fcis-30675	99	8	section	section	NOUN
fcis-30675	99	9	4.1	4.1	NUM
fcis-30675	99	10	.	.	PUNCT
fcis-30675	100	1	training	training	NOUN
fcis-30675	100	2	of	of	ADP
fcis-30675	100	3	the	the	DET
fcis-30675	100	4	yolov8	yolov8	NOUN
fcis-30675	100	5	face	face	NOUN
fcis-30675	100	6	recognition	recognition	NOUN
fcis-30675	100	7	dataset	dataset	VERB
fcis-30675	100	8	the	the	DET
fcis-30675	100	9	robot	robot	NOUN
fcis-30675	100	10	is	be	AUX
fcis-30675	100	11	equipped	equip	VERB
fcis-30675	100	12	with	with	ADP
fcis-30675	100	13	yolov8	yolov8	PROPN
fcis-30675	100	14	.	.	PUNCT
fcis-30675	101	1	by	by	ADP
fcis-30675	101	2	performing	perform	VERB
fcis-30675	101	3	multiframe	multiframe	NOUN
fcis-30675	101	4	processing	processing	NOUN
fcis-30675	101	5	on	on	ADP
fcis-30675	101	6	a	a	DET
fcis-30675	101	7	recorded	record	VERB
fcis-30675	101	8	video	video	NOUN
fcis-30675	101	9	,	,	PUNCT
fcis-30675	101	10	the	the	DET
fcis-30675	101	11	incremental	incremental	ADJ
fcis-30675	101	12	stacking	stacking	NOUN
fcis-30675	101	13	of	of	ADP
fcis-30675	101	14	the	the	DET
fcis-30675	101	15	dataset	dataset	NOUN
fcis-30675	101	16	is	be	AUX
fcis-30675	101	17	completed	complete	VERB
fcis-30675	101	18	.	.	PUNCT
fcis-30675	102	1	recognition	recognition	NOUN
fcis-30675	102	2	training	training	NOUN
fcis-30675	102	3	is	be	AUX
fcis-30675	102	4	carried	carry	VERB
fcis-30675	102	5	out	out	ADP
fcis-30675	102	6	by	by	ADP
fcis-30675	102	7	annotating	annotate	VERB
fcis-30675	102	8	the	the	DET
fcis-30675	102	9	facial	facial	ADJ
fcis-30675	102	10	features	feature	NOUN
fcis-30675	102	11	of	of	ADP
fcis-30675	102	12	human	human	ADJ
fcis-30675	102	13	faces	face	NOUN
fcis-30675	102	14	.	.	PUNCT
fcis-30675	103	1	after	after	SCONJ
fcis-30675	103	2	the	the	DET
fcis-30675	103	3	robot	robot	NOUN
fcis-30675	103	4	undergoes	undergo	VERB
fcis-30675	103	5	a	a	DET
fcis-30675	103	6	large	large	ADJ
fcis-30675	103	7	amount	amount	NOUN
fcis-30675	103	8	of	of	ADP
fcis-30675	103	9	training	training	NOUN
fcis-30675	103	10	in	in	ADP
fcis-30675	103	11	the	the	DET
fcis-30675	103	12	dataset	dataset	NOUN
fcis-30675	103	13	,	,	PUNCT
fcis-30675	103	14	the	the	DET
fcis-30675	103	15	accuracy	accuracy	NOUN
fcis-30675	103	16	rate	rate	NOUN
fcis-30675	103	17	of	of	ADP
fcis-30675	103	18	face	face	NOUN
fcis-30675	103	19	recognition	recognition	NOUN
fcis-30675	103	20	is	be	AUX
fcis-30675	103	21	shown	show	VERB
fcis-30675	103	22	in	in	ADP
fcis-30675	103	23	the	the	DET
fcis-30675	103	24	following	follow	VERB
fcis-30675	103	25	figure	figure	NOUN
fcis-30675	103	26	,	,	PUNCT
fcis-30675	103	27	and	and	CCONJ
fcis-30675	103	28	the	the	DET
fcis-30675	103	29	speed	speed	NOUN
fcis-30675	103	30	is	be	AUX
fcis-30675	103	31	shown	show	VERB
fcis-30675	103	32	in	in	ADP
fcis-30675	103	33	the	the	DET
fcis-30675	103	34	following	follow	VERB
fcis-30675	103	35	figure	figure	NOUN
fcis-30675	103	36	.	.	PUNCT
fcis-30675	104	1	conduct	conduct	NOUN
fcis-30675	104	2	robot	robot	NOUN
fcis-30675	104	3	face	face	NOUN
fcis-30675	104	4	recognition	recognition	NOUN
fcis-30675	104	5	tests	test	NOUN
fcis-30675	104	6	under	under	ADP
fcis-30675	104	7	different	different	ADJ
fcis-30675	104	8	lighting	lighting	NOUN
fcis-30675	104	9	intensities	intensity	NOUN
fcis-30675	104	10	at	at	ADP
fcis-30675	104	11	different	different	ADJ
fcis-30675	104	12	times	time	NOUN
fcis-30675	104	13	.	.	PUNCT
fcis-30675	105	1	the	the	DET
fcis-30675	105	2	specific	specific	ADJ
fcis-30675	105	3	times	time	NOUN
fcis-30675	105	4	are	be	AUX
fcis-30675	105	5	shown	show	VERB
fcis-30675	105	6	in	in	ADP
fcis-30675	105	7	the	the	DET
fcis-30675	105	8	following	follow	VERB
fcis-30675	105	9	table	table	NOUN
fcis-30675	105	10	.	.	PUNCT
fcis-30675	106	1	table	table	NOUN
fcis-30675	106	2	2	2	NUM
fcis-30675	106	3	.	.	PUNCT
fcis-30675	106	4	training	training	NOUN
fcis-30675	106	5	of	of	ADP
fcis-30675	106	6	yolov8	yolov8	NOUN
fcis-30675	106	7	on	on	ADP
fcis-30675	106	8	the	the	DET
fcis-30675	106	9	face	face	NOUN
fcis-30675	106	10	recognition	recognition	NOUN
fcis-30675	106	11	dataset	dataset	VERB
fcis-30675	106	12	under	under	ADP
fcis-30675	106	13	different	different	ADJ
fcis-30675	106	14	lighting	lighting	NOUN
fcis-30675	106	15	conditions	condition	NOUN
fcis-30675	106	16	time	time	NOUN
fcis-30675	106	17	illumination	illumination	NOUN
fcis-30675	106	18	intensity	intensity	NOUN
fcis-30675	106	19	success	success	NOUN
fcis-30675	106	20	rate	rate	NOUN
fcis-30675	106	21	of	of	ADP
fcis-30675	106	22	face	face	NOUN
fcis-30675	106	23	recognition	recognition	NOUN
fcis-30675	106	24	in	in	ADP
fcis-30675	106	25	the	the	DET
fcis-30675	106	26	training	training	NOUN
fcis-30675	106	27	set	set	NOUN
fcis-30675	106	28	12:00	12:00	NUM
fcis-30675	106	29	noon	noon	NOUN
fcis-30675	106	30	moderate	moderate	ADJ
fcis-30675	106	31	90	90	NUM
fcis-30675	106	32	%	%	NOUN
fcis-30675	106	33	14:00	14:00	NUM
fcis-30675	106	34	in	in	ADP
fcis-30675	106	35	the	the	DET
fcis-30675	106	36	afternoon	afternoon	NOUN
fcis-30675	106	37	strongest	strong	ADJ
fcis-30675	106	38	60	60	NUM
fcis-30675	106	39	%	%	NOUN
fcis-30675	106	40	18:00	18:00	NUM
fcis-30675	106	41	in	in	ADP
fcis-30675	106	42	the	the	DET
fcis-30675	106	43	evening	evening	NOUN
fcis-30675	106	44	weak	weak	ADJ
fcis-30675	106	45	40	40	NUM
fcis-30675	106	46	%	%	NOUN
fcis-30675	106	47	figure	figure	NOUN
fcis-30675	106	48	5	5	NUM
fcis-30675	106	49	.	.	PUNCT
fcis-30675	107	1	the	the	DET
fcis-30675	107	2	robot	robot	NOUN
fcis-30675	107	3	uses	use	VERB
fcis-30675	107	4	yolov8	yolov8	NOUN
fcis-30675	107	5	to	to	PART
fcis-30675	107	6	train	train	VERB
fcis-30675	107	7	the	the	DET
fcis-30675	107	8	face	face	NOUN
fcis-30675	107	9	recognition	recognition	NOUN
fcis-30675	107	10	dataset	dataset	NOUN
fcis-30675	107	11	.	.	PUNCT
fcis-30675	108	1	face	face	NOUN
fcis-30675	108	2	recognition	recognition	NOUN
fcis-30675	108	3	training	training	NOUN
fcis-30675	108	4	was	be	AUX
fcis-30675	108	5	carried	carry	VERB
fcis-30675	108	6	out	out	ADP
fcis-30675	108	7	respectively	respectively	ADV
fcis-30675	108	8	under	under	ADP
fcis-30675	108	9	different	different	ADJ
fcis-30675	108	10	lighting	lighting	NOUN
fcis-30675	108	11	conditions	condition	NOUN
fcis-30675	108	12	at	at	ADP
fcis-30675	108	13	different	different	ADJ
fcis-30675	108	14	times	time	NOUN
fcis-30675	108	15	.	.	PUNCT
fcis-30675	109	1	the	the	DET
fcis-30675	109	2	results	result	NOUN
fcis-30675	109	3	are	be	AUX
fcis-30675	109	4	shown	show	VERB
fcis-30675	109	5	in	in	ADP
fcis-30675	109	6	the	the	DET
fcis-30675	109	7	above	above	ADJ
fcis-30675	109	8	table	table	NOUN
fcis-30675	109	9	.	.	PUNCT
fcis-30675	110	1	when	when	SCONJ
fcis-30675	110	2	the	the	DET
fcis-30675	110	3	lighting	lighting	NOUN
fcis-30675	110	4	intensity	intensity	NOUN
fcis-30675	110	5	is	be	AUX
fcis-30675	110	6	close	close	ADJ
fcis-30675	110	7	to	to	ADP
fcis-30675	110	8	the	the	DET
fcis-30675	110	9	maximum	maximum	ADJ
fcis-30675	110	10	value	value	NOUN
fcis-30675	110	11	,	,	PUNCT
fcis-30675	110	12	the	the	DET
fcis-30675	110	13	success	success	NOUN
fcis-30675	110	14	rate	rate	NOUN
fcis-30675	110	15	of	of	ADP
fcis-30675	110	16	face	face	NOUN
fcis-30675	110	17	recognition	recognition	NOUN
fcis-30675	110	18	decreases	decrease	VERB
fcis-30675	110	19	,	,	PUNCT
fcis-30675	110	20	and	and	CCONJ
fcis-30675	110	21	when	when	SCONJ
fcis-30675	110	22	the	the	DET
fcis-30675	110	23	lighting	lighting	NOUN
fcis-30675	110	24	intensity	intensity	NOUN
fcis-30675	110	25	is	be	AUX
fcis-30675	110	26	close	close	ADJ
fcis-30675	110	27	to	to	ADP
fcis-30675	110	28	the	the	DET
fcis-30675	110	29	minimum	minimum	ADJ
fcis-30675	110	30	value	value	NOUN
fcis-30675	110	31	,	,	PUNCT
fcis-30675	110	32	the	the	DET
fcis-30675	110	33	success	success	NOUN
fcis-30675	110	34	rate	rate	NOUN
fcis-30675	110	35	of	of	ADP
fcis-30675	110	36	face	face	NOUN
fcis-30675	110	37	recognition	recognition	NOUN
fcis-30675	110	38	also	also	ADV
fcis-30675	110	39	decreases	decrease	VERB
fcis-30675	110	40	.	.	PUNCT
fcis-30675	111	1	it	it	PRON
fcis-30675	111	2	can	can	AUX
fcis-30675	111	3	be	be	AUX
fcis-30675	111	4	seen	see	VERB
fcis-30675	111	5	that	that	SCONJ
fcis-30675	111	6	the	the	DET
fcis-30675	111	7	success	success	NOUN
fcis-30675	111	8	rate	rate	NOUN
fcis-30675	111	9	of	of	ADP
fcis-30675	111	10	face	face	NOUN
fcis-30675	111	11	recognition	recognition	NOUN
fcis-30675	111	12	follows	follow	VERB
fcis-30675	111	13	a	a	DET
fcis-30675	111	14	normal	normal	ADJ
fcis-30675	111	15	distribution	distribution	NOUN
fcis-30675	111	16	.	.	PUNCT
fcis-30675	112	1	the	the	DET
fcis-30675	112	2	robot	robot	NOUN
fcis-30675	112	3	shown	show	VERB
fcis-30675	112	4	in	in	ADP
fcis-30675	112	5	the	the	DET
fcis-30675	112	6	figure	figure	NOUN
fcis-30675	112	7	is	be	AUX
fcis-30675	112	8	already	already	ADV
fcis-30675	112	9	able	able	ADJ
fcis-30675	112	10	to	to	PART
fcis-30675	112	11	recognize	recognize	VERB
fcis-30675	112	12	human	human	ADJ
fcis-30675	112	13	faces	face	NOUN
fcis-30675	112	14	in	in	ADP
fcis-30675	112	15	a	a	DET
fcis-30675	112	16	laboratory	laboratory	NOUN
fcis-30675	112	17	environment	environment	NOUN
fcis-30675	112	18	.	.	PUNCT
fcis-30675	113	1	figure	figure	VERB
fcis-30675	113	2	6	6	NUM
fcis-30675	113	3	.	.	PUNCT
fcis-30675	114	1	the	the	DET
fcis-30675	114	2	training	training	NOUN
fcis-30675	114	3	results	result	NOUN
fcis-30675	114	4	of	of	ADP
fcis-30675	114	5	face	face	NOUN
fcis-30675	114	6	recognition	recognition	NOUN
fcis-30675	114	7	221	221	NUM
fcis-30675	114	8	4.2	4.2	NUM
fcis-30675	114	9	.	.	PUNCT
fcis-30675	115	1	navigation	navigation	NOUN
fcis-30675	115	2	results	result	NOUN
fcis-30675	115	3	in	in	ADP
fcis-30675	115	4	the	the	DET
fcis-30675	115	5	laboratory	laboratory	NOUN
fcis-30675	115	6	after	after	SCONJ
fcis-30675	115	7	dwa	dwa	PROPN
fcis-30675	115	8	optimization	optimization	NOUN
fcis-30675	115	9	the	the	DET
fcis-30675	115	10	experimental	experimental	ADJ
fcis-30675	115	11	environment	environment	NOUN
fcis-30675	115	12	is	be	AUX
fcis-30675	115	13	selected	select	VERB
fcis-30675	115	14	in	in	ADP
fcis-30675	115	15	the	the	DET
fcis-30675	115	16	laboratory	laboratory	NOUN
fcis-30675	115	17	of	of	ADP
fcis-30675	115	18	our	our	PRON
fcis-30675	115	19	school	school	NOUN
fcis-30675	115	20	to	to	PART
fcis-30675	115	21	simulate	simulate	VERB
fcis-30675	115	22	the	the	DET
fcis-30675	115	23	environment	environment	NOUN
fcis-30675	115	24	of	of	ADP
fcis-30675	115	25	a	a	DET
fcis-30675	115	26	gerocomium	gerocomium	NOUN
fcis-30675	115	27	for	for	ADP
fcis-30675	115	28	navigation	navigation	NOUN
fcis-30675	115	29	.	.	PUNCT
fcis-30675	116	1	as	as	SCONJ
fcis-30675	116	2	shown	show	VERB
fcis-30675	116	3	in	in	ADP
fcis-30675	116	4	the	the	DET
fcis-30675	116	5	figure	figure	NOUN
fcis-30675	116	6	,	,	PUNCT
fcis-30675	116	7	it	it	PRON
fcis-30675	116	8	is	be	AUX
fcis-30675	116	9	in	in	ADP
fcis-30675	116	10	a	a	DET
fcis-30675	116	11	closed	closed	ADJ
fcis-30675	116	12	room	room	NOUN
fcis-30675	116	13	with	with	ADP
fcis-30675	116	14	a	a	DET
fcis-30675	116	15	length	length	NOUN
fcis-30675	116	16	of	of	ADP
fcis-30675	116	17	11.79	11.79	NUM
fcis-30675	116	18	m	m	NOUN
fcis-30675	116	19	,	,	PUNCT
fcis-30675	116	20	a	a	DET
fcis-30675	116	21	width	width	NOUN
fcis-30675	116	22	of	of	ADP
fcis-30675	116	23	8.43	8.43	NUM
fcis-30675	116	24	m	m	NOUN
fcis-30675	116	25	,	,	PUNCT
fcis-30675	116	26	and	and	CCONJ
fcis-30675	116	27	a	a	DET
fcis-30675	116	28	height	height	NOUN
fcis-30675	116	29	of	of	ADP
fcis-30675	116	30	5.43	5.43	NUM
fcis-30675	116	31	m.	m.	NOUN
fcis-30675	116	32	inside	inside	ADP
fcis-30675	116	33	the	the	DET
fcis-30675	116	34	closed	closed	ADJ
fcis-30675	116	35	room	room	NOUN
fcis-30675	116	36	,	,	PUNCT
fcis-30675	116	37	there	there	PRON
fcis-30675	116	38	is	be	VERB
fcis-30675	116	39	a	a	DET
fcis-30675	116	40	large	large	ADJ
fcis-30675	116	41	cuboid	cuboid	NOUN
fcis-30675	116	42	obstacle	obstacle	NOUN
fcis-30675	116	43	with	with	ADP
fcis-30675	116	44	a	a	DET
fcis-30675	116	45	length	length	NOUN
fcis-30675	116	46	of	of	ADP
fcis-30675	116	47	4.53	4.53	NUM
fcis-30675	116	48	m	m	NOUN
fcis-30675	116	49	,	,	PUNCT
fcis-30675	116	50	a	a	DET
fcis-30675	116	51	width	width	NOUN
fcis-30675	116	52	of	of	ADP
fcis-30675	116	53	2.43	2.43	NUM
fcis-30675	116	54	m	m	NOUN
fcis-30675	116	55	,	,	PUNCT
fcis-30675	116	56	and	and	CCONJ
fcis-30675	116	57	a	a	DET
fcis-30675	116	58	height	height	NOUN
fcis-30675	116	59	of	of	ADP
fcis-30675	116	60	2.24	2.24	NUM
fcis-30675	116	61	m	m	NOUN
fcis-30675	116	62	,	,	PUNCT
fcis-30675	116	63	irregular	irregular	ADJ
fcis-30675	116	64	obstacles	obstacle	NOUN
fcis-30675	116	65	such	such	ADJ
fcis-30675	116	66	as	as	ADP
fcis-30675	116	67	chairs	chair	NOUN
fcis-30675	116	68	,	,	PUNCT
fcis-30675	116	69	a	a	DET
fcis-30675	116	70	sunken	sunken	ADJ
fcis-30675	116	71	obstacle	obstacle	NOUN
fcis-30675	116	72	of	of	ADP
fcis-30675	116	73	an	an	DET
fcis-30675	116	74	empty	empty	ADJ
fcis-30675	116	75	cardboard	cardboard	NOUN
fcis-30675	116	76	box	box	NOUN
fcis-30675	116	77	with	with	ADP
fcis-30675	116	78	a	a	DET
fcis-30675	116	79	length	length	NOUN
fcis-30675	116	80	of	of	ADP
fcis-30675	116	81	37	37	NUM
fcis-30675	116	82	cm	cm	NOUN
fcis-30675	116	83	,	,	PUNCT
fcis-30675	116	84	a	a	DET
fcis-30675	116	85	width	width	NOUN
fcis-30675	116	86	of	of	ADP
fcis-30675	116	87	15	15	NUM
fcis-30675	116	88	cm	cm	NOUN
fcis-30675	116	89	,	,	PUNCT
fcis-30675	116	90	and	and	CCONJ
fcis-30675	116	91	a	a	DET
fcis-30675	116	92	height	height	NOUN
fcis-30675	116	93	of	of	ADP
fcis-30675	116	94	41	41	NUM
fcis-30675	116	95	cm	cm	NOUN
fcis-30675	116	96	,	,	PUNCT
fcis-30675	116	97	and	and	CCONJ
fcis-30675	116	98	a	a	DET
fcis-30675	116	99	table	table	NOUN
fcis-30675	116	100	with	with	ADP
fcis-30675	116	101	a	a	DET
fcis-30675	116	102	length	length	NOUN
fcis-30675	116	103	of	of	ADP
fcis-30675	116	104	1	1	NUM
fcis-30675	116	105	m	m	NOUN
fcis-30675	116	106	,	,	PUNCT
fcis-30675	116	107	a	a	DET
fcis-30675	116	108	width	width	NOUN
fcis-30675	116	109	of	of	ADP
fcis-30675	116	110	70	70	NUM
fcis-30675	116	111	cm	cm	NOUN
fcis-30675	116	112	,	,	PUNCT
fcis-30675	116	113	and	and	CCONJ
fcis-30675	116	114	a	a	DET
fcis-30675	116	115	height	height	NOUN
fcis-30675	116	116	of	of	ADP
fcis-30675	116	117	1	1	NUM
fcis-30675	116	118	m.	m.	NOUN
fcis-30675	116	119	the	the	DET
fcis-30675	116	120	robot	robot	NOUN
fcis-30675	116	121	has	have	VERB
fcis-30675	116	122	a	a	DET
fcis-30675	116	123	length	length	NOUN
fcis-30675	116	124	of	of	ADP
fcis-30675	116	125	42	42	NUM
fcis-30675	116	126	cm	cm	NOUN
fcis-30675	116	127	,	,	PUNCT
fcis-30675	116	128	a	a	DET
fcis-30675	116	129	width	width	NOUN
fcis-30675	116	130	of	of	ADP
fcis-30675	116	131	35	35	NUM
fcis-30675	116	132	cm	cm	NOUN
fcis-30675	116	133	,	,	PUNCT
fcis-30675	116	134	and	and	CCONJ
fcis-30675	116	135	a	a	DET
fcis-30675	116	136	height	height	NOUN
fcis-30675	116	137	of	of	ADP
fcis-30675	116	138	55	55	NUM
fcis-30675	116	139	cm	cm	NOUN
fcis-30675	116	140	.	.	PUNCT
fcis-30675	117	1	during	during	ADP
fcis-30675	117	2	the	the	DET
fcis-30675	117	3	navigation	navigation	NOUN
fcis-30675	117	4	process	process	NOUN
fcis-30675	117	5	,	,	PUNCT
fcis-30675	117	6	the	the	DET
fcis-30675	117	7	movement	movement	NOUN
fcis-30675	117	8	of	of	ADP
fcis-30675	117	9	people	people	NOUN
fcis-30675	117	10	is	be	AUX
fcis-30675	117	11	simulated	simulate	VERB
fcis-30675	117	12	to	to	PART
fcis-30675	117	13	mimic	mimic	VERB
fcis-30675	117	14	the	the	DET
fcis-30675	117	15	movement	movement	NOUN
fcis-30675	117	16	of	of	ADP
fcis-30675	117	17	the	the	DET
fcis-30675	117	18	elderly	elderly	ADJ
fcis-30675	117	19	in	in	ADP
fcis-30675	117	20	a	a	DET
fcis-30675	117	21	gerocomium	gerocomium	NOUN
fcis-30675	117	22	.	.	PUNCT
fcis-30675	118	1	figure	figure	VERB
fcis-30675	118	2	7	7	NUM
fcis-30675	118	3	.	.	PUNCT
fcis-30675	119	1	physical	physical	ADJ
fcis-30675	119	2	robot	robot	NOUN
fcis-30675	119	3	and	and	CCONJ
fcis-30675	119	4	experimental	experimental	ADJ
fcis-30675	119	5	environment	environment	NOUN
fcis-30675	119	6	the	the	DET
fcis-30675	119	7	robot	robot	NOUN
fcis-30675	119	8	conducts	conduct	VERB
fcis-30675	119	9	on	on	ADP
fcis-30675	119	10	-	-	PUNCT
fcis-30675	119	11	site	site	NOUN
fcis-30675	119	12	navigation	navigation	NOUN
fcis-30675	119	13	in	in	ADP
fcis-30675	119	14	the	the	DET
fcis-30675	119	15	laboratory	laboratory	NOUN
fcis-30675	119	16	and	and	CCONJ
fcis-30675	119	17	avoids	avoid	VERB
fcis-30675	119	18	pedestrians	pedestrian	NOUN
fcis-30675	119	19	to	to	PART
fcis-30675	119	20	build	build	VERB
fcis-30675	119	21	a	a	DET
fcis-30675	119	22	map	map	NOUN
fcis-30675	119	23	,	,	PUNCT
fcis-30675	119	24	as	as	SCONJ
fcis-30675	119	25	shown	show	VERB
fcis-30675	119	26	in	in	ADP
fcis-30675	119	27	the	the	DET
fcis-30675	119	28	figure	figure	NOUN
fcis-30675	119	29	.	.	PUNCT
fcis-30675	120	1	during	during	ADP
fcis-30675	120	2	the	the	DET
fcis-30675	120	3	navigation	navigation	NOUN
fcis-30675	120	4	process	process	NOUN
fcis-30675	120	5	,	,	PUNCT
fcis-30675	120	6	pedestrians	pedestrian	NOUN
fcis-30675	120	7	keep	keep	VERB
fcis-30675	120	8	walking	walk	VERB
fcis-30675	120	9	continuously	continuously	ADV
fcis-30675	120	10	.	.	PUNCT
fcis-30675	121	1	the	the	DET
fcis-30675	121	2	robot	robot	NOUN
fcis-30675	121	3	timely	timely	ADV
fcis-30675	121	4	decelerates	decelerate	VERB
fcis-30675	121	5	and	and	CCONJ
fcis-30675	121	6	turns	turn	VERB
fcis-30675	121	7	according	accord	VERB
fcis-30675	121	8	to	to	ADP
fcis-30675	121	9	the	the	DET
fcis-30675	121	10	set	set	NOUN
fcis-30675	121	11	safety	safety	NOUN
fcis-30675	121	12	distance	distance	NOUN
fcis-30675	121	13	and	and	CCONJ
fcis-30675	121	14	then	then	ADV
fcis-30675	121	15	continues	continue	VERB
fcis-30675	121	16	the	the	DET
fcis-30675	121	17	navigation	navigation	NOUN
fcis-30675	121	18	.	.	PUNCT
fcis-30675	122	1	experimental	experimental	ADJ
fcis-30675	122	2	environment	environment	NOUN
fcis-30675	122	3	:	:	PUNCT
fcis-30675	122	4	the	the	DET
fcis-30675	122	5	experimental	experimental	ADJ
fcis-30675	122	6	scene	scene	NOUN
fcis-30675	122	7	for	for	ADP
fcis-30675	122	8	navigation	navigation	NOUN
fcis-30675	122	9	and	and	CCONJ
fcis-30675	122	10	mapping	mapping	NOUN
fcis-30675	122	11	is	be	AUX
fcis-30675	122	12	selected	select	VERB
fcis-30675	122	13	as	as	ADP
fcis-30675	122	14	the	the	DET
fcis-30675	122	15	laboratory	laboratory	NOUN
fcis-30675	122	16	,	,	PUNCT
fcis-30675	122	17	as	as	SCONJ
fcis-30675	122	18	shown	show	VERB
fcis-30675	122	19	in	in	ADP
fcis-30675	122	20	figure	figure	NOUN
fcis-30675	122	21	9	9	NUM
fcis-30675	122	22	.	.	PUNCT
fcis-30675	123	1	on	on	ADP
fcis-30675	123	2	-	-	PUNCT
fcis-30675	123	3	site	site	NOUN
fcis-30675	123	4	navigation	navigation	NOUN
fcis-30675	123	5	tests	test	NOUN
fcis-30675	123	6	,	,	PUNCT
fcis-30675	123	7	the	the	DET
fcis-30675	123	8	smoothness	smoothness	ADJ
fcis-30675	123	9	test	test	NOUN
fcis-30675	123	10	of	of	ADP
fcis-30675	123	11	the	the	DET
fcis-30675	123	12	robot	robot	NOUN
fcis-30675	123	13	's	's	PART
fcis-30675	123	14	navigation	navigation	NOUN
fcis-30675	123	15	,	,	PUNCT
fcis-30675	123	16	the	the	DET
fcis-30675	123	17	test	test	NOUN
fcis-30675	123	18	of	of	ADP
fcis-30675	123	19	the	the	DET
fcis-30675	123	20	minimum	minimum	ADJ
fcis-30675	123	21	safety	safety	NOUN
fcis-30675	123	22	distance	distance	NOUN
fcis-30675	123	23	for	for	SCONJ
fcis-30675	123	24	the	the	DET
fcis-30675	123	25	robot	robot	NOUN
fcis-30675	123	26	to	to	PART
fcis-30675	123	27	avoid	avoid	VERB
fcis-30675	123	28	collision	collision	NOUN
fcis-30675	123	29	after	after	ADP
fcis-30675	123	30	recognizing	recognize	VERB
fcis-30675	123	31	a	a	DET
fcis-30675	123	32	human	human	ADJ
fcis-30675	123	33	face	face	NOUN
fcis-30675	123	34	,	,	PUNCT
fcis-30675	123	35	etc	etc	X
fcis-30675	123	36	.	.	X
fcis-30675	123	37	are	be	AUX
fcis-30675	123	38	carried	carry	VERB
fcis-30675	123	39	out	out	ADP
fcis-30675	123	40	in	in	ADP
fcis-30675	123	41	the	the	DET
fcis-30675	123	42	laboratory	laboratory	NOUN
fcis-30675	123	43	.	.	PUNCT
fcis-30675	124	1	5	5	X
fcis-30675	124	2	.	.	X
fcis-30675	124	3	analysis	analysis	NOUN
fcis-30675	124	4	of	of	ADP
fcis-30675	124	5	experimental	experimental	ADJ
fcis-30675	124	6	results	result	NOUN
fcis-30675	124	7	as	as	SCONJ
fcis-30675	124	8	shown	show	VERB
fcis-30675	124	9	in	in	ADP
fcis-30675	124	10	the	the	DET
fcis-30675	124	11	figure	figure	NOUN
fcis-30675	124	12	above	above	ADV
fcis-30675	124	13	,	,	PUNCT
fcis-30675	124	14	the	the	DET
fcis-30675	124	15	robot	robot	NOUN
fcis-30675	124	16	navigates	navigate	VERB
fcis-30675	124	17	and	and	CCONJ
fcis-30675	124	18	builds	build	VERB
fcis-30675	124	19	a	a	DET
fcis-30675	124	20	map	map	NOUN
fcis-30675	124	21	while	while	SCONJ
fcis-30675	124	22	avoiding	avoid	VERB
fcis-30675	124	23	obstacles	obstacle	NOUN
fcis-30675	124	24	in	in	ADP
fcis-30675	124	25	the	the	DET
fcis-30675	124	26	real	real	ADJ
fcis-30675	124	27	environment	environment	NOUN
fcis-30675	124	28	of	of	ADP
fcis-30675	124	29	the	the	DET
fcis-30675	124	30	laboratory	laboratory	NOUN
fcis-30675	124	31	.	.	PUNCT
fcis-30675	125	1	the	the	DET
fcis-30675	125	2	navigation	navigation	NOUN
fcis-30675	125	3	tests	test	NOUN
fcis-30675	125	4	are	be	AUX
fcis-30675	125	5	carried	carry	VERB
fcis-30675	125	6	out	out	ADP
fcis-30675	125	7	using	use	VERB
fcis-30675	125	8	the	the	DET
fcis-30675	125	9	unimproved	unimproved	ADJ
fcis-30675	125	10	dwa	dwa	PROPN
fcis-30675	125	11	,	,	PUNCT
fcis-30675	125	12	the	the	DET
fcis-30675	125	13	improved	improved	ADJ
fcis-30675	125	14	dwa	dwa	PROPN
fcis-30675	125	15	,	,	PUNCT
fcis-30675	125	16	d*+dwa	d*+dwa	PROPN
fcis-30675	125	17	,	,	PUNCT
fcis-30675	125	18	and	and	CCONJ
fcis-30675	125	19	a*+dwa	a*+dwa	VERB
fcis-30675	125	20	respectively	respectively	ADV
fcis-30675	125	21	.	.	PUNCT
fcis-30675	126	1	the	the	DET
fcis-30675	126	2	same	same	ADJ
fcis-30675	126	3	slow	slow	ADV
fcis-30675	126	4	-	-	PUNCT
fcis-30675	126	5	moving	move	VERB
fcis-30675	126	6	people	people	NOUN
fcis-30675	126	7	and	and	CCONJ
fcis-30675	126	8	obstacles	obstacle	NOUN
fcis-30675	126	9	are	be	AUX
fcis-30675	126	10	added	add	VERB
fcis-30675	126	11	during	during	ADP
fcis-30675	126	12	different	different	ADJ
fcis-30675	126	13	processes	process	NOUN
fcis-30675	126	14	.	.	PUNCT
fcis-30675	127	1	the	the	DET
fcis-30675	127	2	final	final	ADJ
fcis-30675	127	3	test	test	NOUN
fcis-30675	127	4	results	result	NOUN
fcis-30675	127	5	are	be	AUX
fcis-30675	127	6	sorted	sort	VERB
fcis-30675	127	7	out	out	ADP
fcis-30675	127	8	as	as	SCONJ
fcis-30675	127	9	follows	follow	VERB
fcis-30675	127	10	.	.	PUNCT
fcis-30675	128	1	5.1	5.1	NUM
fcis-30675	128	2	.	.	PUNCT
fcis-30675	128	3	test	test	NOUN
fcis-30675	128	4	scenario	scenario	PROPN
fcis-30675	128	5	table	table	NOUN
fcis-30675	128	6	3	3	NUM
fcis-30675	128	7	.	.	PUNCT
fcis-30675	128	8	test	test	NOUN
fcis-30675	128	9	scenarios	scenario	NOUN
fcis-30675	128	10	scene	scene	NOUN
fcis-30675	128	11	type	type	NOUN
fcis-30675	128	12	description	description	NOUN
fcis-30675	128	13	difficulty	difficulty	NOUN
fcis-30675	128	14	level	level	VERB
fcis-30675	128	15	narrow	narrow	ADJ
fcis-30675	128	16	corridor	corridor	NOUN
fcis-30675	128	17	with	with	ADP
fcis-30675	128	18	a	a	DET
fcis-30675	128	19	width	width	NOUN
fcis-30675	128	20	of	of	ADP
fcis-30675	128	21	1.5	1.5	NUM
fcis-30675	128	22	m	m	NOUN
fcis-30675	128	23	and	and	CCONJ
fcis-30675	128	24	a	a	DET
fcis-30675	128	25	length	length	NOUN
fcis-30675	128	26	of	of	ADP
fcis-30675	128	27	12	12	NUM
fcis-30675	128	28	m	m	NOUN
fcis-30675	128	29	high	high	ADJ
fcis-30675	128	30	dynamic	dynamic	ADJ
fcis-30675	128	31	pedestrian	pedestrian	NOUN
fcis-30675	128	32	passage	passage	NOUN
fcis-30675	128	33	there	there	PRON
fcis-30675	128	34	are	be	VERB
fcis-30675	128	35	5	5	NUM
fcis-30675	128	36	moving	move	VERB
fcis-30675	128	37	obstacles	obstacle	NOUN
fcis-30675	128	38	with	with	ADP
fcis-30675	128	39	a	a	DET
fcis-30675	128	40	speed	speed	NOUN
fcis-30675	128	41	of	of	ADP
fcis-30675	128	42	0.3	0.3	NUM
fcis-30675	128	43	m/s	m/s	PROPN
fcis-30675	128	44	medium	medium	PROPN
fcis-30675	128	45	u	u	NOUN
fcis-30675	128	46	-	-	NOUN
fcis-30675	128	47	turn	turn	NOUN
fcis-30675	128	48	with	with	ADP
fcis-30675	128	49	a	a	DET
fcis-30675	128	50	sharp	sharp	ADJ
fcis-30675	128	51	bend	bend	NOUN
fcis-30675	128	52	the	the	DET
fcis-30675	128	53	turning	turn	VERB
fcis-30675	128	54	radius	radius	NOUN
fcis-30675	128	55	is	be	AUX
fcis-30675	128	56	1.5	1.5	NUM
fcis-30675	128	57	m	m	NOUN
fcis-30675	128	58	extremely	extremely	ADV
fcis-30675	128	59	high	high	ADJ
fcis-30675	128	60	5.2	5.2	NUM
fcis-30675	128	61	.	.	PUNCT
fcis-30675	129	1	ablation	ablation	NOUN
fcis-30675	129	2	experiment	experiment	NOUN
fcis-30675	129	3	scheme	scheme	NOUN
fcis-30675	129	4	one	one	NUM
fcis-30675	129	5	:	:	PUNCT
fcis-30675	129	6	traditional	traditional	ADJ
fcis-30675	129	7	dwa	dwa	PROPN
fcis-30675	129	8	scheme	scheme	PROPN
fcis-30675	129	9	two	two	NUM
fcis-30675	129	10	:	:	PUNCT
fcis-30675	129	11	dwa	dwa	VERB
fcis-30675	129	12	+	+	CCONJ
fcis-30675	129	13	face	face	NOUN
fcis-30675	129	14	recognition	recognition	NOUN
fcis-30675	129	15	scheme	scheme	NOUN
fcis-30675	129	16	three	three	NUM
fcis-30675	129	17	:	:	PUNCT
fcis-30675	129	18	dwa	dwa	VERB
fcis-30675	130	1	+	+	SYM
fcis-30675	130	2	dynamic	dynamic	ADJ
fcis-30675	130	3	adjustment	adjustment	NOUN
fcis-30675	130	4	of	of	ADP
fcis-30675	130	5	cost	cost	NOUN
fcis-30675	130	6	function	function	NOUN
fcis-30675	130	7	+	+	CCONJ
fcis-30675	130	8	safety	safety	NOUN
fcis-30675	130	9	distance	distance	NOUN
fcis-30675	130	10	constraint	constraint	NOUN
fcis-30675	130	11	scheme	scheme	NOUN
fcis-30675	130	12	four	four	NUM
fcis-30675	130	13	:	:	PUNCT
fcis-30675	130	14	dwa	dwa	VERB
fcis-30675	130	15	+	+	CCONJ
fcis-30675	130	16	face	face	NOUN
fcis-30675	130	17	recognition	recognition	NOUN
fcis-30675	130	18	+	+	CCONJ
fcis-30675	130	19	dynamic	dynamic	ADJ
fcis-30675	130	20	adjustment	adjustment	NOUN
fcis-30675	130	21	of	of	ADP
fcis-30675	130	22	cost	cost	NOUN
fcis-30675	130	23	function	function	NOUN
fcis-30675	130	24	+	+	CCONJ
fcis-30675	130	25	safety	safety	NOUN
fcis-30675	130	26	distance	distance	NOUN
fcis-30675	130	27	constraint	constraint	NOUN
fcis-30675	130	28	table	table	NOUN
fcis-30675	130	29	4	4	NUM
fcis-30675	130	30	.	.	PUNCT
fcis-30675	130	31	comparison	comparison	NOUN
fcis-30675	130	32	of	of	ADP
fcis-30675	130	33	the	the	DET
fcis-30675	130	34	results	result	NOUN
fcis-30675	130	35	of	of	ADP
fcis-30675	130	36	the	the	DET
fcis-30675	130	37	ablation	ablation	NOUN
fcis-30675	130	38	experiments	experiment	NOUN
fcis-30675	130	39	method	method	VERB
fcis-30675	130	40	navigation	navigation	NOUN
fcis-30675	130	41	success	success	NOUN
fcis-30675	130	42	rate	rate	NOUN
fcis-30675	130	43	minimum	minimum	NOUN
fcis-30675	130	44	safety	safety	NOUN
fcis-30675	130	45	distance	distance	NOUN
fcis-30675	130	46	number	number	NOUN
fcis-30675	130	47	sharp	sharp	ADV
fcis-30675	130	48	turns	turn	VERB
fcis-30675	130	49	navigation	navigation	NOUN
fcis-30675	130	50	path	path	NOUN
fcis-30675	130	51	length	length	NOUN
fcis-30675	130	52	scheme	scheme	NOUN
fcis-30675	130	53	one	one	NUM
fcis-30675	130	54	70.5	70.5	NUM
fcis-30675	130	55	%	%	NOUN
fcis-30675	130	56	0.37	0.37	NUM
fcis-30675	130	57	m	m	PROPN
fcis-30675	130	58	6	6	NUM
fcis-30675	130	59	11.28	11.28	NUM
fcis-30675	130	60	m	m	NOUN
fcis-30675	130	61	scheme	scheme	NOUN
fcis-30675	130	62	two	two	NUM
fcis-30675	130	63	84.3	84.3	NUM
fcis-30675	130	64	%	%	NOUN
fcis-30675	130	65	0.41	0.41	NUM
fcis-30675	130	66	m	m	NOUN
fcis-30675	130	67	5	5	NUM
fcis-30675	130	68	11.25	11.25	NUM
fcis-30675	130	69	m	m	NOUN
fcis-30675	130	70	scheme	scheme	NOUN
fcis-30675	130	71	three	three	NUM
fcis-30675	130	72	80.4	80.4	NUM
fcis-30675	130	73	%	%	NOUN
fcis-30675	130	74	0.64	0.64	NUM
fcis-30675	130	75	m	m	NOUN
fcis-30675	130	76	4	4	NUM
fcis-30675	130	77	11.20	11.20	NUM
fcis-30675	130	78	m	m	NOUN
fcis-30675	130	79	scheme	scheme	NOUN
fcis-30675	130	80	fou	fou	PROPN
fcis-30675	130	81	scheme	scheme	PROPN
fcis-30675	130	82	fou	fou	PROPN
fcis-30675	130	83	0.72	0.72	NUM
fcis-30675	130	84	m	m	PROPN
fcis-30675	130	85	2	2	NUM
fcis-30675	130	86	10.08	10.08	NUM
fcis-30675	130	87	m	m	NOUN
fcis-30675	130	88	figure	figure	NOUN
fcis-30675	130	89	8	8	NUM
fcis-30675	130	90	.	.	PUNCT
fcis-30675	131	1	the	the	DET
fcis-30675	131	2	process	process	NOUN
fcis-30675	131	3	and	and	CCONJ
fcis-30675	131	4	results	result	NOUN
fcis-30675	131	5	of	of	ADP
fcis-30675	131	6	map	map	NOUN
fcis-30675	131	7	building	building	NOUN
fcis-30675	131	8	for	for	ADP
fcis-30675	131	9	the	the	DET
fcis-30675	131	10	robot	robot	NOUN
fcis-30675	131	11	navigation	navigation	NOUN
fcis-30675	131	12	while	while	SCONJ
fcis-30675	131	13	avoiding	avoid	VERB
fcis-30675	131	14	pedestrians	pedestrian	NOUN
fcis-30675	131	15	in	in	ADP
fcis-30675	131	16	the	the	DET
fcis-30675	131	17	laboratory	laboratory	NOUN
fcis-30675	131	18	conclusion	conclusion	NOUN
fcis-30675	131	19	:	:	PUNCT
fcis-30675	131	20	incorporating	incorporate	VERB
fcis-30675	131	21	face	face	NOUN
fcis-30675	131	22	detection	detection	NOUN
fcis-30675	131	23	into	into	ADP
fcis-30675	131	24	dwa	dwa	PROPN
fcis-30675	131	25	for	for	ADP
fcis-30675	131	26	navigation	navigation	NOUN
fcis-30675	131	27	increases	increase	VERB
fcis-30675	131	28	the	the	DET
fcis-30675	131	29	navigation	navigation	NOUN
fcis-30675	131	30	success	success	NOUN
fcis-30675	131	31	rate	rate	NOUN
fcis-30675	131	32	by	by	ADP
fcis-30675	131	33	13.8	13.8	NUM
fcis-30675	131	34	%	%	NOUN
fcis-30675	131	35	,	,	PUNCT
fcis-30675	131	36	reduces	reduce	VERB
fcis-30675	131	37	the	the	DET
fcis-30675	131	38	length	length	NOUN
fcis-30675	131	39	of	of	ADP
fcis-30675	131	40	the	the	DET
fcis-30675	131	41	navigation	navigation	NOUN
fcis-30675	131	42	path	path	NOUN
fcis-30675	131	43	by	by	ADP
fcis-30675	131	44	0.26	0.26	NUM
fcis-30675	131	45	%	%	NOUN
fcis-30675	131	46	,	,	PUNCT
fcis-30675	131	47	and	and	CCONJ
fcis-30675	131	48	decreases	decrease	VERB
fcis-30675	131	49	the	the	DET
fcis-30675	131	50	number	number	NOUN
fcis-30675	131	51	of	of	ADP
fcis-30675	131	52	sharp	sharp	ADJ
fcis-30675	131	53	turns	turn	NOUN
fcis-30675	131	54	by	by	ADP
fcis-30675	131	55	16.7	16.7	NUM
fcis-30675	131	56	%	%	NOUN
fcis-30675	131	57	.	.	PUNCT
fcis-30675	132	1	however	however	ADV
fcis-30675	132	2	,	,	PUNCT
fcis-30675	132	3	the	the	DET
fcis-30675	132	4	improvement	improvement	NOUN
fcis-30675	132	5	in	in	ADP
fcis-30675	132	6	the	the	DET
fcis-30675	132	7	safety	safety	NOUN
fcis-30675	132	8	distance	distance	NOUN
fcis-30675	132	9	is	be	AUX
fcis-30675	132	10	limited	limit	VERB
fcis-30675	132	11	(	(	PUNCT
fcis-30675	132	12	only	only	ADV
fcis-30675	132	13	+0.03	+0.03	PROPN
fcis-30675	132	14	m	m	NOUN
fcis-30675	132	15	)	)	PUNCT
fcis-30675	132	16	.	.	PUNCT
fcis-30675	133	1	the	the	DET
fcis-30675	133	2	reason	reason	NOUN
fcis-30675	133	3	is	be	AUX
fcis-30675	133	4	that	that	SCONJ
fcis-30675	133	5	face	face	NOUN
fcis-30675	133	6	detection	detection	NOUN
fcis-30675	133	7	provides	provide	VERB
fcis-30675	133	8	the	the	DET
fcis-30675	133	9	target	target	NOUN
fcis-30675	133	10	position	position	NOUN
fcis-30675	133	11	but	but	CCONJ
fcis-30675	133	12	does	do	AUX
fcis-30675	133	13	not	not	PART
fcis-30675	133	14	dynamically	dynamically	ADV
fcis-30675	133	15	adjust	adjust	VERB
fcis-30675	133	16	the	the	DET
fcis-30675	133	17	obstacle	obstacle	NOUN
fcis-30675	133	18	avoidance	avoidance	NOUN
fcis-30675	133	19	strategy	strategy	NOUN
fcis-30675	133	20	.	.	PUNCT
fcis-30675	134	1	incorporating	incorporate	VERB
fcis-30675	134	2	dynamic	dynamic	ADJ
fcis-30675	134	3	obstacle	obstacle	NOUN
fcis-30675	134	4	avoidance	avoidance	NOUN
fcis-30675	134	5	and	and	CCONJ
fcis-30675	134	6	safety	safety	NOUN
fcis-30675	134	7	distance	distance	NOUN
fcis-30675	134	8	into	into	ADP
fcis-30675	134	9	dwa	dwa	PROPN
fcis-30675	134	10	increases	increase	VERB
fcis-30675	134	11	the	the	DET
fcis-30675	134	12	minimum	minimum	ADJ
fcis-30675	134	13	safety	safety	NOUN
fcis-30675	134	14	distance	distance	NOUN
fcis-30675	134	15	by	by	ADP
fcis-30675	134	16	72.97	72.97	NUM
fcis-30675	134	17	%	%	NOUN
fcis-30675	134	18	(	(	PUNCT
fcis-30675	134	19	from	from	ADP
fcis-30675	134	20	0.37	0.37	NUM
fcis-30675	134	21	m	m	NOUN
fcis-30675	134	22	to	to	ADP
fcis-30675	134	23	0.64	0.64	NUM
fcis-30675	134	24	m	m	NOUN
fcis-30675	134	25	)	)	PUNCT
fcis-30675	134	26	and	and	CCONJ
fcis-30675	134	27	reduces	reduce	VERB
fcis-30675	134	28	the	the	DET
fcis-30675	134	29	number	number	NOUN
fcis-30675	134	30	of	of	ADP
fcis-30675	134	31	sharp	sharp	ADJ
fcis-30675	134	32	turns	turn	NOUN
fcis-30675	134	33	by	by	ADP
fcis-30675	134	34	33	33	NUM
fcis-30675	134	35	%	%	NOUN
fcis-30675	134	36	.	.	PUNCT
fcis-30675	135	1	the	the	DET
fcis-30675	135	2	reason	reason	NOUN
fcis-30675	135	3	is	be	AUX
fcis-30675	135	4	that	that	SCONJ
fcis-30675	135	5	the	the	DET
fcis-30675	135	6	dynamic	dynamic	ADJ
fcis-30675	135	7	obstacle	obstacle	NOUN
fcis-30675	135	8	prediction	prediction	NOUN
fcis-30675	135	9	model	model	NOUN
fcis-30675	135	10	enhances	enhance	VERB
fcis-30675	135	11	the	the	DET
fcis-30675	135	12	robustness	robustness	NOUN
fcis-30675	135	13	of	of	ADP
fcis-30675	135	14	obstacle	obstacle	NOUN
fcis-30675	135	15	avoidance	avoidance	NOUN
fcis-30675	135	16	,	,	PUNCT
fcis-30675	135	17	and	and	CCONJ
fcis-30675	135	18	the	the	DET
fcis-30675	135	19	safety	safety	NOUN
fcis-30675	135	20	distance	distance	NOUN
fcis-30675	135	21	constraint	constraint	NOUN
fcis-30675	135	22	prevents	prevent	VERB
fcis-30675	135	23	getting	get	VERB
fcis-30675	135	24	too	too	ADV
fcis-30675	135	25	close	close	ADJ
fcis-30675	135	26	to	to	ADP
fcis-30675	135	27	obstacles	obstacle	NOUN
fcis-30675	135	28	.	.	PUNCT
fcis-30675	136	1	the	the	DET
fcis-30675	136	2	collaborative	collaborative	ADJ
fcis-30675	136	3	effect	effect	NOUN
fcis-30675	136	4	of	of	ADP
fcis-30675	136	5	each	each	DET
fcis-30675	136	6	module	module	NOUN
fcis-30675	136	7	further	far	ADV
fcis-30675	136	8	increases	increase	VERB
fcis-30675	136	9	the	the	DET
fcis-30675	136	10	navigation	navigation	NOUN
fcis-30675	136	11	success	success	NOUN
fcis-30675	136	12	rate	rate	NOUN
fcis-30675	136	13	to	to	ADP
fcis-30675	136	14	93.5	93.5	NUM
fcis-30675	136	15	%	%	NOUN
fcis-30675	136	16	,	,	PUNCT
fcis-30675	136	17	shortens	shorten	VERB
fcis-30675	136	18	the	the	DET
fcis-30675	136	19	navigation	navigation	NOUN
fcis-30675	136	20	path	path	NOUN
fcis-30675	136	21	by	by	ADP
fcis-30675	136	22	10.6	10.6	NUM
fcis-30675	136	23	%	%	NOUN
fcis-30675	136	24	,	,	PUNCT
fcis-30675	136	25	reduces	reduce	VERB
fcis-30675	136	26	the	the	DET
fcis-30675	136	27	number	number	NOUN
fcis-30675	136	28	of	of	ADP
fcis-30675	136	29	sharp	sharp	ADJ
fcis-30675	136	30	turns	turn	NOUN
fcis-30675	136	31	by	by	ADP
fcis-30675	136	32	66.7	66.7	NUM
fcis-30675	136	33	%	%	NOUN
fcis-30675	136	34	,	,	PUNCT
fcis-30675	136	35	and	and	CCONJ
fcis-30675	136	36	increases	increase	VERB
fcis-30675	136	37	the	the	DET
fcis-30675	136	38	minimum	minimum	ADJ
fcis-30675	136	39	safety	safety	NOUN
fcis-30675	136	40	distance	distance	NOUN
fcis-30675	136	41	by	by	ADP
fcis-30675	136	42	94	94	NUM
fcis-30675	136	43	%	%	NOUN
fcis-30675	136	44	.	.	PUNCT
fcis-30675	137	1	the	the	DET
fcis-30675	137	2	reason	reason	NOUN
fcis-30675	137	3	is	be	AUX
fcis-30675	137	4	that	that	SCONJ
fcis-30675	137	5	face	face	NOUN
fcis-30675	137	6	detection	detection	NOUN
fcis-30675	137	7	provides	provide	VERB
fcis-30675	137	8	accurate	accurate	ADJ
fcis-30675	137	9	target	target	NOUN
fcis-30675	137	10	positioning	positioning	NOUN
fcis-30675	137	11	,	,	PUNCT
fcis-30675	137	12	the	the	DET
fcis-30675	137	13	dynamic	dynamic	ADJ
fcis-30675	137	14	obstacle	obstacle	NOUN
fcis-30675	137	15	avoidance	avoidance	NOUN
fcis-30675	137	16	model	model	NOUN
fcis-30675	137	17	adjusts	adjust	VERB
fcis-30675	137	18	the	the	DET
fcis-30675	137	19	path	path	NOUN
fcis-30675	137	20	in	in	ADP
fcis-30675	137	21	real	real	ADJ
fcis-30675	137	22	-	-	PUNCT
fcis-30675	137	23	time	time	NOUN
fcis-30675	137	24	,	,	PUNCT
fcis-30675	137	25	and	and	CCONJ
fcis-30675	137	26	the	the	DET
fcis-30675	137	27	safety	safety	NOUN
fcis-30675	137	28	distance	distance	NOUN
fcis-30675	137	29	constraint	constraint	NOUN
fcis-30675	137	30	ensures	ensure	VERB
fcis-30675	137	31	the	the	DET
fcis-30675	137	32	safety	safety	NOUN
fcis-30675	137	33	of	of	ADP
fcis-30675	137	34	interaction	interaction	NOUN
fcis-30675	137	35	.	.	PUNCT
fcis-30675	138	1	5.3	5.3	NUM
fcis-30675	138	2	.	.	PUNCT
fcis-30675	138	3	comparison	comparison	NOUN
fcis-30675	138	4	of	of	ADP
fcis-30675	138	5	evaluation	evaluation	NOUN
fcis-30675	138	6	indicators	indicator	NOUN
fcis-30675	138	7	table	table	VERB
fcis-30675	138	8	5	5	NUM
fcis-30675	138	9	.	.	PUNCT
fcis-30675	138	10	comparison	comparison	NOUN
fcis-30675	138	11	of	of	ADP
fcis-30675	138	12	the	the	DET
fcis-30675	138	13	navigation	navigation	NOUN
fcis-30675	138	14	results	result	NOUN
fcis-30675	138	15	after	after	ADP
fcis-30675	138	16	dwa	dwa	PROPN
fcis-30675	138	17	optimization	optimization	NOUN
fcis-30675	138	18	navigation	navigation	NOUN
fcis-30675	138	19	algorithm	algorithm	PROPN
fcis-30675	138	20	navigationsuccessrate	navigationsuccessrate	NOUN
fcis-30675	138	21	minimum	minimum	NOUN
fcis-30675	138	22	safety	safety	NOUN
fcis-30675	138	23	distance	distance	NOUN
fcis-30675	138	24	number	number	NOUN
fcis-30675	138	25	of	of	ADP
fcis-30675	138	26	sharp	sharp	ADJ
fcis-30675	138	27	turns	turn	NOUN
fcis-30675	138	28	traditional	traditional	ADJ
fcis-30675	138	29	dwa	dwa	PROPN
fcis-30675	138	30	76	76	NUM
fcis-30675	138	31	%	%	NOUN
fcis-30675	138	32	0.26	0.26	NUM
fcis-30675	138	33	m	m	NOUN
fcis-30675	138	34	7	7	NUM
fcis-30675	138	35	a	a	NOUN
fcis-30675	138	36	*	*	PUNCT
fcis-30675	138	37	+	+	CCONJ
fcis-30675	138	38	dwa	dwa	VERB
fcis-30675	138	39	80	80	NUM
fcis-30675	138	40	%	%	NOUN
fcis-30675	138	41	0.32	0.32	NUM
fcis-30675	138	42	m	m	NOUN
fcis-30675	138	43	5	5	NUM
fcis-30675	138	44	d	d	PUNCT
fcis-30675	138	45	*	*	PUNCT
fcis-30675	138	46	+	+	CCONJ
fcis-30675	138	47	dwa	dwa	VERB
fcis-30675	138	48	84.7	84.7	NUM
fcis-30675	138	49	%	%	NOUN
fcis-30675	138	50	0.54	0.54	NUM
fcis-30675	138	51	m	m	NOUN
fcis-30675	138	52	4	4	NUM
fcis-30675	138	53	method	method	NOUN
fcis-30675	138	54	in	in	ADP
fcis-30675	138	55	this	this	DET
fcis-30675	138	56	paper	paper	NOUN
fcis-30675	138	57	90	90	NUM
fcis-30675	138	58	%	%	NOUN
fcis-30675	138	59	0.65	0.65	NUM
fcis-30675	138	60	m	m	NOUN
fcis-30675	138	61	2	2	NUM
fcis-30675	138	62	222	222	NUM
fcis-30675	138	63	conclusion	conclusion	NOUN
fcis-30675	138	64	:	:	PUNCT
fcis-30675	138	65	by	by	ADP
fcis-30675	138	66	comparing	compare	VERB
fcis-30675	138	67	with	with	ADP
fcis-30675	138	68	the	the	DET
fcis-30675	138	69	experimental	experimental	ADJ
fcis-30675	138	70	results	result	NOUN
fcis-30675	138	71	of	of	ADP
fcis-30675	138	72	other	other	ADJ
fcis-30675	138	73	algorithms	algorithm	NOUN
fcis-30675	138	74	,	,	PUNCT
fcis-30675	138	75	it	it	PRON
fcis-30675	138	76	is	be	AUX
fcis-30675	138	77	shown	show	VERB
fcis-30675	138	78	that	that	SCONJ
fcis-30675	138	79	the	the	DET
fcis-30675	138	80	method	method	NOUN
fcis-30675	138	81	proposed	propose	VERB
fcis-30675	138	82	in	in	ADP
fcis-30675	138	83	this	this	DET
fcis-30675	138	84	paper	paper	NOUN
fcis-30675	138	85	increases	increase	VERB
fcis-30675	138	86	the	the	DET
fcis-30675	138	87	navigation	navigation	NOUN
fcis-30675	138	88	success	success	NOUN
fcis-30675	138	89	rate	rate	NOUN
fcis-30675	138	90	of	of	ADP
fcis-30675	138	91	the	the	DET
fcis-30675	138	92	robot	robot	NOUN
fcis-30675	138	93	by	by	ADP
fcis-30675	138	94	14	14	NUM
fcis-30675	138	95	%	%	NOUN
fcis-30675	138	96	,	,	PUNCT
fcis-30675	138	97	enabling	enable	VERB
fcis-30675	138	98	the	the	DET
fcis-30675	138	99	robot	robot	NOUN
fcis-30675	138	100	to	to	PART
fcis-30675	138	101	reach	reach	VERB
fcis-30675	138	102	the	the	DET
fcis-30675	138	103	navigation	navigation	NOUN
fcis-30675	138	104	target	target	NOUN
fcis-30675	138	105	point	point	NOUN
fcis-30675	138	106	more	more	ADV
fcis-30675	138	107	accurately	accurately	ADV
fcis-30675	138	108	.	.	PUNCT
fcis-30675	139	1	the	the	DET
fcis-30675	139	2	minimum	minimum	ADJ
fcis-30675	139	3	safety	safety	NOUN
fcis-30675	139	4	distance	distance	NOUN
fcis-30675	139	5	is	be	AUX
fcis-30675	139	6	increased	increase	VERB
fcis-30675	139	7	to	to	ADP
fcis-30675	139	8	0.65	0.65	NUM
fcis-30675	139	9	m	m	NOUN
fcis-30675	139	10	,	,	PUNCT
fcis-30675	139	11	enhancing	enhance	VERB
fcis-30675	139	12	the	the	DET
fcis-30675	139	13	safety	safety	NOUN
fcis-30675	139	14	of	of	ADP
fcis-30675	139	15	the	the	DET
fcis-30675	139	16	robot	robot	NOUN
fcis-30675	139	17	's	's	PART
fcis-30675	139	18	navigation	navigation	NOUN
fcis-30675	139	19	and	and	CCONJ
fcis-30675	139	20	avoiding	avoid	VERB
fcis-30675	139	21	collisions	collision	NOUN
fcis-30675	139	22	with	with	ADP
fcis-30675	139	23	the	the	DET
fcis-30675	139	24	elderly	elderly	ADJ
fcis-30675	139	25	in	in	ADP
fcis-30675	139	26	the	the	DET
fcis-30675	139	27	gerocomium	gerocomium	NOUN
fcis-30675	139	28	.	.	PUNCT
fcis-30675	140	1	the	the	DET
fcis-30675	140	2	number	number	NOUN
fcis-30675	140	3	of	of	ADP
fcis-30675	140	4	sharp	sharp	ADJ
fcis-30675	140	5	turns	turn	NOUN
fcis-30675	140	6	is	be	AUX
fcis-30675	140	7	reduced	reduce	VERB
fcis-30675	140	8	by	by	ADP
fcis-30675	140	9	71.4	71.4	NUM
fcis-30675	140	10	%	%	NOUN
fcis-30675	140	11	,	,	PUNCT
fcis-30675	140	12	making	make	VERB
fcis-30675	140	13	the	the	DET
fcis-30675	140	14	robot	robot	NOUN
fcis-30675	140	15	's	's	PART
fcis-30675	140	16	navigation	navigation	NOUN
fcis-30675	140	17	route	route	NOUN
fcis-30675	140	18	smoother	smoother	ADV
fcis-30675	140	19	and	and	CCONJ
fcis-30675	140	20	avoiding	avoid	VERB
fcis-30675	140	21	jagged	jagged	ADJ
fcis-30675	140	22	navigation	navigation	NOUN
fcis-30675	140	23	routes	route	NOUN
fcis-30675	140	24	.	.	PUNCT
fcis-30675	141	1	by	by	ADP
fcis-30675	141	2	adding	add	VERB
fcis-30675	141	3	methods	method	NOUN
fcis-30675	141	4	such	such	ADJ
fcis-30675	141	5	as	as	ADP
fcis-30675	141	6	face	face	NOUN
fcis-30675	141	7	recognition	recognition	NOUN
fcis-30675	141	8	detection	detection	NOUN
fcis-30675	141	9	and	and	CCONJ
fcis-30675	141	10	setting	set	VERB
fcis-30675	141	11	the	the	DET
fcis-30675	141	12	minimum	minimum	ADJ
fcis-30675	141	13	safety	safety	NOUN
fcis-30675	141	14	distance	distance	NOUN
fcis-30675	141	15	,	,	PUNCT
fcis-30675	141	16	the	the	DET
fcis-30675	141	17	navigation	navigation	NOUN
fcis-30675	141	18	accuracy	accuracy	NOUN
fcis-30675	141	19	and	and	CCONJ
fcis-30675	141	20	safety	safety	NOUN
fcis-30675	141	21	of	of	ADP
fcis-30675	141	22	the	the	DET
fcis-30675	141	23	robot	robot	NOUN
fcis-30675	141	24	in	in	ADP
fcis-30675	141	25	the	the	DET
fcis-30675	141	26	gerocomium	gerocomium	NOUN
fcis-30675	141	27	can	can	AUX
fcis-30675	141	28	be	be	AUX
fcis-30675	141	29	significantly	significantly	ADV
fcis-30675	141	30	improved	improve	VERB
fcis-30675	141	31	,	,	PUNCT
fcis-30675	141	32	which	which	PRON
fcis-30675	141	33	provides	provide	VERB
fcis-30675	141	34	a	a	DET
fcis-30675	141	35	more	more	ADV
fcis-30675	141	36	secure	secure	ADJ
fcis-30675	141	37	and	and	CCONJ
fcis-30675	141	38	effective	effective	ADJ
fcis-30675	141	39	guarantee	guarantee	NOUN
fcis-30675	141	40	for	for	ADP
fcis-30675	141	41	the	the	DET
fcis-30675	141	42	life	life	NOUN
fcis-30675	141	43	of	of	ADP
fcis-30675	141	44	the	the	DET
fcis-30675	141	45	elderly	elderly	ADJ
fcis-30675	141	46	in	in	ADP
fcis-30675	141	47	the	the	DET
fcis-30675	141	48	gerocomium	gerocomium	NOUN
fcis-30675	141	49	.	.	PUNCT
fcis-30675	142	1	acknowledgments	acknowledgment	NOUN
fcis-30675	142	2	fund	fund	NOUN
fcis-30675	142	3	project	project	NOUN
fcis-30675	142	4	:	:	PUNCT
fcis-30675	142	5	industrialization	industrialization	NOUN
fcis-30675	142	6	cultivation	cultivation	NOUN
fcis-30675	142	7	project	project	NOUN
fcis-30675	142	8	of	of	ADP
fcis-30675	142	9	education	education	PROPN
fcis-30675	142	10	department	department	PROPN
fcis-30675	142	11	of	of	ADP
fcis-30675	142	12	jilin	jilin	PROPN
fcis-30675	142	13	province	province	PROPN
fcis-30675	142	14	(	(	PUNCT
fcis-30675	142	15	jjkh20240313cy	jjkh20240313cy	PROPN
fcis-30675	142	16	)	)	PUNCT
fcis-30675	142	17	.	.	PUNCT
fcis-30675	143	1	references	reference	NOUN
fcis-30675	143	2	[	[	X
fcis-30675	143	3	1	1	NUM
fcis-30675	143	4	]	]	PUNCT
fcis-30675	143	5	wang	wang	PROPN
fcis-30675	143	6	caiqi	caiqi	PROPN
fcis-30675	143	7	,	,	PUNCT
fcis-30675	143	8	cui	cui	PROPN
fcis-30675	143	9	xining	xining	PROPN
fcis-30675	143	10	,	,	PUNCT
fcis-30675	143	11	xiong	xiong	PROPN
fcis-30675	143	12	yi	yi	PROPN
fcis-30675	143	13	,	,	PUNCT
fcis-30675	143	14	et	et	PROPN
fcis-30675	143	15	al	al	PROPN
fcis-30675	143	16	.	.	PROPN
fcis-30675	144	1	adaptive	adaptive	PROPN
fcis-30675	144	2	extended	extend	VERB
fcis-30675	144	3	rrt	rrt	NOUN
fcis-30675	144	4	*	*	PUNCT
fcis-30675	144	5	path	path	NOUN
fcis-30675	144	6	planning	planning	NOUN
fcis-30675	144	7	algorithm	algorithm	NOUN
fcis-30675	144	8	based	base	VERB
fcis-30675	144	9	on	on	ADP
fcis-30675	144	10	the	the	DET
fcis-30675	144	11	distance	distance	NOUN
fcis-30675	144	12	from	from	ADP
fcis-30675	144	13	nodes	node	NOUN
fcis-30675	144	14	to	to	ADP
fcis-30675	144	15	obstacles	obstacle	NOUN
fcis-30675	144	16	[	[	X
fcis-30675	144	17	j	j	X
fcis-30675	144	18	/	/	SYM
fcis-30675	144	19	ol	ol	PROPN
fcis-30675	144	20	]	]	PUNCT
fcis-30675	144	21	.	.	PUNCT
fcis-30675	145	1	journal	journal	PROPN
fcis-30675	145	2	of	of	ADP
fcis-30675	145	3	computer	computer	NOUN
fcis-30675	145	4	applications	application	NOUN
fcis-30675	145	5	,	,	PUNCT
fcis-30675	145	6	1	1	NUM
fcis-30675	145	7	-	-	SYM
fcis-30675	145	8	10	10	NUM
fcis-30675	146	1	[	[	X
fcis-30675	146	2	2024	2024	NUM
fcis-30675	146	3	-	-	SYM
fcis-30675	146	4	09	09	NUM
fcis-30675	146	5	-	-	SYM
fcis-30675	146	6	01	01	NUM
fcis-30675	146	7	]	]	PUNCT
fcis-30675	146	8	.	.	PUNCT
fcis-30675	147	1	[	[	X
fcis-30675	147	2	2	2	NUM
fcis-30675	147	3	]	]	PUNCT
fcis-30675	147	4	xiao	xiao	PROPN
fcis-30675	147	5	shaotong	shaotong	PROPN
fcis-30675	147	6	.	.	PUNCT
fcis-30675	148	1	mobile	mobile	ADJ
fcis-30675	148	2	robot	robot	NOUN
fcis-30675	148	3	localization	localization	NOUN
fcis-30675	148	4	and	and	CCONJ
fcis-30675	148	5	multi	multi	ADJ
fcis-30675	148	6	-	-	ADJ
fcis-30675	148	7	angle	angle	ADJ
fcis-30675	148	8	target	target	NOUN
fcis-30675	148	9	recognition	recognition	NOUN
fcis-30675	148	10	based	base	VERB
fcis-30675	148	11	on	on	ADP
fcis-30675	148	12	rgbdinformation	rgbdinformation	NOUN
fcis-30675	149	1	[	[	X
fcis-30675	149	2	d	d	X
fcis-30675	149	3	]	]	X
fcis-30675	149	4	.	.	PUNCT
fcis-30675	150	1	harbin	harbin	PROPN
fcis-30675	150	2	engineering	engineering	PROPN
fcis-30675	150	3	university	university	PROPN
fcis-30675	150	4	,	,	PUNCT
fcis-30675	150	5	2020	2020	NUM
fcis-30675	150	6	.	.	PUNCT
fcis-30675	151	1	[	[	X
fcis-30675	151	2	3	3	X
fcis-30675	151	3	]	]	X
fcis-30675	151	4	wang	wang	PROPN
fcis-30675	151	5	j	j	PROPN
fcis-30675	151	6	,	,	PUNCT
fcis-30675	151	7	li	li	PROPN
fcis-30675	151	8	j	j	PROPN
fcis-30675	151	9	,	,	PUNCT
fcis-30675	151	10	song	song	PROPN
fcis-30675	151	11	y	y	PROPN
fcis-30675	151	12	,	,	PUNCT
fcis-30675	151	13	et	et	PROPN
fcis-30675	151	14	al	al	PROPN
fcis-30675	151	15	.	.	PROPN
fcis-30675	151	16	fc	fc	PROPN
fcis-30675	151	17	-	-	PUNCT
fcis-30675	151	18	rrt	rrt	NOUN
fcis-30675	151	19	*	*	NOUN
fcis-30675	151	20	:	:	PUNCT
fcis-30675	151	21	a	a	DET
fcis-30675	151	22	modified	modify	VERB
fcis-30675	151	23	rrt	rrt	NOUN
fcis-30675	151	24	*	*	PUNCT
fcis-30675	151	25	with	with	ADP
fcis-30675	151	26	rapid	rapid	ADJ
fcis-30675	151	27	convergence	convergence	NOUN
fcis-30675	151	28	in	in	ADP
fcis-30675	151	29	complex	complex	ADJ
fcis-30675	151	30	environments[j	environments[j	PROPN
fcis-30675	151	31	]	]	PUNCT
fcis-30675	151	32	.	.	PUNCT
fcis-30675	152	1	journal	journal	PROPN
fcis-30675	152	2	of	of	ADP
fcis-30675	152	3	computational	computational	ADJ
fcis-30675	152	4	science,2024	science,2024	NOUN
fcis-30675	152	5	,	,	PUNCT
fcis-30675	152	6	77,102239	77,102239	NOUN
fcis-30675	152	7	.	.	PUNCT
fcis-30675	153	1	[	[	X
fcis-30675	153	2	4	4	NUM
fcis-30675	153	3	]	]	X
fcis-30675	153	4	zhang	zhang	PROPN
fcis-30675	153	5	jinze	jinze	PROPN
fcis-30675	153	6	,	,	PUNCT
fcis-30675	153	7	zhao	zhao	PROPN
fcis-30675	153	8	hong	hong	PROPN
fcis-30675	153	9	,	,	PUNCT
fcis-30675	153	10	wang	wang	PROPN
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fcis-30675	154	2	.	.	PROPN
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fcis-30675	154	4	dualwindow	dualwindow	NOUN
fcis-30675	154	5	dwa	dwa	AUX
fcis-30675	154	6	obstacle	obstacle	NOUN
fcis-30675	154	7	avoidance	avoidance	NOUN
fcis-30675	154	8	algorithm	algorithm	NOUN
fcis-30675	154	9	for	for	ADP
fcis-30675	154	10	unmanned	unmanned	ADJ
fcis-30675	154	11	surface	surface	NOUN
fcis-30675	154	12	vehicles	vehicle	NOUN
fcis-30675	154	13	under	under	ADP
fcis-30675	154	14	dense	dense	ADJ
fcis-30675	154	15	obstacles	obstacle	NOUN
fcis-30675	154	16	[	[	X
fcis-30675	154	17	j	j	X
fcis-30675	154	18	]	]	X
fcis-30675	154	19	.	.	PUNCT
fcis-30675	155	1	chinese	chinese	ADJ
fcis-30675	155	2	journal	journal	PROPN
fcis-30675	155	3	of	of	ADP
fcis-30675	155	4	ship	ship	NOUN
fcis-30675	155	5	research	research	NOUN
fcis-30675	155	6	,	,	PUNCT
fcis-30675	155	7	2021	2021	NUM
fcis-30675	155	8	,	,	PUNCT
fcis-30675	155	9	16(06	16(06	NUM
fcis-30675	155	10	):	):	PUNCT
fcis-30675	155	11	10	10	NUM
fcis-30675	155	12	-	-	SYM
fcis-30675	155	13	18	18	NUM
fcis-30675	155	14	.	.	PUNCT
fcis-30675	156	1	[	[	X
fcis-30675	156	2	5	5	X
fcis-30675	156	3	]	]	PUNCT
fcis-30675	156	4	wang	wang	PROPN
fcis-30675	156	5	wenfei	wenfei	PROPN
fcis-30675	156	6	,	,	PUNCT
fcis-30675	156	7	ru	ru	PROPN
fcis-30675	156	8	le	le	X
fcis-30675	156	9	,	,	PUNCT
fcis-30675	156	10	lu	lu	PROPN
fcis-30675	156	11	bo	bo	PROPN
fcis-30675	156	12	,	,	PUNCT
fcis-30675	156	13	et	et	PROPN
fcis-30675	156	14	al	al	PROPN
fcis-30675	156	15	.	.	PROPN
fcis-30675	156	16	research	research	NOUN
fcis-30675	156	17	on	on	ADP
fcis-30675	156	18	real	real	ADJ
fcis-30675	156	19	-	-	PUNCT
fcis-30675	156	20	time	time	NOUN
fcis-30675	156	21	path	path	NOUN
fcis-30675	156	22	planning	planning	NOUN
fcis-30675	156	23	of	of	ADP
fcis-30675	156	24	uav	uav	PROPN
fcis-30675	156	25	based	base	VERB
fcis-30675	156	26	on	on	ADP
fcis-30675	156	27	improved	improved	ADJ
fcis-30675	156	28	dwa	dwa	PROPN
fcis-30675	157	1	[	[	X
fcis-30675	157	2	j	j	X
fcis-30675	157	3	]	]	X
fcis-30675	157	4	.	.	PUNCT
fcis-30675	158	1	electronics	electronics	NOUN
fcis-30675	158	2	optics	optics	PROPN
fcis-30675	158	3	&	&	CCONJ
fcis-30675	158	4	control	control	PROPN
fcis-30675	158	5	,	,	PUNCT
fcis-30675	158	6	2023	2023	NUM
fcis-30675	158	7	,	,	PUNCT
fcis-30675	158	8	30(08	30(08	NUM
fcis-30675	158	9	):	):	PUNCT
fcis-30675	158	10	50	50	NUM
fcis-30675	158	11	-	-	SYM
fcis-30675	158	12	55	55	NUM
fcis-30675	158	13	+	+	NUM
fcis-30675	158	14	60	60	NUM
fcis-30675	158	15	.	.	PUNCT
fcis-30675	159	1	[	[	X
fcis-30675	159	2	6	6	NUM
fcis-30675	159	3	]	]	PUNCT
fcis-30675	159	4	cong	cong	NOUN
fcis-30675	159	5	peichao	peichao	NOUN
fcis-30675	159	6	,	,	PUNCT
fcis-30675	159	7	cui	cui	NOUN
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fcis-30675	159	9	,	,	PUNCT
fcis-30675	159	10	wan	wan	PROPN
fcis-30675	159	11	xianquan	xianquan	PROPN
fcis-30675	159	12	,	,	PUNCT
fcis-30675	159	13	et	et	PROPN
fcis-30675	159	14	al	al	PROPN
fcis-30675	159	15	.	.	PUNCT
fcis-30675	159	16	localization	localization	NOUN
fcis-30675	159	17	and	and	CCONJ
fcis-30675	159	18	dense	dense	ADJ
fcis-30675	159	19	mapping	mapping	NOUN
fcis-30675	159	20	algorithm	algorithm	NOUN
fcis-30675	159	21	of	of	ADP
fcis-30675	159	22	orchard	orchard	NOUN
fcis-30675	159	23	spraying	spraying	NOUN
fcis-30675	159	24	robot	robot	NOUN
fcis-30675	159	25	based	base	VERB
fcis-30675	159	26	on	on	ADP
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fcis-30675	159	29	-	-	PUNCT
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fcis-30675	160	3	]	]	X
fcis-30675	160	4	.	.	PUNCT
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fcis-30675	161	2	of	of	ADP
fcis-30675	161	3	the	the	DET
fcis-30675	161	4	chinese	chinese	ADJ
fcis-30675	161	5	society	society	NOUN
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fcis-30675	161	7	agricultural	agricultural	ADJ
fcis-30675	161	8	machinery	machinery	NOUN
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fcis-30675	161	10	2023	2023	NUM
fcis-30675	161	11	,	,	PUNCT
fcis-30675	161	12	54(07	54(07	NUM
fcis-30675	161	13	):	):	PUNCT
fcis-30675	161	14	4555	4555	NUM
fcis-30675	161	15	.	.	PUNCT
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fcis-30675	162	3	]	]	SYM
fcis-30675	162	4	z.wen	z.wen	PROPN
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fcis-30675	162	12	robot	robot	NOUN
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fcis-30675	162	14	rtab	rtab	ADJ
fcis-30675	162	15	-	-	PUNCT
fcis-30675	162	16	map	map	NOUN
fcis-30675	162	17	algorithm[c]//itm	algorithm[c]//itm	PROPN
fcis-30675	162	18	department	department	NOUN
fcis-30675	162	19	,	,	PUNCT
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fcis-30675	163	1	proceedings	proceeding	NOUN
fcis-30675	163	2	of	of	ADP
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fcis-30675	163	4	3rd	3rd	ADJ
fcis-30675	163	5	international	international	ADJ
fcis-30675	163	6	conference	conference	NOUN
fcis-30675	163	7	on	on	ADP
fcis-30675	163	8	signal	signal	ADJ
fcis-30675	163	9	processing	processing	NOUN
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fcis-30675	163	14	part2	part2	PROPN
fcis-30675	163	15	)	)	PUNCT
fcis-30675	163	16	.	.	PUNCT
fcis-30675	164	1	electronic	electronic	ADJ
fcis-30675	164	2	and	and	CCONJ
fcis-30675	164	3	electrical	electrical	ADJ
fcis-30675	164	4	engineering	engineering	NOUN
fcis-30675	164	5	department	department	NOUN
fcis-30675	164	6	,	,	PUNCT
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fcis-30675	165	3	]	]	X
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fcis-30675	165	6	,	,	PUNCT
fcis-30675	165	7	han	han	PROPN
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fcis-30675	165	9	.	.	PUNCT
fcis-30675	166	1	serial	serial	ADJ
fcis-30675	166	2	port	port	NOUN
fcis-30675	166	3	communication	communication	NOUN
fcis-30675	166	4	and	and	CCONJ
fcis-30675	166	5	display	display	NOUN
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fcis-30675	166	9	stm32	stm32	PROPN
fcis-30675	166	10	[	[	X
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fcis-30675	166	12	]	]	X
fcis-30675	166	13	.	.	PUNCT
fcis-30675	167	1	cfhi	cfhi	ADJ
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fcis-30675	167	3	,	,	PUNCT
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fcis-30675	167	5	,	,	PUNCT
fcis-30675	167	6	(	(	PUNCT
fcis-30675	167	7	05	05	NUM
fcis-30675	167	8	)	)	PUNCT
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fcis-30675	167	10	60	60	NUM
fcis-30675	167	11	-	-	SYM
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fcis-30675	167	13	+	+	NOUN
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fcis-30675	167	15	.	.	PUNCT
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fcis-30675	169	4	planning	planning	NOUN
fcis-30675	169	5	of	of	ADP
fcis-30675	169	6	warehouse	warehouse	NOUN
fcis-30675	169	7	mobile	mobile	ADJ
fcis-30675	169	8	robots	robot	NOUN
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fcis-30675	169	17	dynamic	dynamic	ADJ
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fcis-30675	170	1	[	[	X
fcis-30675	170	2	d	d	X
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fcis-30675	170	4	.	.	PUNCT
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fcis-30675	171	6	,	,	PUNCT
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fcis-30675	171	15	.	.	PUNCT
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fcis-30675	172	4	for	for	ADP
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fcis-30675	172	8	on	on	ADP
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fcis-30675	173	1	[	[	X
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fcis-30675	173	4	.	.	PUNCT
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fcis-30675	173	7	,	,	PUNCT
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fcis-30675	173	9	,	,	PUNCT
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fcis-30675	173	11	):	):	PUNCT
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fcis-30675	173	13	-	-	SYM
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fcis-30675	176	4	.	.	PUNCT
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fcis-30675	184	10	-	-	SYM
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fcis-30675	187	1	[	[	X
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fcis-30675	191	1	[	[	X
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fcis-30675	191	4	.	.	PUNCT
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fcis-30675	193	6	.	.	PUNCT
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fcis-30675	194	13	the	the	DET
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fcis-30675	194	15	a	a	DET
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fcis-30675	194	19	the	the	DET
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fcis-30675	195	1	[	[	X
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fcis-30675	195	3	]	]	X
fcis-30675	195	4	.	.	PUNCT
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fcis-30675	196	4	,	,	PUNCT
fcis-30675	196	5	2021	2021	NUM
fcis-30675	196	6	.	.	PUNCT