id	sid	tid	token	lemma	pos
fcis-30832	1	1	frontiers	frontier	NOUN
fcis-30832	1	2	in	in	ADP
fcis-30832	1	3	computing	computing	NOUN
fcis-30832	1	4	and	and	CCONJ
fcis-30832	1	5	intelligent	intelligent	ADJ
fcis-30832	1	6	systems	system	NOUN
fcis-30832	1	7	issn	issn	VERB
fcis-30832	1	8	:	:	PUNCT
fcis-30832	1	9	2832	2832	NUM
fcis-30832	1	10	-	-	SYM
fcis-30832	1	11	6024	6024	NUM
fcis-30832	1	12	|	|	NOUN
fcis-30832	1	13	vol	vol	NOUN
fcis-30832	1	14	.	.	PROPN
fcis-30832	2	1	12	12	NUM
fcis-30832	2	2	,	,	PUNCT
fcis-30832	2	3	no	no	INTJ
fcis-30832	2	4	.	.	NOUN
fcis-30832	2	5	2	2	NUM
fcis-30832	2	6	,	,	PUNCT
fcis-30832	2	7	2025	2025	NUM
fcis-30832	2	8	9	9	NUM
fcis-30832	2	9	an	an	DET
fcis-30832	2	10	electric	electric	ADJ
fcis-30832	2	11	vehicle	vehicle	NOUN
fcis-30832	2	12	optimal	optimal	ADJ
fcis-30832	2	13	charging	charging	NOUN
fcis-30832	2	14	path	path	NOUN
fcis-30832	2	15	planning	planning	NOUN
fcis-30832	2	16	based	base	VERB
fcis-30832	2	17	on	on	ADP
fcis-30832	2	18	an	an	DET
fcis-30832	2	19	improved	improved	ADJ
fcis-30832	2	20	a	a	DET
fcis-30832	2	21	*	*	PUNCT
fcis-30832	2	22	algorithm	algorithm	PROPN
fcis-30832	3	1	xianyan	xianyan	PROPN
fcis-30832	3	2	chen	chen	PROPN
fcis-30832	3	3	*	*	PUNCT
fcis-30832	4	1	the	the	DET
fcis-30832	4	2	school	school	NOUN
fcis-30832	4	3	of	of	ADP
fcis-30832	4	4	big	big	ADJ
fcis-30832	4	5	data	datum	NOUN
fcis-30832	4	6	and	and	CCONJ
fcis-30832	4	7	intelligent	intelligent	ADJ
fcis-30832	4	8	engineering	engineering	NOUN
fcis-30832	4	9	,	,	PUNCT
fcis-30832	4	10	chongqing	chongqing	PROPN
fcis-30832	4	11	institute	institute	PROPN
fcis-30832	4	12	of	of	ADP
fcis-30832	4	13	international	international	PROPN
fcis-30832	4	14	business	business	NOUN
fcis-30832	4	15	and	and	CCONJ
fcis-30832	4	16	economics	economic	NOUN
fcis-30832	4	17	,	,	PUNCT
fcis-30832	4	18	chongqing	chongqing	PROPN
fcis-30832	4	19	,	,	PUNCT
fcis-30832	4	20	401520	401520	NUM
fcis-30832	4	21	,	,	PUNCT
fcis-30832	4	22	china	china	PROPN
fcis-30832	4	23	*	*	PUNCT
fcis-30832	4	24	corresponding	correspond	VERB
fcis-30832	4	25	author	author	NOUN
fcis-30832	4	26	email	email	NOUN
fcis-30832	4	27	:	:	PUNCT
fcis-30832	4	28	1985448584@qq.com	1985448584@qq.com	NUM
fcis-30832	4	29	abstract	abstract	NOUN
fcis-30832	4	30	:	:	PUNCT
fcis-30832	4	31	this	this	DET
fcis-30832	4	32	study	study	NOUN
fcis-30832	4	33	aims	aim	VERB
fcis-30832	4	34	to	to	PART
fcis-30832	4	35	explore	explore	VERB
fcis-30832	4	36	the	the	DET
fcis-30832	4	37	optimal	optimal	ADJ
fcis-30832	4	38	charging	charging	NOUN
fcis-30832	4	39	path	path	NOUN
fcis-30832	4	40	planning	planning	NOUN
fcis-30832	4	41	for	for	ADP
fcis-30832	4	42	electric	electric	ADJ
fcis-30832	4	43	vehicles	vehicle	NOUN
fcis-30832	4	44	(	(	PUNCT
fcis-30832	4	45	evs	evs	PROPN
fcis-30832	4	46	)	)	PUNCT
fcis-30832	4	47	based	base	VERB
fcis-30832	4	48	on	on	ADP
fcis-30832	4	49	an	an	DET
fcis-30832	4	50	improved	improved	ADJ
fcis-30832	4	51	a	a	DET
fcis-30832	4	52	*	*	ADJ
fcis-30832	4	53	algorithm	algorithm	NOUN
fcis-30832	4	54	.	.	PUNCT
fcis-30832	5	1	during	during	ADP
fcis-30832	5	2	the	the	DET
fcis-30832	5	3	path	path	NOUN
fcis-30832	5	4	planning	planning	NOUN
fcis-30832	5	5	process	process	NOUN
fcis-30832	5	6	,	,	PUNCT
fcis-30832	5	7	there	there	PRON
fcis-30832	5	8	are	be	VERB
fcis-30832	5	9	several	several	ADJ
fcis-30832	5	10	issues	issue	NOUN
fcis-30832	5	11	such	such	ADJ
fcis-30832	5	12	as	as	ADP
fcis-30832	5	13	excessive	excessive	ADJ
fcis-30832	5	14	traversal	traversal	NOUN
fcis-30832	5	15	of	of	ADP
fcis-30832	5	16	invalid	invalid	ADJ
fcis-30832	5	17	nodes	node	NOUN
fcis-30832	5	18	leading	lead	VERB
fcis-30832	5	19	to	to	ADP
fcis-30832	5	20	low	low	ADJ
fcis-30832	5	21	path	path	NOUN
fcis-30832	5	22	search	search	NOUN
fcis-30832	5	23	efficiency	efficiency	NOUN
fcis-30832	5	24	,	,	PUNCT
fcis-30832	5	25	an	an	DET
fcis-30832	5	26	excessively	excessively	ADV
fcis-30832	5	27	fast	fast	ADJ
fcis-30832	5	28	search	search	NOUN
fcis-30832	5	29	rate	rate	NOUN
fcis-30832	5	30	causing	cause	VERB
fcis-30832	5	31	the	the	DET
fcis-30832	5	32	algorithm	algorithm	NOUN
fcis-30832	5	33	to	to	PART
fcis-30832	5	34	converge	converge	VERB
fcis-30832	5	35	prematurely	prematurely	ADV
fcis-30832	5	36	to	to	ADP
fcis-30832	5	37	a	a	DET
fcis-30832	5	38	non	non	ADJ
fcis-30832	5	39	-	-	ADJ
fcis-30832	5	40	optimal	optimal	ADJ
fcis-30832	5	41	path	path	NOUN
fcis-30832	5	42	,	,	PUNCT
fcis-30832	5	43	or	or	CCONJ
fcis-30832	5	44	even	even	ADV
fcis-30832	5	45	being	be	AUX
fcis-30832	5	46	unable	unable	ADJ
fcis-30832	5	47	to	to	PART
fcis-30832	5	48	find	find	VERB
fcis-30832	5	49	an	an	DET
fcis-30832	5	50	effective	effective	ADJ
fcis-30832	5	51	path	path	NOUN
fcis-30832	5	52	to	to	ADP
fcis-30832	5	53	the	the	DET
fcis-30832	5	54	target	target	NOUN
fcis-30832	5	55	,	,	PUNCT
fcis-30832	5	56	and	and	CCONJ
fcis-30832	5	57	the	the	DET
fcis-30832	5	58	inability	inability	NOUN
fcis-30832	5	59	to	to	PART
fcis-30832	5	60	balance	balance	VERB
fcis-30832	5	61	the	the	DET
fcis-30832	5	62	weights	weight	NOUN
fcis-30832	5	63	of	of	ADP
fcis-30832	5	64	exploring	explore	VERB
fcis-30832	5	65	new	new	ADJ
fcis-30832	5	66	paths	path	NOUN
fcis-30832	5	67	and	and	CCONJ
fcis-30832	5	68	utilizing	utilize	VERB
fcis-30832	5	69	known	known	ADJ
fcis-30832	5	70	information	information	NOUN
fcis-30832	5	71	,	,	PUNCT
fcis-30832	5	72	which	which	PRON
fcis-30832	5	73	can	can	AUX
fcis-30832	5	74	lead	lead	VERB
fcis-30832	5	75	the	the	DET
fcis-30832	5	76	algorithm	algorithm	NOUN
fcis-30832	5	77	to	to	PART
fcis-30832	5	78	fall	fall	VERB
fcis-30832	5	79	into	into	ADP
fcis-30832	5	80	a	a	DET
fcis-30832	5	81	local	local	ADJ
fcis-30832	5	82	optimal	optimal	ADJ
fcis-30832	5	83	solution	solution	NOUN
fcis-30832	5	84	or	or	CCONJ
fcis-30832	5	85	converge	converge	VERB
fcis-30832	5	86	prematurely	prematurely	ADV
fcis-30832	5	87	,	,	PUNCT
fcis-30832	5	88	thus	thus	ADV
fcis-30832	5	89	failing	fail	VERB
fcis-30832	5	90	to	to	PART
fcis-30832	5	91	find	find	VERB
fcis-30832	5	92	the	the	DET
fcis-30832	5	93	global	global	ADJ
fcis-30832	5	94	optimal	optimal	ADJ
fcis-30832	5	95	path	path	NOUN
fcis-30832	5	96	.	.	PUNCT
fcis-30832	6	1	to	to	PART
fcis-30832	6	2	address	address	VERB
fcis-30832	6	3	these	these	DET
fcis-30832	6	4	issues	issue	NOUN
fcis-30832	6	5	,	,	PUNCT
fcis-30832	6	6	this	this	DET
fcis-30832	6	7	study	study	NOUN
fcis-30832	6	8	proposes	propose	VERB
fcis-30832	6	9	the	the	DET
fcis-30832	6	10	application	application	NOUN
fcis-30832	6	11	of	of	ADP
fcis-30832	6	12	optimization	optimization	NOUN
fcis-30832	6	13	goal	goal	NOUN
fcis-30832	6	14	-	-	PUNCT
fcis-30832	6	15	directed	direct	VERB
fcis-30832	6	16	strategies	strategy	NOUN
fcis-30832	6	17	,	,	PUNCT
fcis-30832	6	18	linear	linear	ADJ
fcis-30832	6	19	adaptation	adaptation	NOUN
fcis-30832	6	20	strategies	strategy	NOUN
fcis-30832	6	21	,	,	PUNCT
fcis-30832	6	22	and	and	CCONJ
fcis-30832	6	23	exponential	exponential	ADJ
fcis-30832	6	24	adaptation	adaptation	NOUN
fcis-30832	6	25	strategies	strategy	NOUN
fcis-30832	6	26	.	.	PUNCT
fcis-30832	7	1	by	by	ADP
fcis-30832	7	2	integrating	integrate	VERB
fcis-30832	7	3	these	these	DET
fcis-30832	7	4	strategies	strategy	NOUN
fcis-30832	7	5	,	,	PUNCT
fcis-30832	7	6	the	the	DET
fcis-30832	7	7	efficiency	efficiency	NOUN
fcis-30832	7	8	of	of	ADP
fcis-30832	7	9	the	the	DET
fcis-30832	7	10	algorithm	algorithm	NOUN
fcis-30832	7	11	in	in	ADP
fcis-30832	7	12	searching	search	VERB
fcis-30832	7	13	for	for	ADP
fcis-30832	7	14	the	the	DET
fcis-30832	7	15	optimal	optimal	ADJ
fcis-30832	7	16	path	path	NOUN
fcis-30832	7	17	is	be	AUX
fcis-30832	7	18	improved	improve	VERB
fcis-30832	7	19	,	,	PUNCT
fcis-30832	7	20	enabling	enable	VERB
fcis-30832	7	21	evs	evs	NOUN
fcis-30832	7	22	to	to	PART
fcis-30832	7	23	reach	reach	VERB
fcis-30832	7	24	charging	charge	VERB
fcis-30832	7	25	stations	station	NOUN
fcis-30832	7	26	more	more	ADV
fcis-30832	7	27	quickly	quickly	ADV
fcis-30832	7	28	.	.	PUNCT
fcis-30832	8	1	the	the	DET
fcis-30832	8	2	optimization	optimization	NOUN
fcis-30832	8	3	goal	goal	NOUN
fcis-30832	8	4	-	-	PUNCT
fcis-30832	8	5	directed	direct	VERB
fcis-30832	8	6	strategy	strategy	NOUN
fcis-30832	8	7	adjusts	adjust	VERB
fcis-30832	8	8	the	the	DET
fcis-30832	8	9	calculation	calculation	NOUN
fcis-30832	8	10	method	method	NOUN
fcis-30832	8	11	of	of	ADP
fcis-30832	8	12	the	the	DET
fcis-30832	8	13	estimated	estimate	VERB
fcis-30832	8	14	cost	cost	NOUN
fcis-30832	8	15	in	in	ADP
fcis-30832	8	16	the	the	DET
fcis-30832	8	17	heuristic	heuristic	ADJ
fcis-30832	8	18	function	function	NOUN
fcis-30832	8	19	by	by	ADP
fcis-30832	8	20	introducing	introduce	VERB
fcis-30832	8	21	a	a	DET
fcis-30832	8	22	square	square	ADJ
fcis-30832	8	23	term	term	NOUN
fcis-30832	8	24	,	,	PUNCT
fcis-30832	8	25	making	make	VERB
fcis-30832	8	26	the	the	DET
fcis-30832	8	27	algorithm	algorithm	NOUN
fcis-30832	8	28	more	more	ADV
fcis-30832	8	29	inclined	inclined	ADJ
fcis-30832	8	30	to	to	PART
fcis-30832	8	31	choose	choose	VERB
fcis-30832	8	32	nodes	node	NOUN
fcis-30832	8	33	closer	close	ADJ
fcis-30832	8	34	to	to	ADP
fcis-30832	8	35	the	the	DET
fcis-30832	8	36	target	target	NOUN
fcis-30832	8	37	direction	direction	NOUN
fcis-30832	8	38	when	when	SCONJ
fcis-30832	8	39	evaluating	evaluating	NOUN
fcis-30832	8	40	nodes	node	NOUN
fcis-30832	8	41	.	.	PUNCT
fcis-30832	9	1	this	this	PRON
fcis-30832	9	2	enhances	enhance	VERB
fcis-30832	9	3	the	the	DET
fcis-30832	9	4	directionality	directionality	NOUN
fcis-30832	9	5	of	of	ADP
fcis-30832	9	6	the	the	DET
fcis-30832	9	7	algorithm	algorithm	NOUN
fcis-30832	9	8	during	during	ADP
fcis-30832	9	9	the	the	DET
fcis-30832	9	10	search	search	NOUN
fcis-30832	9	11	process	process	NOUN
fcis-30832	9	12	.	.	PUNCT
fcis-30832	10	1	the	the	DET
fcis-30832	10	2	linear	linear	ADJ
fcis-30832	10	3	adaptation	adaptation	NOUN
fcis-30832	10	4	strategy	strategy	NOUN
fcis-30832	10	5	dynamically	dynamically	ADV
fcis-30832	10	6	adjusts	adjust	VERB
fcis-30832	10	7	the	the	DET
fcis-30832	10	8	weight	weight	NOUN
fcis-30832	10	9	of	of	ADP
fcis-30832	10	10	the	the	DET
fcis-30832	10	11	actual	actual	ADJ
fcis-30832	10	12	cost	cost	NOUN
fcis-30832	10	13	,	,	PUNCT
fcis-30832	10	14	guiding	guide	VERB
fcis-30832	10	15	the	the	DET
fcis-30832	10	16	algorithm	algorithm	NOUN
fcis-30832	10	17	to	to	PART
fcis-30832	10	18	gradually	gradually	ADV
fcis-30832	10	19	slow	slow	VERB
fcis-30832	10	20	down	down	ADP
fcis-30832	10	21	the	the	DET
fcis-30832	10	22	search	search	NOUN
fcis-30832	10	23	speed	speed	NOUN
fcis-30832	10	24	as	as	SCONJ
fcis-30832	10	25	it	it	PRON
fcis-30832	10	26	approaches	approach	VERB
fcis-30832	10	27	the	the	DET
fcis-30832	10	28	target	target	NOUN
fcis-30832	10	29	point	point	NOUN
fcis-30832	10	30	.	.	PUNCT
fcis-30832	11	1	this	this	PRON
fcis-30832	11	2	is	be	AUX
fcis-30832	11	3	more	more	ADV
fcis-30832	11	4	conducive	conducive	ADJ
fcis-30832	11	5	to	to	ADP
fcis-30832	11	6	the	the	DET
fcis-30832	11	7	algorithm	algorithm	NOUN
fcis-30832	11	8	's	's	PART
fcis-30832	11	9	adaptation	adaptation	NOUN
fcis-30832	11	10	to	to	ADP
fcis-30832	11	11	the	the	DET
fcis-30832	11	12	target	target	NOUN
fcis-30832	11	13	location	location	NOUN
fcis-30832	11	14	and	and	CCONJ
fcis-30832	11	15	improves	improve	VERB
fcis-30832	11	16	the	the	DET
fcis-30832	11	17	efficiency	efficiency	NOUN
fcis-30832	11	18	of	of	ADP
fcis-30832	11	19	path	path	NOUN
fcis-30832	11	20	search	search	NOUN
fcis-30832	11	21	.	.	PUNCT
fcis-30832	12	1	the	the	DET
fcis-30832	12	2	exponential	exponential	ADJ
fcis-30832	12	3	adaptation	adaptation	NOUN
fcis-30832	12	4	strategy	strategy	NOUN
fcis-30832	12	5	dynamically	dynamically	ADV
fcis-30832	12	6	adjusts	adjust	VERB
fcis-30832	12	7	the	the	DET
fcis-30832	12	8	weight	weight	NOUN
fcis-30832	12	9	of	of	ADP
fcis-30832	12	10	the	the	DET
fcis-30832	12	11	actual	actual	ADJ
fcis-30832	12	12	cost	cost	NOUN
fcis-30832	12	13	based	base	VERB
fcis-30832	12	14	on	on	ADP
fcis-30832	12	15	the	the	DET
fcis-30832	12	16	progress	progress	NOUN
fcis-30832	12	17	of	of	ADP
fcis-30832	12	18	the	the	DET
fcis-30832	12	19	path	path	NOUN
fcis-30832	12	20	search	search	NOUN
fcis-30832	12	21	,	,	PUNCT
fcis-30832	12	22	balancing	balance	VERB
fcis-30832	12	23	the	the	DET
fcis-30832	12	24	algorithm	algorithm	NOUN
fcis-30832	12	25	's	's	PART
fcis-30832	12	26	choice	choice	NOUN
fcis-30832	12	27	between	between	ADP
fcis-30832	12	28	searching	search	VERB
fcis-30832	12	29	for	for	ADP
fcis-30832	12	30	new	new	ADJ
fcis-30832	12	31	paths	path	NOUN
fcis-30832	12	32	and	and	CCONJ
fcis-30832	12	33	utilizing	utilize	VERB
fcis-30832	12	34	known	know	VERB
fcis-30832	12	35	optimal	optimal	ADJ
fcis-30832	12	36	paths	path	NOUN
fcis-30832	12	37	,	,	PUNCT
fcis-30832	12	38	further	far	ADV
fcis-30832	12	39	improving	improve	VERB
fcis-30832	12	40	search	search	NOUN
fcis-30832	12	41	efficiency	efficiency	NOUN
fcis-30832	12	42	.	.	PUNCT
fcis-30832	13	1	this	this	DET
fcis-30832	13	2	study	study	NOUN
fcis-30832	13	3	experimentally	experimentally	ADV
fcis-30832	13	4	verifies	verify	VERB
fcis-30832	13	5	the	the	DET
fcis-30832	13	6	effectiveness	effectiveness	NOUN
fcis-30832	13	7	of	of	ADP
fcis-30832	13	8	these	these	DET
fcis-30832	13	9	three	three	NUM
fcis-30832	13	10	strategies	strategy	NOUN
fcis-30832	13	11	.	.	PUNCT
fcis-30832	14	1	the	the	DET
fcis-30832	14	2	results	result	NOUN
fcis-30832	14	3	show	show	VERB
fcis-30832	14	4	that	that	SCONJ
fcis-30832	14	5	by	by	ADP
fcis-30832	14	6	introducing	introduce	VERB
fcis-30832	14	7	these	these	DET
fcis-30832	14	8	strategies	strategy	NOUN
fcis-30832	14	9	,	,	PUNCT
fcis-30832	14	10	the	the	DET
fcis-30832	14	11	search	search	NOUN
fcis-30832	14	12	efficiency	efficiency	NOUN
fcis-30832	14	13	of	of	ADP
fcis-30832	14	14	the	the	DET
fcis-30832	14	15	a	a	NOUN
fcis-30832	14	16	*	*	ADJ
fcis-30832	14	17	algorithm	algorithm	NOUN
fcis-30832	14	18	in	in	ADP
fcis-30832	14	19	the	the	DET
fcis-30832	14	20	charging	charge	VERB
fcis-30832	14	21	path	path	NOUN
fcis-30832	14	22	planning	planning	NOUN
fcis-30832	14	23	of	of	ADP
fcis-30832	14	24	new	new	ADJ
fcis-30832	14	25	energy	energy	NOUN
fcis-30832	14	26	vehicles	vehicle	NOUN
fcis-30832	14	27	has	have	AUX
fcis-30832	14	28	been	be	AUX
fcis-30832	14	29	significantly	significantly	ADV
fcis-30832	14	30	improved	improve	VERB
fcis-30832	14	31	.	.	PUNCT
fcis-30832	15	1	these	these	DET
fcis-30832	15	2	strategies	strategy	NOUN
fcis-30832	15	3	contribute	contribute	VERB
fcis-30832	15	4	to	to	ADP
fcis-30832	15	5	the	the	DET
fcis-30832	15	6	optimization	optimization	NOUN
fcis-30832	15	7	of	of	ADP
fcis-30832	15	8	ev	ev	ADP
fcis-30832	15	9	charging	charge	VERB
fcis-30832	15	10	path	path	NOUN
fcis-30832	15	11	planning	planning	NOUN
fcis-30832	15	12	and	and	CCONJ
fcis-30832	15	13	help	help	VERB
fcis-30832	15	14	promote	promote	VERB
fcis-30832	15	15	the	the	DET
fcis-30832	15	16	development	development	NOUN
fcis-30832	15	17	of	of	ADP
fcis-30832	15	18	electric	electric	ADJ
fcis-30832	15	19	vehicles	vehicle	NOUN
fcis-30832	15	20	and	and	CCONJ
fcis-30832	15	21	intelligent	intelligent	ADJ
fcis-30832	15	22	transportation	transportation	NOUN
fcis-30832	15	23	.	.	PUNCT
fcis-30832	16	1	keywords	keyword	NOUN
fcis-30832	16	2	:	:	PUNCT
fcis-30832	16	3	a	a	DET
fcis-30832	16	4	*	*	X
fcis-30832	16	5	algorithm	algorithm	NOUN
fcis-30832	16	6	;	;	PUNCT
fcis-30832	16	7	goal	goal	NOUN
fcis-30832	16	8	-	-	PUNCT
fcis-30832	16	9	oriented	orient	VERB
fcis-30832	16	10	strategies	strategy	NOUN
fcis-30832	16	11	;	;	PUNCT
fcis-30832	16	12	linear	linear	ADJ
fcis-30832	16	13	adaptation	adaptation	NOUN
fcis-30832	16	14	strategy	strategy	NOUN
fcis-30832	16	15	;	;	PUNCT
fcis-30832	16	16	exponential	exponential	ADJ
fcis-30832	16	17	adaptation	adaptation	NOUN
fcis-30832	16	18	strategy	strategy	NOUN
fcis-30832	16	19	.	.	PUNCT
fcis-30832	17	1	1	1	X
fcis-30832	17	2	.	.	X
fcis-30832	17	3	introduction	introduction	NOUN
fcis-30832	17	4	as	as	ADP
fcis-30832	17	5	global	global	ADJ
fcis-30832	17	6	climate	climate	NOUN
fcis-30832	17	7	change	change	NOUN
fcis-30832	17	8	and	and	CCONJ
fcis-30832	17	9	environmental	environmental	ADJ
fcis-30832	17	10	issues	issue	NOUN
fcis-30832	17	11	become	become	VERB
fcis-30832	17	12	increasingly	increasingly	ADV
fcis-30832	17	13	severe	severe	ADJ
fcis-30832	17	14	,	,	PUNCT
fcis-30832	17	15	reducing	reduce	VERB
fcis-30832	17	16	carbon	carbon	NOUN
fcis-30832	17	17	emissions	emission	NOUN
fcis-30832	17	18	and	and	CCONJ
fcis-30832	17	19	promoting	promote	VERB
fcis-30832	17	20	sustainable	sustainable	ADJ
fcis-30832	17	21	development	development	NOUN
fcis-30832	17	22	have	have	AUX
fcis-30832	17	23	become	become	VERB
fcis-30832	17	24	a	a	DET
fcis-30832	17	25	global	global	ADJ
fcis-30832	17	26	consensus	consensus	NOUN
fcis-30832	17	27	.	.	PUNCT
fcis-30832	18	1	against	against	ADP
fcis-30832	18	2	this	this	DET
fcis-30832	18	3	backdrop	backdrop	NOUN
fcis-30832	18	4	,	,	PUNCT
fcis-30832	18	5	electric	electric	ADJ
fcis-30832	18	6	vehicles	vehicle	NOUN
fcis-30832	18	7	(	(	PUNCT
fcis-30832	18	8	evs	evs	NOUN
fcis-30832	18	9	)	)	PUNCT
fcis-30832	18	10	are	be	AUX
fcis-30832	18	11	gradually	gradually	ADV
fcis-30832	18	12	attracting	attract	VERB
fcis-30832	18	13	global	global	ADJ
fcis-30832	18	14	attention	attention	NOUN
fcis-30832	18	15	and	and	CCONJ
fcis-30832	18	16	popularity	popularity	NOUN
fcis-30832	18	17	as	as	ADP
fcis-30832	18	18	a	a	DET
fcis-30832	18	19	clean	clean	ADJ
fcis-30832	18	20	and	and	CCONJ
fcis-30832	18	21	efficient	efficient	ADJ
fcis-30832	18	22	mode	mode	NOUN
fcis-30832	18	23	of	of	ADP
fcis-30832	18	24	transportation	transportation	NOUN
fcis-30832	18	25	[	[	X
fcis-30832	18	26	1	1	NUM
fcis-30832	18	27	]	]	PUNCT
fcis-30832	18	28	.	.	PUNCT
fcis-30832	19	1	the	the	DET
fcis-30832	19	2	trend	trend	NOUN
fcis-30832	19	3	of	of	ADP
fcis-30832	19	4	ev	ev	ADP
fcis-30832	19	5	development	development	NOUN
fcis-30832	19	6	is	be	AUX
fcis-30832	19	7	becoming	become	VERB
fcis-30832	19	8	increasingly	increasingly	ADV
fcis-30832	19	9	apparent	apparent	ADJ
fcis-30832	19	10	,	,	PUNCT
fcis-30832	19	11	driven	drive	VERB
fcis-30832	19	12	by	by	ADP
fcis-30832	19	13	both	both	DET
fcis-30832	19	14	market	market	NOUN
fcis-30832	19	15	demand	demand	NOUN
fcis-30832	19	16	and	and	CCONJ
fcis-30832	19	17	technological	technological	ADJ
fcis-30832	19	18	innovation	innovation	NOUN
fcis-30832	19	19	.	.	PUNCT
fcis-30832	20	1	the	the	DET
fcis-30832	20	2	growth	growth	NOUN
fcis-30832	20	3	of	of	ADP
fcis-30832	20	4	market	market	NOUN
fcis-30832	20	5	demand	demand	NOUN
fcis-30832	20	6	also	also	ADV
fcis-30832	20	7	provides	provide	VERB
fcis-30832	20	8	strong	strong	ADJ
fcis-30832	20	9	momentum	momentum	NOUN
fcis-30832	20	10	for	for	ADP
fcis-30832	20	11	the	the	DET
fcis-30832	20	12	development	development	NOUN
fcis-30832	20	13	of	of	ADP
fcis-30832	20	14	evs[2	evs[2	PROPN
fcis-30832	20	15	]	]	PUNCT
fcis-30832	20	16	.	.	PUNCT
fcis-30832	21	1	as	as	SCONJ
fcis-30832	21	2	consumer	consumer	NOUN
fcis-30832	21	3	awareness	awareness	NOUN
fcis-30832	21	4	of	of	ADP
fcis-30832	21	5	environmental	environmental	ADJ
fcis-30832	21	6	protection	protection	NOUN
fcis-30832	21	7	and	and	CCONJ
fcis-30832	21	8	energy	energy	NOUN
fcis-30832	21	9	conservation	conservation	NOUN
fcis-30832	21	10	continues	continue	VERB
fcis-30832	21	11	to	to	PART
fcis-30832	21	12	increase	increase	VERB
fcis-30832	21	13	,	,	PUNCT
fcis-30832	21	14	as	as	ADV
fcis-30832	21	15	well	well	ADV
fcis-30832	21	16	as	as	ADP
fcis-30832	21	17	their	their	PRON
fcis-30832	21	18	acceptance	acceptance	NOUN
fcis-30832	21	19	of	of	ADP
fcis-30832	21	20	new	new	ADJ
fcis-30832	21	21	energy	energy	NOUN
fcis-30832	21	22	vehicle	vehicle	NOUN
fcis-30832	21	23	technology	technology	NOUN
fcis-30832	21	24	gradually	gradually	ADV
fcis-30832	21	25	growing	grow	VERB
fcis-30832	21	26	,	,	PUNCT
fcis-30832	21	27	the	the	DET
fcis-30832	21	28	market	market	NOUN
fcis-30832	21	29	demand	demand	NOUN
fcis-30832	21	30	for	for	ADP
fcis-30832	21	31	evs	evs	NOUN
fcis-30832	21	32	is	be	AUX
fcis-30832	21	33	showing	show	VERB
fcis-30832	21	34	a	a	DET
fcis-30832	21	35	rapid	rapid	ADJ
fcis-30832	21	36	growth	growth	NOUN
fcis-30832	21	37	trend[3	trend[3	VERB
fcis-30832	21	38	]	]	PUNCT
fcis-30832	21	39	.	.	PUNCT
fcis-30832	22	1	technological	technological	ADJ
fcis-30832	22	2	advancements	advancement	NOUN
fcis-30832	22	3	and	and	CCONJ
fcis-30832	22	4	industrial	industrial	ADJ
fcis-30832	22	5	innovation	innovation	NOUN
fcis-30832	22	6	are	be	AUX
fcis-30832	22	7	the	the	DET
fcis-30832	22	8	core	core	ADJ
fcis-30832	22	9	drivers	driver	NOUN
fcis-30832	22	10	of	of	ADP
fcis-30832	22	11	ev	ev	PRON
fcis-30832	22	12	development[4	development[4	PROPN
fcis-30832	22	13	]	]	PUNCT
fcis-30832	22	14	.	.	PUNCT
fcis-30832	23	1	with	with	ADP
fcis-30832	23	2	breakthroughs	breakthrough	NOUN
fcis-30832	23	3	in	in	ADP
fcis-30832	23	4	battery	battery	NOUN
fcis-30832	23	5	technology	technology	NOUN
fcis-30832	23	6	,	,	PUNCT
fcis-30832	23	7	the	the	DET
fcis-30832	23	8	improvement	improvement	NOUN
fcis-30832	23	9	of	of	ADP
fcis-30832	23	10	charging	charge	VERB
fcis-30832	23	11	facilities	facility	NOUN
fcis-30832	23	12	,	,	PUNCT
fcis-30832	23	13	and	and	CCONJ
fcis-30832	23	14	the	the	DET
fcis-30832	23	15	continuous	continuous	ADJ
fcis-30832	23	16	development	development	NOUN
fcis-30832	23	17	of	of	ADP
fcis-30832	23	18	autonomous	autonomous	ADJ
fcis-30832	23	19	driving	driving	NOUN
fcis-30832	23	20	technology	technology	NOUN
fcis-30832	23	21	,	,	PUNCT
fcis-30832	23	22	the	the	DET
fcis-30832	23	23	performance	performance	NOUN
fcis-30832	23	24	and	and	CCONJ
fcis-30832	23	25	convenience	convenience	NOUN
fcis-30832	23	26	of	of	ADP
fcis-30832	23	27	evs	evs	NOUN
fcis-30832	23	28	have	have	AUX
fcis-30832	23	29	been	be	AUX
fcis-30832	23	30	significantly	significantly	ADV
fcis-30832	23	31	improved	improve	VERB
fcis-30832	23	32	,	,	PUNCT
fcis-30832	23	33	providing	provide	VERB
fcis-30832	23	34	consumers	consumer	NOUN
fcis-30832	23	35	with	with	ADP
fcis-30832	23	36	a	a	DET
fcis-30832	23	37	more	more	ADV
fcis-30832	23	38	convenient	convenient	ADJ
fcis-30832	23	39	and	and	CCONJ
fcis-30832	23	40	efficient	efficient	ADJ
fcis-30832	23	41	travel	travel	NOUN
fcis-30832	23	42	experience[5	experience[5	ADV
fcis-30832	23	43	]	]	PUNCT
fcis-30832	23	44	.	.	PUNCT
fcis-30832	24	1	a	a	DET
fcis-30832	24	2	comprehensive	comprehensive	ADJ
fcis-30832	24	3	electric	electric	ADJ
fcis-30832	24	4	vehicle	vehicle	NOUN
fcis-30832	24	5	(	(	PUNCT
fcis-30832	24	6	ev	ev	NOUN
fcis-30832	24	7	)	)	PUNCT
fcis-30832	24	8	charging	charge	VERB
fcis-30832	24	9	path	path	NOUN
fcis-30832	24	10	planning	planning	NOUN
fcis-30832	24	11	system	system	NOUN
fcis-30832	24	12	serves	serve	VERB
fcis-30832	24	13	as	as	ADP
fcis-30832	24	14	the	the	DET
fcis-30832	24	15	foundation	foundation	NOUN
fcis-30832	24	16	for	for	ADP
fcis-30832	24	17	the	the	DET
fcis-30832	24	18	widespread	widespread	ADJ
fcis-30832	24	19	adoption	adoption	NOUN
fcis-30832	24	20	of	of	ADP
fcis-30832	24	21	evs	evs	NOUN
fcis-30832	24	22	,	,	PUNCT
fcis-30832	24	23	providing	provide	VERB
fcis-30832	24	24	critical	critical	ADJ
fcis-30832	24	25	support	support	NOUN
fcis-30832	24	26	for	for	ADP
fcis-30832	24	27	their	their	PRON
fcis-30832	24	28	convenient	convenient	ADJ
fcis-30832	24	29	use[6	use[6	NOUN
fcis-30832	24	30	]	]	PUNCT
fcis-30832	24	31	.	.	PUNCT
fcis-30832	25	1	by	by	ADP
fcis-30832	25	2	constructing	construct	VERB
fcis-30832	25	3	a	a	DET
fcis-30832	25	4	comprehensive	comprehensive	ADJ
fcis-30832	25	5	,	,	PUNCT
fcis-30832	25	6	efficient	efficient	ADJ
fcis-30832	25	7	,	,	PUNCT
fcis-30832	25	8	and	and	CCONJ
fcis-30832	25	9	intelligent	intelligent	ADJ
fcis-30832	25	10	charging	charging	NOUN
fcis-30832	25	11	network	network	NOUN
fcis-30832	25	12	,	,	PUNCT
fcis-30832	25	13	not	not	PART
fcis-30832	25	14	only	only	ADV
fcis-30832	25	15	can	can	AUX
fcis-30832	25	16	the	the	DET
fcis-30832	25	17	range	range	NOUN
fcis-30832	25	18	anxiety	anxiety	NOUN
fcis-30832	25	19	of	of	ADP
fcis-30832	25	20	ev	ev	ADP
fcis-30832	25	21	users	user	NOUN
fcis-30832	25	22	be	be	AUX
fcis-30832	25	23	addressed	address	VERB
fcis-30832	25	24	,	,	PUNCT
fcis-30832	25	25	but	but	CCONJ
fcis-30832	25	26	their	their	PRON
fcis-30832	25	27	user	user	NOUN
fcis-30832	25	28	experience	experience	NOUN
fcis-30832	25	29	can	can	AUX
fcis-30832	25	30	also	also	ADV
fcis-30832	25	31	be	be	AUX
fcis-30832	25	32	enhanced[7	enhanced[7	PROPN
fcis-30832	25	33	]	]	X
fcis-30832	25	34	.	.	PUNCT
fcis-30832	26	1	further	far	ADV
fcis-30832	26	2	promoting	promote	VERB
fcis-30832	26	3	the	the	DET
fcis-30832	26	4	widespread	widespread	ADJ
fcis-30832	26	5	adoption	adoption	NOUN
fcis-30832	26	6	of	of	ADP
fcis-30832	26	7	evs	evs	NOUN
fcis-30832	26	8	is	be	AUX
fcis-30832	26	9	not	not	PART
fcis-30832	26	10	only	only	ADV
fcis-30832	26	11	a	a	DET
fcis-30832	26	12	response	response	NOUN
fcis-30832	26	13	to	to	ADP
fcis-30832	26	14	the	the	DET
fcis-30832	26	15	environmental	environmental	ADJ
fcis-30832	26	16	philosophy	philosophy	NOUN
fcis-30832	26	17	of	of	ADP
fcis-30832	26	18	green	green	ADJ
fcis-30832	26	19	travel	travel	NOUN
fcis-30832	26	20	and	and	CCONJ
fcis-30832	26	21	low	low	ADJ
fcis-30832	26	22	-	-	PUNCT
fcis-30832	26	23	carbon	carbon	NOUN
fcis-30832	26	24	living	living	NOUN
fcis-30832	26	25	,	,	PUNCT
fcis-30832	26	26	but	but	CCONJ
fcis-30832	26	27	also	also	ADV
fcis-30832	26	28	an	an	DET
fcis-30832	26	29	important	important	ADJ
fcis-30832	26	30	strategic	strategic	ADJ
fcis-30832	26	31	measure	measure	NOUN
fcis-30832	26	32	to	to	PART
fcis-30832	26	33	accelerate	accelerate	VERB
fcis-30832	26	34	the	the	DET
fcis-30832	26	35	revolution	revolution	NOUN
fcis-30832	26	36	in	in	ADP
fcis-30832	26	37	energy	energy	NOUN
fcis-30832	26	38	consumption	consumption	NOUN
fcis-30832	26	39	and	and	CCONJ
fcis-30832	26	40	promote	promote	VERB
fcis-30832	26	41	the	the	DET
fcis-30832	26	42	transformation	transformation	NOUN
fcis-30832	26	43	and	and	CCONJ
fcis-30832	26	44	upgrading	upgrading	NOUN
fcis-30832	26	45	of	of	ADP
fcis-30832	26	46	energy	energy	NOUN
fcis-30832	26	47	structure[8	structure[8	NOUN
fcis-30832	26	48	]	]	PUNCT
fcis-30832	26	49	.	.	PUNCT
fcis-30832	27	1	this	this	PRON
fcis-30832	27	2	will	will	AUX
fcis-30832	27	3	help	help	VERB
fcis-30832	27	4	reduce	reduce	VERB
fcis-30832	27	5	dependence	dependence	NOUN
fcis-30832	27	6	on	on	ADP
fcis-30832	27	7	fossil	fossil	ADJ
fcis-30832	27	8	fuels	fuel	NOUN
fcis-30832	27	9	,	,	PUNCT
fcis-30832	27	10	lower	low	ADJ
fcis-30832	27	11	air	air	NOUN
fcis-30832	27	12	pollution	pollution	NOUN
fcis-30832	27	13	,	,	PUNCT
fcis-30832	27	14	and	and	CCONJ
fcis-30832	27	15	inject	inject	VERB
fcis-30832	27	16	new	new	ADJ
fcis-30832	27	17	momentum	momentum	NOUN
fcis-30832	27	18	into	into	ADP
fcis-30832	27	19	the	the	DET
fcis-30832	27	20	sustainable	sustainable	ADJ
fcis-30832	27	21	development	development	NOUN
fcis-30832	27	22	of	of	ADP
fcis-30832	27	23	human	human	ADJ
fcis-30832	27	24	technology	technology	NOUN
fcis-30832	27	25	.	.	PUNCT
fcis-30832	28	1	optimal	optimal	ADJ
fcis-30832	28	2	charging	charging	NOUN
fcis-30832	28	3	path	path	NOUN
fcis-30832	28	4	planning	planning	NOUN
fcis-30832	28	5	for	for	ADP
fcis-30832	28	6	electric	electric	ADJ
fcis-30832	28	7	vehicles	vehicle	NOUN
fcis-30832	28	8	(	(	PUNCT
fcis-30832	28	9	evs	evs	NOUN
fcis-30832	28	10	)	)	PUNCT
fcis-30832	28	11	is	be	AUX
fcis-30832	28	12	a	a	DET
fcis-30832	28	13	complex	complex	ADJ
fcis-30832	28	14	issue	issue	NOUN
fcis-30832	28	15	that	that	PRON
fcis-30832	28	16	involves	involve	VERB
fcis-30832	28	17	multiple	multiple	ADJ
fcis-30832	28	18	factors	factor	NOUN
fcis-30832	28	19	,	,	PUNCT
fcis-30832	28	20	including	include	VERB
fcis-30832	28	21	the	the	DET
fcis-30832	28	22	range	range	NOUN
fcis-30832	28	23	of	of	ADP
fcis-30832	28	24	the	the	DET
fcis-30832	28	25	ev	ev	PROPN
fcis-30832	28	26	,	,	PUNCT
fcis-30832	28	27	charging	charge	VERB
fcis-30832	28	28	speed	speed	NOUN
fcis-30832	28	29	,	,	PUNCT
fcis-30832	28	30	the	the	DET
fcis-30832	28	31	location	location	NOUN
fcis-30832	28	32	and	and	CCONJ
fcis-30832	28	33	availability	availability	NOUN
fcis-30832	28	34	of	of	ADP
fcis-30832	28	35	charging	charge	VERB
fcis-30832	28	36	stations	station	NOUN
fcis-30832	28	37	,	,	PUNCT
fcis-30832	28	38	and	and	CCONJ
fcis-30832	28	39	traffic	traffic	NOUN
fcis-30832	28	40	conditions	condition	NOUN
fcis-30832	28	41	along	along	ADP
fcis-30832	28	42	the	the	DET
fcis-30832	28	43	route[9	route[9	NOUN
fcis-30832	28	44	]	]	PUNCT
fcis-30832	28	45	.	.	PUNCT
fcis-30832	29	1	the	the	DET
fcis-30832	29	2	goal	goal	NOUN
fcis-30832	29	3	is	be	AUX
fcis-30832	29	4	to	to	PART
fcis-30832	29	5	find	find	VERB
fcis-30832	29	6	an	an	DET
fcis-30832	29	7	optimal	optimal	ADJ
fcis-30832	29	8	path	path	NOUN
fcis-30832	29	9	from	from	ADP
fcis-30832	29	10	the	the	DET
fcis-30832	29	11	starting	starting	NOUN
fcis-30832	29	12	point	point	NOUN
fcis-30832	29	13	to	to	ADP
fcis-30832	29	14	the	the	DET
fcis-30832	29	15	destination	destination	NOUN
fcis-30832	29	16	that	that	PRON
fcis-30832	29	17	minimizes	minimize	VERB
fcis-30832	29	18	the	the	DET
fcis-30832	29	19	total	total	ADJ
fcis-30832	29	20	cost	cost	NOUN
fcis-30832	29	21	(	(	PUNCT
fcis-30832	29	22	such	such	ADJ
fcis-30832	29	23	as	as	ADP
fcis-30832	29	24	total	total	ADJ
fcis-30832	29	25	travel	travel	NOUN
fcis-30832	29	26	distance	distance	NOUN
fcis-30832	29	27	,	,	PUNCT
fcis-30832	29	28	total	total	ADJ
fcis-30832	29	29	charging	charging	NOUN
fcis-30832	29	30	time	time	NOUN
fcis-30832	29	31	,	,	PUNCT
fcis-30832	29	32	total	total	ADJ
fcis-30832	29	33	energy	energy	NOUN
fcis-30832	29	34	consumption	consumption	NOUN
fcis-30832	29	35	,	,	PUNCT
fcis-30832	29	36	etc	etc	X
fcis-30832	29	37	.	.	X
fcis-30832	29	38	)	)	PUNCT
fcis-30832	29	39	while	while	SCONJ
fcis-30832	29	40	satisfying	satisfy	VERB
fcis-30832	29	41	the	the	DET
fcis-30832	29	42	driving	driving	NOUN
fcis-30832	29	43	and	and	CCONJ
fcis-30832	29	44	charging	charge	VERB
fcis-30832	29	45	requirements	requirement	NOUN
fcis-30832	29	46	of	of	ADP
fcis-30832	29	47	the	the	DET
fcis-30832	29	48	ev	ev	PROPN
fcis-30832	29	49	.	.	PROPN
fcis-30832	29	50	to	to	PART
fcis-30832	29	51	address	address	VERB
fcis-30832	29	52	this	this	DET
fcis-30832	29	53	problem	problem	NOUN
fcis-30832	29	54	,	,	PUNCT
fcis-30832	29	55	various	various	ADJ
fcis-30832	29	56	optimization	optimization	NOUN
fcis-30832	29	57	algorithms	algorithm	NOUN
fcis-30832	29	58	are	be	AUX
fcis-30832	29	59	typically	typically	ADV
fcis-30832	29	60	employed	employ	VERB
fcis-30832	29	61	,	,	PUNCT
fcis-30832	29	62	such	such	ADJ
fcis-30832	29	63	as	as	ADP
fcis-30832	29	64	the	the	DET
fcis-30832	29	65	a	a	NOUN
fcis-30832	29	66	*	*	ADJ
fcis-30832	29	67	algorithm	algorithm	NOUN
fcis-30832	29	68	and	and	CCONJ
fcis-30832	29	69	genetic	genetic	ADJ
fcis-30832	29	70	algorithms[10	algorithms[10	NOUN
fcis-30832	29	71	]	]	PUNCT
fcis-30832	29	72	.	.	PUNCT
fcis-30832	30	1	the	the	DET
fcis-30832	30	2	aim	aim	NOUN
fcis-30832	30	3	of	of	ADP
fcis-30832	30	4	this	this	DET
fcis-30832	30	5	study	study	NOUN
fcis-30832	30	6	is	be	AUX
fcis-30832	30	7	to	to	PART
fcis-30832	30	8	optimize	optimize	VERB
fcis-30832	30	9	the	the	DET
fcis-30832	30	10	application	application	NOUN
fcis-30832	30	11	of	of	ADP
fcis-30832	30	12	the	the	DET
fcis-30832	30	13	a	a	PROPN
fcis-30832	30	14	*	*	ADJ
fcis-30832	30	15	algorithm	algorithm	NOUN
fcis-30832	30	16	in	in	ADP
fcis-30832	30	17	ev	ev	PROPN
fcis-30832	30	18	path	path	NOUN
fcis-30832	30	19	planning	planning	NOUN
fcis-30832	30	20	,	,	PUNCT
fcis-30832	30	21	aiming	aim	VERB
fcis-30832	30	22	to	to	PART
fcis-30832	30	23	improve	improve	VERB
fcis-30832	30	24	its	its	PRON
fcis-30832	30	25	efficiency	efficiency	NOUN
fcis-30832	30	26	in	in	ADP
fcis-30832	30	27	navigating	navigate	VERB
fcis-30832	30	28	to	to	ADP
fcis-30832	30	29	known	know	VERB
fcis-30832	30	30	charging	charging	NOUN
fcis-30832	30	31	stations	station	NOUN
fcis-30832	30	32	.	.	PUNCT
fcis-30832	31	1	currently	currently	ADV
fcis-30832	31	2	,	,	PUNCT
fcis-30832	31	3	researchers	researcher	NOUN
fcis-30832	31	4	have	have	AUX
fcis-30832	31	5	employed	employ	VERB
fcis-30832	31	6	various	various	ADJ
fcis-30832	31	7	methods	method	NOUN
fcis-30832	31	8	to	to	PART
fcis-30832	31	9	address	address	VERB
fcis-30832	31	10	the	the	DET
fcis-30832	31	11	issue	issue	NOUN
fcis-30832	31	12	of	of	ADP
fcis-30832	31	13	optimal	optimal	ADJ
fcis-30832	31	14	charging	charging	NOUN
fcis-30832	31	15	path	path	NOUN
fcis-30832	31	16	planning	planning	NOUN
fcis-30832	31	17	for	for	ADP
fcis-30832	31	18	electric	electric	ADJ
fcis-30832	31	19	vehicles	vehicle	NOUN
fcis-30832	31	20	,	,	PUNCT
fcis-30832	31	21	including	include	VERB
fcis-30832	31	22	rule	rule	NOUN
fcis-30832	31	23	-	-	PUNCT
fcis-30832	31	24	based	base	VERB
fcis-30832	31	25	heuristic	heuristic	ADJ
fcis-30832	31	26	methods	method	NOUN
fcis-30832	31	27	,	,	PUNCT
fcis-30832	31	28	optimization	optimization	NOUN
fcis-30832	31	29	algorithm	algorithm	NOUN
fcis-30832	31	30	-	-	PUNCT
fcis-30832	31	31	based	base	VERB
fcis-30832	31	32	methods	method	NOUN
fcis-30832	31	33	,	,	PUNCT
fcis-30832	31	34	and	and	CCONJ
fcis-30832	31	35	machine	machine	NOUN
fcis-30832	31	36	10	10	NUM
fcis-30832	31	37	learning	learning	NOUN
fcis-30832	31	38	-	-	PUNCT
fcis-30832	31	39	based	base	VERB
fcis-30832	31	40	methods[11	methods[11	NOUN
fcis-30832	31	41	]	]	PUNCT
fcis-30832	31	42	.	.	PUNCT
fcis-30832	32	1	each	each	PRON
fcis-30832	32	2	of	of	ADP
fcis-30832	32	3	these	these	DET
fcis-30832	32	4	methods	method	NOUN
fcis-30832	32	5	has	have	VERB
fcis-30832	32	6	its	its	PRON
fcis-30832	32	7	own	own	ADJ
fcis-30832	32	8	advantages	advantage	NOUN
fcis-30832	32	9	and	and	CCONJ
fcis-30832	32	10	disadvantages	disadvantage	NOUN
fcis-30832	32	11	,	,	PUNCT
fcis-30832	32	12	and	and	CCONJ
fcis-30832	32	13	can	can	AUX
fcis-30832	32	14	be	be	AUX
fcis-30832	32	15	selected	select	VERB
fcis-30832	32	16	based	base	VERB
fcis-30832	32	17	on	on	ADP
fcis-30832	32	18	specific	specific	ADJ
fcis-30832	32	19	scenarios	scenario	NOUN
fcis-30832	32	20	and	and	CCONJ
fcis-30832	32	21	requirements	requirement	NOUN
fcis-30832	32	22	.	.	PUNCT
fcis-30832	33	1	researchers	researcher	NOUN
fcis-30832	33	2	have	have	AUX
fcis-30832	33	3	not	not	PART
fcis-30832	33	4	only	only	ADV
fcis-30832	33	5	considered	consider	VERB
fcis-30832	33	6	basic	basic	ADJ
fcis-30832	33	7	factors	factor	NOUN
fcis-30832	33	8	such	such	ADJ
fcis-30832	33	9	as	as	ADP
fcis-30832	33	10	distance	distance	NOUN
fcis-30832	33	11	and	and	CCONJ
fcis-30832	33	12	charging	charge	VERB
fcis-30832	33	13	time	time	NOUN
fcis-30832	33	14	,	,	PUNCT
fcis-30832	33	15	but	but	CCONJ
fcis-30832	33	16	have	have	AUX
fcis-30832	33	17	also	also	ADV
fcis-30832	33	18	begun	begin	VERB
fcis-30832	33	19	to	to	PART
fcis-30832	33	20	focus	focus	VERB
fcis-30832	33	21	on	on	ADP
fcis-30832	33	22	other	other	ADJ
fcis-30832	33	23	factors	factor	NOUN
fcis-30832	33	24	such	such	ADJ
fcis-30832	33	25	as	as	ADP
fcis-30832	33	26	charging	charge	VERB
fcis-30832	33	27	station	station	NOUN
fcis-30832	33	28	availability	availability	NOUN
fcis-30832	33	29	,	,	PUNCT
fcis-30832	33	30	charging	charge	VERB
fcis-30832	33	31	speed	speed	NOUN
fcis-30832	33	32	,	,	PUNCT
fcis-30832	33	33	charging	charge	VERB
fcis-30832	33	34	cost	cost	NOUN
fcis-30832	33	35	,	,	PUNCT
fcis-30832	33	36	and	and	CCONJ
fcis-30832	33	37	user	user	NOUN
fcis-30832	33	38	travel	travel	VERB
fcis-30832	33	39	demands[12	demands[12	PROPN
fcis-30832	33	40	]	]	PUNCT
fcis-30832	33	41	.	.	PUNCT
fcis-30832	34	1	the	the	DET
fcis-30832	34	2	comprehensive	comprehensive	ADJ
fcis-30832	34	3	consideration	consideration	NOUN
fcis-30832	34	4	of	of	ADP
fcis-30832	34	5	these	these	DET
fcis-30832	34	6	factors	factor	NOUN
fcis-30832	34	7	makes	make	VERB
fcis-30832	34	8	optimal	optimal	ADJ
fcis-30832	34	9	charging	charging	NOUN
fcis-30832	34	10	path	path	NOUN
fcis-30832	34	11	planning	plan	VERB
fcis-30832	34	12	more	more	ADV
fcis-30832	34	13	aligned	aligned	ADJ
fcis-30832	34	14	with	with	ADP
fcis-30832	34	15	actual	actual	ADJ
fcis-30832	34	16	needs	need	NOUN
fcis-30832	34	17	.	.	PUNCT
fcis-30832	35	1	jiang	jiang	PROPN
fcis-30832	35	2	haojie	haojie	PROPN
fcis-30832	35	3	et	et	PROPN
fcis-30832	35	4	al	al	PROPN
fcis-30832	35	5	.	.	PROPN
fcis-30832	35	6	addressed	address	VERB
fcis-30832	35	7	the	the	DET
fcis-30832	35	8	shortcomings	shortcoming	NOUN
fcis-30832	35	9	of	of	ADP
fcis-30832	35	10	the	the	DET
fcis-30832	35	11	a	a	PROPN
fcis-30832	35	12	*	*	ADJ
fcis-30832	35	13	algorithm	algorithm	NOUN
fcis-30832	35	14	in	in	ADP
fcis-30832	35	15	the	the	DET
fcis-30832	35	16	path	path	NOUN
fcis-30832	35	17	planning	planning	NOUN
fcis-30832	35	18	process	process	NOUN
fcis-30832	35	19	for	for	ADP
fcis-30832	35	20	electric	electric	ADJ
fcis-30832	35	21	sterilizing	sterilizing	NOUN
fcis-30832	35	22	vehicles	vehicle	NOUN
fcis-30832	35	23	,	,	PUNCT
fcis-30832	35	24	such	such	ADJ
fcis-30832	35	25	as	as	ADP
fcis-30832	35	26	long	long	ADJ
fcis-30832	35	27	planning	planning	NOUN
fcis-30832	35	28	paths	path	NOUN
fcis-30832	35	29	,	,	PUNCT
fcis-30832	35	30	low	low	ADJ
fcis-30832	35	31	efficiency	efficiency	NOUN
fcis-30832	35	32	of	of	ADP
fcis-30832	35	33	unidirectional	unidirectional	ADJ
fcis-30832	35	34	search	search	NOUN
fcis-30832	35	35	,	,	PUNCT
fcis-30832	35	36	and	and	CCONJ
fcis-30832	35	37	non	non	ADJ
fcis-30832	35	38	-	-	ADJ
fcis-30832	35	39	smooth	smooth	ADJ
fcis-30832	35	40	turning	turning	NOUN
fcis-30832	35	41	points	point	NOUN
fcis-30832	35	42	.	.	PUNCT
fcis-30832	36	1	starting	start	VERB
fcis-30832	36	2	from	from	ADP
fcis-30832	36	3	the	the	DET
fcis-30832	36	4	heuristic	heuristic	ADJ
fcis-30832	36	5	function	function	NOUN
fcis-30832	36	6	and	and	CCONJ
fcis-30832	36	7	search	search	NOUN
fcis-30832	36	8	direction	direction	NOUN
fcis-30832	36	9	,	,	PUNCT
fcis-30832	36	10	they	they	PRON
fcis-30832	36	11	proposed	propose	VERB
fcis-30832	36	12	an	an	DET
fcis-30832	36	13	improved	improved	ADJ
fcis-30832	36	14	bidirectional	bidirectional	NOUN
fcis-30832	36	15	a	a	DET
fcis-30832	36	16	*	*	PUNCT
fcis-30832	36	17	search	search	NOUN
fcis-30832	36	18	algorithm[13	algorithm[13	NOUN
fcis-30832	36	19	]	]	PUNCT
fcis-30832	36	20	.	.	PUNCT
fcis-30832	37	1	nilgun	nilgun	PROPN
fcis-30832	37	2	fescioglu	fescioglu	NOUN
fcis-30832	37	3	-	-	PUNCT
fcis-30832	37	4	unver	unver	PROPN
fcis-30832	37	5	et	et	PROPN
fcis-30832	37	6	al	al	PROPN
fcis-30832	37	7	.	.	PROPN
fcis-30832	37	8	addressed	address	VERB
fcis-30832	37	9	customers	customer	NOUN
fcis-30832	37	10	'	'	PART
fcis-30832	37	11	concerns	concern	NOUN
fcis-30832	37	12	about	about	ADP
fcis-30832	37	13	charging	charge	VERB
fcis-30832	37	14	services	service	NOUN
fcis-30832	37	15	by	by	ADP
fcis-30832	37	16	proposing	propose	VERB
fcis-30832	37	17	research	research	NOUN
fcis-30832	37	18	on	on	ADP
fcis-30832	37	19	improving	improve	VERB
fcis-30832	37	20	the	the	DET
fcis-30832	37	21	operation	operation	NOUN
fcis-30832	37	22	of	of	ADP
fcis-30832	37	23	electric	electric	ADJ
fcis-30832	37	24	vehicle	vehicle	NOUN
fcis-30832	37	25	charging	charge	VERB
fcis-30832	37	26	services	service	NOUN
fcis-30832	37	27	using	use	VERB
fcis-30832	37	28	machine	machine	NOUN
fcis-30832	37	29	learning	learning	NOUN
fcis-30832	37	30	models	model	NOUN
fcis-30832	37	31	.	.	PUNCT
fcis-30832	38	1	effective	effective	ADJ
fcis-30832	38	2	infrastructure	infrastructure	NOUN
fcis-30832	38	3	planning	planning	NOUN
fcis-30832	38	4	,	,	PUNCT
fcis-30832	38	5	charging	charge	VERB
fcis-30832	38	6	scheduling	scheduling	NOUN
fcis-30832	38	7	,	,	PUNCT
fcis-30832	38	8	charging	charge	VERB
fcis-30832	38	9	pricing	pricing	NOUN
fcis-30832	38	10	,	,	PUNCT
fcis-30832	38	11	and	and	CCONJ
fcis-30832	38	12	electric	electric	ADJ
fcis-30832	38	13	vehicle	vehicle	NOUN
fcis-30832	38	14	route	route	NOUN
fcis-30832	38	15	planning	planning	NOUN
fcis-30832	38	16	can	can	AUX
fcis-30832	38	17	help	help	VERB
fcis-30832	38	18	reduce	reduce	VERB
fcis-30832	38	19	customer	customer	NOUN
fcis-30832	38	20	-	-	PUNCT
fcis-30832	38	21	perceived	perceive	VERB
fcis-30832	38	22	risks[14	risks[14	NOUN
fcis-30832	38	23	]	]	PUNCT
fcis-30832	38	24	.	.	PUNCT
fcis-30832	39	1	cai	cai	PROPN
fcis-30832	39	2	rong	rong	PROPN
fcis-30832	39	3	et	et	PROPN
fcis-30832	39	4	al	al	PROPN
fcis-30832	39	5	.	.	PROPN
fcis-30832	39	6	proposed	propose	VERB
fcis-30832	39	7	a	a	DET
fcis-30832	39	8	study	study	NOUN
fcis-30832	39	9	on	on	ADP
fcis-30832	39	10	the	the	DET
fcis-30832	39	11	optimal	optimal	ADJ
fcis-30832	39	12	planning	planning	NOUN
fcis-30832	39	13	of	of	ADP
fcis-30832	39	14	multi	multi	ADJ
fcis-30832	39	15	-	-	ADJ
fcis-30832	39	16	energy	energy	ADJ
fcis-30832	39	17	complementary	complementary	ADJ
fcis-30832	39	18	electric	electric	ADJ
fcis-30832	39	19	vehicle	vehicle	NOUN
fcis-30832	39	20	charging	charge	VERB
fcis-30832	39	21	stations	station	NOUN
fcis-30832	39	22	.	.	PUNCT
fcis-30832	40	1	firstly	firstly	ADV
fcis-30832	40	2	,	,	PUNCT
fcis-30832	40	3	a	a	DET
fcis-30832	40	4	charging	charge	VERB
fcis-30832	40	5	station	station	NOUN
fcis-30832	40	6	service	service	NOUN
fcis-30832	40	7	division	division	NOUN
fcis-30832	40	8	method	method	NOUN
fcis-30832	40	9	based	base	VERB
fcis-30832	40	10	on	on	ADP
fcis-30832	40	11	voronoi	voronoi	ADJ
fcis-30832	40	12	diagrams	diagram	NOUN
fcis-30832	40	13	was	be	AUX
fcis-30832	40	14	proposed	propose	VERB
fcis-30832	40	15	.	.	PUNCT
fcis-30832	41	1	then	then	ADV
fcis-30832	41	2	,	,	PUNCT
fcis-30832	41	3	a	a	DET
fcis-30832	41	4	charging	charge	VERB
fcis-30832	41	5	capacity	capacity	NOUN
fcis-30832	41	6	evaluation	evaluation	NOUN
fcis-30832	41	7	method	method	NOUN
fcis-30832	41	8	for	for	ADP
fcis-30832	41	9	electric	electric	ADJ
fcis-30832	41	10	vehicle	vehicle	NOUN
fcis-30832	41	11	charging	charge	VERB
fcis-30832	41	12	stations	station	NOUN
fcis-30832	41	13	based	base	VERB
fcis-30832	41	14	on	on	ADP
fcis-30832	41	15	the	the	DET
fcis-30832	41	16	m	m	PROPN
fcis-30832	41	17	/	/	SYM
fcis-30832	41	18	g	g	PROPN
fcis-30832	41	19	/	/	SYM
fcis-30832	41	20	k	k	NOUN
fcis-30832	41	21	queuing	queue	VERB
fcis-30832	41	22	model	model	NOUN
fcis-30832	41	23	was	be	AUX
fcis-30832	41	24	proposed	propose	VERB
fcis-30832	41	25	.	.	PUNCT
fcis-30832	42	1	finally	finally	ADV
fcis-30832	42	2	,	,	PUNCT
fcis-30832	42	3	a	a	DET
fcis-30832	42	4	location	location	NOUN
fcis-30832	42	5	and	and	CCONJ
fcis-30832	42	6	volume	volume	NOUN
fcis-30832	42	7	model	model	NOUN
fcis-30832	42	8	was	be	AUX
fcis-30832	42	9	constructed	construct	VERB
fcis-30832	42	10	and	and	CCONJ
fcis-30832	42	11	solved	solve	VERB
fcis-30832	42	12	to	to	PART
fcis-30832	42	13	determine	determine	VERB
fcis-30832	42	14	the	the	DET
fcis-30832	42	15	optimal	optimal	ADJ
fcis-30832	42	16	construction	construction	NOUN
fcis-30832	42	17	plan	plan	NOUN
fcis-30832	42	18	for	for	ADP
fcis-30832	42	19	electric	electric	ADJ
fcis-30832	42	20	vehicle	vehicle	NOUN
fcis-30832	42	21	charging	charge	VERB
fcis-30832	42	22	stations	station	NOUN
fcis-30832	42	23	with	with	ADP
fcis-30832	42	24	the	the	DET
fcis-30832	42	25	lowest	low	ADJ
fcis-30832	42	26	total	total	ADJ
fcis-30832	42	27	social	social	ADJ
fcis-30832	42	28	cost[15	cost[15	NOUN
fcis-30832	42	29	]	]	PUNCT
fcis-30832	42	30	.	.	PUNCT
fcis-30832	43	1	the	the	DET
fcis-30832	43	2	proposed	propose	VERB
fcis-30832	43	3	charging	charge	VERB
fcis-30832	43	4	station	station	NOUN
fcis-30832	43	5	planning	planning	NOUN
fcis-30832	43	6	method	method	NOUN
fcis-30832	43	7	is	be	AUX
fcis-30832	43	8	economical	economical	ADJ
fcis-30832	43	9	and	and	CCONJ
fcis-30832	43	10	effectively	effectively	ADV
fcis-30832	43	11	improves	improve	VERB
fcis-30832	43	12	the	the	DET
fcis-30832	43	13	charging	charge	VERB
fcis-30832	43	14	convenience	convenience	NOUN
fcis-30832	43	15	for	for	ADP
fcis-30832	43	16	electric	electric	ADJ
fcis-30832	43	17	vehicle	vehicle	NOUN
fcis-30832	43	18	users	user	NOUN
fcis-30832	43	19	.	.	PUNCT
fcis-30832	44	1	compared	compare	VERB
fcis-30832	44	2	to	to	ADP
fcis-30832	44	3	traditional	traditional	ADJ
fcis-30832	44	4	fuel	fuel	NOUN
fcis-30832	44	5	-	-	PUNCT
fcis-30832	44	6	powered	power	VERB
fcis-30832	44	7	vehicles	vehicle	NOUN
fcis-30832	44	8	,	,	PUNCT
fcis-30832	44	9	electric	electric	ADJ
fcis-30832	44	10	vehicles	vehicle	NOUN
fcis-30832	44	11	face	face	VERB
fcis-30832	44	12	the	the	DET
fcis-30832	44	13	issue	issue	NOUN
fcis-30832	44	14	of	of	ADP
fcis-30832	44	15	reaching	reach	VERB
fcis-30832	44	16	charging	charge	VERB
fcis-30832	44	17	stations	station	NOUN
fcis-30832	44	18	within	within	ADP
fcis-30832	44	19	the	the	DET
fcis-30832	44	20	shortest	short	ADJ
fcis-30832	44	21	range	range	NOUN
fcis-30832	44	22	possible	possible	ADJ
fcis-30832	44	23	due	due	ADP
fcis-30832	44	24	to	to	ADP
fcis-30832	44	25	their	their	PRON
fcis-30832	44	26	energy	energy	NOUN
fcis-30832	44	27	replenishment	replenishment	NOUN
fcis-30832	44	28	methods[16	methods[16	PROPN
fcis-30832	44	29	]	]	PUNCT
fcis-30832	44	30	.	.	PUNCT
fcis-30832	45	1	to	to	PART
fcis-30832	45	2	improve	improve	VERB
fcis-30832	45	3	the	the	DET
fcis-30832	45	4	efficiency	efficiency	NOUN
fcis-30832	45	5	of	of	ADP
fcis-30832	45	6	electric	electric	ADJ
fcis-30832	45	7	vehicle	vehicle	NOUN
fcis-30832	45	8	promotion	promotion	NOUN
fcis-30832	45	9	and	and	CCONJ
fcis-30832	45	10	reduce	reduce	VERB
fcis-30832	45	11	operating	operating	NOUN
fcis-30832	45	12	costs	cost	NOUN
fcis-30832	45	13	,	,	PUNCT
fcis-30832	45	14	it	it	PRON
fcis-30832	45	15	is	be	AUX
fcis-30832	45	16	necessary	necessary	ADJ
fcis-30832	45	17	to	to	PART
fcis-30832	45	18	consider	consider	VERB
fcis-30832	45	19	path	path	NOUN
fcis-30832	45	20	planning	planning	NOUN
fcis-30832	45	21	strategies	strategy	NOUN
fcis-30832	45	22	to	to	PART
fcis-30832	45	23	plan	plan	VERB
fcis-30832	45	24	reasonable	reasonable	ADJ
fcis-30832	45	25	charging	charging	NOUN
fcis-30832	45	26	routes	route	NOUN
fcis-30832	45	27	that	that	PRON
fcis-30832	45	28	meet	meet	VERB
fcis-30832	45	29	the	the	DET
fcis-30832	45	30	goal	goal	NOUN
fcis-30832	45	31	of	of	ADP
fcis-30832	45	32	timely	timely	ADV
fcis-30832	45	33	charging	charging	NOUN
fcis-30832	45	34	and	and	CCONJ
fcis-30832	45	35	range	range	NOUN
fcis-30832	45	36	extension	extension	NOUN
fcis-30832	45	37	.	.	PUNCT
fcis-30832	46	1	to	to	PART
fcis-30832	46	2	further	far	ADV
fcis-30832	46	3	improve	improve	VERB
fcis-30832	46	4	the	the	DET
fcis-30832	46	5	performance	performance	NOUN
fcis-30832	46	6	and	and	CCONJ
fcis-30832	46	7	adaptability	adaptability	NOUN
fcis-30832	46	8	of	of	ADP
fcis-30832	46	9	the	the	DET
fcis-30832	46	10	a	a	PROPN
fcis-30832	46	11	*	*	ADJ
fcis-30832	46	12	algorithm	algorithm	NOUN
fcis-30832	46	13	,	,	PUNCT
fcis-30832	46	14	this	this	DET
fcis-30832	46	15	study	study	NOUN
fcis-30832	46	16	introduces	introduce	VERB
fcis-30832	46	17	multiple	multiple	ADJ
fcis-30832	46	18	strategies	strategy	NOUN
fcis-30832	46	19	,	,	PUNCT
fcis-30832	46	20	including	include	VERB
fcis-30832	46	21	an	an	DET
fcis-30832	46	22	optimized	optimize	VERB
fcis-30832	46	23	goal	goal	NOUN
fcis-30832	46	24	-	-	PUNCT
fcis-30832	46	25	directed	direct	VERB
fcis-30832	46	26	strategy	strategy	NOUN
fcis-30832	46	27	,	,	PUNCT
fcis-30832	46	28	a	a	DET
fcis-30832	46	29	linear	linear	ADJ
fcis-30832	46	30	adaptation	adaptation	NOUN
fcis-30832	46	31	strategy	strategy	NOUN
fcis-30832	46	32	,	,	PUNCT
fcis-30832	46	33	and	and	CCONJ
fcis-30832	46	34	an	an	DET
fcis-30832	46	35	exponential	exponential	ADJ
fcis-30832	46	36	adaptation	adaptation	NOUN
fcis-30832	46	37	strategy	strategy	NOUN
fcis-30832	46	38	.	.	PUNCT
fcis-30832	47	1	the	the	DET
fcis-30832	47	2	optimized	optimize	VERB
fcis-30832	47	3	goal	goal	NOUN
fcis-30832	47	4	-	-	PUNCT
fcis-30832	47	5	directed	direct	VERB
fcis-30832	47	6	strategy	strategy	NOUN
fcis-30832	47	7	is	be	AUX
fcis-30832	47	8	a	a	DET
fcis-30832	47	9	method	method	NOUN
fcis-30832	47	10	that	that	PRON
fcis-30832	47	11	guides	guide	VERB
fcis-30832	47	12	the	the	DET
fcis-30832	47	13	search	search	NOUN
fcis-30832	47	14	process	process	NOUN
fcis-30832	47	15	by	by	ADP
fcis-30832	47	16	adding	add	VERB
fcis-30832	47	17	heuristic	heuristic	ADJ
fcis-30832	47	18	information	information	NOUN
fcis-30832	47	19	related	relate	VERB
fcis-30832	47	20	to	to	ADP
fcis-30832	47	21	the	the	DET
fcis-30832	47	22	target	target	NOUN
fcis-30832	47	23	node	node	NOUN
fcis-30832	47	24	.	.	PUNCT
fcis-30832	48	1	the	the	DET
fcis-30832	48	2	linear	linear	ADJ
fcis-30832	48	3	adaptation	adaptation	NOUN
fcis-30832	48	4	strategy	strategy	NOUN
fcis-30832	48	5	dynamically	dynamically	ADV
fcis-30832	48	6	adjusts	adjust	VERB
fcis-30832	48	7	the	the	DET
fcis-30832	48	8	weights	weight	NOUN
fcis-30832	48	9	of	of	ADP
fcis-30832	48	10	the	the	DET
fcis-30832	48	11	heuristic	heuristic	ADJ
fcis-30832	48	12	function	function	NOUN
fcis-30832	48	13	based	base	VERB
fcis-30832	48	14	on	on	ADP
fcis-30832	48	15	the	the	DET
fcis-30832	48	16	search	search	NOUN
fcis-30832	48	17	progress	progress	NOUN
fcis-30832	48	18	,	,	PUNCT
fcis-30832	48	19	introducing	introduce	VERB
fcis-30832	48	20	a	a	DET
fcis-30832	48	21	linear	linear	ADJ
fcis-30832	48	22	factor	factor	NOUN
fcis-30832	48	23	to	to	PART
fcis-30832	48	24	adjust	adjust	VERB
fcis-30832	48	25	the	the	DET
fcis-30832	48	26	weights	weight	NOUN
fcis-30832	48	27	in	in	ADP
fcis-30832	48	28	the	the	DET
fcis-30832	48	29	heuristic	heuristic	ADJ
fcis-30832	48	30	function	function	NOUN
fcis-30832	48	31	,	,	PUNCT
fcis-30832	48	32	thus	thus	ADV
fcis-30832	48	33	improving	improve	VERB
fcis-30832	48	34	the	the	DET
fcis-30832	48	35	adaptability	adaptability	NOUN
fcis-30832	48	36	and	and	CCONJ
fcis-30832	48	37	robustness	robustness	NOUN
fcis-30832	48	38	of	of	ADP
fcis-30832	48	39	the	the	DET
fcis-30832	48	40	a	a	PROPN
fcis-30832	48	41	*	*	NOUN
fcis-30832	48	42	algorithm	algorithm	NOUN
fcis-30832	48	43	.	.	PUNCT
fcis-30832	49	1	the	the	DET
fcis-30832	49	2	exponential	exponential	ADJ
fcis-30832	49	3	adaptation	adaptation	NOUN
fcis-30832	49	4	strategy	strategy	NOUN
fcis-30832	49	5	adjusts	adjust	VERB
fcis-30832	49	6	the	the	DET
fcis-30832	49	7	weights	weight	NOUN
fcis-30832	49	8	in	in	ADP
fcis-30832	49	9	the	the	DET
fcis-30832	49	10	heuristic	heuristic	ADJ
fcis-30832	49	11	function	function	NOUN
fcis-30832	49	12	using	use	VERB
fcis-30832	49	13	an	an	DET
fcis-30832	49	14	exponential	exponential	ADJ
fcis-30832	49	15	function	function	NOUN
fcis-30832	49	16	.	.	PUNCT
fcis-30832	50	1	unlike	unlike	ADP
fcis-30832	50	2	the	the	DET
fcis-30832	50	3	linear	linear	ADJ
fcis-30832	50	4	adaptation	adaptation	NOUN
fcis-30832	50	5	strategy	strategy	NOUN
fcis-30832	50	6	,	,	PUNCT
fcis-30832	50	7	the	the	DET
fcis-30832	50	8	exponential	exponential	ADJ
fcis-30832	50	9	adaptation	adaptation	NOUN
fcis-30832	50	10	strategy	strategy	NOUN
fcis-30832	50	11	gradually	gradually	ADV
fcis-30832	50	12	adjusts	adjust	VERB
fcis-30832	50	13	the	the	DET
fcis-30832	50	14	weights	weight	NOUN
fcis-30832	50	15	using	use	VERB
fcis-30832	50	16	an	an	DET
fcis-30832	50	17	exponential	exponential	ADJ
fcis-30832	50	18	function	function	NOUN
fcis-30832	50	19	,	,	PUNCT
fcis-30832	50	20	making	make	VERB
fcis-30832	50	21	the	the	DET
fcis-30832	50	22	search	search	NOUN
fcis-30832	50	23	more	more	ADV
fcis-30832	50	24	biased	biased	ADJ
fcis-30832	50	25	towards	towards	ADP
fcis-30832	50	26	the	the	DET
fcis-30832	50	27	target	target	NOUN
fcis-30832	50	28	node	node	NOUN
fcis-30832	50	29	.	.	PUNCT
fcis-30832	51	1	as	as	SCONJ
fcis-30832	51	2	the	the	DET
fcis-30832	51	3	search	search	NOUN
fcis-30832	51	4	progresses	progress	VERB
fcis-30832	51	5	,	,	PUNCT
fcis-30832	51	6	the	the	DET
fcis-30832	51	7	exponential	exponential	ADJ
fcis-30832	51	8	function	function	NOUN
fcis-30832	51	9	can	can	AUX
fcis-30832	51	10	gradually	gradually	ADV
fcis-30832	51	11	adjust	adjust	VERB
fcis-30832	51	12	the	the	DET
fcis-30832	51	13	weights	weight	NOUN
fcis-30832	51	14	to	to	PART
fcis-30832	51	15	improve	improve	VERB
fcis-30832	51	16	the	the	DET
fcis-30832	51	17	search	search	NOUN
fcis-30832	51	18	efficiency	efficiency	NOUN
fcis-30832	51	19	of	of	ADP
fcis-30832	51	20	the	the	DET
fcis-30832	51	21	a	a	PROPN
fcis-30832	51	22	*	*	PROPN
fcis-30832	51	23	algorithm	algorithm	NOUN
fcis-30832	51	24	.	.	PUNCT
fcis-30832	52	1	the	the	DET
fcis-30832	52	2	main	main	ADJ
fcis-30832	52	3	research	research	NOUN
fcis-30832	52	4	content	content	NOUN
fcis-30832	52	5	of	of	ADP
fcis-30832	52	6	this	this	DET
fcis-30832	52	7	article	article	NOUN
fcis-30832	52	8	is	be	AUX
fcis-30832	52	9	summarized	summarize	VERB
fcis-30832	52	10	as	as	SCONJ
fcis-30832	52	11	follows	follow	VERB
fcis-30832	52	12	:	:	PUNCT
fcis-30832	52	13	·	·	PUNCT
fcis-30832	52	14	the	the	DET
fcis-30832	52	15	optimization	optimization	NOUN
fcis-30832	52	16	goal	goal	NOUN
fcis-30832	52	17	-	-	PUNCT
fcis-30832	52	18	oriented	orient	VERB
fcis-30832	52	19	strategy	strategy	NOUN
fcis-30832	52	20	gradually	gradually	ADV
fcis-30832	52	21	slows	slow	VERB
fcis-30832	52	22	down	down	ADP
fcis-30832	52	23	the	the	DET
fcis-30832	52	24	search	search	NOUN
fcis-30832	52	25	speed	speed	NOUN
fcis-30832	52	26	to	to	PART
fcis-30832	52	27	better	well	ADV
fcis-30832	52	28	match	match	VERB
fcis-30832	52	29	the	the	DET
fcis-30832	52	30	target	target	NOUN
fcis-30832	52	31	location	location	NOUN
fcis-30832	52	32	,	,	PUNCT
fcis-30832	52	33	and	and	CCONJ
fcis-30832	52	34	effectively	effectively	ADV
fcis-30832	52	35	guides	guide	VERB
fcis-30832	52	36	the	the	DET
fcis-30832	52	37	algorithm	algorithm	NOUN
fcis-30832	52	38	to	to	PART
fcis-30832	52	39	approach	approach	VERB
fcis-30832	52	40	the	the	DET
fcis-30832	52	41	target	target	NOUN
fcis-30832	52	42	point	point	NOUN
fcis-30832	52	43	using	use	VERB
fcis-30832	52	44	heuristic	heuristic	ADJ
fcis-30832	52	45	costs	cost	NOUN
fcis-30832	52	46	.	.	PUNCT
fcis-30832	53	1	·	·	PUNCT
fcis-30832	53	2	the	the	DET
fcis-30832	53	3	linear	linear	ADJ
fcis-30832	53	4	adaptation	adaptation	NOUN
fcis-30832	53	5	strategy	strategy	NOUN
fcis-30832	53	6	optimizes	optimize	VERB
fcis-30832	53	7	the	the	DET
fcis-30832	53	8	search	search	NOUN
fcis-30832	53	9	direction	direction	NOUN
fcis-30832	53	10	by	by	ADP
fcis-30832	53	11	dynamically	dynamically	ADV
fcis-30832	53	12	adjusting	adjust	VERB
fcis-30832	53	13	the	the	DET
fcis-30832	53	14	actual	actual	ADJ
fcis-30832	53	15	cost	cost	NOUN
fcis-30832	53	16	weight	weight	NOUN
fcis-30832	53	17	,	,	PUNCT
fcis-30832	53	18	reducing	reduce	VERB
fcis-30832	53	19	ineffective	ineffective	ADJ
fcis-30832	53	20	searches	search	NOUN
fcis-30832	53	21	.	.	PUNCT
fcis-30832	54	1	·	·	PUNCT
fcis-30832	54	2	the	the	DET
fcis-30832	54	3	exponential	exponential	ADJ
fcis-30832	54	4	adaptation	adaptation	NOUN
fcis-30832	54	5	strategy	strategy	NOUN
fcis-30832	54	6	dynamically	dynamically	ADV
fcis-30832	54	7	adjusts	adjust	VERB
fcis-30832	54	8	heuristic	heuristic	ADJ
fcis-30832	54	9	weights	weight	NOUN
fcis-30832	54	10	based	base	VERB
fcis-30832	54	11	on	on	ADP
fcis-30832	54	12	different	different	ADJ
fcis-30832	54	13	path	path	NOUN
fcis-30832	54	14	lengths	length	NOUN
fcis-30832	54	15	using	use	VERB
fcis-30832	54	16	an	an	DET
fcis-30832	54	17	exponential	exponential	ADJ
fcis-30832	54	18	function	function	NOUN
fcis-30832	54	19	,	,	PUNCT
fcis-30832	54	20	further	far	ADV
fcis-30832	54	21	improving	improve	VERB
fcis-30832	54	22	search	search	NOUN
fcis-30832	54	23	efficiency	efficiency	NOUN
fcis-30832	54	24	.	.	PUNCT
fcis-30832	55	1	these	these	DET
fcis-30832	55	2	strategies	strategy	NOUN
fcis-30832	55	3	collectively	collectively	ADV
fcis-30832	55	4	enhance	enhance	VERB
fcis-30832	55	5	the	the	DET
fcis-30832	55	6	performance	performance	NOUN
fcis-30832	55	7	and	and	CCONJ
fcis-30832	55	8	efficiency	efficiency	NOUN
fcis-30832	55	9	of	of	ADP
fcis-30832	55	10	the	the	DET
fcis-30832	55	11	algorithm	algorithm	NOUN
fcis-30832	55	12	.	.	PUNCT
fcis-30832	56	1	the	the	DET
fcis-30832	56	2	remaining	remain	VERB
fcis-30832	56	3	structure	structure	NOUN
fcis-30832	56	4	of	of	ADP
fcis-30832	56	5	this	this	DET
fcis-30832	56	6	paper	paper	NOUN
fcis-30832	56	7	is	be	AUX
fcis-30832	56	8	organized	organize	VERB
fcis-30832	56	9	as	as	SCONJ
fcis-30832	56	10	follows	follow	VERB
fcis-30832	56	11	:	:	PUNCT
fcis-30832	56	12	section	section	NOUN
fcis-30832	56	13	optimize	optimize	NOUN
fcis-30832	56	14	a	a	DET
fcis-30832	56	15	*	*	PUNCT
fcis-30832	56	16	algorithm	algorithm	NOUN
fcis-30832	56	17	introduces	introduce	VERB
fcis-30832	56	18	the	the	DET
fcis-30832	56	19	theoretical	theoretical	ADJ
fcis-30832	56	20	framework	framework	NOUN
fcis-30832	56	21	of	of	ADP
fcis-30832	56	22	the	the	DET
fcis-30832	56	23	innovative	innovative	ADJ
fcis-30832	56	24	a	a	PRON
fcis-30832	56	25	*	*	ADJ
fcis-30832	56	26	algorithm	algorithm	NOUN
fcis-30832	56	27	,	,	PUNCT
fcis-30832	56	28	section	section	NOUN
fcis-30832	56	29	simulation	simulation	NOUN
fcis-30832	56	30	analysis	analysis	NOUN
fcis-30832	56	31	verifies	verifie	NOUN
fcis-30832	56	32	the	the	DET
fcis-30832	56	33	feasibility	feasibility	NOUN
fcis-30832	56	34	of	of	ADP
fcis-30832	56	35	the	the	DET
fcis-30832	56	36	algorithm	algorithm	NOUN
fcis-30832	56	37	innovation	innovation	NOUN
fcis-30832	56	38	through	through	ADP
fcis-30832	56	39	simulation	simulation	NOUN
fcis-30832	56	40	experiments	experiment	NOUN
fcis-30832	56	41	,	,	PUNCT
fcis-30832	56	42	and	and	CCONJ
fcis-30832	56	43	section	section	NOUN
fcis-30832	56	44	conclusion	conclusion	NOUN
fcis-30832	56	45	discusses	discuss	VERB
fcis-30832	56	46	future	future	ADJ
fcis-30832	56	47	research	research	NOUN
fcis-30832	56	48	directions	direction	NOUN
fcis-30832	56	49	and	and	CCONJ
fcis-30832	56	50	suggestions	suggestion	NOUN
fcis-30832	56	51	.	.	PUNCT
fcis-30832	57	1	2	2	X
fcis-30832	57	2	.	.	X
fcis-30832	57	3	optimize	optimize	VERB
fcis-30832	57	4	a	a	DET
fcis-30832	57	5	*	*	PUNCT
fcis-30832	57	6	algorithm	algorithm	NOUN
fcis-30832	57	7	the	the	DET
fcis-30832	57	8	a	a	PROPN
fcis-30832	57	9	*	*	ADJ
fcis-30832	57	10	algorithm	algorithm	NOUN
fcis-30832	57	11	is	be	AUX
fcis-30832	57	12	a	a	DET
fcis-30832	57	13	shortest	short	ADJ
fcis-30832	57	14	path	path	NOUN
fcis-30832	57	15	finding	find	VERB
fcis-30832	57	16	algorithm	algorithm	NOUN
fcis-30832	57	17	in	in	ADP
fcis-30832	57	18	graphs	graph	NOUN
fcis-30832	57	19	that	that	PRON
fcis-30832	57	20	is	be	AUX
fcis-30832	57	21	developed	develop	VERB
fcis-30832	57	22	from	from	ADP
fcis-30832	57	23	the	the	DET
fcis-30832	57	24	dijkstra	dijkstra	PROPN
fcis-30832	57	25	's	's	PART
fcis-30832	57	26	algorithm	algorithm	NOUN
fcis-30832	57	27	.	.	PUNCT
fcis-30832	58	1	unlike	unlike	ADP
fcis-30832	58	2	dijkstra	dijkstra	PROPN
fcis-30832	58	3	's	's	PART
fcis-30832	58	4	algorithm	algorithm	NOUN
fcis-30832	58	5	,	,	PUNCT
fcis-30832	58	6	the	the	DET
fcis-30832	58	7	a	a	PROPN
fcis-30832	58	8	*	*	ADJ
fcis-30832	58	9	algorithm	algorithm	NOUN
fcis-30832	58	10	not	not	PART
fcis-30832	58	11	only	only	ADV
fcis-30832	58	12	considers	consider	VERB
fcis-30832	58	13	the	the	DET
fcis-30832	58	14	distance	distance	NOUN
fcis-30832	58	15	from	from	ADP
fcis-30832	58	16	the	the	DET
fcis-30832	58	17	starting	start	VERB
fcis-30832	58	18	node	node	NOUN
fcis-30832	58	19	to	to	ADP
fcis-30832	58	20	the	the	DET
fcis-30832	58	21	candidate	candidate	NOUN
fcis-30832	58	22	node	node	NOUN
fcis-30832	58	23	but	but	CCONJ
fcis-30832	58	24	also	also	ADV
fcis-30832	58	25	takes	take	VERB
fcis-30832	58	26	into	into	ADP
fcis-30832	58	27	account	account	NOUN
fcis-30832	58	28	the	the	DET
fcis-30832	58	29	estimated	estimate	VERB
fcis-30832	58	30	distance	distance	NOUN
fcis-30832	58	31	from	from	ADP
fcis-30832	58	32	the	the	DET
fcis-30832	58	33	current	current	ADJ
fcis-30832	58	34	node	node	NOUN
fcis-30832	58	35	to	to	ADP
fcis-30832	58	36	the	the	DET
fcis-30832	58	37	goal	goal	NOUN
fcis-30832	58	38	node	node	NOUN
fcis-30832	58	39	.	.	PUNCT
fcis-30832	59	1	the	the	DET
fcis-30832	59	2	advantage	advantage	NOUN
fcis-30832	59	3	of	of	ADP
fcis-30832	59	4	the	the	DET
fcis-30832	59	5	a	a	PROPN
fcis-30832	59	6	*	*	ADJ
fcis-30832	59	7	algorithm	algorithm	NOUN
fcis-30832	59	8	is	be	AUX
fcis-30832	59	9	that	that	SCONJ
fcis-30832	59	10	it	it	PRON
fcis-30832	59	11	guarantees	guarantee	VERB
fcis-30832	59	12	to	to	PART
fcis-30832	59	13	find	find	VERB
fcis-30832	59	14	the	the	DET
fcis-30832	59	15	optimal	optimal	ADJ
fcis-30832	59	16	solution	solution	NOUN
fcis-30832	59	17	,	,	PUNCT
fcis-30832	59	18	and	and	CCONJ
fcis-30832	59	19	it	it	PRON
fcis-30832	59	20	can	can	AUX
fcis-30832	59	21	effectively	effectively	ADV
fcis-30832	59	22	prune	prune	VERB
fcis-30832	59	23	the	the	DET
fcis-30832	59	24	search	search	NOUN
fcis-30832	59	25	process	process	NOUN
fcis-30832	59	26	,	,	PUNCT
fcis-30832	59	27	avoiding	avoid	VERB
fcis-30832	59	28	the	the	DET
fcis-30832	59	29	exploration	exploration	NOUN
fcis-30832	59	30	of	of	ADP
fcis-30832	59	31	invalid	invalid	ADJ
fcis-30832	59	32	states	state	NOUN
fcis-30832	59	33	.	.	PUNCT
fcis-30832	60	1	the	the	DET
fcis-30832	60	2	evaluation	evaluation	NOUN
fcis-30832	60	3	function	function	NOUN
fcis-30832	60	4	of	of	ADP
fcis-30832	60	5	the	the	DET
fcis-30832	60	6	a	a	PROPN
fcis-30832	60	7	*	*	ADJ
fcis-30832	60	8	algorithm	algorithm	NOUN
fcis-30832	60	9	is	be	AUX
fcis-30832	60	10	as	as	SCONJ
fcis-30832	60	11	follows	follow	VERB
fcis-30832	60	12	:	:	PUNCT
fcis-30832	60	13	)	)	PUNCT
fcis-30832	60	14	(	(	PUNCT
fcis-30832	60	15	)	)	PUNCT
fcis-30832	60	16	(	(	PUNCT
fcis-30832	60	17	)	)	PUNCT
fcis-30832	60	18	(	(	PUNCT
fcis-30832	60	19	ngnhnf	ngnhnf	ADJ
fcis-30832	60	20			ADJ
fcis-30832	60	21	(	(	PUNCT
fcis-30832	60	22	1	1	NUM
fcis-30832	60	23	)	)	PUNCT
fcis-30832	60	24	in	in	ADP
fcis-30832	60	25	the	the	DET
fcis-30832	60	26	a	a	PROPN
fcis-30832	60	27	*	*	X
fcis-30832	60	28	algorithm	algorithm	NOUN
fcis-30832	60	29	,	,	PUNCT
fcis-30832	60	30	the	the	DET
fcis-30832	60	31	evaluation	evaluation	NOUN
fcis-30832	60	32	function	function	NOUN
fcis-30832	60	33	f(n	f(n	PROPN
fcis-30832	60	34	)	)	PUNCT
fcis-30832	60	35	represents	represent	VERB
fcis-30832	60	36	an	an	DET
fcis-30832	60	37	estimated	estimate	VERB
fcis-30832	60	38	value	value	NOUN
fcis-30832	60	39	of	of	ADP
fcis-30832	60	40	the	the	DET
fcis-30832	60	41	minimum	minimum	ADJ
fcis-30832	60	42	cost	cost	NOUN
fcis-30832	60	43	path	path	NOUN
fcis-30832	60	44	from	from	ADP
fcis-30832	60	45	the	the	DET
fcis-30832	60	46	starting	start	VERB
fcis-30832	60	47	node	node	NOUN
fcis-30832	60	48	to	to	ADP
fcis-30832	60	49	the	the	DET
fcis-30832	60	50	goal	goal	NOUN
fcis-30832	60	51	node	node	VERB
fcis-30832	60	52	through	through	ADP
fcis-30832	60	53	node	node	PROPN
fcis-30832	60	54	n.	n.	PROPN
fcis-30832	60	55	this	this	DET
fcis-30832	60	56	function	function	NOUN
fcis-30832	60	57	is	be	AUX
fcis-30832	60	58	composed	compose	VERB
fcis-30832	60	59	of	of	ADP
fcis-30832	60	60	two	two	NUM
fcis-30832	60	61	parts	part	NOUN
fcis-30832	60	62	:	:	PUNCT
fcis-30832	60	63	h(n	h(n	PROPN
fcis-30832	60	64	)	)	PUNCT
fcis-30832	60	65	,	,	PUNCT
fcis-30832	60	66	which	which	PRON
fcis-30832	60	67	represents	represent	VERB
fcis-30832	60	68	the	the	DET
fcis-30832	60	69	actual	actual	ADJ
fcis-30832	60	70	cost	cost	NOUN
fcis-30832	60	71	of	of	ADP
fcis-30832	60	72	the	the	DET
fcis-30832	60	73	path	path	NOUN
fcis-30832	60	74	traveled	travel	VERB
fcis-30832	60	75	from	from	ADP
fcis-30832	60	76	the	the	DET
fcis-30832	60	77	starting	start	VERB
fcis-30832	60	78	node	node	NOUN
fcis-30832	60	79	to	to	PART
fcis-30832	60	80	node	node	VERB
fcis-30832	60	81	n	n	CCONJ
fcis-30832	60	82	,	,	PUNCT
fcis-30832	60	83	and	and	CCONJ
fcis-30832	60	84	g(n	g(n	PROPN
fcis-30832	60	85	)	)	PUNCT
fcis-30832	60	86	,	,	PUNCT
fcis-30832	60	87	which	which	PRON
fcis-30832	60	88	is	be	AUX
fcis-30832	60	89	an	an	DET
fcis-30832	60	90	estimate	estimate	NOUN
fcis-30832	60	91	of	of	ADP
fcis-30832	60	92	the	the	DET
fcis-30832	60	93	potential	potential	ADJ
fcis-30832	60	94	optimal	optimal	ADJ
fcis-30832	60	95	cost	cost	NOUN
fcis-30832	60	96	path	path	NOUN
fcis-30832	60	97	from	from	ADP
fcis-30832	60	98	node	node	PROPN
fcis-30832	60	99	n	n	CCONJ
fcis-30832	60	100	to	to	ADP
fcis-30832	60	101	the	the	DET
fcis-30832	60	102	goal	goal	NOUN
fcis-30832	60	103	node	node	NOUN
fcis-30832	60	104	.	.	PUNCT
fcis-30832	61	1	the	the	DET
fcis-30832	61	2	function	function	PROPN
fcis-30832	61	3	g(n	g(n	PROPN
fcis-30832	61	4	)	)	PUNCT
fcis-30832	61	5	reflects	reflect	VERB
fcis-30832	61	6	the	the	DET
fcis-30832	61	7	heuristic	heuristic	ADJ
fcis-30832	61	8	information	information	NOUN
fcis-30832	61	9	used	use	VERB
fcis-30832	61	10	by	by	ADP
fcis-30832	61	11	the	the	DET
fcis-30832	61	12	algorithm	algorithm	NOUN
fcis-30832	61	13	,	,	PUNCT
fcis-30832	61	14	derived	derive	VERB
fcis-30832	61	15	from	from	ADP
fcis-30832	61	16	people	people	NOUN
fcis-30832	61	17	's	's	PART
fcis-30832	61	18	understanding	understanding	NOUN
fcis-30832	61	19	of	of	ADP
fcis-30832	61	20	path	path	NOUN
fcis-30832	61	21	planning	planning	NOUN
fcis-30832	61	22	problems	problem	NOUN
fcis-30832	61	23	and	and	CCONJ
fcis-30832	61	24	based	base	VERB
fcis-30832	61	25	on	on	ADP
fcis-30832	61	26	certain	certain	ADJ
fcis-30832	61	27	empirical	empirical	ADJ
fcis-30832	61	28	estimates	estimate	NOUN
fcis-30832	61	29	.	.	PUNCT
fcis-30832	62	1	based	base	VERB
fcis-30832	62	2	on	on	ADP
fcis-30832	62	3	f(n	f(n	PROPN
fcis-30832	62	4	)	)	PUNCT
fcis-30832	62	5	,	,	PUNCT
fcis-30832	62	6	the	the	DET
fcis-30832	62	7	cost	cost	NOUN
fcis-30832	62	8	of	of	ADP
fcis-30832	62	9	the	the	DET
fcis-30832	62	10	current	current	ADJ
fcis-30832	62	11	node	node	NOUN
fcis-30832	62	12	can	can	AUX
fcis-30832	62	13	be	be	AUX
fcis-30832	62	14	calculated	calculate	VERB
fcis-30832	62	15	,	,	PUNCT
fcis-30832	62	16	and	and	CCONJ
fcis-30832	62	17	the	the	DET
fcis-30832	62	18	next	next	ADJ
fcis-30832	62	19	reachable	reachable	ADJ
fcis-30832	62	20	nodes	node	NOUN
fcis-30832	62	21	can	can	AUX
fcis-30832	62	22	be	be	AUX
fcis-30832	62	23	evaluated	evaluate	VERB
fcis-30832	62	24	.	.	PUNCT
fcis-30832	63	1	by	by	ADP
fcis-30832	63	2	consistently	consistently	ADV
fcis-30832	63	3	selecting	select	VERB
fcis-30832	63	4	the	the	DET
fcis-30832	63	5	node	node	NOUN
fcis-30832	63	6	with	with	ADP
fcis-30832	63	7	the	the	DET
fcis-30832	63	8	lowest	low	ADJ
fcis-30832	63	9	f(n	f(n	PROPN
fcis-30832	63	10	)	)	PUNCT
fcis-30832	63	11	value	value	NOUN
fcis-30832	63	12	to	to	PART
fcis-30832	63	13	continue	continue	VERB
fcis-30832	63	14	the	the	DET
fcis-30832	63	15	search	search	NOUN
fcis-30832	63	16	,	,	PUNCT
fcis-30832	63	17	the	the	DET
fcis-30832	63	18	algorithm	algorithm	NOUN
fcis-30832	63	19	gradually	gradually	ADV
fcis-30832	63	20	finds	find	VERB
fcis-30832	63	21	the	the	DET
fcis-30832	63	22	optimal	optimal	ADJ
fcis-30832	63	23	path	path	NOUN
fcis-30832	63	24	step	step	NOUN
fcis-30832	63	25	by	by	ADP
fcis-30832	63	26	step	step	NOUN
fcis-30832	63	27	.	.	PUNCT
fcis-30832	64	1	in	in	ADP
fcis-30832	64	2	the	the	DET
fcis-30832	64	3	context	context	NOUN
fcis-30832	64	4	of	of	ADP
fcis-30832	64	5	raster	raster	NOUN
fcis-30832	64	6	maps	map	NOUN
fcis-30832	64	7	,	,	PUNCT
fcis-30832	64	8	heuristic	heuristic	ADJ
fcis-30832	64	9	functions	function	NOUN
fcis-30832	64	10	usually	usually	ADV
fcis-30832	64	11	have	have	VERB
fcis-30832	64	12	three	three	NUM
fcis-30832	64	13	different	different	ADJ
fcis-30832	64	14	distance	distance	NOUN
fcis-30832	64	15	models	model	NOUN
fcis-30832	64	16	:	:	PUNCT
fcis-30832	64	17	(	(	PUNCT
fcis-30832	64	18	1	1	X
fcis-30832	64	19	)	)	PUNCT
fcis-30832	64	20	manhattan	manhattan	PROPN
fcis-30832	64	21	distance	distance	NOUN
fcis-30832	64	22	the	the	DET
fcis-30832	64	23	hamanton	hamanton	NOUN
fcis-30832	64	24	distance	distance	NOUN
fcis-30832	64	25	is	be	AUX
fcis-30832	64	26	calculated	calculate	VERB
fcis-30832	64	27	based	base	VERB
fcis-30832	64	28	on	on	ADP
fcis-30832	64	29	the	the	DET
fcis-30832	64	30	straightline	straightline	NOUN
fcis-30832	64	31	distance	distance	NOUN
fcis-30832	64	32	between	between	ADP
fcis-30832	64	33	two	two	NUM
fcis-30832	64	34	points	point	NOUN
fcis-30832	64	35	,	,	PUNCT
fcis-30832	64	36	regardless	regardless	ADV
fcis-30832	64	37	of	of	ADP
fcis-30832	64	38	obstacles	obstacle	NOUN
fcis-30832	64	39	,	,	PUNCT
fcis-30832	64	40	and	and	CCONJ
fcis-30832	64	41	is	be	AUX
fcis-30832	64	42	the	the	DET
fcis-30832	64	43	most	most	ADV
fcis-30832	64	44	intuitive	intuitive	ADJ
fcis-30832	64	45	but	but	CCONJ
fcis-30832	64	46	may	may	AUX
fcis-30832	64	47	not	not	PART
fcis-30832	64	48	be	be	AUX
fcis-30832	64	49	very	very	ADV
fcis-30832	64	50	accurate	accurate	ADJ
fcis-30832	64	51	model	model	NOUN
fcis-30832	64	52	.	.	PUNCT
fcis-30832	65	1	usually	usually	ADV
fcis-30832	65	2	,	,	PUNCT
fcis-30832	65	3	the	the	DET
fcis-30832	65	4	position	position	NOUN
fcis-30832	65	5	where	where	SCONJ
fcis-30832	65	6	the	the	DET
fcis-30832	65	7	robot	robot	NOUN
fcis-30832	65	8	is	be	AUX
fcis-30832	65	9	located	locate	VERB
fcis-30832	65	10	is	be	AUX
fcis-30832	65	11	identified	identify	VERB
fcis-30832	65	12	as	as	ADP
fcis-30832	65	13	the	the	DET
fcis-30832	65	14	current	current	ADJ
fcis-30832	65	15	location	location	NOUN
fcis-30832	65	16	node	node	NOUN
fcis-30832	65	17	,	,	PUNCT
fcis-30832	65	18	and	and	CCONJ
fcis-30832	65	19	the	the	DET
fcis-30832	65	20	point	point	NOUN
fcis-30832	65	21	expected	expect	VERB
fcis-30832	65	22	to	to	PART
fcis-30832	65	23	reach	reach	VERB
fcis-30832	65	24	is	be	AUX
fcis-30832	65	25	defined	define	VERB
fcis-30832	65	26	as	as	ADP
fcis-30832	65	27	the	the	DET
fcis-30832	65	28	target	target	NOUN
fcis-30832	65	29	node	node	NOUN
fcis-30832	65	30	.	.	PUNCT
fcis-30832	66	1	when	when	SCONJ
fcis-30832	66	2	the	the	DET
fcis-30832	66	3	robot	robot	NOUN
fcis-30832	66	4	can	can	AUX
fcis-30832	66	5	only	only	ADV
fcis-30832	66	6	move	move	VERB
fcis-30832	66	7	along	along	ADP
fcis-30832	66	8	the	the	DET
fcis-30832	66	9	four	four	NUM
fcis-30832	66	10	basic	basic	ADJ
fcis-30832	66	11	directions	direction	NOUN
fcis-30832	66	12	(	(	PUNCT
fcis-30832	66	13	i.	i.	PROPN
fcis-30832	66	14	e.	e.	PROPN
fcis-30832	66	15	,	,	PUNCT
fcis-30832	66	16	front	front	ADJ
fcis-30832	66	17	,	,	PUNCT
fcis-30832	66	18	back	back	ADV
fcis-30832	66	19	,	,	PUNCT
fcis-30832	66	20	left	leave	VERB
fcis-30832	66	21	,	,	PUNCT
fcis-30832	66	22	right	right	ADJ
fcis-30832	66	23	)	)	PUNCT
fcis-30832	66	24	,	,	PUNCT
fcis-30832	66	25	the	the	DET
fcis-30832	66	26	hammanton	hammanton	PROPN
fcis-30832	66	27	distance	distance	NOUN
fcis-30832	66	28	is	be	AUX
fcis-30832	66	29	chosen	choose	VERB
fcis-30832	66	30	as	as	ADP
fcis-30832	66	31	the	the	DET
fcis-30832	66	32	heuristic	heuristic	ADJ
fcis-30832	66	33	function	function	NOUN
fcis-30832	66	34	.	.	PUNCT
fcis-30832	66	35	)	)	PUNCT
fcis-30832	67	1	(	(	PUNCT
fcis-30832	67	2	)	)	PUNCT
fcis-30832	67	3	(	(	PUNCT
fcis-30832	67	4	)	)	PUNCT
fcis-30832	67	5	(	(	PUNCT
fcis-30832	67	6	gynyabsgxnxabsnh	gynyabsgxnxabsnh	PART
fcis-30832	67	7			PROPN
fcis-30832	67	8	(	(	PUNCT
fcis-30832	67	9	2	2	NUM
fcis-30832	67	10	)	)	PUNCT
fcis-30832	67	11	(	(	PUNCT
fcis-30832	67	12	2	2	X
fcis-30832	67	13	)	)	PUNCT
fcis-30832	67	14	chebyshev	chebyshev	NOUN
fcis-30832	67	15	distance	distance	NOUN
fcis-30832	67	16	chebyshev	chebyshev	NOUN
fcis-30832	67	17	distance	distance	NOUN
fcis-30832	67	18	measures	measure	VERB
fcis-30832	67	19	the	the	DET
fcis-30832	67	20	maximum	maximum	ADJ
fcis-30832	67	21	difference	difference	NOUN
fcis-30832	67	22	between	between	ADP
fcis-30832	67	23	the	the	DET
fcis-30832	67	24	current	current	ADJ
fcis-30832	67	25	position	position	NOUN
fcis-30832	67	26	coordinates	coordinate	NOUN
fcis-30832	67	27	and	and	CCONJ
fcis-30832	67	28	the	the	DET
fcis-30832	67	29	target	target	NOUN
fcis-30832	67	30	position	position	NOUN
fcis-30832	67	31	coordinates	coordinate	NOUN
fcis-30832	67	32	in	in	ADP
fcis-30832	67	33	all	all	DET
fcis-30832	67	34	dimensions	dimension	NOUN
fcis-30832	67	35	.	.	PUNCT
fcis-30832	68	1	it	it	PRON
fcis-30832	68	2	fully	fully	ADV
fcis-30832	68	3	considers	consider	VERB
fcis-30832	68	4	the	the	DET
fcis-30832	68	5	possibility	possibility	NOUN
fcis-30832	68	6	of	of	ADP
fcis-30832	68	7	diagonal	diagonal	ADJ
fcis-30832	68	8	movement	movement	NOUN
fcis-30832	68	9	,	,	PUNCT
fcis-30832	68	10	so	so	CCONJ
fcis-30832	68	11	it	it	PRON
fcis-30832	68	12	is	be	AUX
fcis-30832	68	13	suitable	suitable	ADJ
fcis-30832	68	14	for	for	ADP
fcis-30832	68	15	robots	robot	NOUN
fcis-30832	68	16	with	with	ADP
fcis-30832	68	17	a	a	DET
fcis-30832	68	18	higher	high	ADJ
fcis-30832	68	19	flexibility	flexibility	NOUN
fcis-30832	68	20	to	to	PART
fcis-30832	68	21	move	move	VERB
fcis-30832	68	22	.	.	PUNCT
fcis-30832	69	1	usually	usually	ADV
fcis-30832	69	2	used	use	VERB
fcis-30832	69	3	for	for	ADP
fcis-30832	69	4	robots	robot	NOUN
fcis-30832	69	5	that	that	PRON
fcis-30832	69	6	allow	allow	VERB
fcis-30832	69	7	diagonal	diagonal	ADJ
fcis-30832	69	8	movement	movement	NOUN
fcis-30832	69	9	,	,	PUNCT
fcis-30832	69	10	it	it	PRON
fcis-30832	69	11	is	be	AUX
fcis-30832	69	12	computationally	computationally	ADV
fcis-30832	69	13	slightly	slightly	ADV
fcis-30832	69	14	more	more	ADJ
fcis-30832	69	15	11	11	NUM
fcis-30832	69	16	complex	complex	ADJ
fcis-30832	69	17	than	than	ADP
fcis-30832	69	18	manhattan	manhattan	PROPN
fcis-30832	69	19	distances	distance	NOUN
fcis-30832	69	20	.	.	PUNCT
fcis-30832	70	1			NOUN
fcis-30832	70	2			NOUN
fcis-30832	70	3			PROPN
fcis-30832	70	4			PROPN
fcis-30832	70	5			PROPN
fcis-30832	70	6			NOUN
fcis-30832	70	7			PROPN
fcis-30832	70	8			PROPN
fcis-30832	70	9			NUM
fcis-30832	70	10	)	)	PUNCT
fcis-30832	70	11	(	(	PUNCT
fcis-30832	70	12	)	)	PUNCT
fcis-30832	70	13	,	,	PUNCT
fcis-30832	70	14	(	(	PUNCT
fcis-30832	70	15	max	max	PROPN
fcis-30832	70	16	)	)	PUNCT
fcis-30832	70	17	(	(	PUNCT
fcis-30832	70	18	gynyabs	gynyabs	PROPN
fcis-30832	70	19	gxnxabs	gxnxabs	PROPN
fcis-30832	70	20	nh	nh	PROPN
fcis-30832	70	21	(	(	PUNCT
fcis-30832	70	22	3	3	NUM
fcis-30832	70	23	)	)	PUNCT
fcis-30832	70	24	where	where	SCONJ
fcis-30832	70	25	,	,	PUNCT
fcis-30832	70	26	)	)	PUNCT
fcis-30832	70	27	,	,	PUNCT
fcis-30832	70	28	nynx	nynx	PROPN
fcis-30832	70	29	（	（	PUNCT
fcis-30832	70	30	represents	represent	VERB
fcis-30832	70	31	the	the	DET
fcis-30832	70	32	current	current	ADJ
fcis-30832	70	33	position	position	NOUN
fcis-30832	70	34	and	and	CCONJ
fcis-30832	70	35	coordinate	coordinate	NOUN
fcis-30832	70	36	of	of	ADP
fcis-30832	70	37	the	the	DET
fcis-30832	70	38	robot	robot	NOUN
fcis-30832	70	39	,	,	PUNCT
fcis-30832	70	40	)	)	PUNCT
fcis-30832	70	41	,	,	PUNCT
fcis-30832	70	42	gygx	gygx	PROPN
fcis-30832	70	43	（	（	PUNCT
fcis-30832	70	44	representing	represent	VERB
fcis-30832	70	45	the	the	DET
fcis-30832	70	46	target	target	NOUN
fcis-30832	70	47	position	position	NOUN
fcis-30832	70	48	of	of	ADP
fcis-30832	70	49	the	the	DET
fcis-30832	70	50	robot	robot	NOUN
fcis-30832	70	51	.	.	PUNCT
fcis-30832	71	1	when	when	SCONJ
fcis-30832	71	2	the	the	DET
fcis-30832	71	3	robot	robot	NOUN
fcis-30832	71	4	can	can	AUX
fcis-30832	71	5	move	move	VERB
fcis-30832	71	6	freely	freely	ADV
fcis-30832	71	7	in	in	ADP
fcis-30832	71	8	eight	eight	NUM
fcis-30832	71	9	directions	direction	NOUN
fcis-30832	71	10	(	(	PUNCT
fcis-30832	71	11	including	include	VERB
fcis-30832	71	12	diagonal	diagonal	ADJ
fcis-30832	71	13	,	,	PUNCT
fcis-30832	71	14	vertical	vertical	ADJ
fcis-30832	71	15	and	and	CCONJ
fcis-30832	71	16	horizontal	horizontal	ADJ
fcis-30832	71	17	directions	direction	NOUN
fcis-30832	71	18	)	)	PUNCT
fcis-30832	71	19	,	,	PUNCT
fcis-30832	71	20	it	it	PRON
fcis-30832	71	21	is	be	AUX
fcis-30832	71	22	appropriate	appropriate	ADJ
fcis-30832	71	23	to	to	PART
fcis-30832	71	24	choose	choose	VERB
fcis-30832	71	25	the	the	DET
fcis-30832	71	26	chebyshev	chebyshev	NOUN
fcis-30832	71	27	distance	distance	NOUN
fcis-30832	71	28	as	as	ADP
fcis-30832	71	29	a	a	DET
fcis-30832	71	30	heuristic	heuristic	ADJ
fcis-30832	71	31	function	function	NOUN
fcis-30832	71	32	.	.	PUNCT
fcis-30832	72	1	chebyshev	chebyshev	NOUN
fcis-30832	72	2	distance	distance	NOUN
fcis-30832	72	3	measures	measure	VERB
fcis-30832	72	4	the	the	DET
fcis-30832	72	5	maximum	maximum	ADJ
fcis-30832	72	6	difference	difference	NOUN
fcis-30832	72	7	between	between	ADP
fcis-30832	72	8	the	the	DET
fcis-30832	72	9	current	current	ADJ
fcis-30832	72	10	position	position	NOUN
fcis-30832	72	11	coordinates	coordinate	NOUN
fcis-30832	72	12	and	and	CCONJ
fcis-30832	72	13	the	the	DET
fcis-30832	72	14	target	target	NOUN
fcis-30832	72	15	position	position	NOUN
fcis-30832	72	16	coordinates	coordinate	NOUN
fcis-30832	72	17	in	in	ADP
fcis-30832	72	18	all	all	DET
fcis-30832	72	19	dimensions	dimension	NOUN
fcis-30832	72	20	.	.	PUNCT
fcis-30832	73	1	it	it	PRON
fcis-30832	73	2	fully	fully	ADV
fcis-30832	73	3	considers	consider	VERB
fcis-30832	73	4	the	the	DET
fcis-30832	73	5	possibility	possibility	NOUN
fcis-30832	73	6	of	of	ADP
fcis-30832	73	7	diagonal	diagonal	ADJ
fcis-30832	73	8	movement	movement	NOUN
fcis-30832	73	9	,	,	PUNCT
fcis-30832	73	10	and	and	CCONJ
fcis-30832	73	11	therefore	therefore	ADV
fcis-30832	73	12	is	be	AUX
fcis-30832	73	13	suitable	suitable	ADJ
fcis-30832	73	14	for	for	ADP
fcis-30832	73	15	robots	robot	NOUN
fcis-30832	73	16	with	with	ADP
fcis-30832	73	17	higher	high	ADJ
fcis-30832	73	18	mobility	mobility	NOUN
fcis-30832	73	19	flexibility	flexibility	NOUN
fcis-30832	73	20	.	.	PUNCT
fcis-30832	74	1	(	(	PUNCT
fcis-30832	74	2	3	3	X
fcis-30832	74	3	)	)	PUNCT
fcis-30832	74	4	euclidean	euclidean	ADJ
fcis-30832	74	5	distance	distance	NOUN
fcis-30832	74	6	considering	consider	VERB
fcis-30832	74	7	the	the	DET
fcis-30832	74	8	grid	grid	NOUN
fcis-30832	74	9	structure	structure	NOUN
fcis-30832	74	10	of	of	ADP
fcis-30832	74	11	the	the	DET
fcis-30832	74	12	raster	raster	PROPN
fcis-30832	74	13	map	map	NOUN
fcis-30832	74	14	,	,	PUNCT
fcis-30832	74	15	calculated	calculate	VERB
fcis-30832	74	16	according	accord	VERB
fcis-30832	74	17	to	to	ADP
fcis-30832	74	18	the	the	DET
fcis-30832	74	19	number	number	NOUN
fcis-30832	74	20	of	of	ADP
fcis-30832	74	21	steps	step	NOUN
fcis-30832	74	22	needed	need	VERB
fcis-30832	74	23	to	to	PART
fcis-30832	74	24	move	move	VERB
fcis-30832	74	25	in	in	ADP
fcis-30832	74	26	the	the	DET
fcis-30832	74	27	horizontal	horizontal	ADJ
fcis-30832	74	28	and	and	CCONJ
fcis-30832	74	29	vertical	vertical	ADJ
fcis-30832	74	30	directions	direction	NOUN
fcis-30832	74	31	,	,	PUNCT
fcis-30832	74	32	it	it	PRON
fcis-30832	74	33	is	be	AUX
fcis-30832	74	34	suitable	suitable	ADJ
fcis-30832	74	35	for	for	ADP
fcis-30832	74	36	robots	robot	NOUN
fcis-30832	74	37	that	that	PRON
fcis-30832	74	38	can	can	AUX
fcis-30832	74	39	only	only	ADV
fcis-30832	74	40	move	move	VERB
fcis-30832	74	41	along	along	ADP
fcis-30832	74	42	the	the	DET
fcis-30832	74	43	grid	grid	NOUN
fcis-30832	74	44	direction	direction	NOUN
fcis-30832	74	45	.	.	PUNCT
fcis-30832	74	46	)	)	PUNCT
fcis-30832	75	1	(	(	PUNCT
fcis-30832	75	2	)	)	PUNCT
fcis-30832	75	3	(	(	PUNCT
fcis-30832	75	4	22	22	NUM
fcis-30832	75	5	)	)	PUNCT
fcis-30832	75	6	(	(	PUNCT
fcis-30832	75	7	gynygxnxnh	gynygxnxnh	NOUN
fcis-30832	75	8			PUNCT
fcis-30832	75	9			ADJ
fcis-30832	75	10	(	(	PUNCT
fcis-30832	75	11	4	4	NUM
fcis-30832	75	12	)	)	PUNCT
fcis-30832	75	13	when	when	SCONJ
fcis-30832	75	14	the	the	DET
fcis-30832	75	15	robot	robot	NOUN
fcis-30832	75	16	can	can	AUX
fcis-30832	75	17	move	move	VERB
fcis-30832	75	18	randomly	randomly	ADV
fcis-30832	75	19	,	,	PUNCT
fcis-30832	75	20	using	use	VERB
fcis-30832	75	21	the	the	DET
fcis-30832	75	22	euclidean	euclidean	ADJ
fcis-30832	75	23	distance	distance	NOUN
fcis-30832	75	24	.	.	PUNCT
fcis-30832	76	1	the	the	DET
fcis-30832	76	2	flowchart	flowchart	NOUN
fcis-30832	76	3	of	of	ADP
fcis-30832	76	4	the	the	DET
fcis-30832	76	5	a	a	PROPN
fcis-30832	76	6	*	*	ADJ
fcis-30832	76	7	algorithm	algorithm	NOUN
fcis-30832	76	8	is	be	AUX
fcis-30832	76	9	shown	show	VERB
fcis-30832	76	10	in	in	ADP
fcis-30832	76	11	figure	figure	NOUN
fcis-30832	76	12	1	1	NUM
fcis-30832	76	13	,	,	PUNCT
fcis-30832	76	14	and	and	CCONJ
fcis-30832	76	15	its	its	PRON
fcis-30832	76	16	specific	specific	ADJ
fcis-30832	76	17	execution	execution	NOUN
fcis-30832	76	18	process	process	NOUN
fcis-30832	76	19	is	be	AUX
fcis-30832	76	20	as	as	SCONJ
fcis-30832	76	21	follows	follow	VERB
fcis-30832	76	22	:	:	PUNCT
fcis-30832	76	23	firstly	firstly	ADV
fcis-30832	76	24	,	,	PUNCT
fcis-30832	76	25	the	the	DET
fcis-30832	76	26	positions	position	NOUN
fcis-30832	76	27	of	of	ADP
fcis-30832	76	28	the	the	DET
fcis-30832	76	29	start	start	NOUN
fcis-30832	76	30	node	node	NOUN
fcis-30832	76	31	and	and	CCONJ
fcis-30832	76	32	the	the	DET
fcis-30832	76	33	goal	goal	NOUN
fcis-30832	76	34	node	node	NOUN
fcis-30832	76	35	are	be	AUX
fcis-30832	76	36	determined	determine	VERB
fcis-30832	76	37	as	as	ADP
fcis-30832	76	38	the	the	DET
fcis-30832	76	39	starting	starting	NOUN
fcis-30832	76	40	point	point	NOUN
fcis-30832	76	41	and	and	CCONJ
fcis-30832	76	42	endpoint	endpoint	VERB
fcis-30832	76	43	for	for	ADP
fcis-30832	76	44	path	path	NOUN
fcis-30832	76	45	planning	planning	NOUN
fcis-30832	76	46	.	.	PUNCT
fcis-30832	77	1	next	next	ADV
fcis-30832	77	2	,	,	PUNCT
fcis-30832	77	3	two	two	NUM
fcis-30832	77	4	lists	list	NOUN
fcis-30832	77	5	are	be	AUX
fcis-30832	77	6	initialized	initialize	VERB
fcis-30832	77	7	:	:	PUNCT
fcis-30832	77	8	the	the	DET
fcis-30832	77	9	open	open	ADJ
fcis-30832	77	10	list	list	NOUN
fcis-30832	77	11	is	be	AUX
fcis-30832	77	12	used	use	VERB
fcis-30832	77	13	to	to	PART
fcis-30832	77	14	store	store	VERB
fcis-30832	77	15	the	the	DET
fcis-30832	77	16	nodes	node	NOUN
fcis-30832	77	17	to	to	PART
fcis-30832	77	18	be	be	AUX
fcis-30832	77	19	examined	examine	VERB
fcis-30832	77	20	,	,	PUNCT
fcis-30832	77	21	while	while	SCONJ
fcis-30832	77	22	the	the	DET
fcis-30832	77	23	closed	closed	ADJ
fcis-30832	77	24	list	list	NOUN
fcis-30832	77	25	is	be	AUX
fcis-30832	77	26	used	use	VERB
fcis-30832	77	27	to	to	PART
fcis-30832	77	28	record	record	VERB
fcis-30832	77	29	the	the	DET
fcis-30832	77	30	nodes	node	NOUN
fcis-30832	77	31	that	that	PRON
fcis-30832	77	32	have	have	AUX
fcis-30832	77	33	already	already	ADV
fcis-30832	77	34	been	be	AUX
fcis-30832	77	35	examined	examine	VERB
fcis-30832	77	36	.	.	PUNCT
fcis-30832	78	1	subsequently	subsequently	ADV
fcis-30832	78	2	,	,	PUNCT
fcis-30832	78	3	the	the	DET
fcis-30832	78	4	a	a	PROPN
fcis-30832	78	5	*	*	ADJ
fcis-30832	78	6	algorithm	algorithm	NOUN
fcis-30832	78	7	begins	begin	VERB
fcis-30832	78	8	to	to	PART
fcis-30832	78	9	run	run	VERB
fcis-30832	78	10	,	,	PUNCT
fcis-30832	78	11	traversing	traverse	VERB
fcis-30832	78	12	the	the	DET
fcis-30832	78	13	nodes	node	NOUN
fcis-30832	78	14	around	around	ADP
fcis-30832	78	15	the	the	DET
fcis-30832	78	16	start	start	NOUN
fcis-30832	78	17	node	node	NOUN
fcis-30832	78	18	and	and	CCONJ
fcis-30832	78	19	selecting	select	VERB
fcis-30832	78	20	the	the	DET
fcis-30832	78	21	node	node	NOUN
fcis-30832	78	22	with	with	ADP
fcis-30832	78	23	the	the	DET
fcis-30832	78	24	minimum	minimum	ADJ
fcis-30832	78	25	cost	cost	NOUN
fcis-30832	78	26	as	as	ADP
fcis-30832	78	27	the	the	DET
fcis-30832	78	28	next	next	ADJ
fcis-30832	78	29	search	search	NOUN
fcis-30832	78	30	target	target	NOUN
fcis-30832	78	31	based	base	VERB
fcis-30832	78	32	on	on	ADP
fcis-30832	78	33	certain	certain	ADJ
fcis-30832	78	34	evaluation	evaluation	NOUN
fcis-30832	78	35	criteria	criterion	NOUN
fcis-30832	78	36	.	.	PUNCT
fcis-30832	79	1	this	this	DET
fcis-30832	79	2	process	process	NOUN
fcis-30832	79	3	is	be	AUX
fcis-30832	79	4	repeated	repeat	VERB
fcis-30832	79	5	as	as	SCONJ
fcis-30832	79	6	the	the	DET
fcis-30832	79	7	path	path	NOUN
fcis-30832	79	8	nodes	node	NOUN
fcis-30832	79	9	are	be	AUX
fcis-30832	79	10	gradually	gradually	ADV
fcis-30832	79	11	determined	determine	VERB
fcis-30832	79	12	.	.	PUNCT
fcis-30832	80	1	the	the	DET
fcis-30832	80	2	algorithm	algorithm	NOUN
fcis-30832	80	3	continuously	continuously	ADV
fcis-30832	80	4	selects	select	VERB
fcis-30832	80	5	nodes	node	NOUN
fcis-30832	80	6	from	from	ADP
fcis-30832	80	7	the	the	DET
fcis-30832	80	8	open	open	ADJ
fcis-30832	80	9	list	list	NOUN
fcis-30832	80	10	,	,	PUNCT
fcis-30832	80	11	examines	examine	VERB
fcis-30832	80	12	their	their	PRON
fcis-30832	80	13	surrounding	surround	VERB
fcis-30832	80	14	nodes	node	NOUN
fcis-30832	80	15	,	,	PUNCT
fcis-30832	80	16	and	and	CCONJ
fcis-30832	80	17	updates	update	VERB
fcis-30832	80	18	the	the	DET
fcis-30832	80	19	open	open	ADJ
fcis-30832	80	20	list	list	NOUN
fcis-30832	80	21	and	and	CCONJ
fcis-30832	80	22	closed	closed	ADJ
fcis-30832	80	23	list	list	NOUN
fcis-30832	80	24	until	until	SCONJ
fcis-30832	80	25	the	the	DET
fcis-30832	80	26	goal	goal	NOUN
fcis-30832	80	27	position	position	NOUN
fcis-30832	80	28	is	be	AUX
fcis-30832	80	29	finally	finally	ADV
fcis-30832	80	30	reached	reach	VERB
fcis-30832	80	31	,	,	PUNCT
fcis-30832	80	32	finding	find	VERB
fcis-30832	80	33	the	the	DET
fcis-30832	80	34	optimal	optimal	ADJ
fcis-30832	80	35	path	path	NOUN
fcis-30832	80	36	from	from	ADP
fcis-30832	80	37	the	the	DET
fcis-30832	80	38	start	start	NOUN
fcis-30832	80	39	node	node	NOUN
fcis-30832	80	40	to	to	ADP
fcis-30832	80	41	the	the	DET
fcis-30832	80	42	goal	goal	NOUN
fcis-30832	80	43	node	node	NOUN
fcis-30832	80	44	.	.	PUNCT
fcis-30832	81	1	figure	figure	NOUN
fcis-30832	81	2	1	1	NUM
fcis-30832	81	3	.	.	PUNCT
fcis-30832	82	1	flow	flow	VERB
fcis-30832	82	2	chart	chart	NOUN
fcis-30832	82	3	of	of	ADP
fcis-30832	82	4	the	the	DET
fcis-30832	82	5	a	a	DET
fcis-30832	82	6	*	*	PUNCT
fcis-30832	82	7	algorithm	algorithm	NOUN
fcis-30832	82	8	a	a	DET
fcis-30832	82	9	*	*	PUNCT
fcis-30832	82	10	algorithm	algorithm	NOUN
fcis-30832	82	11	is	be	AUX
fcis-30832	82	12	widely	widely	ADV
fcis-30832	82	13	used	use	VERB
fcis-30832	82	14	in	in	ADP
fcis-30832	82	15	the	the	DET
fcis-30832	82	16	field	field	NOUN
fcis-30832	82	17	of	of	ADP
fcis-30832	82	18	robot	robot	NOUN
fcis-30832	82	19	path	path	NOUN
fcis-30832	82	20	planning	planning	NOUN
fcis-30832	82	21	.	.	PUNCT
fcis-30832	83	1	when	when	SCONJ
fcis-30832	83	2	the	the	DET
fcis-30832	83	3	algorithm	algorithm	NOUN
fcis-30832	83	4	is	be	AUX
fcis-30832	83	5	applied	apply	VERB
fcis-30832	83	6	to	to	ADP
fcis-30832	83	7	the	the	DET
fcis-30832	83	8	petroleum	petroleum	NOUN
fcis-30832	83	9	analysis	analysis	NOUN
fcis-30832	83	10	scenario	scenario	NOUN
fcis-30832	83	11	,	,	PUNCT
fcis-30832	83	12	the	the	DET
fcis-30832	83	13	searched	search	VERB
fcis-30832	83	14	path	path	NOUN
fcis-30832	83	15	still	still	ADV
fcis-30832	83	16	has	have	VERB
fcis-30832	83	17	disadvantages	disadvantage	NOUN
fcis-30832	83	18	such	such	ADJ
fcis-30832	83	19	as	as	ADP
fcis-30832	83	20	excessive	excessive	ADJ
fcis-30832	83	21	bending	bending	NOUN
fcis-30832	83	22	,	,	PUNCT
fcis-30832	83	23	too	too	ADV
fcis-30832	83	24	long	long	ADJ
fcis-30832	83	25	planning	planning	NOUN
fcis-30832	83	26	time	time	NOUN
fcis-30832	83	27	,	,	PUNCT
fcis-30832	83	28	and	and	CCONJ
fcis-30832	83	29	weak	weak	ADJ
fcis-30832	83	30	path	path	NOUN
fcis-30832	83	31	search	search	NOUN
fcis-30832	83	32	direction	direction	NOUN
fcis-30832	83	33	.	.	PUNCT
fcis-30832	84	1	therefore	therefore	ADV
fcis-30832	84	2	,	,	PUNCT
fcis-30832	84	3	the	the	DET
fcis-30832	84	4	algorithm	algorithm	NOUN
fcis-30832	84	5	needs	need	VERB
fcis-30832	84	6	to	to	PART
fcis-30832	84	7	be	be	AUX
fcis-30832	84	8	optimized	optimize	VERB
fcis-30832	84	9	.	.	PUNCT
fcis-30832	85	1	3	3	X
fcis-30832	85	2	.	.	X
fcis-30832	85	3	optimization	optimization	NOUN
fcis-30832	85	4	goal	goal	NOUN
fcis-30832	85	5	-	-	PUNCT
fcis-30832	85	6	directed	direct	VERB
fcis-30832	85	7	strategy	strategy	NOUN
fcis-30832	85	8	the	the	DET
fcis-30832	85	9	goal	goal	NOUN
fcis-30832	85	10	-	-	PUNCT
fcis-30832	85	11	directed	direct	VERB
fcis-30832	85	12	strategy	strategy	NOUN
fcis-30832	85	13	for	for	ADP
fcis-30832	85	14	path	path	NOUN
fcis-30832	85	15	search	search	NOUN
fcis-30832	85	16	is	be	AUX
fcis-30832	85	17	a	a	DET
fcis-30832	85	18	method	method	NOUN
fcis-30832	85	19	that	that	PRON
fcis-30832	85	20	guides	guide	VERB
fcis-30832	85	21	the	the	DET
fcis-30832	85	22	search	search	NOUN
fcis-30832	85	23	process	process	NOUN
fcis-30832	85	24	by	by	ADP
fcis-30832	85	25	utilizing	utilize	VERB
fcis-30832	85	26	information	information	NOUN
fcis-30832	85	27	about	about	ADP
fcis-30832	85	28	the	the	DET
fcis-30832	85	29	target	target	NOUN
fcis-30832	85	30	and	and	CCONJ
fcis-30832	85	31	the	the	DET
fcis-30832	85	32	current	current	ADJ
fcis-30832	85	33	location	location	NOUN
fcis-30832	85	34	.	.	PUNCT
fcis-30832	86	1	the	the	DET
fcis-30832	86	2	main	main	ADJ
fcis-30832	86	3	idea	idea	NOUN
fcis-30832	86	4	behind	behind	ADP
fcis-30832	86	5	this	this	DET
fcis-30832	86	6	strategy	strategy	NOUN
fcis-30832	86	7	is	be	AUX
fcis-30832	86	8	to	to	PART
fcis-30832	86	9	prioritize	prioritize	VERB
fcis-30832	86	10	paths	path	NOUN
fcis-30832	86	11	or	or	CCONJ
fcis-30832	86	12	regions	region	NOUN
fcis-30832	86	13	that	that	PRON
fcis-30832	86	14	are	be	AUX
fcis-30832	86	15	more	more	ADV
fcis-30832	86	16	likely	likely	ADJ
fcis-30832	86	17	to	to	PART
fcis-30832	86	18	lead	lead	VERB
fcis-30832	86	19	to	to	ADP
fcis-30832	86	20	the	the	DET
fcis-30832	86	21	target	target	NOUN
fcis-30832	86	22	node	node	NOUN
fcis-30832	86	23	.	.	PUNCT
fcis-30832	87	1	heuristic	heuristic	ADJ
fcis-30832	87	2	search	search	NOUN
fcis-30832	87	3	is	be	AUX
fcis-30832	87	4	a	a	DET
fcis-30832	87	5	common	common	ADJ
fcis-30832	87	6	example	example	NOUN
fcis-30832	87	7	12	12	NUM
fcis-30832	87	8	of	of	ADP
fcis-30832	87	9	a	a	DET
fcis-30832	87	10	goal	goal	NOUN
fcis-30832	87	11	-	-	PUNCT
fcis-30832	87	12	directed	direct	VERB
fcis-30832	87	13	strategy	strategy	NOUN
fcis-30832	87	14	.	.	PUNCT
fcis-30832	88	1	in	in	ADP
fcis-30832	88	2	this	this	DET
fcis-30832	88	3	method	method	NOUN
fcis-30832	88	4	,	,	PUNCT
fcis-30832	88	5	a	a	DET
fcis-30832	88	6	heuristic	heuristic	ADJ
fcis-30832	88	7	function	function	NOUN
fcis-30832	88	8	is	be	AUX
fcis-30832	88	9	used	use	VERB
fcis-30832	88	10	to	to	PART
fcis-30832	88	11	estimate	estimate	VERB
fcis-30832	88	12	the	the	DET
fcis-30832	88	13	cost	cost	NOUN
fcis-30832	88	14	from	from	ADP
fcis-30832	88	15	the	the	DET
fcis-30832	88	16	current	current	ADJ
fcis-30832	88	17	node	node	NOUN
fcis-30832	88	18	to	to	ADP
fcis-30832	88	19	the	the	DET
fcis-30832	88	20	target	target	NOUN
fcis-30832	88	21	.	.	PUNCT
fcis-30832	89	1	the	the	DET
fcis-30832	89	2	search	search	NOUN
fcis-30832	89	3	algorithm	algorithm	NOUN
fcis-30832	89	4	preferentially	preferentially	ADV
fcis-30832	89	5	selects	select	VERB
fcis-30832	89	6	nodes	node	NOUN
fcis-30832	89	7	with	with	ADP
fcis-30832	89	8	lower	low	ADJ
fcis-30832	89	9	heuristic	heuristic	ADJ
fcis-30832	89	10	costs	cost	NOUN
fcis-30832	89	11	,	,	PUNCT
fcis-30832	89	12	enabling	enable	VERB
fcis-30832	89	13	a	a	DET
fcis-30832	89	14	faster	fast	ADJ
fcis-30832	89	15	approach	approach	NOUN
fcis-30832	89	16	towards	towards	ADP
fcis-30832	89	17	the	the	DET
fcis-30832	89	18	target	target	NOUN
fcis-30832	89	19	.	.	PUNCT
fcis-30832	90	1	the	the	DET
fcis-30832	90	2	optimized	optimize	VERB
fcis-30832	90	3	goal	goal	NOUN
fcis-30832	90	4	-	-	PUNCT
fcis-30832	90	5	directed	direct	VERB
fcis-30832	90	6	strategy	strategy	NOUN
fcis-30832	90	7	for	for	ADP
fcis-30832	90	8	path	path	NOUN
fcis-30832	90	9	search	search	NOUN
fcis-30832	90	10	mainly	mainly	ADV
fcis-30832	90	11	focuses	focus	VERB
fcis-30832	90	12	on	on	ADP
fcis-30832	90	13	how	how	SCONJ
fcis-30832	90	14	to	to	PART
fcis-30832	90	15	more	more	ADV
fcis-30832	90	16	effectively	effectively	ADV
fcis-30832	90	17	utilize	utilize	VERB
fcis-30832	90	18	target	target	NOUN
fcis-30832	90	19	information	information	NOUN
fcis-30832	90	20	to	to	PART
fcis-30832	90	21	guide	guide	VERB
fcis-30832	90	22	the	the	DET
fcis-30832	90	23	robot	robot	NOUN
fcis-30832	90	24	's	's	PART
fcis-30832	90	25	search	search	NOUN
fcis-30832	90	26	process	process	NOUN
fcis-30832	90	27	from	from	ADP
fcis-30832	90	28	its	its	PRON
fcis-30832	90	29	current	current	ADJ
fcis-30832	90	30	location	location	NOUN
fcis-30832	90	31	,	,	PUNCT
fcis-30832	90	32	in	in	ADP
fcis-30832	90	33	order	order	NOUN
fcis-30832	90	34	to	to	PART
fcis-30832	90	35	find	find	VERB
fcis-30832	90	36	high	high	ADJ
fcis-30832	90	37	-	-	PUNCT
fcis-30832	90	38	quality	quality	NOUN
fcis-30832	90	39	paths	path	NOUN
fcis-30832	90	40	more	more	ADV
fcis-30832	90	41	quickly	quickly	ADV
fcis-30832	90	42	.	.	PUNCT
fcis-30832	91	1	to	to	PART
fcis-30832	91	2	optimize	optimize	VERB
fcis-30832	91	3	the	the	DET
fcis-30832	91	4	directionality	directionality	NOUN
fcis-30832	91	5	of	of	ADP
fcis-30832	91	6	the	the	DET
fcis-30832	91	7	path	path	NOUN
fcis-30832	91	8	search	search	NOUN
fcis-30832	91	9	,	,	PUNCT
fcis-30832	91	10	a	a	DET
fcis-30832	91	11	squared	squared	ADJ
fcis-30832	91	12	term	term	NOUN
fcis-30832	91	13	is	be	AUX
fcis-30832	91	14	added	add	VERB
fcis-30832	91	15	to	to	ADP
fcis-30832	91	16	the	the	DET
fcis-30832	91	17	distance	distance	NOUN
fcis-30832	91	18	function	function	NOUN
fcis-30832	91	19	g(n	g(n	PROPN
fcis-30832	91	20	)	)	PUNCT
fcis-30832	91	21	in	in	ADP
fcis-30832	91	22	the	the	DET
fcis-30832	91	23	heuristic	heuristic	ADJ
fcis-30832	91	24	function	function	NOUN
fcis-30832	91	25	.	.	PUNCT
fcis-30832	92	1	this	this	PRON
fcis-30832	92	2	is	be	AUX
fcis-30832	92	3	because	because	SCONJ
fcis-30832	92	4	the	the	DET
fcis-30832	92	5	squared	squared	ADJ
fcis-30832	92	6	term	term	NOUN
fcis-30832	92	7	imposes	impose	VERB
fcis-30832	92	8	a	a	DET
fcis-30832	92	9	stricter	strict	ADJ
fcis-30832	92	10	penalty	penalty	NOUN
fcis-30832	92	11	on	on	ADP
fcis-30832	92	12	distance	distance	NOUN
fcis-30832	92	13	,	,	PUNCT
fcis-30832	92	14	making	make	VERB
fcis-30832	92	15	the	the	DET
fcis-30832	92	16	search	search	NOUN
fcis-30832	92	17	algorithm	algorithm	NOUN
fcis-30832	92	18	more	more	ADV
fcis-30832	92	19	inclined	inclined	ADJ
fcis-30832	92	20	to	to	PART
fcis-30832	92	21	choose	choose	VERB
fcis-30832	92	22	paths	path	NOUN
fcis-30832	92	23	that	that	PRON
fcis-30832	92	24	are	be	AUX
fcis-30832	92	25	closer	close	ADJ
fcis-30832	92	26	to	to	ADP
fcis-30832	92	27	the	the	DET
fcis-30832	92	28	target	target	NOUN
fcis-30832	92	29	.	.	PUNCT
fcis-30832	93	1	this	this	DET
fcis-30832	93	2	adjustment	adjustment	NOUN
fcis-30832	93	3	allows	allow	VERB
fcis-30832	93	4	the	the	DET
fcis-30832	93	5	search	search	NOUN
fcis-30832	93	6	algorithm	algorithm	NOUN
fcis-30832	93	7	to	to	PART
fcis-30832	93	8	focus	focus	VERB
fcis-30832	93	9	more	more	ADV
fcis-30832	93	10	on	on	ADP
fcis-30832	93	11	the	the	DET
fcis-30832	93	12	target	target	NOUN
fcis-30832	93	13	direction	direction	NOUN
fcis-30832	93	14	,	,	PUNCT
fcis-30832	93	15	reducing	reduce	VERB
fcis-30832	93	16	unnecessary	unnecessary	ADJ
fcis-30832	93	17	searches	search	NOUN
fcis-30832	93	18	and	and	CCONJ
fcis-30832	93	19	deviations	deviation	NOUN
fcis-30832	93	20	from	from	ADP
fcis-30832	93	21	the	the	DET
fcis-30832	93	22	target	target	NOUN
fcis-30832	93	23	.	.	PUNCT
fcis-30832	94	1	by	by	ADP
fcis-30832	94	2	adding	add	VERB
fcis-30832	94	3	the	the	DET
fcis-30832	94	4	squared	squared	ADJ
fcis-30832	94	5	term	term	NOUN
fcis-30832	94	6	,	,	PUNCT
fcis-30832	94	7	the	the	DET
fcis-30832	94	8	heuristic	heuristic	ADJ
fcis-30832	94	9	function	function	NOUN
fcis-30832	94	10	can	can	AUX
fcis-30832	94	11	better	well	ADV
fcis-30832	94	12	reflect	reflect	VERB
fcis-30832	94	13	the	the	DET
fcis-30832	94	14	cost	cost	NOUN
fcis-30832	94	15	of	of	ADP
fcis-30832	94	16	the	the	DET
fcis-30832	94	17	predicted	predict	VERB
fcis-30832	94	18	path	path	NOUN
fcis-30832	94	19	and	and	CCONJ
fcis-30832	94	20	guide	guide	VERB
fcis-30832	94	21	the	the	DET
fcis-30832	94	22	search	search	NOUN
fcis-30832	94	23	process	process	NOUN
fcis-30832	94	24	to	to	PART
fcis-30832	94	25	approach	approach	VERB
fcis-30832	94	26	the	the	DET
fcis-30832	94	27	target	target	NOUN
fcis-30832	94	28	more	more	ADV
fcis-30832	94	29	efficiently	efficiently	ADV
fcis-30832	94	30	.	.	PUNCT
fcis-30832	95	1	this	this	DET
fcis-30832	95	2	adjustment	adjustment	NOUN
fcis-30832	95	3	has	have	VERB
fcis-30832	95	4	a	a	DET
fcis-30832	95	5	positive	positive	ADJ
fcis-30832	95	6	impact	impact	NOUN
fcis-30832	95	7	on	on	ADP
fcis-30832	95	8	improving	improve	VERB
fcis-30832	95	9	the	the	DET
fcis-30832	95	10	accuracy	accuracy	NOUN
fcis-30832	95	11	and	and	CCONJ
fcis-30832	95	12	efficiency	efficiency	NOUN
fcis-30832	95	13	of	of	ADP
fcis-30832	95	14	path	path	NOUN
fcis-30832	95	15	search	search	NOUN
fcis-30832	95	16	.	.	PUNCT
fcis-30832	96	1	2	2	NUM
fcis-30832	96	2	）	）	NUM
fcis-30832	96	3	（	（	PUNCT
fcis-30832	96	4	ostheuristiccsthistoriccototalcost	ostheuristiccsthistoriccototalcost	NOUN
fcis-30832	96	5			ADJ
fcis-30832	96	6	(	(	PUNCT
fcis-30832	96	7	5	5	NUM
fcis-30832	96	8	)	)	PUNCT
fcis-30832	96	9	in	in	ADP
fcis-30832	96	10	this	this	DET
fcis-30832	96	11	context	context	NOUN
fcis-30832	96	12	,	,	PUNCT
fcis-30832	96	13	"	"	PUNCT
fcis-30832	96	14	totalcost	totalcost	NOUN
fcis-30832	96	15	"	"	PUNCT
fcis-30832	96	16	represents	represent	VERB
fcis-30832	96	17	the	the	DET
fcis-30832	96	18	estimated	estimate	VERB
fcis-30832	96	19	cost	cost	NOUN
fcis-30832	96	20	of	of	ADP
fcis-30832	96	21	the	the	DET
fcis-30832	96	22	path	path	NOUN
fcis-30832	96	23	from	from	ADP
fcis-30832	96	24	the	the	DET
fcis-30832	96	25	starting	starting	NOUN
fcis-30832	96	26	point	point	NOUN
fcis-30832	96	27	to	to	ADP
fcis-30832	96	28	the	the	DET
fcis-30832	96	29	endpoint	endpoint	NOUN
fcis-30832	96	30	,	,	PUNCT
fcis-30832	96	31	"	"	PUNCT
fcis-30832	96	32	historiccost	historiccost	PRON
fcis-30832	96	33	"	"	PUNCT
fcis-30832	96	34	denotes	denote	VERB
fcis-30832	96	35	the	the	DET
fcis-30832	96	36	cost	cost	NOUN
fcis-30832	96	37	of	of	ADP
fcis-30832	96	38	the	the	DET
fcis-30832	96	39	already	already	ADV
fcis-30832	96	40	traversed	traverse	VERB
fcis-30832	96	41	path	path	NOUN
fcis-30832	96	42	,	,	PUNCT
fcis-30832	96	43	and	and	CCONJ
fcis-30832	96	44	"	"	PUNCT
fcis-30832	96	45	heuristiccost	heuristiccost	NOUN
fcis-30832	96	46	"	"	PUNCT
fcis-30832	96	47	refers	refer	VERB
fcis-30832	96	48	to	to	ADP
fcis-30832	96	49	the	the	DET
fcis-30832	96	50	estimated	estimate	VERB
fcis-30832	96	51	cost	cost	NOUN
fcis-30832	96	52	of	of	ADP
fcis-30832	96	53	the	the	DET
fcis-30832	96	54	path	path	NOUN
fcis-30832	96	55	from	from	ADP
fcis-30832	96	56	the	the	DET
fcis-30832	96	57	current	current	ADJ
fcis-30832	96	58	node	node	NOUN
fcis-30832	96	59	to	to	ADP
fcis-30832	96	60	the	the	DET
fcis-30832	96	61	endpoint	endpoint	NOUN
fcis-30832	96	62	.	.	PUNCT
fcis-30832	97	1	the	the	DET
fcis-30832	97	2	node	node	NOUN
fcis-30832	97	3	with	with	ADP
fcis-30832	97	4	the	the	DET
fcis-30832	97	5	lowest	low	ADJ
fcis-30832	97	6	"	"	PUNCT
fcis-30832	97	7	totalcost	totalcost	ADJ
fcis-30832	97	8	"	"	PUNCT
fcis-30832	97	9	value	value	NOUN
fcis-30832	97	10	is	be	AUX
fcis-30832	97	11	selected	select	VERB
fcis-30832	97	12	as	as	ADP
fcis-30832	97	13	the	the	DET
fcis-30832	97	14	optimal	optimal	ADJ
fcis-30832	97	15	node	node	NOUN
fcis-30832	97	16	,	,	PUNCT
fcis-30832	97	17	which	which	PRON
fcis-30832	97	18	represents	represent	VERB
fcis-30832	97	19	the	the	DET
fcis-30832	97	20	next	next	ADJ
fcis-30832	97	21	path	path	NOUN
fcis-30832	97	22	node	node	NOUN
fcis-30832	97	23	to	to	PART
fcis-30832	97	24	be	be	AUX
fcis-30832	97	25	followed	follow	VERB
fcis-30832	97	26	.	.	PUNCT
fcis-30832	98	1	this	this	DET
fcis-30832	98	2	goal	goal	NOUN
fcis-30832	98	3	optimization	optimization	NOUN
fcis-30832	98	4	strategy	strategy	NOUN
fcis-30832	98	5	gradually	gradually	ADV
fcis-30832	98	6	reduces	reduce	VERB
fcis-30832	98	7	its	its	PRON
fcis-30832	98	8	effectiveness	effectiveness	NOUN
fcis-30832	98	9	as	as	SCONJ
fcis-30832	98	10	the	the	DET
fcis-30832	98	11	target	target	NOUN
fcis-30832	98	12	location	location	NOUN
fcis-30832	98	13	is	be	AUX
fcis-30832	98	14	approached	approach	VERB
fcis-30832	98	15	,	,	PUNCT
fcis-30832	98	16	slowing	slow	VERB
fcis-30832	98	17	down	down	ADP
fcis-30832	98	18	the	the	DET
fcis-30832	98	19	search	search	NOUN
fcis-30832	98	20	speed	speed	NOUN
fcis-30832	98	21	and	and	CCONJ
fcis-30832	98	22	focusing	focus	VERB
fcis-30832	98	23	the	the	DET
fcis-30832	98	24	search	search	NOUN
fcis-30832	98	25	process	process	NOUN
fcis-30832	98	26	more	more	ADJ
fcis-30832	98	27	on	on	ADP
fcis-30832	98	28	finding	find	VERB
fcis-30832	98	29	the	the	DET
fcis-30832	98	30	target	target	NOUN
fcis-30832	98	31	point	point	NOUN
fcis-30832	98	32	.	.	PUNCT
fcis-30832	99	1	this	this	DET
fcis-30832	99	2	adjustment	adjustment	NOUN
fcis-30832	99	3	allows	allow	VERB
fcis-30832	99	4	the	the	DET
fcis-30832	99	5	algorithm	algorithm	NOUN
fcis-30832	99	6	to	to	PART
fcis-30832	99	7	better	well	ADV
fcis-30832	99	8	adapt	adapt	VERB
fcis-30832	99	9	to	to	ADP
fcis-30832	99	10	the	the	DET
fcis-30832	99	11	search	search	NOUN
fcis-30832	99	12	for	for	ADP
fcis-30832	99	13	the	the	DET
fcis-30832	99	14	target	target	NOUN
fcis-30832	99	15	point	point	NOUN
fcis-30832	99	16	,	,	PUNCT
fcis-30832	99	17	improving	improve	VERB
fcis-30832	99	18	the	the	DET
fcis-30832	99	19	accuracy	accuracy	NOUN
fcis-30832	99	20	and	and	CCONJ
fcis-30832	99	21	efficiency	efficiency	NOUN
fcis-30832	99	22	of	of	ADP
fcis-30832	99	23	the	the	DET
fcis-30832	99	24	search	search	NOUN
fcis-30832	99	25	.	.	PUNCT
fcis-30832	100	1	by	by	ADP
fcis-30832	100	2	employing	employ	VERB
fcis-30832	100	3	this	this	DET
fcis-30832	100	4	optimization	optimization	NOUN
fcis-30832	100	5	strategy	strategy	NOUN
fcis-30832	100	6	,	,	PUNCT
fcis-30832	100	7	the	the	DET
fcis-30832	100	8	goal	goal	NOUN
fcis-30832	100	9	-	-	PUNCT
fcis-30832	100	10	directed	direct	VERB
fcis-30832	100	11	path	path	NOUN
fcis-30832	100	12	search	search	NOUN
fcis-30832	100	13	can	can	AUX
fcis-30832	100	14	better	well	ADV
fcis-30832	100	15	handle	handle	VERB
fcis-30832	100	16	complex	complex	ADJ
fcis-30832	100	17	environments	environment	NOUN
fcis-30832	100	18	and	and	CCONJ
fcis-30832	100	19	changes	change	NOUN
fcis-30832	100	20	,	,	PUNCT
fcis-30832	100	21	enhancing	enhance	VERB
fcis-30832	100	22	the	the	DET
fcis-30832	100	23	accuracy	accuracy	NOUN
fcis-30832	100	24	and	and	CCONJ
fcis-30832	100	25	efficiency	efficiency	NOUN
fcis-30832	100	26	of	of	ADP
fcis-30832	100	27	the	the	DET
fcis-30832	100	28	search	search	NOUN
fcis-30832	100	29	.	.	PUNCT
fcis-30832	101	1	this	this	DET
fcis-30832	101	2	enhancement	enhancement	NOUN
fcis-30832	101	3	method	method	NOUN
fcis-30832	101	4	is	be	AUX
fcis-30832	101	5	significant	significant	ADJ
fcis-30832	101	6	in	in	ADP
fcis-30832	101	7	many	many	ADJ
fcis-30832	101	8	practical	practical	ADJ
fcis-30832	101	9	applications	application	NOUN
fcis-30832	101	10	,	,	PUNCT
fcis-30832	101	11	such	such	ADJ
fcis-30832	101	12	as	as	ADP
fcis-30832	101	13	autonomous	autonomous	ADJ
fcis-30832	101	14	driving	driving	NOUN
fcis-30832	101	15	,	,	PUNCT
fcis-30832	101	16	robot	robot	NOUN
fcis-30832	101	17	navigation	navigation	NOUN
fcis-30832	101	18	,	,	PUNCT
fcis-30832	101	19	and	and	CCONJ
fcis-30832	101	20	logistics	logistic	NOUN
fcis-30832	101	21	delivery	delivery	NOUN
fcis-30832	101	22	.	.	PUNCT
fcis-30832	102	1	4	4	X
fcis-30832	102	2	.	.	X
fcis-30832	102	3	optimization	optimization	NOUN
fcis-30832	102	4	of	of	ADP
fcis-30832	102	5	goal	goal	NOUN
fcis-30832	102	6	-	-	PUNCT
fcis-30832	102	7	directed	direct	VERB
fcis-30832	102	8	strategy	strategy	NOUN
fcis-30832	102	9	with	with	ADP
fcis-30832	102	10	linear	linear	ADJ
fcis-30832	102	11	adaptation	adaptation	NOUN
fcis-30832	102	12	during	during	ADP
fcis-30832	102	13	the	the	DET
fcis-30832	102	14	process	process	NOUN
fcis-30832	102	15	of	of	ADP
fcis-30832	102	16	path	path	NOUN
fcis-30832	102	17	planning	planning	NOUN
fcis-30832	102	18	,	,	PUNCT
fcis-30832	102	19	the	the	DET
fcis-30832	102	20	strategy	strategy	NOUN
fcis-30832	102	21	of	of	ADP
fcis-30832	102	22	optimizing	optimize	VERB
fcis-30832	102	23	goal	goal	NOUN
fcis-30832	102	24	-	-	PUNCT
fcis-30832	102	25	directedness	directedness	NOUN
fcis-30832	102	26	utilizes	utilizes	ADJ
fcis-30832	102	27	target	target	NOUN
fcis-30832	102	28	information	information	NOUN
fcis-30832	102	29	to	to	PART
fcis-30832	102	30	guide	guide	VERB
fcis-30832	102	31	the	the	DET
fcis-30832	102	32	search	search	NOUN
fcis-30832	102	33	process	process	NOUN
fcis-30832	102	34	.	.	PUNCT
fcis-30832	103	1	by	by	ADP
fcis-30832	103	2	dynamically	dynamically	ADV
fcis-30832	103	3	adjusting	adjust	VERB
fcis-30832	103	4	goaldirected	goaldirecte	VERB
fcis-30832	103	5	parameters	parameter	NOUN
fcis-30832	103	6	,	,	PUNCT
fcis-30832	103	7	the	the	DET
fcis-30832	103	8	algorithm	algorithm	NOUN
fcis-30832	103	9	can	can	AUX
fcis-30832	103	10	adaptively	adaptively	ADV
fcis-30832	103	11	modify	modify	VERB
fcis-30832	103	12	the	the	DET
fcis-30832	103	13	search	search	NOUN
fcis-30832	103	14	progress	progress	NOUN
fcis-30832	103	15	based	base	VERB
fcis-30832	103	16	on	on	ADP
fcis-30832	103	17	changes	change	NOUN
fcis-30832	103	18	in	in	ADP
fcis-30832	103	19	positional	positional	ADJ
fcis-30832	103	20	distance	distance	NOUN
fcis-30832	103	21	,	,	PUNCT
fcis-30832	103	22	ensuring	ensure	VERB
fcis-30832	103	23	that	that	SCONJ
fcis-30832	103	24	the	the	DET
fcis-30832	103	25	search	search	NOUN
fcis-30832	103	26	always	always	ADV
fcis-30832	103	27	proceeds	proceed	VERB
fcis-30832	103	28	in	in	ADP
fcis-30832	103	29	the	the	DET
fcis-30832	103	30	most	most	ADV
fcis-30832	103	31	promising	promising	ADJ
fcis-30832	103	32	direction	direction	NOUN
fcis-30832	103	33	.	.	PUNCT
fcis-30832	104	1	this	this	PRON
fcis-30832	104	2	further	far	ADV
fcis-30832	104	3	enhances	enhance	VERB
fcis-30832	104	4	the	the	DET
fcis-30832	104	5	efficiency	efficiency	NOUN
fcis-30832	104	6	of	of	ADP
fcis-30832	104	7	path	path	NOUN
fcis-30832	104	8	planning	planning	NOUN
fcis-30832	104	9	.	.	PUNCT
fcis-30832	105	1	the	the	DET
fcis-30832	105	2	objective	objective	ADJ
fcis-30832	105	3	function	function	NOUN
fcis-30832	105	4	is	be	AUX
fcis-30832	105	5	the	the	DET
fcis-30832	105	6	core	core	NOUN
fcis-30832	105	7	of	of	ADP
fcis-30832	105	8	path	path	NOUN
fcis-30832	105	9	planning	planning	NOUN
fcis-30832	105	10	,	,	PUNCT
fcis-30832	105	11	representing	represent	VERB
fcis-30832	105	12	the	the	DET
fcis-30832	105	13	cost	cost	NOUN
fcis-30832	105	14	of	of	ADP
fcis-30832	105	15	the	the	DET
fcis-30832	105	16	path	path	NOUN
fcis-30832	105	17	.	.	PUNCT
fcis-30832	106	1	in	in	ADP
fcis-30832	106	2	an	an	DET
fcis-30832	106	3	optimized	optimize	VERB
fcis-30832	106	4	goaldirected	goaldirecte	VERB
fcis-30832	106	5	strategy	strategy	NOUN
fcis-30832	106	6	,	,	PUNCT
fcis-30832	106	7	we	we	PRON
fcis-30832	106	8	can	can	AUX
fcis-30832	106	9	define	define	VERB
fcis-30832	106	10	the	the	DET
fcis-30832	106	11	objective	objective	ADJ
fcis-30832	106	12	function	function	NOUN
fcis-30832	106	13	as	as	ADP
fcis-30832	106	14	a	a	DET
fcis-30832	106	15	function	function	NOUN
fcis-30832	106	16	based	base	VERB
fcis-30832	106	17	on	on	ADP
fcis-30832	106	18	the	the	DET
fcis-30832	106	19	target	target	NOUN
fcis-30832	106	20	node	node	NOUN
fcis-30832	106	21	,	,	PUNCT
fcis-30832	106	22	used	use	VERB
fcis-30832	106	23	to	to	PART
fcis-30832	106	24	evaluate	evaluate	VERB
fcis-30832	106	25	the	the	DET
fcis-30832	106	26	closeness	closeness	NOUN
fcis-30832	106	27	of	of	ADP
fcis-30832	106	28	the	the	DET
fcis-30832	106	29	path	path	NOUN
fcis-30832	106	30	to	to	ADP
fcis-30832	106	31	the	the	DET
fcis-30832	106	32	target	target	NOUN
fcis-30832	106	33	.	.	PUNCT
fcis-30832	107	1	by	by	ADP
fcis-30832	107	2	automatically	automatically	ADV
fcis-30832	107	3	adjusting	adjust	VERB
fcis-30832	107	4	the	the	DET
fcis-30832	107	5	parameters	parameter	NOUN
fcis-30832	107	6	of	of	ADP
fcis-30832	107	7	the	the	DET
fcis-30832	107	8	objective	objective	ADJ
fcis-30832	107	9	function	function	NOUN
fcis-30832	107	10	,	,	PUNCT
fcis-30832	107	11	we	we	PRON
fcis-30832	107	12	can	can	AUX
fcis-30832	107	13	optimize	optimize	VERB
fcis-30832	107	14	the	the	DET
fcis-30832	107	15	influence	influence	NOUN
fcis-30832	107	16	of	of	ADP
fcis-30832	107	17	the	the	DET
fcis-30832	107	18	search	search	NOUN
fcis-30832	107	19	algorithm	algorithm	NOUN
fcis-30832	107	20	on	on	ADP
fcis-30832	107	21	the	the	DET
fcis-30832	107	22	target	target	NOUN
fcis-30832	107	23	node	node	NOUN
fcis-30832	107	24	.	.	PUNCT
fcis-30832	108	1	an	an	DET
fcis-30832	108	2	adaptive	adaptive	ADJ
fcis-30832	108	3	strategy	strategy	NOUN
fcis-30832	108	4	involves	involve	VERB
fcis-30832	108	5	dynamically	dynamically	ADV
fcis-30832	108	6	adjusting	adjust	VERB
fcis-30832	108	7	path	path	NOUN
fcis-30832	108	8	planning	planning	NOUN
fcis-30832	108	9	parameters	parameter	NOUN
fcis-30832	108	10	as	as	ADP
fcis-30832	108	11	the	the	DET
fcis-30832	108	12	search	search	NOUN
fcis-30832	108	13	location	location	NOUN
fcis-30832	108	14	changes	change	NOUN
fcis-30832	108	15	.	.	PUNCT
fcis-30832	109	1	we	we	PRON
fcis-30832	109	2	can	can	AUX
fcis-30832	109	3	define	define	VERB
fcis-30832	109	4	an	an	DET
fcis-30832	109	5	adaptive	adaptive	ADJ
fcis-30832	109	6	function	function	NOUN
fcis-30832	109	7	to	to	PART
fcis-30832	109	8	reflect	reflect	VERB
fcis-30832	109	9	changes	change	NOUN
fcis-30832	109	10	in	in	ADP
fcis-30832	109	11	positional	positional	ADJ
fcis-30832	109	12	distance	distance	NOUN
fcis-30832	109	13	and	and	CCONJ
fcis-30832	109	14	form	form	VERB
fcis-30832	109	15	dynamic	dynamic	ADJ
fcis-30832	109	16	parameters	parameter	NOUN
fcis-30832	109	17	,	,	PUNCT
fcis-30832	109	18	which	which	PRON
fcis-30832	109	19	can	can	AUX
fcis-30832	109	20	then	then	ADV
fcis-30832	109	21	be	be	AUX
fcis-30832	109	22	used	use	VERB
fcis-30832	109	23	to	to	PART
fcis-30832	109	24	adjust	adjust	VERB
fcis-30832	109	25	the	the	DET
fcis-30832	109	26	objective	objective	ADJ
fcis-30832	109	27	function	function	NOUN
fcis-30832	109	28	.	.	PUNCT
fcis-30832	110	1	in	in	ADP
fcis-30832	110	2	this	this	DET
fcis-30832	110	3	way	way	NOUN
fcis-30832	110	4	,	,	PUNCT
fcis-30832	110	5	the	the	DET
fcis-30832	110	6	search	search	NOUN
fcis-30832	110	7	algorithm	algorithm	NOUN
fcis-30832	110	8	can	can	AUX
fcis-30832	110	9	adaptively	adaptively	ADV
fcis-30832	110	10	adjust	adjust	VERB
fcis-30832	110	11	its	its	PRON
fcis-30832	110	12	search	search	NOUN
fcis-30832	110	13	strategy	strategy	NOUN
fcis-30832	110	14	based	base	VERB
fcis-30832	110	15	on	on	ADP
fcis-30832	110	16	the	the	DET
fcis-30832	110	17	progress	progress	NOUN
fcis-30832	110	18	of	of	ADP
fcis-30832	110	19	the	the	DET
fcis-30832	110	20	search	search	NOUN
fcis-30832	110	21	,	,	PUNCT
fcis-30832	110	22	better	well	ADV
fcis-30832	110	23	adapting	adapt	VERB
fcis-30832	110	24	to	to	ADP
fcis-30832	110	25	different	different	ADJ
fcis-30832	110	26	situations	situation	NOUN
fcis-30832	110	27	and	and	CCONJ
fcis-30832	110	28	changes	change	NOUN
fcis-30832	110	29	.	.	PUNCT
fcis-30832	111	1	to	to	PART
fcis-30832	111	2	describe	describe	VERB
fcis-30832	111	3	the	the	DET
fcis-30832	111	4	implementation	implementation	NOUN
fcis-30832	111	5	of	of	ADP
fcis-30832	111	6	optimized	optimize	VERB
fcis-30832	111	7	goal	goal	NOUN
fcis-30832	111	8	-	-	PUNCT
fcis-30832	111	9	directed	direct	VERB
fcis-30832	111	10	and	and	CCONJ
fcis-30832	111	11	adaptive	adaptive	ADJ
fcis-30832	111	12	strategies	strategy	NOUN
fcis-30832	111	13	,	,	PUNCT
fcis-30832	111	14	a	a	DET
fcis-30832	111	15	formula	formula	NOUN
fcis-30832	111	16	for	for	ADP
fcis-30832	111	17	dynamic	dynamic	ADJ
fcis-30832	111	18	parameter	parameter	NOUN
fcis-30832	111	19	adjustment	adjustment	NOUN
fcis-30832	111	20	can	can	AUX
fcis-30832	111	21	be	be	AUX
fcis-30832	111	22	introduced	introduce	VERB
fcis-30832	111	23	.	.	PUNCT
fcis-30832	112	1	this	this	DET
fcis-30832	112	2	formula	formula	NOUN
fcis-30832	112	3	adjusts	adjust	VERB
fcis-30832	112	4	the	the	DET
fcis-30832	112	5	parameter	parameter	NOUN
fcis-30832	112	6	values	value	NOUN
fcis-30832	112	7	of	of	ADP
fcis-30832	112	8	the	the	DET
fcis-30832	112	9	objective	objective	ADJ
fcis-30832	112	10	function	function	NOUN
fcis-30832	112	11	based	base	VERB
fcis-30832	112	12	on	on	ADP
fcis-30832	112	13	changes	change	NOUN
fcis-30832	112	14	in	in	ADP
fcis-30832	112	15	the	the	DET
fcis-30832	112	16	distance	distance	NOUN
fcis-30832	112	17	from	from	ADP
fcis-30832	112	18	the	the	DET
fcis-30832	112	19	current	current	ADJ
fcis-30832	112	20	node	node	NOUN
fcis-30832	112	21	to	to	ADP
fcis-30832	112	22	the	the	DET
fcis-30832	112	23	target	target	NOUN
fcis-30832	112	24	node	node	NOUN
fcis-30832	112	25	and	and	CCONJ
fcis-30832	112	26	changes	change	NOUN
fcis-30832	112	27	in	in	ADP
fcis-30832	112	28	the	the	DET
fcis-30832	112	29	distance	distance	NOUN
fcis-30832	112	30	from	from	ADP
fcis-30832	112	31	the	the	DET
fcis-30832	112	32	current	current	ADJ
fcis-30832	112	33	node	node	NOUN
fcis-30832	112	34	to	to	ADP
fcis-30832	112	35	the	the	DET
fcis-30832	112	36	starting	starting	NOUN
fcis-30832	112	37	node	node	NOUN
fcis-30832	112	38	.	.	PUNCT
fcis-30832	113	1	by	by	ADP
fcis-30832	113	2	dynamically	dynamically	ADV
fcis-30832	113	3	altering	alter	VERB
fcis-30832	113	4	the	the	DET
fcis-30832	113	5	objectives	objective	NOUN
fcis-30832	113	6	of	of	ADP
fcis-30832	113	7	the	the	DET
fcis-30832	113	8	path	path	NOUN
fcis-30832	113	9	planning	planning	NOUN
fcis-30832	113	10	evaluation	evaluation	NOUN
fcis-30832	113	11	function	function	NOUN
fcis-30832	113	12	,	,	PUNCT
fcis-30832	113	13	the	the	DET
fcis-30832	113	14	search	search	NOUN
fcis-30832	113	15	algorithm	algorithm	NOUN
fcis-30832	113	16	can	can	AUX
fcis-30832	113	17	better	well	ADV
fcis-30832	113	18	adapt	adapt	VERB
fcis-30832	113	19	to	to	ADP
fcis-30832	113	20	environmental	environmental	ADJ
fcis-30832	113	21	changes	change	NOUN
fcis-30832	113	22	and	and	CCONJ
fcis-30832	113	23	uncertainties	uncertainty	NOUN
fcis-30832	113	24	.	.	PUNCT
fcis-30832	114	1			NOUN
fcis-30832	115	1			PUNCT
fcis-30832	115	2			NOUN
fcis-30832	115	3			PROPN
fcis-30832	115	4	2	2	NUM
fcis-30832	115	5	1	1	NUM
fcis-30832	115	6	）	）	NUM
fcis-30832	115	7	（	（	PUNCT
fcis-30832	115	8	ostheuristiccsthistoriccoktotalcost	ostheuristiccsthistoriccoktotalcost	NOUN
fcis-30832	115	9	h	h	NOUN
fcis-30832	115	10			ADJ
fcis-30832	115	11	(	(	PUNCT
fcis-30832	115	12	6	6	NUM
fcis-30832	115	13	)	)	PUNCT
fcis-30832	115	14	sthistoricco	sthistoricco	NOUN
fcis-30832	115	15	ostheuristicc	ostheuristicc	NOUN
fcis-30832	116	1	k	k	PROPN
fcis-30832	116	2	1	1	PROPN
fcis-30832	116	3	(	(	PUNCT
fcis-30832	116	4	7	7	X
fcis-30832	116	5	)	)	PUNCT
fcis-30832	116	6	in	in	ADP
fcis-30832	116	7	this	this	DET
fcis-30832	116	8	context	context	NOUN
fcis-30832	116	9	,	,	PUNCT
fcis-30832	116	10	represents	represent	VERB
fcis-30832	116	11	the	the	DET
fcis-30832	116	12	estimated	estimate	VERB
fcis-30832	116	13	cost	cost	NOUN
fcis-30832	116	14	that	that	PRON
fcis-30832	116	15	combines	combine	VERB
fcis-30832	116	16	optimized	optimize	VERB
fcis-30832	116	17	goal	goal	NOUN
fcis-30832	116	18	-	-	PUNCT
fcis-30832	116	19	directedness	directedness	NOUN
fcis-30832	116	20	with	with	ADP
fcis-30832	116	21	linear	linear	ADJ
fcis-30832	116	22	adaptation	adaptation	NOUN
fcis-30832	116	23	strategies	strategy	NOUN
fcis-30832	116	24	.	.	PUNCT
fcis-30832	117	1	the	the	PRON
fcis-30832	117	2	represents	represent	VERB
fcis-30832	117	3	the	the	DET
fcis-30832	117	4	linear	linear	ADJ
fcis-30832	117	5	adaptation	adaptation	NOUN
fcis-30832	117	6	function	function	NOUN
fcis-30832	117	7	.	.	PUNCT
fcis-30832	118	1	the	the	DET
fcis-30832	118	2	formula	formula	NOUN
fcis-30832	118	3	for	for	ADP
fcis-30832	118	4	optimizing	optimize	VERB
fcis-30832	118	5	goal	goal	NOUN
fcis-30832	118	6	-	-	PUNCT
fcis-30832	118	7	directedness	directedness	NOUN
fcis-30832	118	8	and	and	CCONJ
fcis-30832	118	9	adaptability	adaptability	NOUN
fcis-30832	118	10	combines	combine	VERB
fcis-30832	118	11	the	the	DET
fcis-30832	118	12	definition	definition	NOUN
fcis-30832	118	13	of	of	ADP
fcis-30832	118	14	the	the	DET
fcis-30832	118	15	objective	objective	ADJ
fcis-30832	118	16	function	function	NOUN
fcis-30832	118	17	,	,	PUNCT
fcis-30832	118	18	the	the	DET
fcis-30832	118	19	introduction	introduction	NOUN
fcis-30832	118	20	of	of	ADP
fcis-30832	118	21	the	the	DET
fcis-30832	118	22	adaptability	adaptability	NOUN
fcis-30832	118	23	function	function	NOUN
fcis-30832	118	24	,	,	PUNCT
fcis-30832	118	25	and	and	CCONJ
fcis-30832	118	26	the	the	DET
fcis-30832	118	27	dynamic	dynamic	ADJ
fcis-30832	118	28	parameter	parameter	NOUN
fcis-30832	118	29	adjustment	adjustment	NOUN
fcis-30832	118	30	formula	formula	NOUN
fcis-30832	118	31	.	.	PUNCT
fcis-30832	119	1	through	through	ADP
fcis-30832	119	2	dynamic	dynamic	ADJ
fcis-30832	119	3	parameter	parameter	NOUN
fcis-30832	119	4	adjustment	adjustment	NOUN
fcis-30832	119	5	,	,	PUNCT
fcis-30832	119	6	the	the	DET
fcis-30832	119	7	adaptability	adaptability	NOUN
fcis-30832	119	8	strategy	strategy	NOUN
fcis-30832	119	9	can	can	AUX
fcis-30832	119	10	adaptively	adaptively	ADV
fcis-30832	119	11	modify	modify	VERB
fcis-30832	119	12	the	the	DET
fcis-30832	119	13	search	search	NOUN
fcis-30832	119	14	strategy	strategy	NOUN
fcis-30832	119	15	based	base	VERB
fcis-30832	119	16	on	on	ADP
fcis-30832	119	17	the	the	DET
fcis-30832	119	18	progress	progress	NOUN
fcis-30832	119	19	of	of	ADP
fcis-30832	119	20	the	the	DET
fcis-30832	119	21	search	search	NOUN
fcis-30832	119	22	,	,	PUNCT
fcis-30832	119	23	further	far	ADV
fcis-30832	119	24	enhancing	enhance	VERB
fcis-30832	119	25	search	search	NOUN
fcis-30832	119	26	efficiency	efficiency	NOUN
fcis-30832	119	27	.	.	PUNCT
fcis-30832	120	1	5	5	X
fcis-30832	120	2	.	.	X
fcis-30832	120	3	optimization	optimization	NOUN
fcis-30832	120	4	of	of	ADP
fcis-30832	120	5	goal	goal	NOUN
fcis-30832	120	6	-	-	PUNCT
fcis-30832	120	7	directedness	directedness	NOUN
fcis-30832	120	8	with	with	ADP
fcis-30832	120	9	exponential	exponential	ADJ
fcis-30832	120	10	adaptation	adaptation	NOUN
fcis-30832	120	11	strategy	strategy	NOUN
fcis-30832	120	12	in	in	ADP
fcis-30832	120	13	the	the	DET
fcis-30832	120	14	process	process	NOUN
fcis-30832	120	15	of	of	ADP
fcis-30832	120	16	path	path	NOUN
fcis-30832	120	17	planning	planning	NOUN
fcis-30832	120	18	,	,	PUNCT
fcis-30832	120	19	the	the	DET
fcis-30832	120	20	optimization	optimization	NOUN
fcis-30832	120	21	of	of	ADP
fcis-30832	120	22	goaldirectedness	goaldirectedness	NOUN
fcis-30832	120	23	with	with	ADP
fcis-30832	120	24	an	an	DET
fcis-30832	120	25	exponential	exponential	ADJ
fcis-30832	120	26	adaptation	adaptation	NOUN
fcis-30832	120	27	strategy	strategy	NOUN
fcis-30832	120	28	combines	combine	VERB
fcis-30832	120	29	goal	goal	NOUN
fcis-30832	120	30	-	-	PUNCT
fcis-30832	120	31	directedness	directedness	NOUN
fcis-30832	120	32	with	with	ADP
fcis-30832	120	33	adaptive	adaptive	ADJ
fcis-30832	120	34	adjustment	adjustment	NOUN
fcis-30832	120	35	.	.	PUNCT
fcis-30832	121	1	this	this	DET
fcis-30832	121	2	strategy	strategy	NOUN
fcis-30832	121	3	uses	use	VERB
fcis-30832	121	4	an	an	DET
fcis-30832	121	5	exponential	exponential	ADJ
fcis-30832	121	6	function	function	NOUN
fcis-30832	121	7	to	to	PART
fcis-30832	121	8	adjust	adjust	VERB
fcis-30832	121	9	the	the	DET
fcis-30832	121	10	strength	strength	NOUN
fcis-30832	121	11	of	of	ADP
fcis-30832	121	12	goal	goal	NOUN
fcis-30832	121	13	-	-	PUNCT
fcis-30832	121	14	directedness	directedness	NOUN
fcis-30832	121	15	,	,	PUNCT
fcis-30832	121	16	gradually	gradually	ADV
fcis-30832	121	17	increasing	increase	VERB
fcis-30832	121	18	its	its	PRON
fcis-30832	121	19	influence	influence	NOUN
fcis-30832	121	20	as	as	SCONJ
fcis-30832	121	21	the	the	DET
fcis-30832	121	22	search	search	NOUN
fcis-30832	121	23	progresses	progress	VERB
fcis-30832	121	24	.	.	PUNCT
fcis-30832	122	1	the	the	DET
fcis-30832	122	2	optimization	optimization	NOUN
fcis-30832	122	3	of	of	ADP
fcis-30832	122	4	goal	goal	NOUN
fcis-30832	122	5	-	-	PUNCT
fcis-30832	122	6	directedness	directedness	NOUN
fcis-30832	122	7	with	with	ADP
fcis-30832	122	8	an	an	DET
fcis-30832	122	9	exponential	exponential	ADJ
fcis-30832	122	10	adaptation	adaptation	NOUN
fcis-30832	122	11	strategy	strategy	NOUN
fcis-30832	122	12	utilizes	utilize	VERB
fcis-30832	122	13	the	the	DET
fcis-30832	122	14	objective	objective	ADJ
fcis-30832	122	15	function	function	NOUN
fcis-30832	122	16	to	to	PART
fcis-30832	122	17	evaluate	evaluate	VERB
fcis-30832	122	18	the	the	DET
fcis-30832	122	19	closeness	closeness	NOUN
fcis-30832	122	20	of	of	ADP
fcis-30832	122	21	the	the	DET
fcis-30832	122	22	path	path	NOUN
fcis-30832	122	23	to	to	ADP
fcis-30832	122	24	the	the	DET
fcis-30832	122	25	target	target	NOUN
fcis-30832	122	26	.	.	PUNCT
fcis-30832	123	1	subsequently	subsequently	ADV
fcis-30832	123	2	,	,	PUNCT
fcis-30832	123	3	it	it	PRON
fcis-30832	123	4	introduces	introduce	VERB
fcis-30832	123	5	an	an	DET
fcis-30832	123	6	exponential	exponential	ADJ
fcis-30832	123	7	function	function	NOUN
fcis-30832	123	8	to	to	PART
fcis-30832	123	9	dynamically	dynamically	ADV
fcis-30832	123	10	adjust	adjust	VERB
fcis-30832	123	11	the	the	DET
fcis-30832	123	12	parameters	parameter	NOUN
fcis-30832	123	13	of	of	ADP
fcis-30832	123	14	the	the	DET
fcis-30832	123	15	objective	objective	ADJ
fcis-30832	123	16	function	function	NOUN
fcis-30832	123	17	.	.	PUNCT
fcis-30832	124	1	this	this	DET
fcis-30832	124	2	exponential	exponential	ADJ
fcis-30832	124	3	function	function	NOUN
fcis-30832	124	4	takes	take	VERB
fcis-30832	124	5	the	the	DET
fcis-30832	124	6	distances	distance	NOUN
fcis-30832	124	7	from	from	ADP
fcis-30832	124	8	the	the	DET
fcis-30832	124	9	current	current	ADJ
fcis-30832	124	10	location	location	NOUN
fcis-30832	124	11	to	to	ADP
fcis-30832	124	12	both	both	DET
fcis-30832	124	13	the	the	DET
fcis-30832	124	14	starting	starting	NOUN
fcis-30832	124	15	point	point	NOUN
fcis-30832	124	16	and	and	CCONJ
fcis-30832	124	17	the	the	DET
fcis-30832	124	18	target	target	NOUN
fcis-30832	124	19	point	point	NOUN
fcis-30832	124	20	as	as	ADP
fcis-30832	124	21	inputs	input	NOUN
fcis-30832	124	22	and	and	CCONJ
fcis-30832	124	23	outputs	output	VERB
fcis-30832	124	24	an	an	DET
fcis-30832	124	25	adjustment	adjustment	NOUN
fcis-30832	124	26	coefficient	coefficient	NOUN
fcis-30832	124	27	.	.	PUNCT
fcis-30832	125	1	as	as	SCONJ
fcis-30832	125	2	the	the	DET
fcis-30832	125	3	search	search	NOUN
fcis-30832	125	4	progresses	progress	VERB
fcis-30832	125	5	,	,	PUNCT
fcis-30832	125	6	the	the	DET
fcis-30832	125	7	value	value	NOUN
fcis-30832	125	8	of	of	ADP
fcis-30832	125	9	the	the	DET
fcis-30832	125	10	exponential	exponential	ADJ
fcis-30832	125	11	function	function	NOUN
fcis-30832	125	12	gradually	gradually	ADV
fcis-30832	125	13	increases	increase	VERB
fcis-30832	125	14	,	,	PUNCT
fcis-30832	125	15	thereby	thereby	ADV
fcis-30832	125	16	enhancing	enhance	VERB
fcis-30832	125	17	the	the	DET
fcis-30832	125	18	strength	strength	NOUN
fcis-30832	125	19	of	of	ADP
fcis-30832	125	20	goal	goal	NOUN
fcis-30832	125	21	-	-	PUNCT
fcis-30832	125	22	directedness	directedness	NOUN
fcis-30832	125	23	.	.	PUNCT
fcis-30832	126	1			NOUN
fcis-30832	127	1			PUNCT
fcis-30832	127	2			NOUN
fcis-30832	127	3			PROPN
fcis-30832	127	4	2	2	NUM
fcis-30832	127	5	2	2	NUM
fcis-30832	127	6	）	）	NUM
fcis-30832	127	7	（	（	PUNCT
fcis-30832	128	1	ostheuristiccsthistoriccoktotalcost	ostheuristiccsthistoriccoktotalcost	NOUN
fcis-30832	128	2	l	l	PROPN
fcis-30832	128	3			PROPN
fcis-30832	128	4	(	(	PUNCT
fcis-30832	128	5	8)	8)	NUM
fcis-30832	128	6	sthistoricco	sthistoricco	NOUN
fcis-30832	128	7	ostheuristicc	ostheuristicc	NOUN
fcis-30832	128	8	ek	ek	PROPN
fcis-30832	128	9	2	2	PROPN
fcis-30832	128	10	(	(	PUNCT
fcis-30832	128	11	9	9	NUM
fcis-30832	128	12	)	)	PUNCT
fcis-30832	128	13	in	in	ADP
fcis-30832	128	14	this	this	DET
fcis-30832	128	15	context	context	NOUN
fcis-30832	128	16	,	,	PUNCT
fcis-30832	128	17	represents	represent	VERB
fcis-30832	128	18	the	the	DET
fcis-30832	128	19	estimated	estimate	VERB
fcis-30832	128	20	cost	cost	NOUN
fcis-30832	128	21	associated	associate	VERB
fcis-30832	128	22	with	with	ADP
fcis-30832	128	23	the	the	DET
fcis-30832	128	24	optimization	optimization	NOUN
fcis-30832	128	25	of	of	ADP
fcis-30832	128	26	goal	goal	NOUN
fcis-30832	128	27	-	-	PUNCT
fcis-30832	128	28	directedness	directedness	NOUN
fcis-30832	128	29	combined	combine	VERB
fcis-30832	128	30	with	with	ADP
fcis-30832	128	31	an	an	DET
fcis-30832	128	32	exponential	exponential	ADJ
fcis-30832	128	33	adaptation	adaptation	NOUN
fcis-30832	128	34	strategy	strategy	NOUN
fcis-30832	128	35	.	.	PUNCT
fcis-30832	129	1	the	the	PRON
fcis-30832	129	2	represents	represent	VERB
fcis-30832	129	3	the	the	DET
fcis-30832	129	4	exponential	exponential	ADJ
fcis-30832	129	5	adaptation	adaptation	NOUN
fcis-30832	129	6	function	function	NOUN
fcis-30832	129	7	.	.	PUNCT
fcis-30832	130	1	by	by	ADP
fcis-30832	130	2	doing	do	VERB
fcis-30832	130	3	so	so	ADV
fcis-30832	130	4	,	,	PUNCT
fcis-30832	130	5	the	the	DET
fcis-30832	130	6	optimization	optimization	NOUN
fcis-30832	130	7	of	of	ADP
fcis-30832	130	8	goal	goal	NOUN
fcis-30832	130	9	-	-	PUNCT
fcis-30832	130	10	directedness	directedness	NOUN
fcis-30832	130	11	with	with	ADP
fcis-30832	130	12	an	an	DET
fcis-30832	130	13	exponential	exponential	ADJ
fcis-30832	130	14	adaptation	adaptation	NOUN
fcis-30832	130	15	strategy	strategy	NOUN
fcis-30832	130	16	provides	provide	VERB
fcis-30832	130	17	greater	great	ADJ
fcis-30832	130	18	freedom	freedom	NOUN
fcis-30832	130	19	to	to	ADP
fcis-30832	130	20	the	the	DET
fcis-30832	130	21	algorithm	algorithm	NOUN
fcis-30832	130	22	in	in	ADP
fcis-30832	130	23	the	the	DET
fcis-30832	130	24	early	early	ADJ
fcis-30832	130	25	stages	stage	NOUN
fcis-30832	130	26	of	of	ADP
fcis-30832	130	27	the	the	DET
fcis-30832	130	28	search	search	NOUN
fcis-30832	130	29	,	,	PUNCT
fcis-30832	130	30	allowing	allow	VERB
fcis-30832	130	31	for	for	ADP
fcis-30832	130	32	the	the	DET
fcis-30832	130	33	exploration	exploration	NOUN
fcis-30832	130	34	of	of	ADP
fcis-30832	130	35	different	different	ADJ
fcis-30832	130	36	paths	path	NOUN
fcis-30832	130	37	and	and	CCONJ
fcis-30832	130	38	regions	region	NOUN
fcis-30832	130	39	.	.	PUNCT
fcis-30832	131	1	as	as	SCONJ
fcis-30832	131	2	the	the	DET
fcis-30832	131	3	search	search	NOUN
fcis-30832	131	4	progresses	progress	VERB
fcis-30832	131	5	,	,	PUNCT
fcis-30832	131	6	the	the	DET
fcis-30832	131	7	strategy	strategy	NOUN
fcis-30832	131	8	gradually	gradually	ADV
fcis-30832	131	9	enhances	enhance	VERB
fcis-30832	131	10	the	the	DET
fcis-30832	131	11	influence	influence	NOUN
fcis-30832	131	12	of	of	ADP
fcis-30832	131	13	goal	goal	NOUN
fcis-30832	131	14	-	-	PUNCT
fcis-30832	131	15	directedness	directedness	NOUN
fcis-30832	131	16	,	,	PUNCT
fcis-30832	131	17	directing	direct	VERB
fcis-30832	131	18	the	the	DET
fcis-30832	131	19	search	search	NOUN
fcis-30832	131	20	process	process	NOUN
fcis-30832	131	21	more	more	ADJ
fcis-30832	131	22	towards	towards	ADP
fcis-30832	131	23	paths	path	NOUN
fcis-30832	131	24	that	that	PRON
fcis-30832	131	25	are	be	AUX
fcis-30832	131	26	closer	close	ADJ
fcis-30832	131	27	to	to	ADP
fcis-30832	131	28	the	the	DET
fcis-30832	131	29	target	target	NOUN
fcis-30832	131	30	.	.	PUNCT
fcis-30832	132	1	this	this	DET
fcis-30832	132	2	adaptive	adaptive	ADJ
fcis-30832	132	3	adjustment	adjustment	NOUN
fcis-30832	132	4	approach	approach	NOUN
fcis-30832	132	5	helps	help	VERB
fcis-30832	132	6	improve	improve	VERB
fcis-30832	132	7	search	search	NOUN
fcis-30832	132	8	efficiency	efficiency	NOUN
fcis-30832	132	9	and	and	CCONJ
fcis-30832	132	10	accuracy	accuracy	NOUN
fcis-30832	132	11	,	,	PUNCT
fcis-30832	132	12	especially	especially	ADV
fcis-30832	132	13	in	in	ADP
fcis-30832	132	14	complex	complex	ADJ
fcis-30832	132	15	and	and	CCONJ
fcis-30832	132	16	dynamic	dynamic	ADJ
fcis-30832	132	17	environments	environment	NOUN
fcis-30832	132	18	where	where	SCONJ
fcis-30832	132	19	it	it	PRON
fcis-30832	132	20	13	13	NUM
fcis-30832	132	21	exhibits	exhibit	VERB
fcis-30832	132	22	significant	significant	ADJ
fcis-30832	132	23	advantages	advantage	NOUN
fcis-30832	132	24	.	.	PUNCT
fcis-30832	133	1	6	6	X
fcis-30832	133	2	.	.	X
fcis-30832	133	3	simulation	simulation	NOUN
fcis-30832	133	4	analysis	analysis	NOUN
fcis-30832	133	5	this	this	DET
fcis-30832	133	6	section	section	NOUN
fcis-30832	133	7	of	of	ADP
fcis-30832	133	8	the	the	DET
fcis-30832	133	9	experiment	experiment	NOUN
fcis-30832	133	10	was	be	AUX
fcis-30832	133	11	conducted	conduct	VERB
fcis-30832	133	12	on	on	ADP
fcis-30832	133	13	a	a	DET
fcis-30832	133	14	lenovo	lenovo	PROPN
fcis-30832	133	15	computer	computer	NOUN
fcis-30832	133	16	with	with	ADP
fcis-30832	133	17	a	a	DET
fcis-30832	133	18	frequency	frequency	NOUN
fcis-30832	133	19	of	of	ADP
fcis-30832	133	20	2.40mhz	2.40mhz	NUM
fcis-30832	133	21	and	and	CCONJ
fcis-30832	133	22	4	4	NUM
fcis-30832	133	23	gb	gb	NOUN
fcis-30832	133	24	of	of	ADP
fcis-30832	133	25	memory	memory	NOUN
fcis-30832	133	26	using	use	VERB
fcis-30832	133	27	matlab	matlab	PROPN
fcis-30832	133	28	2018a	2018a	NUM
fcis-30832	133	29	.	.	PUNCT
fcis-30832	134	1	the	the	DET
fcis-30832	134	2	experiment	experiment	NOUN
fcis-30832	134	3	constructed	construct	VERB
fcis-30832	134	4	an	an	DET
fcis-30832	134	5	electric	electric	ADJ
fcis-30832	134	6	vehicle	vehicle	NOUN
fcis-30832	134	7	and	and	CCONJ
fcis-30832	134	8	charging	charge	VERB
fcis-30832	134	9	environment	environment	NOUN
fcis-30832	134	10	of	of	ADP
fcis-30832	134	11	100	100	NUM
fcis-30832	134	12	dm	dm	NUM
fcis-30832	134	13	x	x	SYM
fcis-30832	134	14	100	100	NUM
fcis-30832	134	15	dm	dm	NOUN
fcis-30832	134	16	,	,	PUNCT
fcis-30832	134	17	dividing	divide	VERB
fcis-30832	134	18	it	it	PRON
fcis-30832	134	19	into	into	ADP
fcis-30832	134	20	squares	square	NOUN
fcis-30832	134	21	with	with	ADP
fcis-30832	134	22	a	a	DET
fcis-30832	134	23	side	side	NOUN
fcis-30832	134	24	length	length	NOUN
fcis-30832	134	25	of	of	ADP
fcis-30832	134	26	1	1	NUM
fcis-30832	134	27	dm	dm	NOUN
fcis-30832	134	28	.	.	PUNCT
fcis-30832	134	29	obstacle	obstacle	NOUN
fcis-30832	134	30	positions	position	NOUN
fcis-30832	134	31	were	be	AUX
fcis-30832	134	32	randomly	randomly	ADV
fcis-30832	134	33	set	set	VERB
fcis-30832	134	34	on	on	ADP
fcis-30832	134	35	the	the	DET
fcis-30832	134	36	map	map	NOUN
fcis-30832	134	37	.	.	PUNCT
fcis-30832	135	1	the	the	DET
fcis-30832	135	2	black	black	ADJ
fcis-30832	135	3	areas	area	NOUN
fcis-30832	135	4	represent	represent	VERB
fcis-30832	135	5	non	non	ADJ
fcis-30832	135	6	-	-	ADJ
fcis-30832	135	7	viable	viable	ADJ
fcis-30832	135	8	regions	region	NOUN
fcis-30832	135	9	,	,	PUNCT
fcis-30832	135	10	while	while	SCONJ
fcis-30832	135	11	the	the	DET
fcis-30832	135	12	white	white	ADJ
fcis-30832	135	13	parts	part	NOUN
fcis-30832	135	14	are	be	AUX
fcis-30832	135	15	the	the	DET
fcis-30832	135	16	viable	viable	ADJ
fcis-30832	135	17	regions	region	NOUN
fcis-30832	135	18	.	.	PUNCT
fcis-30832	136	1	during	during	ADP
fcis-30832	136	2	the	the	DET
fcis-30832	136	3	construction	construction	NOUN
fcis-30832	136	4	of	of	ADP
fcis-30832	136	5	the	the	DET
fcis-30832	136	6	map	map	NOUN
fcis-30832	136	7	,	,	PUNCT
fcis-30832	136	8	the	the	DET
fcis-30832	136	9	edges	edge	NOUN
fcis-30832	136	10	of	of	ADP
fcis-30832	136	11	the	the	DET
fcis-30832	136	12	black	black	ADJ
fcis-30832	136	13	obstacles	obstacle	NOUN
fcis-30832	136	14	were	be	AUX
fcis-30832	136	15	dilated	dilate	VERB
fcis-30832	136	16	to	to	PART
fcis-30832	136	17	create	create	VERB
fcis-30832	136	18	a	a	DET
fcis-30832	136	19	safety	safety	NOUN
fcis-30832	136	20	zone	zone	NOUN
fcis-30832	136	21	around	around	ADP
fcis-30832	136	22	them	they	PRON
fcis-30832	136	23	.	.	PUNCT
fcis-30832	137	1	this	this	DET
fcis-30832	137	2	safety	safety	NOUN
fcis-30832	137	3	distance	distance	NOUN
fcis-30832	137	4	is	be	AUX
fcis-30832	137	5	also	also	ADV
fcis-30832	137	6	represented	represent	VERB
fcis-30832	137	7	in	in	ADP
fcis-30832	137	8	the	the	DET
fcis-30832	137	9	black	black	ADJ
fcis-30832	137	10	area	area	NOUN
fcis-30832	137	11	.	.	PUNCT
fcis-30832	138	1	7	7	X
fcis-30832	138	2	.	.	X
fcis-30832	138	3	comparison	comparison	NOUN
fcis-30832	138	4	experiment	experiment	NOUN
fcis-30832	138	5	before	before	ADV
fcis-30832	138	6	and	and	CCONJ
fcis-30832	138	7	after	after	ADP
fcis-30832	138	8	introducing	introduce	VERB
fcis-30832	138	9	the	the	DET
fcis-30832	138	10	optimization	optimization	NOUN
fcis-30832	138	11	of	of	ADP
fcis-30832	138	12	goal	goal	NOUN
fcis-30832	138	13	-	-	PUNCT
fcis-30832	138	14	directedness	directedness	NOUN
fcis-30832	138	15	strategy	strategy	NOUN
fcis-30832	138	16	in	in	ADP
fcis-30832	138	17	the	the	DET
fcis-30832	138	18	traditional	traditional	ADJ
fcis-30832	138	19	a	a	PRON
fcis-30832	138	20	*	*	ADJ
fcis-30832	138	21	algorithm	algorithm	NOUN
fcis-30832	138	22	,	,	PUNCT
fcis-30832	138	23	attention	attention	NOUN
fcis-30832	138	24	is	be	AUX
fcis-30832	138	25	typically	typically	ADV
fcis-30832	138	26	focused	focus	VERB
fcis-30832	138	27	solely	solely	ADV
fcis-30832	138	28	on	on	ADP
fcis-30832	138	29	finding	find	VERB
fcis-30832	138	30	the	the	DET
fcis-30832	138	31	shortest	short	ADJ
fcis-30832	138	32	path	path	NOUN
fcis-30832	138	33	from	from	ADP
fcis-30832	138	34	the	the	DET
fcis-30832	138	35	starting	starting	NOUN
fcis-30832	138	36	point	point	NOUN
fcis-30832	138	37	to	to	ADP
fcis-30832	138	38	the	the	DET
fcis-30832	138	39	end	end	NOUN
fcis-30832	138	40	point	point	NOUN
fcis-30832	138	41	.	.	PUNCT
fcis-30832	139	1	this	this	DET
fcis-30832	139	2	approach	approach	NOUN
fcis-30832	139	3	has	have	VERB
fcis-30832	139	4	the	the	DET
fcis-30832	139	5	advantage	advantage	NOUN
fcis-30832	139	6	of	of	ADP
fcis-30832	139	7	quickly	quickly	ADV
fcis-30832	139	8	locating	locate	VERB
fcis-30832	139	9	direct	direct	ADJ
fcis-30832	139	10	paths	path	NOUN
fcis-30832	139	11	,	,	PUNCT
fcis-30832	139	12	but	but	CCONJ
fcis-30832	139	13	sometimes	sometimes	ADV
fcis-30832	139	14	it	it	PRON
fcis-30832	139	15	may	may	AUX
fcis-30832	139	16	not	not	PART
fcis-30832	139	17	be	be	AUX
fcis-30832	139	18	the	the	DET
fcis-30832	139	19	most	most	ADV
fcis-30832	139	20	optimal	optimal	ADJ
fcis-30832	139	21	or	or	CCONJ
fcis-30832	139	22	suitable	suitable	ADJ
fcis-30832	139	23	solution	solution	NOUN
fcis-30832	139	24	.	.	PUNCT
fcis-30832	140	1	for	for	ADP
fcis-30832	140	2	path	path	NOUN
fcis-30832	140	3	planning	planning	NOUN
fcis-30832	140	4	with	with	ADP
fcis-30832	140	5	a	a	DET
fcis-30832	140	6	fixed	fix	VERB
fcis-30832	140	7	target	target	NOUN
fcis-30832	140	8	location	location	NOUN
fcis-30832	140	9	,	,	PUNCT
fcis-30832	140	10	by	by	ADP
fcis-30832	140	11	utilizing	utilize	VERB
fcis-30832	140	12	an	an	DET
fcis-30832	140	13	optimization	optimization	NOUN
fcis-30832	140	14	goaldirected	goaldirecte	VERB
fcis-30832	140	15	strategy	strategy	NOUN
fcis-30832	140	16	,	,	PUNCT
fcis-30832	140	17	the	the	DET
fcis-30832	140	18	a	a	PROPN
fcis-30832	140	19	*	*	ADJ
fcis-30832	140	20	algorithm	algorithm	NOUN
fcis-30832	140	21	can	can	AUX
fcis-30832	140	22	be	be	AUX
fcis-30832	140	23	made	make	VERB
fcis-30832	140	24	to	to	PART
fcis-30832	140	25	focus	focus	VERB
fcis-30832	140	26	more	more	ADV
fcis-30832	140	27	on	on	ADP
fcis-30832	140	28	specific	specific	ADJ
fcis-30832	140	29	goals	goal	NOUN
fcis-30832	140	30	,	,	PUNCT
fcis-30832	140	31	making	make	VERB
fcis-30832	140	32	the	the	DET
fcis-30832	140	33	path	path	NOUN
fcis-30832	140	34	search	search	NOUN
fcis-30832	140	35	more	more	ADV
fcis-30832	140	36	targeted	target	VERB
fcis-30832	140	37	.	.	PUNCT
fcis-30832	141	1	to	to	PART
fcis-30832	141	2	facilitate	facilitate	VERB
fcis-30832	141	3	discussion	discussion	NOUN
fcis-30832	141	4	,	,	PUNCT
fcis-30832	141	5	the	the	DET
fcis-30832	141	6	a	a	PRON
fcis-30832	141	7	*	*	ADJ
fcis-30832	141	8	algorithm	algorithm	NOUN
fcis-30832	141	9	that	that	PRON
fcis-30832	141	10	incorporates	incorporate	VERB
fcis-30832	141	11	the	the	DET
fcis-30832	141	12	optimization	optimization	NOUN
fcis-30832	141	13	goal	goal	NOUN
fcis-30832	141	14	-	-	PUNCT
fcis-30832	141	15	directed	direct	VERB
fcis-30832	141	16	strategy	strategy	NOUN
fcis-30832	141	17	will	will	AUX
fcis-30832	141	18	be	be	AUX
fcis-30832	141	19	referred	refer	VERB
fcis-30832	141	20	to	to	PART
fcis-30832	141	21	uniformly	uniformly	ADV
fcis-30832	141	22	as	as	ADP
fcis-30832	141	23	the	the	DET
fcis-30832	141	24	a*-t	a*-t	PROPN
fcis-30832	141	25	algorithm	algorithm	NOUN
fcis-30832	141	26	.	.	PUNCT
fcis-30832	142	1	to	to	PART
fcis-30832	142	2	validate	validate	VERB
fcis-30832	142	3	the	the	DET
fcis-30832	142	4	impact	impact	NOUN
fcis-30832	142	5	of	of	ADP
fcis-30832	142	6	introducing	introduce	VERB
fcis-30832	142	7	the	the	DET
fcis-30832	142	8	optimization	optimization	NOUN
fcis-30832	142	9	of	of	ADP
fcis-30832	142	10	goal	goal	NOUN
fcis-30832	142	11	-	-	PUNCT
fcis-30832	142	12	directedness	directedness	NOUN
fcis-30832	142	13	strategy	strategy	NOUN
fcis-30832	142	14	on	on	ADP
fcis-30832	142	15	path	path	NOUN
fcis-30832	142	16	planning	planning	NOUN
fcis-30832	142	17	,	,	PUNCT
fcis-30832	142	18	we	we	PRON
fcis-30832	142	19	conducted	conduct	VERB
fcis-30832	142	20	comparison	comparison	NOUN
fcis-30832	142	21	experiments	experiment	NOUN
fcis-30832	142	22	while	while	SCONJ
fcis-30832	142	23	keeping	keep	VERB
fcis-30832	142	24	other	other	ADJ
fcis-30832	142	25	conditions	condition	NOUN
fcis-30832	142	26	constant	constant	ADJ
fcis-30832	142	27	.	.	PUNCT
fcis-30832	143	1	comparison	comparison	NOUN
fcis-30832	143	2	experiment	experiment	NOUN
fcis-30832	143	3	before	before	ADV
fcis-30832	143	4	and	and	CCONJ
fcis-30832	143	5	after	after	ADP
fcis-30832	143	6	introducing	introduce	VERB
fcis-30832	143	7	the	the	DET
fcis-30832	143	8	optimization	optimization	NOUN
fcis-30832	143	9	of	of	ADP
fcis-30832	143	10	goal	goal	NOUN
fcis-30832	143	11	-	-	PUNCT
fcis-30832	143	12	directedness	directedness	NOUN
fcis-30832	143	13	strategy	strategy	NOUN
fcis-30832	143	14	is	be	AUX
fcis-30832	143	15	as	as	SCONJ
fcis-30832	143	16	shown	show	VERB
fcis-30832	143	17	in	in	ADP
fcis-30832	143	18	figure	figure	NOUN
fcis-30832	143	19	2	2	NUM
fcis-30832	143	20	,	,	PUNCT
fcis-30832	143	21	during	during	ADP
fcis-30832	143	22	the	the	DET
fcis-30832	143	23	path	path	NOUN
fcis-30832	143	24	planning	planning	NOUN
fcis-30832	143	25	process	process	NOUN
fcis-30832	143	26	,	,	PUNCT
fcis-30832	143	27	the	the	DET
fcis-30832	143	28	black	black	ADJ
fcis-30832	143	29	areas	area	NOUN
fcis-30832	143	30	represent	represent	VERB
fcis-30832	143	31	obstacles	obstacle	NOUN
fcis-30832	143	32	,	,	PUNCT
fcis-30832	143	33	the	the	DET
fcis-30832	143	34	white	white	ADJ
fcis-30832	143	35	areas	area	NOUN
fcis-30832	143	36	represent	represent	VERB
fcis-30832	143	37	viable	viable	ADJ
fcis-30832	143	38	regions	region	NOUN
fcis-30832	143	39	,	,	PUNCT
fcis-30832	143	40	and	and	CCONJ
fcis-30832	143	41	the	the	DET
fcis-30832	143	42	gray	gray	ADJ
fcis-30832	143	43	areas	area	NOUN
fcis-30832	143	44	indicate	indicate	VERB
fcis-30832	143	45	the	the	DET
fcis-30832	143	46	regions	region	NOUN
fcis-30832	143	47	that	that	PRON
fcis-30832	143	48	have	have	AUX
fcis-30832	143	49	been	be	AUX
fcis-30832	143	50	traversed	traverse	VERB
fcis-30832	143	51	.	.	PUNCT
fcis-30832	144	1	the	the	DET
fcis-30832	144	2	starting	starting	NOUN
fcis-30832	144	3	point	point	NOUN
fcis-30832	144	4	is	be	AUX
fcis-30832	144	5	located	locate	VERB
fcis-30832	144	6	at	at	ADP
fcis-30832	144	7	the	the	DET
fcis-30832	144	8	top	top	ADJ
fcis-30832	144	9	left	left	ADJ
fcis-30832	144	10	corner	corner	NOUN
fcis-30832	144	11	of	of	ADP
fcis-30832	144	12	each	each	DET
fcis-30832	144	13	experimental	experimental	ADJ
fcis-30832	144	14	map	map	NOUN
fcis-30832	144	15	(	(	PUNCT
fcis-30832	144	16	10	10	NUM
fcis-30832	144	17	,	,	PUNCT
fcis-30832	144	18	10	10	NUM
fcis-30832	144	19	)	)	PUNCT
fcis-30832	144	20	,	,	PUNCT
fcis-30832	144	21	and	and	CCONJ
fcis-30832	144	22	the	the	DET
fcis-30832	144	23	destination	destination	NOUN
fcis-30832	144	24	is	be	AUX
fcis-30832	144	25	at	at	ADP
fcis-30832	144	26	the	the	DET
fcis-30832	144	27	bottom	bottom	ADJ
fcis-30832	144	28	right	right	ADJ
fcis-30832	144	29	corner	corner	NOUN
fcis-30832	144	30	(	(	PUNCT
fcis-30832	144	31	490	490	NUM
fcis-30832	144	32	,	,	PUNCT
fcis-30832	144	33	490	490	NUM
fcis-30832	144	34	)	)	PUNCT
fcis-30832	144	35	.	.	PUNCT
fcis-30832	145	1	under	under	ADP
fcis-30832	145	2	the	the	DET
fcis-30832	145	3	optimized	optimize	VERB
fcis-30832	145	4	goal	goal	NOUN
fcis-30832	145	5	-	-	PUNCT
fcis-30832	145	6	directedness	directedness	NOUN
fcis-30832	145	7	strategy	strategy	NOUN
fcis-30832	145	8	,	,	PUNCT
fcis-30832	145	9	the	the	DET
fcis-30832	145	10	a	a	PROPN
fcis-30832	145	11	*	*	ADJ
fcis-30832	145	12	algorithm	algorithm	NOUN
fcis-30832	145	13	searches	search	NOUN
fcis-30832	145	14	for	for	ADP
fcis-30832	145	15	an	an	DET
fcis-30832	145	16	optimal	optimal	ADJ
fcis-30832	145	17	path	path	NOUN
fcis-30832	145	18	from	from	ADP
fcis-30832	145	19	the	the	DET
fcis-30832	145	20	starting	starting	NOUN
fcis-30832	145	21	point	point	NOUN
fcis-30832	145	22	to	to	ADP
fcis-30832	145	23	the	the	DET
fcis-30832	145	24	destination	destination	NOUN
fcis-30832	145	25	.	.	PUNCT
fcis-30832	146	1	in	in	ADP
fcis-30832	146	2	the	the	DET
fcis-30832	146	3	analysis	analysis	NOUN
fcis-30832	146	4	of	of	ADP
fcis-30832	146	5	simulation	simulation	NOUN
fcis-30832	146	6	experiments	experiment	NOUN
fcis-30832	146	7	,	,	PUNCT
fcis-30832	146	8	the	the	DET
fcis-30832	146	9	a	a	PRON
fcis-30832	146	10	*	*	ADJ
fcis-30832	146	11	algorithm	algorithm	NOUN
fcis-30832	146	12	is	be	AUX
fcis-30832	146	13	observed	observe	VERB
fcis-30832	146	14	to	to	PART
fcis-30832	146	15	require	require	VERB
fcis-30832	146	16	the	the	DET
fcis-30832	146	17	exploration	exploration	NOUN
fcis-30832	146	18	of	of	ADP
fcis-30832	146	19	all	all	DET
fcis-30832	146	20	feasible	feasible	ADJ
fcis-30832	146	21	nodes	node	NOUN
fcis-30832	146	22	near	near	ADP
fcis-30832	146	23	the	the	DET
fcis-30832	146	24	starting	starting	NOUN
fcis-30832	146	25	point	point	NOUN
fcis-30832	146	26	as	as	ADV
fcis-30832	146	27	well	well	ADV
fcis-30832	146	28	as	as	ADP
fcis-30832	146	29	all	all	DET
fcis-30832	146	30	feasible	feasible	ADJ
fcis-30832	146	31	nodes	node	NOUN
fcis-30832	146	32	adjacent	adjacent	ADJ
fcis-30832	146	33	to	to	ADP
fcis-30832	146	34	the	the	DET
fcis-30832	146	35	path	path	NOUN
fcis-30832	146	36	nodes	node	NOUN
fcis-30832	146	37	in	in	ADP
fcis-30832	146	38	order	order	NOUN
fcis-30832	146	39	to	to	PART
fcis-30832	146	40	find	find	VERB
fcis-30832	146	41	the	the	DET
fcis-30832	146	42	optimal	optimal	ADJ
fcis-30832	146	43	path	path	NOUN
fcis-30832	146	44	.	.	PUNCT
fcis-30832	147	1	this	this	PRON
fcis-30832	147	2	leads	lead	VERB
fcis-30832	147	3	to	to	ADP
fcis-30832	147	4	excessive	excessive	ADJ
fcis-30832	147	5	computation	computation	NOUN
fcis-30832	147	6	of	of	ADP
fcis-30832	147	7	redundant	redundant	ADJ
fcis-30832	147	8	nodes	node	NOUN
fcis-30832	147	9	in	in	ADP
fcis-30832	147	10	the	the	DET
fcis-30832	147	11	path	path	NOUN
fcis-30832	147	12	cost	cost	NOUN
fcis-30832	147	13	calculation	calculation	NOUN
fcis-30832	147	14	.	.	PUNCT
fcis-30832	148	1	however	however	ADV
fcis-30832	148	2	,	,	PUNCT
fcis-30832	148	3	the	the	DET
fcis-30832	148	4	a*-t	a*-t	NOUN
fcis-30832	148	5	algorithm	algorithm	NOUN
fcis-30832	148	6	,	,	PUNCT
fcis-30832	148	7	guided	guide	VERB
fcis-30832	148	8	by	by	ADP
fcis-30832	148	9	the	the	DET
fcis-30832	148	10	target	target	NOUN
fcis-30832	148	11	node	node	NOUN
fcis-30832	148	12	,	,	PUNCT
fcis-30832	148	13	restricts	restrict	VERB
fcis-30832	148	14	the	the	DET
fcis-30832	148	15	search	search	NOUN
fcis-30832	148	16	direction	direction	NOUN
fcis-30832	148	17	to	to	ADP
fcis-30832	148	18	paths	path	NOUN
fcis-30832	148	19	that	that	PRON
fcis-30832	148	20	are	be	AUX
fcis-30832	148	21	more	more	ADV
fcis-30832	148	22	likely	likely	ADJ
fcis-30832	148	23	to	to	PART
fcis-30832	148	24	reach	reach	VERB
fcis-30832	148	25	the	the	DET
fcis-30832	148	26	target	target	NOUN
fcis-30832	148	27	,	,	PUNCT
fcis-30832	148	28	allowing	allow	VERB
fcis-30832	148	29	for	for	ADP
fcis-30832	148	30	precise	precise	ADJ
fcis-30832	148	31	selection	selection	NOUN
fcis-30832	148	32	of	of	ADP
fcis-30832	148	33	expansion	expansion	NOUN
fcis-30832	148	34	nodes	node	NOUN
fcis-30832	148	35	.	.	PUNCT
fcis-30832	149	1	this	this	DET
fcis-30832	149	2	approach	approach	NOUN
fcis-30832	149	3	reduces	reduce	VERB
fcis-30832	149	4	the	the	DET
fcis-30832	149	5	computation	computation	NOUN
fcis-30832	149	6	of	of	ADP
fcis-30832	149	7	redundant	redundant	ADJ
fcis-30832	149	8	nodes	node	NOUN
fcis-30832	149	9	,	,	PUNCT
fcis-30832	149	10	increasing	increase	VERB
fcis-30832	149	11	the	the	DET
fcis-30832	149	12	efficiency	efficiency	NOUN
fcis-30832	149	13	and	and	CCONJ
fcis-30832	149	14	effectiveness	effectiveness	NOUN
fcis-30832	149	15	of	of	ADP
fcis-30832	149	16	the	the	DET
fcis-30832	149	17	algorithm	algorithm	NOUN
fcis-30832	149	18	.	.	PUNCT
fcis-30832	150	1	by	by	ADP
fcis-30832	150	2	focusing	focus	VERB
fcis-30832	150	3	the	the	DET
fcis-30832	150	4	search	search	NOUN
fcis-30832	150	5	on	on	ADP
fcis-30832	150	6	more	more	ADJ
fcis-30832	150	7	promising	promising	ADJ
fcis-30832	150	8	paths	path	NOUN
fcis-30832	150	9	,	,	PUNCT
fcis-30832	150	10	the	the	DET
fcis-30832	150	11	a*-t	a*-t	NOUN
fcis-30832	150	12	algorithm	algorithm	NOUN
fcis-30832	150	13	is	be	AUX
fcis-30832	150	14	able	able	ADJ
fcis-30832	150	15	to	to	PART
fcis-30832	150	16	locate	locate	VERB
fcis-30832	150	17	the	the	DET
fcis-30832	150	18	optimal	optimal	ADJ
fcis-30832	150	19	path	path	NOUN
fcis-30832	150	20	more	more	ADV
fcis-30832	150	21	quickly	quickly	ADV
fcis-30832	150	22	and	and	CCONJ
fcis-30832	150	23	with	with	ADP
fcis-30832	150	24	less	less	ADV
fcis-30832	150	25	computational	computational	ADJ
fcis-30832	150	26	overhead	overhead	NOUN
fcis-30832	150	27	.	.	PUNCT
fcis-30832	151	1	by	by	ADP
fcis-30832	151	2	comparing	compare	VERB
fcis-30832	151	3	the	the	DET
fcis-30832	151	4	simulation	simulation	NOUN
fcis-30832	151	5	experiments	experiment	NOUN
fcis-30832	151	6	of	of	ADP
fcis-30832	151	7	the	the	DET
fcis-30832	151	8	a	a	PROPN
fcis-30832	151	9	*	*	ADJ
fcis-30832	151	10	algorithm	algorithm	NOUN
fcis-30832	151	11	and	and	CCONJ
fcis-30832	151	12	the	the	DET
fcis-30832	151	13	a*-t	a*-t	PROPN
fcis-30832	151	14	algorithm	algorithm	NOUN
fcis-30832	151	15	,	,	PUNCT
fcis-30832	151	16	we	we	PRON
fcis-30832	151	17	obtained	obtain	VERB
fcis-30832	151	18	the	the	DET
fcis-30832	151	19	results	result	NOUN
fcis-30832	151	20	presented	present	VERB
fcis-30832	151	21	in	in	ADP
fcis-30832	151	22	table	table	NOUN
fcis-30832	151	23	1	1	NUM
fcis-30832	151	24	.	.	PUNCT
fcis-30832	151	25	upon	upon	SCONJ
fcis-30832	151	26	analyzing	analyze	VERB
fcis-30832	151	27	the	the	DET
fcis-30832	151	28	experimental	experimental	ADJ
fcis-30832	151	29	data	datum	NOUN
fcis-30832	151	30	,	,	PUNCT
fcis-30832	151	31	it	it	PRON
fcis-30832	151	32	can	can	AUX
fcis-30832	151	33	be	be	AUX
fcis-30832	151	34	observed	observe	VERB
fcis-30832	151	35	that	that	SCONJ
fcis-30832	151	36	the	the	DET
fcis-30832	151	37	average	average	ADJ
fcis-30832	151	38	path	path	NOUN
fcis-30832	151	39	planning	planning	NOUN
fcis-30832	151	40	efficiency	efficiency	NOUN
fcis-30832	151	41	for	for	ADP
fcis-30832	151	42	the	the	DET
fcis-30832	151	43	a	a	PROPN
fcis-30832	151	44	*	*	ADJ
fcis-30832	151	45	algorithm	algorithm	NOUN
fcis-30832	151	46	is	be	AUX
fcis-30832	151	47	5.21	5.21	NUM
fcis-30832	151	48	,	,	PUNCT
fcis-30832	151	49	while	while	SCONJ
fcis-30832	151	50	the	the	DET
fcis-30832	151	51	average	average	ADJ
fcis-30832	151	52	path	path	NOUN
fcis-30832	151	53	planning	planning	NOUN
fcis-30832	151	54	efficiency	efficiency	NOUN
fcis-30832	151	55	for	for	ADP
fcis-30832	151	56	the	the	DET
fcis-30832	151	57	a*t	a*t	PROPN
fcis-30832	151	58	algorithm	algorithm	NOUN
fcis-30832	151	59	is	be	AUX
fcis-30832	151	60	44.76	44.76	NUM
fcis-30832	151	61	.	.	PUNCT
fcis-30832	152	1	this	this	PRON
fcis-30832	152	2	indicates	indicate	VERB
fcis-30832	152	3	an	an	DET
fcis-30832	152	4	improvement	improvement	NOUN
fcis-30832	152	5	in	in	ADP
fcis-30832	152	6	path	path	NOUN
fcis-30832	152	7	planning	planning	NOUN
fcis-30832	152	8	efficiency	efficiency	NOUN
fcis-30832	152	9	by	by	ADP
fcis-30832	152	10	a	a	DET
fcis-30832	152	11	factor	factor	NOUN
fcis-30832	152	12	of	of	ADP
fcis-30832	152	13	7.59	7.59	NUM
fcis-30832	152	14	with	with	ADP
fcis-30832	152	15	the	the	DET
fcis-30832	152	16	optimized	optimize	VERB
fcis-30832	152	17	a*t	a*t	PROPN
fcis-30832	152	18	algorithm	algorithm	NOUN
fcis-30832	152	19	.	.	PUNCT
fcis-30832	153	1	to	to	PART
fcis-30832	153	2	more	more	ADV
fcis-30832	153	3	intuitively	intuitively	ADV
fcis-30832	153	4	analyze	analyze	VERB
fcis-30832	153	5	the	the	DET
fcis-30832	153	6	changes	change	NOUN
fcis-30832	153	7	in	in	ADP
fcis-30832	153	8	path	path	NOUN
fcis-30832	153	9	planning	planning	NOUN
fcis-30832	153	10	time	time	NOUN
fcis-30832	153	11	of	of	ADP
fcis-30832	153	12	the	the	DET
fcis-30832	153	13	a	a	PROPN
fcis-30832	153	14	*	*	ADJ
fcis-30832	153	15	algorithm	algorithm	NOUN
fcis-30832	153	16	under	under	ADP
fcis-30832	153	17	different	different	ADJ
fcis-30832	153	18	conditions	condition	NOUN
fcis-30832	153	19	,	,	PUNCT
fcis-30832	153	20	the	the	DET
fcis-30832	153	21	collected	collect	VERB
fcis-30832	153	22	data	datum	NOUN
fcis-30832	153	23	on	on	ADP
fcis-30832	153	24	path	path	NOUN
fcis-30832	153	25	planning	planning	NOUN
fcis-30832	153	26	time	time	NOUN
fcis-30832	153	27	from	from	ADP
fcis-30832	153	28	the	the	DET
fcis-30832	153	29	experiments	experiment	NOUN
fcis-30832	153	30	were	be	AUX
fcis-30832	153	31	organized	organize	VERB
fcis-30832	153	32	.	.	PUNCT
fcis-30832	154	1	these	these	DET
fcis-30832	154	2	data	datum	NOUN
fcis-30832	154	3	were	be	AUX
fcis-30832	154	4	presented	present	VERB
fcis-30832	154	5	through	through	ADP
fcis-30832	154	6	a	a	DET
fcis-30832	154	7	bar	bar	NOUN
fcis-30832	154	8	chart	chart	NOUN
fcis-30832	154	9	to	to	PART
fcis-30832	154	10	facilitate	facilitate	VERB
fcis-30832	154	11	the	the	DET
fcis-30832	154	12	observation	observation	NOUN
fcis-30832	154	13	of	of	ADP
fcis-30832	154	14	the	the	DET
fcis-30832	154	15	distribution	distribution	NOUN
fcis-30832	154	16	and	and	CCONJ
fcis-30832	154	17	trends	trend	NOUN
fcis-30832	154	18	of	of	ADP
fcis-30832	154	19	the	the	DET
fcis-30832	154	20	a	a	PROPN
fcis-30832	154	21	*	*	X
fcis-30832	154	22	algorithm	algorithm	PROPN
fcis-30832	154	23	's	's	PART
fcis-30832	154	24	path	path	NOUN
fcis-30832	154	25	planning	planning	NOUN
fcis-30832	154	26	time	time	NOUN
fcis-30832	154	27	under	under	ADP
fcis-30832	154	28	various	various	ADJ
fcis-30832	154	29	conditions	condition	NOUN
fcis-30832	154	30	.	.	PUNCT
fcis-30832	155	1	bar	bar	NOUN
fcis-30832	155	2	chart	chart	NOUN
fcis-30832	155	3	of	of	ADP
fcis-30832	155	4	experimental	experimental	ADJ
fcis-30832	155	5	results	result	NOUN
fcis-30832	155	6	before	before	ADV
fcis-30832	155	7	and	and	CCONJ
fcis-30832	155	8	after	after	ADP
fcis-30832	155	9	introducing	introduce	VERB
fcis-30832	155	10	the	the	DET
fcis-30832	155	11	optimization	optimization	NOUN
fcis-30832	155	12	of	of	ADP
fcis-30832	155	13	goal	goal	NOUN
fcis-30832	155	14	-	-	PUNCT
fcis-30832	155	15	directedness	directedness	NOUN
fcis-30832	155	16	strategy	strategy	NOUN
fcis-30832	155	17	is	be	AUX
fcis-30832	155	18	as	as	SCONJ
fcis-30832	155	19	shown	show	VERB
fcis-30832	155	20	in	in	ADP
fcis-30832	155	21	figure	figure	NOUN
fcis-30832	155	22	3	3	NUM
fcis-30832	155	23	.	.	PUNCT
fcis-30832	155	24	upon	upon	SCONJ
fcis-30832	155	25	observing	observe	VERB
fcis-30832	155	26	the	the	DET
fcis-30832	155	27	experimental	experimental	ADJ
fcis-30832	155	28	data	datum	NOUN
fcis-30832	155	29	,	,	PUNCT
fcis-30832	155	30	it	it	PRON
fcis-30832	155	31	can	can	AUX
fcis-30832	155	32	be	be	AUX
fcis-30832	155	33	noted	note	VERB
fcis-30832	155	34	that	that	SCONJ
fcis-30832	155	35	the	the	DET
fcis-30832	155	36	path	path	NOUN
fcis-30832	155	37	lengths	length	NOUN
fcis-30832	155	38	remain	remain	VERB
fcis-30832	155	39	nearly	nearly	ADV
fcis-30832	155	40	unchanged	unchanged	ADJ
fcis-30832	155	41	.	.	PUNCT
fcis-30832	156	1	therefore	therefore	ADV
fcis-30832	156	2	,	,	PUNCT
fcis-30832	156	3	a	a	DET
fcis-30832	156	4	bar	bar	NOUN
fcis-30832	156	5	chart	chart	NOUN
fcis-30832	156	6	analysis	analysis	NOUN
fcis-30832	156	7	will	will	AUX
fcis-30832	156	8	be	be	AUX
fcis-30832	156	9	conducted	conduct	VERB
fcis-30832	156	10	solely	solely	ADV
fcis-30832	156	11	on	on	ADP
fcis-30832	156	12	the	the	DET
fcis-30832	156	13	path	path	NOUN
fcis-30832	156	14	planning	planning	NOUN
fcis-30832	156	15	time	time	NOUN
fcis-30832	156	16	.	.	PUNCT
fcis-30832	157	1	search	search	NOUN
fcis-30832	157	2	process	process	NOUN
fcis-30832	157	3	of	of	ADP
fcis-30832	157	4	a	a	DET
fcis-30832	157	5	*	*	ADJ
fcis-30832	157	6	algorithm	algorithm	NOUN
fcis-30832	157	7	the	the	DET
fcis-30832	157	8	path	path	NOUN
fcis-30832	157	9	of	of	ADP
fcis-30832	157	10	a	a	DET
fcis-30832	157	11	*	*	ADJ
fcis-30832	157	12	algorithm	algorithm	NOUN
fcis-30832	157	13	the	the	DET
fcis-30832	157	14	search	search	NOUN
fcis-30832	157	15	process	process	NOUN
fcis-30832	157	16	of	of	ADP
fcis-30832	157	17	a	a	DET
fcis-30832	157	18	*	*	X
fcis-30832	157	19	-t	-t	PROPN
fcis-30832	157	20	algorithm	algorithm	NOUN
fcis-30832	157	21	the	the	DET
fcis-30832	157	22	path	path	NOUN
fcis-30832	157	23	of	of	ADP
fcis-30832	157	24	a	a	DET
fcis-30832	157	25	*	*	ADJ
fcis-30832	157	26	-t	-t	PROPN
fcis-30832	157	27	algorithm	algorithm	NOUN
fcis-30832	157	28	fig	fig	NOUN
fcis-30832	157	29	2	2	NUM
fcis-30832	157	30	experiment	experiment	NOUN
fcis-30832	157	31	1	1	NUM
fcis-30832	157	32	14	14	NUM
fcis-30832	157	33	search	search	NOUN
fcis-30832	157	34	process	process	NOUN
fcis-30832	157	35	of	of	ADP
fcis-30832	157	36	a	a	DET
fcis-30832	157	37	*	*	ADJ
fcis-30832	157	38	algorithm	algorithm	NOUN
fcis-30832	157	39	the	the	DET
fcis-30832	157	40	path	path	NOUN
fcis-30832	157	41	of	of	ADP
fcis-30832	157	42	a	a	DET
fcis-30832	157	43	*	*	ADJ
fcis-30832	157	44	algorithm	algorithm	NOUN
fcis-30832	157	45	the	the	DET
fcis-30832	157	46	search	search	NOUN
fcis-30832	157	47	process	process	NOUN
fcis-30832	157	48	of	of	ADP
fcis-30832	157	49	a	a	DET
fcis-30832	157	50	*	*	X
fcis-30832	157	51	-t	-t	PROPN
fcis-30832	157	52	algorithm	algorithm	NOUN
fcis-30832	157	53	the	the	DET
fcis-30832	157	54	path	path	NOUN
fcis-30832	157	55	of	of	ADP
fcis-30832	157	56	a	a	DET
fcis-30832	157	57	*	*	ADJ
fcis-30832	157	58	-t	-t	PROPN
fcis-30832	157	59	algorithm	algorithm	NOUN
fcis-30832	157	60	fig	fig	NOUN
fcis-30832	157	61	2	2	NUM
fcis-30832	157	62	experiment	experiment	NOUN
fcis-30832	157	63	2	2	NUM
fcis-30832	157	64	search	search	NOUN
fcis-30832	157	65	process	process	NOUN
fcis-30832	157	66	of	of	ADP
fcis-30832	157	67	a	a	DET
fcis-30832	157	68	*	*	ADJ
fcis-30832	157	69	algorithm	algorithm	NOUN
fcis-30832	157	70	the	the	DET
fcis-30832	157	71	path	path	NOUN
fcis-30832	157	72	of	of	ADP
fcis-30832	157	73	a	a	DET
fcis-30832	157	74	*	*	ADJ
fcis-30832	157	75	algorithm	algorithm	NOUN
fcis-30832	157	76	the	the	DET
fcis-30832	157	77	search	search	NOUN
fcis-30832	157	78	process	process	NOUN
fcis-30832	157	79	of	of	ADP
fcis-30832	157	80	a	a	DET
fcis-30832	157	81	*	*	X
fcis-30832	157	82	-t	-t	PROPN
fcis-30832	157	83	algorithm	algorithm	NOUN
fcis-30832	157	84	the	the	DET
fcis-30832	157	85	path	path	NOUN
fcis-30832	157	86	of	of	ADP
fcis-30832	157	87	a	a	DET
fcis-30832	157	88	*	*	ADJ
fcis-30832	157	89	-t	-t	PROPN
fcis-30832	157	90	algorithm	algorithm	NOUN
fcis-30832	157	91	fig	fig	NOUN
fcis-30832	157	92	2	2	NUM
fcis-30832	157	93	experiment	experiment	NOUN
fcis-30832	157	94	3	3	NUM
fcis-30832	157	95	figure	figure	NOUN
fcis-30832	157	96	2	2	NUM
fcis-30832	157	97	.	.	PUNCT
fcis-30832	158	1	the	the	DET
fcis-30832	158	2	path	path	NOUN
fcis-30832	158	3	search	search	NOUN
fcis-30832	158	4	process	process	NOUN
fcis-30832	158	5	comparison	comparison	NOUN
fcis-30832	158	6	experiment	experiment	NOUN
fcis-30832	158	7	of	of	ADP
fcis-30832	158	8	a	a	DET
fcis-30832	158	9	*	*	ADJ
fcis-30832	158	10	algorithm	algorithm	NOUN
fcis-30832	158	11	and	and	CCONJ
fcis-30832	158	12	a	a	DET
fcis-30832	158	13	*	*	ADJ
fcis-30832	158	14	-t	-t	NOUN
fcis-30832	158	15	algorithm	algorithm	NOUN
fcis-30832	158	16	is	be	AUX
fcis-30832	158	17	carried	carry	VERB
fcis-30832	158	18	out	out	ADP
fcis-30832	158	19	table	table	NOUN
fcis-30832	158	20	1	1	NUM
fcis-30832	158	21	.	.	PUNCT
fcis-30832	159	1	experimental	experimental	ADJ
fcis-30832	159	2	data	datum	NOUN
fcis-30832	159	3	for	for	ADP
fcis-30832	159	4	a	a	DET
fcis-30832	159	5	*	*	ADJ
fcis-30832	159	6	algorithm	algorithm	NOUN
fcis-30832	159	7	and	and	CCONJ
fcis-30832	159	8	a*-t	a*-t	NOUN
fcis-30832	159	9	algorithm	algorithm	NOUN
fcis-30832	159	10	algorithm	algorithm	NOUN
fcis-30832	159	11	optimized	optimize	VERB
fcis-30832	159	12	plan	plan	NOUN
fcis-30832	159	13	the	the	DET
fcis-30832	159	14	time	time	NOUN
fcis-30832	159	15	102	102	NUM
fcis-30832	159	16	/	/	SYM
fcis-30832	159	17	s	s	VERB
fcis-30832	159	18	the	the	DET
fcis-30832	159	19	length	length	NOUN
fcis-30832	159	20	of	of	ADP
fcis-30832	159	21	the	the	DET
fcis-30832	159	22	path	path	NOUN
fcis-30832	159	23	102	102	NUM
fcis-30832	159	24	/	/	SYM
fcis-30832	159	25	dm	dm	NOUN
fcis-30832	159	26	efficiency	efficiency	NOUN
fcis-30832	159	27	of	of	ADP
fcis-30832	159	28	path	path	NOUN
fcis-30832	159	29	planning	planning	NOUN
fcis-30832	159	30	experiment	experiment	NOUN
fcis-30832	159	31	i	i	PRON
fcis-30832	159	32	a	a	PRON
fcis-30832	159	33	*	*	NUM
fcis-30832	159	34	2.934	2.934	NUM
fcis-30832	159	35	7.755	7.755	NUM
fcis-30832	159	36	2.64	2.64	NUM
fcis-30832	159	37	a*-t	a*-t	NOUN
fcis-30832	159	38	0.094	0.094	NUM
fcis-30832	159	39	7.754	7.754	NUM
fcis-30832	159	40	82.49	82.49	NUM
fcis-30832	159	41	experiment	experiment	NOUN
fcis-30832	159	42	ⅱ	ⅱ	PROPN
fcis-30832	159	43	a	a	PROPN
fcis-30832	159	44	*	*	NUM
fcis-30832	159	45	2.416	2.416	NUM
fcis-30832	159	46	10.448	10.448	NUM
fcis-30832	159	47	4.32	4.32	NUM
fcis-30832	159	48	a*-t	a*-t	NOUN
fcis-30832	159	49	0.848	0.848	NUM
fcis-30832	159	50	10.408	10.408	NUM
fcis-30832	159	51	12.27	12.27	NUM
fcis-30832	159	52	experiment	experiment	NOUN
fcis-30832	159	53	ⅲ	ⅲ	PROPN
fcis-30832	159	54	a	a	DET
fcis-30832	159	55	*	*	X
fcis-30832	159	56	0.845	0.845	NUM
fcis-30832	159	57	7.315	7.315	NUM
fcis-30832	159	58	8.66	8.66	NUM
fcis-30832	159	59	a*-t	a*-t	NOUN
fcis-30832	159	60	0.185	0.185	NUM
fcis-30832	159	61	7.315	7.315	NUM
fcis-30832	159	62	39.54	39.54	NUM
fcis-30832	159	63	15	15	NUM
fcis-30832	159	64	figure	figure	NOUN
fcis-30832	159	65	3	3	NUM
fcis-30832	159	66	.	.	PUNCT
fcis-30832	159	67	bar	bar	NOUN
fcis-30832	159	68	chart	chart	NOUN
fcis-30832	159	69	of	of	ADP
fcis-30832	159	70	path	path	NOUN
fcis-30832	159	71	planning	plan	VERB
fcis-30832	159	72	experimental	experimental	ADJ
fcis-30832	159	73	results	result	NOUN
fcis-30832	159	74	for	for	ADP
fcis-30832	159	75	a	a	DET
fcis-30832	159	76	*	*	ADJ
fcis-30832	159	77	algorithm	algorithm	NOUN
fcis-30832	159	78	and	and	CCONJ
fcis-30832	159	79	a*-t	a*-t	NOUN
fcis-30832	159	80	algorithm	algorithm	NOUN
fcis-30832	159	81	according	accord	VERB
fcis-30832	159	82	to	to	ADP
fcis-30832	159	83	the	the	DET
fcis-30832	159	84	experimental	experimental	ADJ
fcis-30832	159	85	results	result	NOUN
fcis-30832	159	86	,	,	PUNCT
fcis-30832	159	87	after	after	ADP
fcis-30832	159	88	optimizing	optimize	VERB
fcis-30832	159	89	the	the	DET
fcis-30832	159	90	path	path	NOUN
fcis-30832	159	91	planning	planning	NOUN
fcis-30832	159	92	algorithm	algorithm	NOUN
fcis-30832	159	93	,	,	PUNCT
fcis-30832	159	94	the	the	DET
fcis-30832	159	95	path	path	NOUN
fcis-30832	159	96	length	length	NOUN
fcis-30832	159	97	remains	remain	VERB
fcis-30832	159	98	approximately	approximately	ADV
fcis-30832	159	99	the	the	DET
fcis-30832	159	100	same	same	ADJ
fcis-30832	159	101	,	,	PUNCT
fcis-30832	159	102	but	but	CCONJ
fcis-30832	159	103	the	the	DET
fcis-30832	159	104	path	path	NOUN
fcis-30832	159	105	search	search	NOUN
fcis-30832	159	106	time	time	NOUN
fcis-30832	159	107	is	be	AUX
fcis-30832	159	108	significantly	significantly	ADV
fcis-30832	159	109	reduced	reduce	VERB
fcis-30832	159	110	by	by	ADP
fcis-30832	159	111	two	two	NUM
fcis-30832	159	112	orders	order	NOUN
fcis-30832	159	113	of	of	ADP
fcis-30832	159	114	magnitude	magnitude	NOUN
fcis-30832	159	115	.	.	PUNCT
fcis-30832	160	1	based	base	VERB
fcis-30832	160	2	on	on	ADP
fcis-30832	160	3	these	these	DET
fcis-30832	160	4	findings	finding	NOUN
fcis-30832	160	5	,	,	PUNCT
fcis-30832	160	6	the	the	DET
fcis-30832	160	7	following	follow	VERB
fcis-30832	160	8	conclusions	conclusion	NOUN
fcis-30832	160	9	can	can	AUX
fcis-30832	160	10	be	be	AUX
fcis-30832	160	11	drawn	draw	VERB
fcis-30832	160	12	:	:	PUNCT
fcis-30832	160	13	the	the	DET
fcis-30832	160	14	a*-t	a*-t	PROPN
fcis-30832	160	15	algorithm	algorithm	NOUN
fcis-30832	160	16	exhibits	exhibit	VERB
fcis-30832	160	17	higher	high	ADJ
fcis-30832	160	18	path	path	NOUN
fcis-30832	160	19	planning	planning	NOUN
fcis-30832	160	20	efficiency	efficiency	NOUN
fcis-30832	160	21	and	and	CCONJ
fcis-30832	160	22	fewer	few	ADJ
fcis-30832	160	23	redundant	redundant	ADJ
fcis-30832	160	24	nodes	node	NOUN
fcis-30832	160	25	compared	compare	VERB
fcis-30832	160	26	to	to	ADP
fcis-30832	160	27	the	the	DET
fcis-30832	160	28	a	a	PROPN
fcis-30832	160	29	*	*	PROPN
fcis-30832	160	30	algorithm	algorithm	NOUN
fcis-30832	160	31	.	.	PUNCT
fcis-30832	161	1	this	this	PRON
fcis-30832	161	2	implies	imply	VERB
fcis-30832	161	3	that	that	SCONJ
fcis-30832	161	4	the	the	DET
fcis-30832	161	5	optimized	optimize	VERB
fcis-30832	161	6	algorithm	algorithm	NOUN
fcis-30832	161	7	is	be	AUX
fcis-30832	161	8	capable	capable	ADJ
fcis-30832	161	9	of	of	ADP
fcis-30832	161	10	finding	find	VERB
fcis-30832	161	11	the	the	DET
fcis-30832	161	12	optimal	optimal	ADJ
fcis-30832	161	13	path	path	NOUN
fcis-30832	161	14	more	more	ADV
fcis-30832	161	15	rapidly	rapidly	ADV
fcis-30832	161	16	.	.	PUNCT
fcis-30832	162	1	by	by	ADP
fcis-30832	162	2	restricting	restrict	VERB
fcis-30832	162	3	the	the	DET
fcis-30832	162	4	search	search	NOUN
fcis-30832	162	5	direction	direction	NOUN
fcis-30832	162	6	,	,	PUNCT
fcis-30832	162	7	the	the	DET
fcis-30832	162	8	algorithm	algorithm	NOUN
fcis-30832	162	9	is	be	AUX
fcis-30832	162	10	able	able	ADJ
fcis-30832	162	11	to	to	PART
fcis-30832	162	12	more	more	ADV
fcis-30832	162	13	precisely	precisely	ADV
fcis-30832	162	14	select	select	ADJ
fcis-30832	162	15	the	the	DET
fcis-30832	162	16	next	next	ADJ
fcis-30832	162	17	expansion	expansion	NOUN
fcis-30832	162	18	node	node	NOUN
fcis-30832	162	19	,	,	PUNCT
fcis-30832	162	20	thus	thus	ADV
fcis-30832	162	21	avoiding	avoid	VERB
fcis-30832	162	22	excessive	excessive	ADJ
fcis-30832	162	23	ineffective	ineffective	ADJ
fcis-30832	162	24	searches	search	NOUN
fcis-30832	162	25	and	and	CCONJ
fcis-30832	162	26	guiding	guide	VERB
fcis-30832	162	27	the	the	DET
fcis-30832	162	28	search	search	NOUN
fcis-30832	162	29	accurately	accurately	ADV
fcis-30832	162	30	to	to	ADP
fcis-30832	162	31	the	the	DET
fcis-30832	162	32	target	target	NOUN
fcis-30832	162	33	point	point	NOUN
fcis-30832	162	34	.	.	PUNCT
fcis-30832	163	1	in	in	ADP
fcis-30832	163	2	summary	summary	NOUN
fcis-30832	163	3	,	,	PUNCT
fcis-30832	163	4	the	the	DET
fcis-30832	163	5	a*-t	a*-t	NOUN
fcis-30832	163	6	algorithm	algorithm	NOUN
fcis-30832	163	7	demonstrates	demonstrate	VERB
fcis-30832	163	8	superior	superior	ADJ
fcis-30832	163	9	efficiency	efficiency	NOUN
fcis-30832	163	10	and	and	CCONJ
fcis-30832	163	11	accuracy	accuracy	NOUN
fcis-30832	163	12	in	in	ADP
fcis-30832	163	13	path	path	NOUN
fcis-30832	163	14	planning	planning	NOUN
fcis-30832	163	15	,	,	PUNCT
fcis-30832	163	16	enabling	enable	VERB
fcis-30832	163	17	the	the	DET
fcis-30832	163	18	identification	identification	NOUN
fcis-30832	163	19	of	of	ADP
fcis-30832	163	20	shorter	short	ADJ
fcis-30832	163	21	optimal	optimal	ADJ
fcis-30832	163	22	paths	path	NOUN
fcis-30832	163	23	.	.	PUNCT
fcis-30832	164	1	8	8	NUM
fcis-30832	164	2	.	.	X
fcis-30832	164	3	comparison	comparison	NOUN
fcis-30832	164	4	experiment	experiment	NOUN
fcis-30832	164	5	before	before	ADV
fcis-30832	164	6	and	and	CCONJ
fcis-30832	164	7	after	after	ADP
fcis-30832	164	8	introducing	introduce	VERB
fcis-30832	164	9	the	the	DET
fcis-30832	164	10	linear	linear	ADJ
fcis-30832	164	11	adaptation	adaptation	NOUN
fcis-30832	164	12	strategy	strategy	NOUN
fcis-30832	164	13	to	to	PART
fcis-30832	164	14	further	far	ADV
fcis-30832	164	15	improve	improve	VERB
fcis-30832	164	16	search	search	NOUN
fcis-30832	164	17	efficiency	efficiency	NOUN
fcis-30832	164	18	,	,	PUNCT
fcis-30832	164	19	a	a	DET
fcis-30832	164	20	linear	linear	ADJ
fcis-30832	164	21	adaptation	adaptation	NOUN
fcis-30832	164	22	strategy	strategy	NOUN
fcis-30832	164	23	is	be	AUX
fcis-30832	164	24	introduced	introduce	VERB
fcis-30832	164	25	to	to	PART
fcis-30832	164	26	enhance	enhance	VERB
fcis-30832	164	27	the	the	DET
fcis-30832	164	28	a	a	PROPN
fcis-30832	164	29	*	*	ADJ
fcis-30832	164	30	algorithm	algorithm	NOUN
fcis-30832	164	31	,	,	PUNCT
fcis-30832	164	32	resulting	result	VERB
fcis-30832	164	33	in	in	ADP
fcis-30832	164	34	a	a	DET
fcis-30832	164	35	new	new	ADJ
fcis-30832	164	36	algorithm	algorithm	NOUN
fcis-30832	164	37	called	call	VERB
fcis-30832	164	38	a*-lt	a*-lt	PROPN
fcis-30832	164	39	.	.	PUNCT
fcis-30832	165	1	this	this	DET
fcis-30832	165	2	algorithm	algorithm	NOUN
fcis-30832	165	3	builds	build	VERB
fcis-30832	165	4	upon	upon	SCONJ
fcis-30832	165	5	the	the	DET
fcis-30832	165	6	strengths	strength	NOUN
fcis-30832	165	7	of	of	ADP
fcis-30832	165	8	the	the	DET
fcis-30832	165	9	a	a	PROPN
fcis-30832	165	10	*	*	ADJ
fcis-30832	165	11	algorithm	algorithm	NOUN
fcis-30832	165	12	while	while	SCONJ
fcis-30832	165	13	dynamically	dynamically	ADV
fcis-30832	165	14	adjusting	adjust	VERB
fcis-30832	165	15	its	its	PRON
fcis-30832	165	16	search	search	NOUN
fcis-30832	165	17	strategy	strategy	NOUN
fcis-30832	165	18	based	base	VERB
fcis-30832	165	19	on	on	ADP
fcis-30832	165	20	environmental	environmental	ADJ
fcis-30832	165	21	changes	change	NOUN
fcis-30832	165	22	.	.	PUNCT
fcis-30832	166	1	in	in	ADP
fcis-30832	166	2	the	the	DET
fcis-30832	166	3	a	a	PROPN
fcis-30832	166	4	*	*	NOUN
fcis-30832	166	5	algorithm	algorithm	NOUN
fcis-30832	166	6	,	,	PUNCT
fcis-30832	166	7	a	a	DET
fcis-30832	166	8	squared	square	VERB
fcis-30832	166	9	heuristic	heuristic	ADJ
fcis-30832	166	10	function	function	NOUN
fcis-30832	166	11	is	be	AUX
fcis-30832	166	12	used	use	VERB
fcis-30832	166	13	to	to	PART
fcis-30832	166	14	calculate	calculate	VERB
fcis-30832	166	15	the	the	DET
fcis-30832	166	16	cost	cost	NOUN
fcis-30832	166	17	from	from	ADP
fcis-30832	166	18	the	the	DET
fcis-30832	166	19	current	current	ADJ
fcis-30832	166	20	node	node	NOUN
fcis-30832	166	21	to	to	ADP
fcis-30832	166	22	the	the	DET
fcis-30832	166	23	goal	goal	NOUN
fcis-30832	166	24	node	node	NOUN
fcis-30832	166	25	.	.	PUNCT
fcis-30832	167	1	this	this	DET
fcis-30832	167	2	heuristic	heuristic	ADJ
fcis-30832	167	3	function	function	NOUN
fcis-30832	167	4	is	be	AUX
fcis-30832	167	5	typically	typically	ADV
fcis-30832	167	6	based	base	VERB
fcis-30832	167	7	on	on	ADP
fcis-30832	167	8	prior	prior	ADJ
fcis-30832	167	9	knowledge	knowledge	NOUN
fcis-30832	167	10	and	and	CCONJ
fcis-30832	167	11	guides	guide	VERB
fcis-30832	167	12	the	the	DET
fcis-30832	167	13	search	search	NOUN
fcis-30832	167	14	direction	direction	NOUN
fcis-30832	167	15	.	.	PUNCT
fcis-30832	168	1	however	however	ADV
fcis-30832	168	2	,	,	PUNCT
fcis-30832	168	3	when	when	SCONJ
fcis-30832	168	4	the	the	DET
fcis-30832	168	5	environment	environment	NOUN
fcis-30832	168	6	changes	change	VERB
fcis-30832	168	7	,	,	PUNCT
fcis-30832	168	8	this	this	DET
fcis-30832	168	9	fixed	fix	VERB
fcis-30832	168	10	heuristic	heuristic	ADJ
fcis-30832	168	11	function	function	NOUN
fcis-30832	168	12	may	may	AUX
fcis-30832	168	13	not	not	PART
fcis-30832	168	14	adapt	adapt	VERB
fcis-30832	168	15	well	well	ADV
fcis-30832	168	16	to	to	ADP
fcis-30832	168	17	the	the	DET
fcis-30832	168	18	new	new	ADJ
fcis-30832	168	19	conditions	condition	NOUN
fcis-30832	168	20	,	,	PUNCT
fcis-30832	168	21	leading	lead	VERB
fcis-30832	168	22	to	to	ADP
fcis-30832	168	23	reduced	reduce	VERB
fcis-30832	168	24	search	search	NOUN
fcis-30832	168	25	efficiency	efficiency	NOUN
fcis-30832	168	26	.	.	PUNCT
fcis-30832	169	1	by	by	ADP
fcis-30832	169	2	introducing	introduce	VERB
fcis-30832	169	3	a	a	DET
fcis-30832	169	4	linear	linear	ADJ
fcis-30832	169	5	adaptation	adaptation	NOUN
fcis-30832	169	6	strategy	strategy	NOUN
fcis-30832	169	7	,	,	PUNCT
fcis-30832	169	8	the	the	DET
fcis-30832	169	9	heuristic	heuristic	ADJ
fcis-30832	169	10	function	function	NOUN
fcis-30832	169	11	can	can	AUX
fcis-30832	169	12	be	be	AUX
fcis-30832	169	13	adaptively	adaptively	ADV
fcis-30832	169	14	adjusted	adjust	VERB
fcis-30832	169	15	based	base	VERB
fcis-30832	169	16	on	on	ADP
fcis-30832	169	17	the	the	DET
fcis-30832	169	18	progress	progress	NOUN
fcis-30832	169	19	of	of	ADP
fcis-30832	169	20	the	the	DET
fcis-30832	169	21	search	search	NOUN
fcis-30832	169	22	.	.	PUNCT
fcis-30832	170	1	the	the	DET
fcis-30832	170	2	following	follow	VERB
fcis-30832	170	3	is	be	AUX
fcis-30832	170	4	a	a	DET
fcis-30832	170	5	comparative	comparative	ADJ
fcis-30832	170	6	experiment	experiment	NOUN
fcis-30832	170	7	that	that	PRON
fcis-30832	170	8	illustrates	illustrate	VERB
fcis-30832	170	9	the	the	DET
fcis-30832	170	10	path	path	NOUN
fcis-30832	170	11	search	search	NOUN
fcis-30832	170	12	performance	performance	NOUN
fcis-30832	170	13	of	of	ADP
fcis-30832	170	14	the	the	DET
fcis-30832	170	15	a	a	PROPN
fcis-30832	170	16	*	*	ADJ
fcis-30832	170	17	algorithm	algorithm	NOUN
fcis-30832	170	18	and	and	CCONJ
fcis-30832	170	19	the	the	DET
fcis-30832	170	20	a*lt	a*lt	PROPN
fcis-30832	170	21	algorithm	algorithm	NOUN
fcis-30832	170	22	,	,	PUNCT
fcis-30832	170	23	as	as	SCONJ
fcis-30832	170	24	shown	show	VERB
fcis-30832	170	25	in	in	ADP
fcis-30832	170	26	figure	figure	NOUN
fcis-30832	170	27	4	4	NUM
fcis-30832	170	28	.	.	PUNCT
fcis-30832	171	1	a	a	DET
fcis-30832	171	2	*	*	PUNCT
fcis-30832	171	3	algorithm	algorithm	PROPN
fcis-30832	171	4	a*-lt	a*-lt	PROPN
fcis-30832	171	5	algorithm	algorithm	PROPN
fcis-30832	171	6	fig	fig	NOUN
fcis-30832	171	7	4	4	NUM
fcis-30832	171	8	experiment	experiment	NOUN
fcis-30832	171	9	1	1	NUM
fcis-30832	171	10	16	16	NUM
fcis-30832	171	11	a	a	DET
fcis-30832	171	12	*	*	PUNCT
fcis-30832	171	13	algorithm	algorithm	PROPN
fcis-30832	171	14	a*-lt	a*-lt	PROPN
fcis-30832	171	15	algorithm	algorithm	PROPN
fcis-30832	171	16	fig	fig	NOUN
fcis-30832	171	17	4	4	NUM
fcis-30832	171	18	experiment	experiment	NOUN
fcis-30832	171	19	2	2	NUM
fcis-30832	171	20	a	a	DET
fcis-30832	171	21	*	*	PUNCT
fcis-30832	171	22	algorithm	algorithm	PROPN
fcis-30832	171	23	a*-lt	a*-lt	PROPN
fcis-30832	171	24	algorithm	algorithm	PROPN
fcis-30832	171	25	fig	fig	NOUN
fcis-30832	171	26	4	4	NUM
fcis-30832	171	27	experiment	experiment	NOUN
fcis-30832	171	28	3	3	NUM
fcis-30832	171	29	figure	figure	NOUN
fcis-30832	171	30	4	4	NUM
fcis-30832	171	31	.	.	PUNCT
fcis-30832	172	1	the	the	DET
fcis-30832	172	2	path	path	NOUN
fcis-30832	172	3	comparison	comparison	NOUN
fcis-30832	172	4	experiment	experiment	NOUN
fcis-30832	172	5	of	of	ADP
fcis-30832	172	6	a	a	DET
fcis-30832	172	7	*	*	ADJ
fcis-30832	172	8	algorithm	algorithm	NOUN
fcis-30832	172	9	and	and	CCONJ
fcis-30832	172	10	a	a	DET
fcis-30832	172	11	*	*	ADJ
fcis-30832	172	12	-lt	-lt	NOUN
fcis-30832	172	13	algorithm	algorithm	PROPN
fcis-30832	172	14	planning	planning	NOUN
fcis-30832	172	15	is	be	AUX
fcis-30832	172	16	carried	carry	VERB
fcis-30832	172	17	out	out	ADP
fcis-30832	172	18	upon	upon	SCONJ
fcis-30832	172	19	analyzing	analyze	VERB
fcis-30832	172	20	the	the	DET
fcis-30832	172	21	experimental	experimental	ADJ
fcis-30832	172	22	results	result	NOUN
fcis-30832	172	23	,	,	PUNCT
fcis-30832	172	24	the	the	DET
fcis-30832	172	25	linear	linear	ADJ
fcis-30832	172	26	adaptation	adaptation	NOUN
fcis-30832	172	27	strategy	strategy	NOUN
fcis-30832	172	28	provides	provide	VERB
fcis-30832	172	29	the	the	DET
fcis-30832	172	30	algorithm	algorithm	NOUN
fcis-30832	172	31	with	with	ADP
fcis-30832	172	32	a	a	DET
fcis-30832	172	33	clearer	clear	ADJ
fcis-30832	172	34	search	search	NOUN
fcis-30832	172	35	direction	direction	NOUN
fcis-30832	172	36	by	by	ADP
fcis-30832	172	37	adjusting	adjust	VERB
fcis-30832	172	38	the	the	DET
fcis-30832	172	39	weight	weight	NOUN
fcis-30832	172	40	of	of	ADP
fcis-30832	172	41	the	the	DET
fcis-30832	172	42	actual	actual	ADJ
fcis-30832	172	43	cost	cost	NOUN
fcis-30832	172	44	.	.	PUNCT
fcis-30832	173	1	this	this	PRON
fcis-30832	173	2	enables	enable	VERB
fcis-30832	173	3	the	the	DET
fcis-30832	173	4	algorithm	algorithm	NOUN
fcis-30832	173	5	to	to	PART
fcis-30832	173	6	be	be	AUX
fcis-30832	173	7	closer	close	ADJ
fcis-30832	173	8	to	to	ADP
fcis-30832	173	9	the	the	DET
fcis-30832	173	10	optimal	optimal	ADJ
fcis-30832	173	11	path	path	NOUN
fcis-30832	173	12	when	when	SCONJ
fcis-30832	173	13	selecting	select	VERB
fcis-30832	173	14	the	the	DET
fcis-30832	173	15	next	next	ADJ
fcis-30832	173	16	node	node	NOUN
fcis-30832	173	17	at	at	ADP
fcis-30832	173	18	each	each	DET
fcis-30832	173	19	step	step	NOUN
fcis-30832	173	20	,	,	PUNCT
fcis-30832	173	21	thus	thus	ADV
fcis-30832	173	22	reducing	reduce	VERB
fcis-30832	173	23	unnecessary	unnecessary	ADJ
fcis-30832	173	24	searches	search	NOUN
fcis-30832	173	25	and	and	CCONJ
fcis-30832	173	26	backtracking	backtracking	NOUN
fcis-30832	173	27	.	.	PUNCT
fcis-30832	174	1	the	the	DET
fcis-30832	174	2	algorithm	algorithm	NOUN
fcis-30832	174	3	avoids	avoid	VERB
fcis-30832	174	4	entering	enter	VERB
fcis-30832	174	5	regions	region	NOUN
fcis-30832	174	6	that	that	PRON
fcis-30832	174	7	are	be	AUX
fcis-30832	174	8	obviously	obviously	ADV
fcis-30832	174	9	not	not	PART
fcis-30832	174	10	optimal	optimal	ADJ
fcis-30832	174	11	solutions	solution	NOUN
fcis-30832	174	12	during	during	ADP
fcis-30832	174	13	the	the	DET
fcis-30832	174	14	search	search	NOUN
fcis-30832	174	15	process	process	NOUN
fcis-30832	174	16	.	.	PUNCT
fcis-30832	175	1	by	by	ADP
fcis-30832	175	2	adjusting	adjust	VERB
fcis-30832	175	3	the	the	DET
fcis-30832	175	4	weights	weight	NOUN
fcis-30832	175	5	,	,	PUNCT
fcis-30832	175	6	the	the	DET
fcis-30832	175	7	algorithm	algorithm	NOUN
fcis-30832	175	8	can	can	AUX
fcis-30832	175	9	more	more	ADV
fcis-30832	175	10	accurately	accurately	ADV
fcis-30832	175	11	evaluate	evaluate	VERB
fcis-30832	175	12	the	the	DET
fcis-30832	175	13	priority	priority	NOUN
fcis-30832	175	14	of	of	ADP
fcis-30832	175	15	nodes	node	NOUN
fcis-30832	175	16	,	,	PUNCT
fcis-30832	175	17	thereby	thereby	ADV
fcis-30832	175	18	reducing	reduce	VERB
fcis-30832	175	19	the	the	DET
fcis-30832	175	20	time	time	NOUN
fcis-30832	175	21	spent	spend	VERB
fcis-30832	175	22	on	on	ADP
fcis-30832	175	23	ineffective	ineffective	ADJ
fcis-30832	175	24	searches	search	NOUN
fcis-30832	175	25	.	.	PUNCT
fcis-30832	176	1	after	after	ADP
fcis-30832	176	2	comparing	compare	VERB
fcis-30832	176	3	the	the	DET
fcis-30832	176	4	experiments	experiment	NOUN
fcis-30832	176	5	of	of	ADP
fcis-30832	176	6	the	the	DET
fcis-30832	176	7	a	a	PROPN
fcis-30832	176	8	*	*	ADJ
fcis-30832	176	9	algorithm	algorithm	NOUN
fcis-30832	176	10	and	and	CCONJ
fcis-30832	176	11	the	the	DET
fcis-30832	176	12	a*-lt	a*-lt	PROPN
fcis-30832	176	13	algorithm	algorithm	NOUN
fcis-30832	176	14	,	,	PUNCT
fcis-30832	176	15	a	a	DET
fcis-30832	176	16	set	set	NOUN
fcis-30832	176	17	of	of	ADP
fcis-30832	176	18	data	datum	NOUN
fcis-30832	176	19	was	be	AUX
fcis-30832	176	20	obtained	obtain	VERB
fcis-30832	176	21	to	to	PART
fcis-30832	176	22	accurately	accurately	ADV
fcis-30832	176	23	reflect	reflect	VERB
fcis-30832	176	24	the	the	DET
fcis-30832	176	25	time	time	NOUN
fcis-30832	176	26	taken	take	VERB
fcis-30832	176	27	for	for	ADP
fcis-30832	176	28	path	path	NOUN
fcis-30832	176	29	search	search	NOUN
fcis-30832	176	30	.	.	PUNCT
fcis-30832	177	1	next	next	ADV
fcis-30832	177	2	,	,	PUNCT
fcis-30832	177	3	the	the	DET
fcis-30832	177	4	changes	change	NOUN
fcis-30832	177	5	in	in	ADP
fcis-30832	177	6	path	path	NOUN
fcis-30832	177	7	planning	planning	NOUN
fcis-30832	177	8	time	time	NOUN
fcis-30832	177	9	will	will	AUX
fcis-30832	177	10	be	be	AUX
fcis-30832	177	11	visually	visually	ADV
fcis-30832	177	12	presented	present	VERB
fcis-30832	177	13	in	in	ADP
fcis-30832	177	14	the	the	DET
fcis-30832	177	15	form	form	NOUN
fcis-30832	177	16	of	of	ADP
fcis-30832	177	17	a	a	DET
fcis-30832	177	18	chart	chart	NOUN
fcis-30832	177	19	,	,	PUNCT
fcis-30832	177	20	as	as	SCONJ
fcis-30832	177	21	shown	show	VERB
fcis-30832	177	22	in	in	ADP
fcis-30832	177	23	figure	figure	NOUN
fcis-30832	177	24	5	5	NUM
fcis-30832	177	25	.	.	PUNCT
fcis-30832	177	26	figure	figure	NOUN
fcis-30832	177	27	5	5	NUM
fcis-30832	177	28	.	.	PUNCT
fcis-30832	178	1	a	a	DET
fcis-30832	178	2	*	*	PUNCT
fcis-30832	178	3	algorithm	algorithm	NOUN
fcis-30832	178	4	and	and	CCONJ
fcis-30832	178	5	a	a	DET
fcis-30832	178	6	*	*	ADJ
fcis-30832	178	7	-lt	-lt	INTJ
fcis-30832	178	8	algorithm	algorithm	PROPN
fcis-30832	178	9	path	path	PROPN
fcis-30832	178	10	planning	planning	NOUN
fcis-30832	178	11	experimental	experimental	ADJ
fcis-30832	178	12	results	result	NOUN
fcis-30832	178	13	histogram	histogram	VERB
fcis-30832	178	14	17	17	NUM
fcis-30832	178	15	upon	upon	SCONJ
fcis-30832	178	16	analyzing	analyze	VERB
fcis-30832	178	17	the	the	DET
fcis-30832	178	18	experimental	experimental	ADJ
fcis-30832	178	19	data	datum	NOUN
fcis-30832	178	20	,	,	PUNCT
fcis-30832	178	21	it	it	PRON
fcis-30832	178	22	can	can	AUX
fcis-30832	178	23	be	be	AUX
fcis-30832	178	24	observed	observe	VERB
fcis-30832	178	25	that	that	SCONJ
fcis-30832	178	26	the	the	DET
fcis-30832	178	27	introduction	introduction	NOUN
fcis-30832	178	28	of	of	ADP
fcis-30832	178	29	the	the	DET
fcis-30832	178	30	linear	linear	ADJ
fcis-30832	178	31	adaptation	adaptation	NOUN
fcis-30832	178	32	strategy	strategy	NOUN
fcis-30832	178	33	into	into	ADP
fcis-30832	178	34	the	the	DET
fcis-30832	178	35	a	a	PROPN
fcis-30832	178	36	*	*	PUNCT
fcis-30832	178	37	algorithm	algorithm	NOUN
fcis-30832	178	38	results	result	NOUN
fcis-30832	178	39	in	in	ADP
fcis-30832	178	40	a	a	DET
fcis-30832	178	41	significant	significant	ADJ
fcis-30832	178	42	reduction	reduction	NOUN
fcis-30832	178	43	in	in	ADP
fcis-30832	178	44	path	path	NOUN
fcis-30832	178	45	search	search	NOUN
fcis-30832	178	46	time	time	NOUN
fcis-30832	178	47	.	.	PUNCT
fcis-30832	179	1	the	the	DET
fcis-30832	179	2	average	average	ADJ
fcis-30832	179	3	path	path	NOUN
fcis-30832	179	4	planning	planning	NOUN
fcis-30832	179	5	time	time	NOUN
fcis-30832	179	6	for	for	ADP
fcis-30832	179	7	the	the	DET
fcis-30832	179	8	a	a	PROPN
fcis-30832	179	9	*	*	ADJ
fcis-30832	179	10	algorithm	algorithm	NOUN
fcis-30832	179	11	is	be	AUX
fcis-30832	179	12	132.58	132.58	NUM
fcis-30832	179	13	seconds	second	NOUN
fcis-30832	179	14	,	,	PUNCT
fcis-30832	179	15	while	while	SCONJ
fcis-30832	179	16	the	the	DET
fcis-30832	179	17	average	average	ADJ
fcis-30832	179	18	path	path	NOUN
fcis-30832	179	19	planning	planning	NOUN
fcis-30832	179	20	time	time	NOUN
fcis-30832	179	21	for	for	ADP
fcis-30832	179	22	the	the	DET
fcis-30832	179	23	a*-lt	a*-lt	PROPN
fcis-30832	179	24	algorithm	algorithm	NOUN
fcis-30832	179	25	is	be	AUX
fcis-30832	179	26	51.05	51.05	NUM
fcis-30832	179	27	seconds	second	NOUN
fcis-30832	179	28	.	.	PUNCT
fcis-30832	180	1	this	this	PRON
fcis-30832	180	2	represents	represent	VERB
fcis-30832	180	3	an	an	DET
fcis-30832	180	4	average	average	ADJ
fcis-30832	180	5	reduction	reduction	NOUN
fcis-30832	180	6	of	of	ADP
fcis-30832	180	7	61.50	61.50	NUM
fcis-30832	180	8	%	%	NOUN
fcis-30832	180	9	in	in	ADP
fcis-30832	180	10	path	path	NOUN
fcis-30832	180	11	planning	planning	NOUN
fcis-30832	180	12	time	time	NOUN
fcis-30832	180	13	with	with	ADP
fcis-30832	180	14	the	the	DET
fcis-30832	180	15	optimized	optimize	VERB
fcis-30832	180	16	algorithm	algorithm	NOUN
fcis-30832	180	17	.	.	PUNCT
fcis-30832	181	1	9	9	X
fcis-30832	181	2	.	.	X
fcis-30832	181	3	comparison	comparison	NOUN
fcis-30832	181	4	experiment	experiment	NOUN
fcis-30832	181	5	before	before	ADV
fcis-30832	181	6	and	and	CCONJ
fcis-30832	181	7	after	after	ADP
fcis-30832	181	8	introducing	introduce	VERB
fcis-30832	181	9	the	the	DET
fcis-30832	181	10	exponential	exponential	ADJ
fcis-30832	181	11	adaptation	adaptation	NOUN
fcis-30832	181	12	strategy	strategy	NOUN
fcis-30832	181	13	the	the	DET
fcis-30832	181	14	a	a	PROPN
fcis-30832	181	15	*	*	NOUN
fcis-30832	181	16	algorithm	algorithm	NOUN
fcis-30832	181	17	evaluates	evaluate	VERB
fcis-30832	181	18	the	the	DET
fcis-30832	181	19	quality	quality	NOUN
fcis-30832	181	20	of	of	ADP
fcis-30832	181	21	paths	path	NOUN
fcis-30832	181	22	by	by	ADP
fcis-30832	181	23	combining	combine	VERB
fcis-30832	181	24	the	the	DET
fcis-30832	181	25	actual	actual	ADJ
fcis-30832	181	26	path	path	NOUN
fcis-30832	181	27	length	length	NOUN
fcis-30832	181	28	with	with	ADP
fcis-30832	181	29	an	an	DET
fcis-30832	181	30	estimated	estimated	ADJ
fcis-30832	181	31	remaining	remain	VERB
fcis-30832	181	32	distance	distance	NOUN
fcis-30832	181	33	to	to	PART
fcis-30832	181	34	select	select	VERB
fcis-30832	181	35	the	the	DET
fcis-30832	181	36	optimal	optimal	ADJ
fcis-30832	181	37	path	path	NOUN
fcis-30832	181	38	.	.	PUNCT
fcis-30832	182	1	however	however	ADV
fcis-30832	182	2	,	,	PUNCT
fcis-30832	182	3	to	to	PART
fcis-30832	182	4	improve	improve	VERB
fcis-30832	182	5	the	the	DET
fcis-30832	182	6	performance	performance	NOUN
fcis-30832	182	7	and	and	CCONJ
fcis-30832	182	8	adaptability	adaptability	NOUN
fcis-30832	182	9	of	of	ADP
fcis-30832	182	10	the	the	DET
fcis-30832	182	11	a	a	PROPN
fcis-30832	182	12	*	*	PROPN
fcis-30832	182	13	algorithm	algorithm	NOUN
fcis-30832	182	14	,	,	PUNCT
fcis-30832	182	15	an	an	DET
fcis-30832	182	16	exponential	exponential	ADJ
fcis-30832	182	17	adaptation	adaptation	NOUN
fcis-30832	182	18	strategy	strategy	NOUN
fcis-30832	182	19	can	can	AUX
fcis-30832	182	20	be	be	AUX
fcis-30832	182	21	introduced	introduce	VERB
fcis-30832	182	22	to	to	PART
fcis-30832	182	23	form	form	VERB
fcis-30832	182	24	a	a	DET
fcis-30832	182	25	new	new	ADJ
fcis-30832	182	26	algorithm	algorithm	NOUN
fcis-30832	182	27	called	call	VERB
fcis-30832	182	28	a*-it	a*-it	PROPN
fcis-30832	182	29	.	.	PUNCT
fcis-30832	183	1	this	this	PRON
fcis-30832	183	2	primarily	primarily	ADV
fcis-30832	183	3	involves	involve	VERB
fcis-30832	183	4	adjustments	adjustment	NOUN
fcis-30832	183	5	to	to	ADP
fcis-30832	183	6	the	the	DET
fcis-30832	183	7	calculation	calculation	NOUN
fcis-30832	183	8	of	of	ADP
fcis-30832	183	9	h(n	h(n	PROPN
fcis-30832	183	10	)	)	PUNCT
fcis-30832	183	11	,	,	PUNCT
fcis-30832	183	12	which	which	PRON
fcis-30832	183	13	affects	affect	VERB
fcis-30832	183	14	the	the	DET
fcis-30832	183	15	path	path	NOUN
fcis-30832	183	16	selection	selection	NOUN
fcis-30832	183	17	process	process	NOUN
fcis-30832	183	18	.	.	PUNCT
fcis-30832	184	1	the	the	DET
fcis-30832	184	2	exponential	exponential	ADJ
fcis-30832	184	3	adaptation	adaptation	NOUN
fcis-30832	184	4	strategy	strategy	NOUN
fcis-30832	184	5	is	be	AUX
fcis-30832	184	6	an	an	DET
fcis-30832	184	7	improved	improved	ADJ
fcis-30832	184	8	approach	approach	NOUN
fcis-30832	184	9	that	that	PRON
fcis-30832	184	10	dynamically	dynamically	ADV
fcis-30832	184	11	adjusts	adjust	VERB
fcis-30832	184	12	the	the	DET
fcis-30832	184	13	calculation	calculation	NOUN
fcis-30832	184	14	method	method	NOUN
fcis-30832	184	15	,	,	PUNCT
fcis-30832	184	16	enabling	enable	VERB
fcis-30832	184	17	the	the	DET
fcis-30832	184	18	a	a	PRON
fcis-30832	184	19	*	*	ADJ
fcis-30832	184	20	algorithm	algorithm	NOUN
fcis-30832	184	21	to	to	PART
fcis-30832	184	22	better	well	ADV
fcis-30832	184	23	adapt	adapt	VERB
fcis-30832	184	24	to	to	ADP
fcis-30832	184	25	different	different	ADJ
fcis-30832	184	26	search	search	NOUN
fcis-30832	184	27	environments	environment	NOUN
fcis-30832	184	28	and	and	CCONJ
fcis-30832	184	29	requirements	requirement	NOUN
fcis-30832	184	30	.	.	PUNCT
fcis-30832	185	1	this	this	DET
fcis-30832	185	2	strategy	strategy	NOUN
fcis-30832	185	3	involves	involve	VERB
fcis-30832	185	4	the	the	DET
fcis-30832	185	5	application	application	NOUN
fcis-30832	185	6	of	of	ADP
fcis-30832	185	7	an	an	DET
fcis-30832	185	8	exponential	exponential	ADJ
fcis-30832	185	9	function	function	NOUN
fcis-30832	185	10	to	to	PART
fcis-30832	185	11	adjust	adjust	VERB
fcis-30832	185	12	its	its	PRON
fcis-30832	185	13	impact	impact	NOUN
fcis-30832	185	14	on	on	ADP
fcis-30832	185	15	the	the	DET
fcis-30832	185	16	search	search	NOUN
fcis-30832	185	17	process	process	NOUN
fcis-30832	185	18	.	.	PUNCT
fcis-30832	186	1	as	as	SCONJ
fcis-30832	186	2	shown	show	VERB
fcis-30832	186	3	in	in	ADP
fcis-30832	186	4	figure	figure	NOUN
fcis-30832	186	5	6	6	NUM
fcis-30832	186	6	,	,	PUNCT
fcis-30832	186	7	experiments	experiment	NOUN
fcis-30832	186	8	were	be	AUX
fcis-30832	186	9	conducted	conduct	VERB
fcis-30832	186	10	by	by	ADP
fcis-30832	186	11	running	run	VERB
fcis-30832	186	12	both	both	DET
fcis-30832	186	13	the	the	DET
fcis-30832	186	14	a	a	NOUN
fcis-30832	186	15	*	*	ADJ
fcis-30832	186	16	algorithm	algorithm	NOUN
fcis-30832	186	17	and	and	CCONJ
fcis-30832	186	18	the	the	DET
fcis-30832	186	19	a*-it	a*-it	NOUN
fcis-30832	186	20	algorithm	algorithm	NOUN
fcis-30832	186	21	on	on	ADP
fcis-30832	186	22	each	each	DET
fcis-30832	186	23	map	map	NOUN
fcis-30832	186	24	,	,	PUNCT
fcis-30832	186	25	obtaining	obtain	VERB
fcis-30832	186	26	the	the	DET
fcis-30832	186	27	search	search	NOUN
fcis-30832	186	28	path	path	NOUN
fcis-30832	186	29	for	for	ADP
fcis-30832	186	30	each	each	DET
fcis-30832	186	31	iteration	iteration	NOUN
fcis-30832	186	32	,	,	PUNCT
fcis-30832	186	33	and	and	CCONJ
fcis-30832	186	34	recording	record	VERB
fcis-30832	186	35	the	the	DET
fcis-30832	186	36	search	search	NOUN
fcis-30832	186	37	time	time	NOUN
fcis-30832	186	38	accordingly	accordingly	ADV
fcis-30832	186	39	.	.	PUNCT
fcis-30832	187	1	a	a	DET
fcis-30832	187	2	*	*	PUNCT
fcis-30832	187	3	algorithm	algorithm	PROPN
fcis-30832	187	4	a*-it	a*-it	NOUN
fcis-30832	187	5	algorithm	algorithm	NOUN
fcis-30832	187	6	experiment	experiment	NOUN
fcis-30832	187	7	1	1	NUM
fcis-30832	187	8	a	a	DET
fcis-30832	187	9	*	*	PUNCT
fcis-30832	187	10	algorithm	algorithm	NOUN
fcis-30832	187	11	a*-it	a*-it	NOUN
fcis-30832	187	12	algorithm	algorithm	NOUN
fcis-30832	187	13	experiment	experiment	NOUN
fcis-30832	187	14	2	2	NUM
fcis-30832	187	15	a	a	DET
fcis-30832	187	16	*	*	PUNCT
fcis-30832	187	17	algorithm	algorithm	NOUN
fcis-30832	187	18	a*-it	a*-it	NOUN
fcis-30832	187	19	algorithm	algorithm	NOUN
fcis-30832	187	20	experiment	experiment	NOUN
fcis-30832	187	21	3	3	NUM
fcis-30832	187	22	figure	figure	NOUN
fcis-30832	187	23	6	6	NUM
fcis-30832	187	24	.	.	PUNCT
fcis-30832	188	1	a	a	DET
fcis-30832	188	2	*	*	PUNCT
fcis-30832	188	3	algorithm	algorithm	NOUN
fcis-30832	188	4	and	and	CCONJ
fcis-30832	188	5	a	a	DET
fcis-30832	188	6	*	*	ADJ
fcis-30832	188	7	-it	-it	NOUN
fcis-30832	188	8	algorithm	algorithm	NOUN
fcis-30832	188	9	path	path	PROPN
fcis-30832	188	10	planning	planning	NOUN
fcis-30832	188	11	comparison	comparison	NOUN
fcis-30832	188	12	experiment	experiment	NOUN
fcis-30832	188	13	18	18	NUM
fcis-30832	188	14	analyzing	analyze	VERB
fcis-30832	188	15	the	the	DET
fcis-30832	188	16	experimental	experimental	ADJ
fcis-30832	188	17	results	result	NOUN
fcis-30832	188	18	,	,	PUNCT
fcis-30832	188	19	the	the	DET
fcis-30832	188	20	introduction	introduction	NOUN
fcis-30832	188	21	of	of	ADP
fcis-30832	188	22	the	the	DET
fcis-30832	188	23	exponential	exponential	ADJ
fcis-30832	188	24	adaptation	adaptation	NOUN
fcis-30832	188	25	strategy	strategy	NOUN
fcis-30832	188	26	allows	allow	VERB
fcis-30832	188	27	the	the	DET
fcis-30832	188	28	algorithm	algorithm	NOUN
fcis-30832	188	29	to	to	PART
fcis-30832	188	30	dynamically	dynamically	ADV
fcis-30832	188	31	adjust	adjust	VERB
fcis-30832	188	32	the	the	DET
fcis-30832	188	33	weight	weight	NOUN
fcis-30832	188	34	of	of	ADP
fcis-30832	188	35	the	the	DET
fcis-30832	188	36	actual	actual	ADJ
fcis-30832	188	37	cost	cost	NOUN
fcis-30832	188	38	during	during	ADP
fcis-30832	188	39	the	the	DET
fcis-30832	188	40	search	search	NOUN
fcis-30832	188	41	process	process	NOUN
fcis-30832	188	42	.	.	PUNCT
fcis-30832	189	1	this	this	PRON
fcis-30832	189	2	means	mean	VERB
fcis-30832	189	3	that	that	SCONJ
fcis-30832	189	4	the	the	DET
fcis-30832	189	5	algorithm	algorithm	NOUN
fcis-30832	189	6	can	can	AUX
fcis-30832	189	7	optimize	optimize	VERB
fcis-30832	189	8	the	the	DET
fcis-30832	189	9	search	search	NOUN
fcis-30832	189	10	direction	direction	NOUN
fcis-30832	189	11	based	base	VERB
fcis-30832	189	12	on	on	ADP
fcis-30832	189	13	the	the	DET
fcis-30832	189	14	current	current	ADJ
fcis-30832	189	15	progress	progress	NOUN
fcis-30832	189	16	of	of	ADP
fcis-30832	189	17	the	the	DET
fcis-30832	189	18	search	search	NOUN
fcis-30832	189	19	and	and	CCONJ
fcis-30832	189	20	the	the	DET
fcis-30832	189	21	characteristics	characteristic	NOUN
fcis-30832	189	22	of	of	ADP
fcis-30832	189	23	the	the	DET
fcis-30832	189	24	environment	environment	NOUN
fcis-30832	189	25	,	,	PUNCT
fcis-30832	189	26	thereby	thereby	ADV
fcis-30832	189	27	reducing	reduce	VERB
fcis-30832	189	28	unnecessary	unnecessary	ADJ
fcis-30832	189	29	search	search	NOUN
fcis-30832	189	30	efforts	effort	NOUN
fcis-30832	189	31	.	.	PUNCT
fcis-30832	190	1	on	on	ADP
fcis-30832	190	2	the	the	DET
fcis-30832	190	3	other	other	ADJ
fcis-30832	190	4	hand	hand	NOUN
fcis-30832	190	5	,	,	PUNCT
fcis-30832	190	6	by	by	ADP
fcis-30832	190	7	adjusting	adjust	VERB
fcis-30832	190	8	the	the	DET
fcis-30832	190	9	weights	weight	NOUN
fcis-30832	190	10	,	,	PUNCT
fcis-30832	190	11	the	the	DET
fcis-30832	190	12	a	a	PRON
fcis-30832	190	13	*	*	ADJ
fcis-30832	190	14	algorithm	algorithm	NOUN
fcis-30832	190	15	with	with	ADP
fcis-30832	190	16	the	the	DET
fcis-30832	190	17	exponential	exponential	ADJ
fcis-30832	190	18	adaptation	adaptation	NOUN
fcis-30832	190	19	strategy	strategy	NOUN
fcis-30832	190	20	can	can	AUX
fcis-30832	190	21	more	more	ADV
fcis-30832	190	22	accurately	accurately	ADV
fcis-30832	190	23	select	select	VERB
fcis-30832	190	24	the	the	DET
fcis-30832	190	25	next	next	ADJ
fcis-30832	190	26	node	node	NOUN
fcis-30832	190	27	to	to	PART
fcis-30832	190	28	expand	expand	VERB
fcis-30832	190	29	during	during	ADP
fcis-30832	190	30	the	the	DET
fcis-30832	190	31	search	search	NOUN
fcis-30832	190	32	.	.	PUNCT
fcis-30832	191	1	this	this	DET
fcis-30832	191	2	selection	selection	NOUN
fcis-30832	191	3	is	be	AUX
fcis-30832	191	4	closer	close	ADJ
fcis-30832	191	5	to	to	ADP
fcis-30832	191	6	the	the	DET
fcis-30832	191	7	optimal	optimal	ADJ
fcis-30832	191	8	path	path	NOUN
fcis-30832	191	9	,	,	PUNCT
fcis-30832	191	10	thus	thus	ADV
fcis-30832	191	11	reducing	reduce	VERB
fcis-30832	191	12	backtracking	backtracking	NOUN
fcis-30832	191	13	and	and	CCONJ
fcis-30832	191	14	duplicate	duplicate	ADJ
fcis-30832	191	15	work	work	NOUN
fcis-30832	191	16	during	during	ADP
fcis-30832	191	17	the	the	DET
fcis-30832	191	18	search	search	NOUN
fcis-30832	191	19	process	process	NOUN
fcis-30832	191	20	,	,	PUNCT
fcis-30832	191	21	which	which	PRON
fcis-30832	191	22	in	in	ADP
fcis-30832	191	23	turn	turn	NOUN
fcis-30832	191	24	shortens	shorten	VERB
fcis-30832	191	25	the	the	DET
fcis-30832	191	26	search	search	NOUN
fcis-30832	191	27	time	time	NOUN
fcis-30832	191	28	.	.	PUNCT
fcis-30832	192	1	the	the	DET
fcis-30832	192	2	exponential	exponential	ADJ
fcis-30832	192	3	adaptation	adaptation	NOUN
fcis-30832	192	4	strategy	strategy	NOUN
fcis-30832	192	5	helps	help	VERB
fcis-30832	192	6	the	the	DET
fcis-30832	192	7	algorithm	algorithm	NOUN
fcis-30832	192	8	avoid	avoid	VERB
fcis-30832	192	9	or	or	CCONJ
fcis-30832	192	10	reduce	reduce	VERB
fcis-30832	192	11	entering	enter	VERB
fcis-30832	192	12	regions	region	NOUN
fcis-30832	192	13	that	that	PRON
fcis-30832	192	14	are	be	AUX
fcis-30832	192	15	obviously	obviously	ADV
fcis-30832	192	16	not	not	PART
fcis-30832	192	17	optimal	optimal	ADJ
fcis-30832	192	18	solutions	solution	NOUN
fcis-30832	192	19	during	during	ADP
fcis-30832	192	20	the	the	DET
fcis-30832	192	21	search	search	NOUN
fcis-30832	192	22	process	process	NOUN
fcis-30832	192	23	.	.	PUNCT
fcis-30832	193	1	this	this	PRON
fcis-30832	193	2	reduces	reduce	VERB
fcis-30832	193	3	the	the	DET
fcis-30832	193	4	time	time	NOUN
fcis-30832	193	5	spent	spend	VERB
fcis-30832	193	6	on	on	ADP
fcis-30832	193	7	ineffective	ineffective	ADJ
fcis-30832	193	8	searches	search	NOUN
fcis-30832	193	9	.	.	PUNCT
fcis-30832	194	1	the	the	DET
fcis-30832	194	2	algorithm	algorithm	NOUN
fcis-30832	194	3	can	can	AUX
fcis-30832	194	4	focus	focus	VERB
fcis-30832	194	5	more	more	ADV
fcis-30832	194	6	quickly	quickly	ADV
fcis-30832	194	7	on	on	ADP
fcis-30832	194	8	regions	region	NOUN
fcis-30832	194	9	that	that	PRON
fcis-30832	194	10	are	be	AUX
fcis-30832	194	11	more	more	ADV
fcis-30832	194	12	likely	likely	ADJ
fcis-30832	194	13	to	to	PART
fcis-30832	194	14	contain	contain	VERB
fcis-30832	194	15	optimal	optimal	ADJ
fcis-30832	194	16	solutions	solution	NOUN
fcis-30832	194	17	,	,	PUNCT
fcis-30832	194	18	thereby	thereby	ADV
fcis-30832	194	19	improving	improve	VERB
fcis-30832	194	20	search	search	NOUN
fcis-30832	194	21	efficiency	efficiency	NOUN
fcis-30832	194	22	.	.	PUNCT
fcis-30832	195	1	by	by	ADP
fcis-30832	195	2	comparing	compare	VERB
fcis-30832	195	3	the	the	DET
fcis-30832	195	4	path	path	NOUN
fcis-30832	195	5	planning	planning	NOUN
fcis-30832	195	6	simulation	simulation	NOUN
fcis-30832	195	7	experiments	experiment	NOUN
fcis-30832	195	8	of	of	ADP
fcis-30832	195	9	the	the	DET
fcis-30832	195	10	a	a	PROPN
fcis-30832	195	11	*	*	ADJ
fcis-30832	195	12	algorithm	algorithm	NOUN
fcis-30832	195	13	and	and	CCONJ
fcis-30832	195	14	the	the	DET
fcis-30832	195	15	a*-it	a*-it	NOUN
fcis-30832	195	16	algorithm	algorithm	NOUN
fcis-30832	195	17	,	,	PUNCT
fcis-30832	195	18	the	the	DET
fcis-30832	195	19	results	result	NOUN
fcis-30832	195	20	shown	show	VERB
fcis-30832	195	21	in	in	ADP
fcis-30832	195	22	figure	figure	NOUN
fcis-30832	195	23	7	7	NUM
fcis-30832	195	24	can	can	AUX
fcis-30832	195	25	be	be	AUX
fcis-30832	195	26	obtained	obtain	VERB
fcis-30832	195	27	.	.	PUNCT
fcis-30832	196	1	figure	figure	VERB
fcis-30832	196	2	7	7	NUM
fcis-30832	196	3	.	.	PUNCT
fcis-30832	197	1	a	a	DET
fcis-30832	197	2	*	*	PUNCT
fcis-30832	197	3	algorithm	algorithm	NOUN
fcis-30832	197	4	and	and	CCONJ
fcis-30832	197	5	a	a	DET
fcis-30832	197	6	*	*	ADJ
fcis-30832	197	7	-it	-it	NOUN
fcis-30832	197	8	algorithm	algorithm	NOUN
fcis-30832	197	9	path	path	NOUN
fcis-30832	197	10	planning	planning	NOUN
fcis-30832	197	11	experimental	experimental	ADJ
fcis-30832	197	12	results	result	NOUN
fcis-30832	197	13	histogram	histogram	VERB
fcis-30832	197	14	the	the	DET
fcis-30832	197	15	experimental	experimental	ADJ
fcis-30832	197	16	results	result	NOUN
fcis-30832	197	17	indicate	indicate	VERB
fcis-30832	197	18	that	that	SCONJ
fcis-30832	197	19	the	the	DET
fcis-30832	197	20	introduction	introduction	NOUN
fcis-30832	197	21	of	of	ADP
fcis-30832	197	22	the	the	DET
fcis-30832	197	23	exponential	exponential	ADJ
fcis-30832	197	24	adaptation	adaptation	NOUN
fcis-30832	197	25	strategy	strategy	NOUN
fcis-30832	197	26	into	into	ADP
fcis-30832	197	27	the	the	DET
fcis-30832	197	28	a	a	PROPN
fcis-30832	197	29	*	*	PUNCT
fcis-30832	197	30	algorithm	algorithm	NOUN
fcis-30832	197	31	significantly	significantly	ADV
fcis-30832	197	32	reduces	reduce	VERB
fcis-30832	197	33	the	the	DET
fcis-30832	197	34	time	time	NOUN
fcis-30832	197	35	taken	take	VERB
fcis-30832	197	36	for	for	ADP
fcis-30832	197	37	path	path	NOUN
fcis-30832	197	38	search	search	NOUN
fcis-30832	197	39	.	.	PUNCT
fcis-30832	198	1	the	the	DET
fcis-30832	198	2	average	average	ADJ
fcis-30832	198	3	path	path	NOUN
fcis-30832	198	4	planning	planning	NOUN
fcis-30832	198	5	time	time	NOUN
fcis-30832	198	6	for	for	ADP
fcis-30832	198	7	the	the	DET
fcis-30832	198	8	a	a	PROPN
fcis-30832	198	9	*	*	ADJ
fcis-30832	198	10	algorithm	algorithm	NOUN
fcis-30832	198	11	is	be	AUX
fcis-30832	198	12	177.21	177.21	NUM
fcis-30832	198	13	seconds	second	NOUN
fcis-30832	198	14	,	,	PUNCT
fcis-30832	198	15	while	while	SCONJ
fcis-30832	198	16	the	the	DET
fcis-30832	198	17	average	average	ADJ
fcis-30832	198	18	path	path	NOUN
fcis-30832	198	19	planning	planning	NOUN
fcis-30832	198	20	time	time	NOUN
fcis-30832	198	21	for	for	ADP
fcis-30832	198	22	the	the	DET
fcis-30832	198	23	a*-it	a*-it	NOUN
fcis-30832	198	24	algorithm	algorithm	NOUN
fcis-30832	198	25	is	be	AUX
fcis-30832	198	26	28.35	28.35	NUM
fcis-30832	198	27	seconds	second	NOUN
fcis-30832	198	28	.	.	PUNCT
fcis-30832	199	1	this	this	PRON
fcis-30832	199	2	represents	represent	VERB
fcis-30832	199	3	an	an	DET
fcis-30832	199	4	average	average	ADJ
fcis-30832	199	5	reduction	reduction	NOUN
fcis-30832	199	6	of	of	ADP
fcis-30832	199	7	84	84	NUM
fcis-30832	199	8	%	%	NOUN
fcis-30832	199	9	in	in	ADP
fcis-30832	199	10	path	path	NOUN
fcis-30832	199	11	planning	planning	NOUN
fcis-30832	199	12	time	time	NOUN
fcis-30832	199	13	with	with	ADP
fcis-30832	199	14	the	the	DET
fcis-30832	199	15	optimized	optimize	VERB
fcis-30832	199	16	algorithm	algorithm	NOUN
fcis-30832	199	17	.	.	PUNCT
fcis-30832	200	1	compared	compare	VERB
fcis-30832	200	2	to	to	ADP
fcis-30832	200	3	the	the	DET
fcis-30832	200	4	a*-lt	a*-lt	PROPN
fcis-30832	200	5	algorithm	algorithm	NOUN
fcis-30832	200	6	,	,	PUNCT
fcis-30832	200	7	the	the	DET
fcis-30832	200	8	path	path	NOUN
fcis-30832	200	9	planning	planning	NOUN
fcis-30832	200	10	time	time	NOUN
fcis-30832	200	11	of	of	ADP
fcis-30832	200	12	the	the	DET
fcis-30832	200	13	a*-it	a*-it	NOUN
fcis-30832	200	14	algorithm	algorithm	NOUN
fcis-30832	200	15	is	be	AUX
fcis-30832	200	16	reduced	reduce	VERB
fcis-30832	200	17	by	by	ADP
fcis-30832	200	18	an	an	DET
fcis-30832	200	19	additional	additional	ADJ
fcis-30832	200	20	23.5	23.5	NUM
fcis-30832	200	21	%	%	NOUN
fcis-30832	200	22	,	,	PUNCT
fcis-30832	200	23	further	far	ADV
fcis-30832	200	24	improving	improve	VERB
fcis-30832	200	25	the	the	DET
fcis-30832	200	26	efficiency	efficiency	NOUN
fcis-30832	200	27	of	of	ADP
fcis-30832	200	28	path	path	NOUN
fcis-30832	200	29	planning	planning	NOUN
fcis-30832	200	30	.	.	PUNCT
fcis-30832	201	1	this	this	DET
fcis-30832	201	2	improvement	improvement	NOUN
fcis-30832	201	3	not	not	PART
fcis-30832	201	4	only	only	ADV
fcis-30832	201	5	enhances	enhance	VERB
fcis-30832	201	6	the	the	DET
fcis-30832	201	7	efficiency	efficiency	NOUN
fcis-30832	201	8	of	of	ADP
fcis-30832	201	9	the	the	DET
fcis-30832	201	10	algorithm	algorithm	NOUN
fcis-30832	201	11	,	,	PUNCT
fcis-30832	201	12	but	but	CCONJ
fcis-30832	201	13	also	also	ADV
fcis-30832	201	14	further	far	ADV
fcis-30832	201	15	confirms	confirm	VERB
fcis-30832	201	16	the	the	DET
fcis-30832	201	17	important	important	ADJ
fcis-30832	201	18	role	role	NOUN
fcis-30832	201	19	of	of	ADP
fcis-30832	201	20	adaptive	adaptive	ADJ
fcis-30832	201	21	strategies	strategy	NOUN
fcis-30832	201	22	in	in	ADP
fcis-30832	201	23	optimizing	optimize	VERB
fcis-30832	201	24	the	the	DET
fcis-30832	201	25	search	search	NOUN
fcis-30832	201	26	process	process	NOUN
fcis-30832	201	27	.	.	PUNCT
fcis-30832	202	1	the	the	DET
fcis-30832	202	2	exponential	exponential	ADJ
fcis-30832	202	3	adaptive	adaptive	ADJ
fcis-30832	202	4	strategy	strategy	NOUN
fcis-30832	202	5	balances	balance	NOUN
fcis-30832	202	6	exploring	explore	VERB
fcis-30832	202	7	new	new	ADJ
fcis-30832	202	8	path	path	NOUN
fcis-30832	202	9	areas	area	NOUN
fcis-30832	202	10	and	and	CCONJ
fcis-30832	202	11	exploiting	exploit	VERB
fcis-30832	202	12	known	know	VERB
fcis-30832	202	13	areas	area	NOUN
fcis-30832	202	14	by	by	ADP
fcis-30832	202	15	dynamically	dynamically	ADV
fcis-30832	202	16	adjusting	adjust	VERB
fcis-30832	202	17	the	the	DET
fcis-30832	202	18	weights	weight	NOUN
fcis-30832	202	19	of	of	ADP
fcis-30832	202	20	actual	actual	ADJ
fcis-30832	202	21	distances	distance	NOUN
fcis-30832	202	22	.	.	PUNCT
fcis-30832	203	1	this	this	PRON
fcis-30832	203	2	ensures	ensure	VERB
fcis-30832	203	3	that	that	SCONJ
fcis-30832	203	4	the	the	DET
fcis-30832	203	5	algorithm	algorithm	NOUN
fcis-30832	203	6	can	can	AUX
fcis-30832	203	7	explore	explore	VERB
fcis-30832	203	8	new	new	ADJ
fcis-30832	203	9	possible	possible	ADJ
fcis-30832	203	10	paths	path	NOUN
fcis-30832	203	11	while	while	SCONJ
fcis-30832	203	12	avoiding	avoid	VERB
fcis-30832	203	13	excessive	excessive	ADJ
fcis-30832	203	14	exploitation	exploitation	NOUN
fcis-30832	203	15	of	of	ADP
fcis-30832	203	16	known	known	ADJ
fcis-30832	203	17	but	but	CCONJ
fcis-30832	203	18	suboptimal	suboptimal	ADJ
fcis-30832	203	19	paths	path	NOUN
fcis-30832	203	20	,	,	PUNCT
fcis-30832	203	21	thereby	thereby	ADV
fcis-30832	203	22	reducing	reduce	VERB
fcis-30832	203	23	unnecessary	unnecessary	ADJ
fcis-30832	203	24	searches	search	NOUN
fcis-30832	203	25	.	.	PUNCT
fcis-30832	204	1	this	this	PRON
fcis-30832	204	2	is	be	AUX
fcis-30832	204	3	demonstrated	demonstrate	VERB
fcis-30832	204	4	by	by	ADP
fcis-30832	204	5	the	the	DET
fcis-30832	204	6	significant	significant	ADJ
fcis-30832	204	7	reduction	reduction	NOUN
fcis-30832	204	8	in	in	ADP
fcis-30832	204	9	search	search	NOUN
fcis-30832	204	10	time	time	NOUN
fcis-30832	204	11	in	in	ADP
fcis-30832	204	12	the	the	DET
fcis-30832	204	13	experimental	experimental	ADJ
fcis-30832	204	14	results	result	NOUN
fcis-30832	204	15	.	.	PUNCT
fcis-30832	205	1	in	in	ADP
fcis-30832	205	2	the	the	DET
fcis-30832	205	3	process	process	NOUN
fcis-30832	205	4	of	of	ADP
fcis-30832	205	5	robot	robot	NOUN
fcis-30832	205	6	path	path	NOUN
fcis-30832	205	7	planning	planning	NOUN
fcis-30832	205	8	,	,	PUNCT
fcis-30832	205	9	genetic	genetic	ADJ
fcis-30832	205	10	algorithm	algorithm	NOUN
fcis-30832	205	11	(	(	PUNCT
fcis-30832	205	12	ga	ga	NOUN
fcis-30832	205	13	)	)	PUNCT
fcis-30832	205	14	is	be	AUX
fcis-30832	205	15	a	a	DET
fcis-30832	205	16	method	method	NOUN
fcis-30832	205	17	that	that	PRON
fcis-30832	205	18	simulates	simulate	VERB
fcis-30832	205	19	the	the	DET
fcis-30832	205	20	natural	natural	ADJ
fcis-30832	205	21	evolution	evolution	NOUN
fcis-30832	205	22	process	process	NOUN
fcis-30832	205	23	to	to	PART
fcis-30832	205	24	search	search	VERB
fcis-30832	205	25	for	for	ADP
fcis-30832	205	26	the	the	DET
fcis-30832	205	27	optimal	optimal	ADJ
fcis-30832	205	28	solution	solution	NOUN
fcis-30832	205	29	,	,	PUNCT
fcis-30832	205	30	used	use	VERB
fcis-30832	205	31	to	to	PART
fcis-30832	205	32	help	help	VERB
fcis-30832	205	33	the	the	DET
fcis-30832	205	34	robot	robot	NOUN
fcis-30832	205	35	find	find	VERB
fcis-30832	205	36	the	the	DET
fcis-30832	205	37	optimal	optimal	ADJ
fcis-30832	205	38	or	or	CCONJ
fcis-30832	205	39	near	near	ADV
fcis-30832	205	40	-	-	PUNCT
fcis-30832	205	41	optimal	optimal	ADJ
fcis-30832	205	42	path	path	NOUN
fcis-30832	205	43	from	from	ADP
fcis-30832	205	44	the	the	DET
fcis-30832	205	45	starting	starting	NOUN
fcis-30832	205	46	point	point	NOUN
fcis-30832	205	47	to	to	ADP
fcis-30832	205	48	the	the	DET
fcis-30832	205	49	endpoint	endpoint	NOUN
fcis-30832	205	50	.	.	PUNCT
fcis-30832	206	1	a	a	DET
fcis-30832	206	2	comparison	comparison	NOUN
fcis-30832	206	3	of	of	ADP
fcis-30832	206	4	genetic	genetic	ADJ
fcis-30832	206	5	algorithms	algorithm	NOUN
fcis-30832	206	6	,	,	PUNCT
fcis-30832	206	7	the	the	DET
fcis-30832	206	8	a	a	PROPN
fcis-30832	206	9	*	*	X
fcis-30832	206	10	algorithm	algorithm	NOUN
fcis-30832	206	11	,	,	PUNCT
fcis-30832	206	12	and	and	CCONJ
fcis-30832	206	13	the	the	DET
fcis-30832	206	14	a*-it	a*-it	NOUN
fcis-30832	206	15	algorithm	algorithm	NOUN
fcis-30832	206	16	is	be	AUX
fcis-30832	206	17	presented	present	VERB
fcis-30832	206	18	in	in	ADP
fcis-30832	206	19	table	table	NOUN
fcis-30832	206	20	2	2	NUM
fcis-30832	206	21	.	.	PUNCT
fcis-30832	207	1	the	the	DET
fcis-30832	207	2	efficiency	efficiency	NOUN
fcis-30832	207	3	of	of	ADP
fcis-30832	207	4	path	path	NOUN
fcis-30832	207	5	planning	planning	NOUN
fcis-30832	207	6	algorithms	algorithm	NOUN
fcis-30832	207	7	can	can	AUX
fcis-30832	207	8	be	be	AUX
fcis-30832	207	9	reflected	reflect	VERB
fcis-30832	207	10	by	by	ADP
fcis-30832	207	11	the	the	DET
fcis-30832	207	12	ratio	ratio	NOUN
fcis-30832	207	13	of	of	ADP
fcis-30832	207	14	path	path	NOUN
fcis-30832	207	15	length	length	NOUN
fcis-30832	207	16	to	to	ADP
fcis-30832	207	17	planning	planning	NOUN
fcis-30832	207	18	time	time	NOUN
fcis-30832	207	19	,	,	PUNCT
fcis-30832	207	20	which	which	PRON
fcis-30832	207	21	indicates	indicate	VERB
fcis-30832	207	22	the	the	DET
fcis-30832	207	23	algorithm	algorithm	NOUN
fcis-30832	207	24	's	's	PART
fcis-30832	207	25	ability	ability	NOUN
fcis-30832	207	26	to	to	PART
fcis-30832	207	27	plan	plan	VERB
fcis-30832	207	28	paths	path	NOUN
fcis-30832	207	29	per	per	ADP
fcis-30832	207	30	unit	unit	NOUN
fcis-30832	207	31	of	of	ADP
fcis-30832	207	32	time	time	NOUN
fcis-30832	207	33	.	.	PUNCT
fcis-30832	208	1	a	a	DET
fcis-30832	208	2	higher	high	ADJ
fcis-30832	208	3	ratio	ratio	NOUN
fcis-30832	208	4	signifies	signify	VERB
fcis-30832	208	5	higher	high	ADJ
fcis-30832	208	6	path	path	NOUN
fcis-30832	208	7	planning	planning	NOUN
fcis-30832	208	8	efficiency	efficiency	NOUN
fcis-30832	208	9	.	.	PUNCT
fcis-30832	209	1	upon	upon	SCONJ
fcis-30832	209	2	analyzing	analyze	VERB
fcis-30832	209	3	the	the	DET
fcis-30832	209	4	experimental	experimental	ADJ
fcis-30832	209	5	data	datum	NOUN
fcis-30832	209	6	,	,	PUNCT
fcis-30832	209	7	it	it	PRON
fcis-30832	209	8	can	can	AUX
fcis-30832	209	9	be	be	AUX
fcis-30832	209	10	found	find	VERB
fcis-30832	209	11	that	that	SCONJ
fcis-30832	209	12	the	the	DET
fcis-30832	209	13	path	path	NOUN
fcis-30832	209	14	planning	planning	NOUN
fcis-30832	209	15	efficiency	efficiency	NOUN
fcis-30832	209	16	of	of	ADP
fcis-30832	209	17	the	the	DET
fcis-30832	209	18	a*-it	a*-it	NOUN
fcis-30832	209	19	algorithm	algorithm	NOUN
fcis-30832	209	20	is	be	AUX
fcis-30832	209	21	improved	improve	VERB
fcis-30832	209	22	by	by	ADP
fcis-30832	209	23	9.28	9.28	NUM
fcis-30832	209	24	times	time	NOUN
fcis-30832	209	25	compared	compare	VERB
fcis-30832	209	26	to	to	ADP
fcis-30832	209	27	the	the	DET
fcis-30832	209	28	genetic	genetic	ADJ
fcis-30832	209	29	algorithm	algorithm	NOUN
fcis-30832	209	30	.	.	PUNCT
fcis-30832	210	1	table	table	NOUN
fcis-30832	210	2	2	2	NUM
fcis-30832	210	3	.	.	PUNCT
fcis-30832	211	1	the	the	DET
fcis-30832	211	2	simulation	simulation	NOUN
fcis-30832	211	3	comparison	comparison	NOUN
fcis-30832	211	4	experiment	experiment	NOUN
fcis-30832	211	5	of	of	ADP
fcis-30832	211	6	genetic	genetic	ADJ
fcis-30832	211	7	algorithm	algorithm	NOUN
fcis-30832	211	8	and	and	CCONJ
fcis-30832	211	9	a	a	DET
fcis-30832	211	10	*	*	ADJ
fcis-30832	211	11	-it	-it	NOUN
fcis-30832	211	12	algorithm	algorithm	NOUN
fcis-30832	211	13	experimental	experimental	ADJ
fcis-30832	211	14	data	datum	NOUN
fcis-30832	211	15	plan	plan	VERB
fcis-30832	211	16	time102	time102	PROPN
fcis-30832	211	17	/	/	SYM
fcis-30832	211	18	s	s	PART
fcis-30832	211	19	path	path	NOUN
fcis-30832	211	20	length102	length102	PROPN
fcis-30832	211	21	/	/	SYM
fcis-30832	211	22	dm	dm	PROPN
fcis-30832	211	23	planning	planning	NOUN
fcis-30832	211	24	efficiency	efficiency	NOUN
fcis-30832	211	25	ga	ga	PROPN
fcis-30832	211	26	0.937	0.937	NUM
fcis-30832	211	27	9.24	9.24	NUM
fcis-30832	211	28	9.86	9.86	NUM
fcis-30832	211	29	a	a	DET
fcis-30832	211	30	*	*	PUNCT
fcis-30832	211	31	algorithm	algorithm	NOUN
fcis-30832	211	32	1.566	1.566	NUM
fcis-30832	211	33	10.448	10.448	NUM
fcis-30832	211	34	6.67	6.67	NUM
fcis-30832	211	35	a*-it	a*-it	NOUN
fcis-30832	211	36	algorithm	algorithm	NOUN
fcis-30832	211	37	0.270	0.270	NUM
fcis-30832	211	38	11.408	11.408	NUM
fcis-30832	211	39	42.25	42.25	NUM
fcis-30832	211	40	10	10	NUM
fcis-30832	211	41	.	.	PUNCT
fcis-30832	212	1	conclusion	conclusion	NOUN
fcis-30832	212	2	this	this	DET
fcis-30832	212	3	study	study	NOUN
fcis-30832	212	4	aims	aim	VERB
fcis-30832	212	5	to	to	PART
fcis-30832	212	6	plan	plan	VERB
fcis-30832	212	7	the	the	DET
fcis-30832	212	8	optimal	optimal	ADJ
fcis-30832	212	9	charging	charging	NOUN
fcis-30832	212	10	paths	path	NOUN
fcis-30832	212	11	for	for	ADP
fcis-30832	212	12	electric	electric	ADJ
fcis-30832	212	13	vehicles	vehicle	NOUN
fcis-30832	212	14	by	by	ADP
fcis-30832	212	15	improving	improve	VERB
fcis-30832	212	16	the	the	DET
fcis-30832	212	17	a	a	NOUN
fcis-30832	212	18	*	*	ADJ
fcis-30832	212	19	algorithm	algorithm	NOUN
fcis-30832	212	20	.	.	PUNCT
fcis-30832	213	1	to	to	PART
fcis-30832	213	2	achieve	achieve	VERB
fcis-30832	213	3	this	this	DET
fcis-30832	213	4	goal	goal	NOUN
fcis-30832	213	5	,	,	PUNCT
fcis-30832	213	6	we	we	PRON
fcis-30832	213	7	combined	combine	VERB
fcis-30832	213	8	optimized	optimize	VERB
fcis-30832	213	9	goal	goal	NOUN
fcis-30832	213	10	-	-	PUNCT
fcis-30832	213	11	directed	direct	VERB
fcis-30832	213	12	strategies	strategy	NOUN
fcis-30832	213	13	,	,	PUNCT
fcis-30832	213	14	linear	linear	ADJ
fcis-30832	213	15	adaptation	adaptation	NOUN
fcis-30832	213	16	strategies	strategy	NOUN
fcis-30832	213	17	,	,	PUNCT
fcis-30832	213	18	and	and	CCONJ
fcis-30832	213	19	exponential	exponential	ADJ
fcis-30832	213	20	adaptation	adaptation	NOUN
fcis-30832	213	21	strategies	strategy	NOUN
fcis-30832	213	22	.	.	PUNCT
fcis-30832	214	1	through	through	ADP
fcis-30832	214	2	matlab	matlab	PROPN
fcis-30832	214	3	simulation	simulation	NOUN
fcis-30832	214	4	experiments	experiment	NOUN
fcis-30832	214	5	,	,	PUNCT
fcis-30832	214	6	we	we	PRON
fcis-30832	214	7	verified	verify	VERB
fcis-30832	214	8	that	that	SCONJ
fcis-30832	214	9	the	the	DET
fcis-30832	214	10	improved	improved	ADJ
fcis-30832	214	11	algorithm	algorithm	NOUN
fcis-30832	214	12	exhibits	exhibit	VERB
fcis-30832	214	13	higher	high	ADJ
fcis-30832	214	14	path	path	NOUN
fcis-30832	214	15	search	search	NOUN
fcis-30832	214	16	efficiency	efficiency	NOUN
fcis-30832	214	17	.	.	PUNCT
fcis-30832	215	1	compared	compare	VERB
fcis-30832	215	2	to	to	ADP
fcis-30832	215	3	the	the	DET
fcis-30832	215	4	a	a	PROPN
fcis-30832	215	5	*	*	X
fcis-30832	215	6	algorithm	algorithm	NOUN
fcis-30832	215	7	,	,	PUNCT
fcis-30832	215	8	the	the	DET
fcis-30832	215	9	path	path	NOUN
fcis-30832	215	10	planning	planning	NOUN
fcis-30832	215	11	efficiency	efficiency	NOUN
fcis-30832	215	12	of	of	ADP
fcis-30832	215	13	the	the	DET
fcis-30832	215	14	a*-t	a*-t	NOUN
fcis-30832	215	15	algorithm	algorithm	NOUN
fcis-30832	215	16	is	be	AUX
fcis-30832	215	17	improved	improve	VERB
fcis-30832	215	18	by	by	ADP
fcis-30832	215	19	7.59	7.59	NUM
fcis-30832	215	20	times	time	NOUN
fcis-30832	215	21	.	.	PUNCT
fcis-30832	216	1	the	the	DET
fcis-30832	216	2	average	average	ADJ
fcis-30832	216	3	path	path	NOUN
fcis-30832	216	4	planning	planning	NOUN
fcis-30832	216	5	time	time	NOUN
fcis-30832	216	6	of	of	ADP
fcis-30832	216	7	the	the	DET
fcis-30832	216	8	a*-lt	a*-lt	PROPN
fcis-30832	216	9	algorithm	algorithm	NOUN
fcis-30832	216	10	is	be	AUX
fcis-30832	216	11	reduced	reduce	VERB
fcis-30832	216	12	by	by	ADP
fcis-30832	216	13	61.50	61.50	NUM
fcis-30832	216	14	%	%	NOUN
fcis-30832	216	15	,	,	PUNCT
fcis-30832	216	16	while	while	SCONJ
fcis-30832	216	17	the	the	DET
fcis-30832	216	18	average	average	ADJ
fcis-30832	216	19	path	path	NOUN
fcis-30832	216	20	planning	planning	NOUN
fcis-30832	216	21	time	time	NOUN
fcis-30832	216	22	of	of	ADP
fcis-30832	216	23	the	the	DET
fcis-30832	216	24	a*-it	a*-it	NOUN
fcis-30832	216	25	algorithm	algorithm	NOUN
fcis-30832	216	26	is	be	AUX
fcis-30832	216	27	reduced	reduce	VERB
fcis-30832	216	28	by	by	ADP
fcis-30832	216	29	84	84	NUM
fcis-30832	216	30	%	%	NOUN
fcis-30832	216	31	.	.	PUNCT
fcis-30832	217	1	firstly	firstly	ADV
fcis-30832	217	2	,	,	PUNCT
fcis-30832	217	3	the	the	DET
fcis-30832	217	4	optimized	optimize	VERB
fcis-30832	217	5	goal	goal	NOUN
fcis-30832	217	6	-	-	PUNCT
fcis-30832	217	7	directed	direct	VERB
fcis-30832	217	8	strategy	strategy	NOUN
fcis-30832	217	9	enhances	enhance	VERB
fcis-30832	217	10	the	the	DET
fcis-30832	217	11	influence	influence	NOUN
fcis-30832	217	12	of	of	ADP
fcis-30832	217	13	heuristic	heuristic	ADJ
fcis-30832	217	14	cost	cost	NOUN
fcis-30832	217	15	during	during	ADP
fcis-30832	217	16	the	the	DET
fcis-30832	217	17	search	search	NOUN
fcis-30832	217	18	process	process	NOUN
fcis-30832	217	19	,	,	PUNCT
fcis-30832	217	20	guiding	guide	VERB
fcis-30832	217	21	the	the	DET
fcis-30832	217	22	algorithm	algorithm	NOUN
fcis-30832	217	23	to	to	PART
fcis-30832	217	24	slow	slow	VERB
fcis-30832	217	25	down	down	ADP
fcis-30832	217	26	the	the	DET
fcis-30832	217	27	search	search	NOUN
fcis-30832	217	28	speed	speed	NOUN
fcis-30832	217	29	as	as	SCONJ
fcis-30832	217	30	it	it	PRON
fcis-30832	217	31	gradually	gradually	ADV
fcis-30832	217	32	approaches	approach	VERB
fcis-30832	217	33	the	the	DET
fcis-30832	217	34	target	target	NOUN
fcis-30832	217	35	point	point	NOUN
fcis-30832	217	36	.	.	PUNCT
fcis-30832	218	1	this	this	DET
fcis-30832	218	2	strategy	strategy	NOUN
fcis-30832	218	3	ensures	ensure	VERB
fcis-30832	218	4	that	that	SCONJ
fcis-30832	218	5	the	the	DET
fcis-30832	218	6	algorithm	algorithm	NOUN
fcis-30832	218	7	can	can	AUX
fcis-30832	218	8	search	search	VERB
fcis-30832	218	9	more	more	ADV
fcis-30832	218	10	finely	finely	ADV
fcis-30832	218	11	when	when	SCONJ
fcis-30832	218	12	nearing	near	VERB
fcis-30832	218	13	the	the	DET
fcis-30832	218	14	target	target	NOUN
fcis-30832	218	15	location	location	NOUN
fcis-30832	218	16	,	,	PUNCT
fcis-30832	218	17	thereby	thereby	ADV
fcis-30832	218	18	improving	improve	VERB
fcis-30832	218	19	the	the	DET
fcis-30832	218	20	accuracy	accuracy	NOUN
fcis-30832	218	21	of	of	ADP
fcis-30832	218	22	finding	find	VERB
fcis-30832	218	23	the	the	DET
fcis-30832	218	24	optimal	optimal	ADJ
fcis-30832	218	25	charging	charging	NOUN
fcis-30832	218	26	path	path	NOUN
fcis-30832	218	27	.	.	PUNCT
fcis-30832	219	1	secondly	secondly	ADV
fcis-30832	219	2	,	,	PUNCT
fcis-30832	219	3	the	the	DET
fcis-30832	219	4	linear	linear	ADJ
fcis-30832	219	5	adaptation	adaptation	NOUN
fcis-30832	219	6	strategy	strategy	NOUN
fcis-30832	219	7	dynamically	dynamically	ADV
fcis-30832	219	8	adjusts	adjust	VERB
fcis-30832	219	9	the	the	DET
fcis-30832	219	10	weight	weight	NOUN
fcis-30832	219	11	of	of	ADP
fcis-30832	219	12	actual	actual	ADJ
fcis-30832	219	13	costs	cost	NOUN
fcis-30832	219	14	,	,	PUNCT
fcis-30832	219	15	optimizing	optimize	VERB
fcis-30832	219	16	the	the	DET
fcis-30832	219	17	search	search	NOUN
fcis-30832	219	18	direction	direction	NOUN
fcis-30832	219	19	and	and	CCONJ
fcis-30832	219	20	effectively	effectively	ADV
fcis-30832	219	21	reducing	reduce	VERB
fcis-30832	219	22	19	19	NUM
fcis-30832	219	23	ineffective	ineffective	ADJ
fcis-30832	219	24	searches	search	NOUN
fcis-30832	219	25	.	.	PUNCT
fcis-30832	220	1	this	this	DET
fcis-30832	220	2	strategy	strategy	NOUN
fcis-30832	220	3	allows	allow	VERB
fcis-30832	220	4	the	the	DET
fcis-30832	220	5	algorithm	algorithm	NOUN
fcis-30832	220	6	to	to	PART
fcis-30832	220	7	flexibly	flexibly	ADV
fcis-30832	220	8	adjust	adjust	VERB
fcis-30832	220	9	the	the	DET
fcis-30832	220	10	search	search	NOUN
fcis-30832	220	11	strategy	strategy	NOUN
fcis-30832	220	12	based	base	VERB
fcis-30832	220	13	on	on	ADP
fcis-30832	220	14	the	the	DET
fcis-30832	220	15	current	current	ADJ
fcis-30832	220	16	search	search	NOUN
fcis-30832	220	17	state	state	NOUN
fcis-30832	220	18	,	,	PUNCT
fcis-30832	220	19	improving	improve	VERB
fcis-30832	220	20	search	search	NOUN
fcis-30832	220	21	efficiency	efficiency	NOUN
fcis-30832	220	22	.	.	PUNCT
fcis-30832	221	1	additionally	additionally	ADV
fcis-30832	221	2	,	,	PUNCT
fcis-30832	221	3	the	the	DET
fcis-30832	221	4	exponential	exponential	ADJ
fcis-30832	221	5	adaptation	adaptation	NOUN
fcis-30832	221	6	strategy	strategy	NOUN
fcis-30832	221	7	dynamically	dynamically	ADV
fcis-30832	221	8	adjusts	adjust	VERB
fcis-30832	221	9	the	the	DET
fcis-30832	221	10	heuristic	heuristic	ADJ
fcis-30832	221	11	weight	weight	NOUN
fcis-30832	221	12	in	in	ADP
fcis-30832	221	13	an	an	DET
fcis-30832	221	14	exponential	exponential	ADJ
fcis-30832	221	15	manner	manner	NOUN
fcis-30832	221	16	based	base	VERB
fcis-30832	221	17	on	on	ADP
fcis-30832	221	18	different	different	ADJ
fcis-30832	221	19	path	path	NOUN
fcis-30832	221	20	lengths	length	NOUN
fcis-30832	221	21	.	.	PUNCT
fcis-30832	222	1	this	this	DET
fcis-30832	222	2	strategy	strategy	NOUN
fcis-30832	222	3	is	be	AUX
fcis-30832	222	4	particularly	particularly	ADV
fcis-30832	222	5	suitable	suitable	ADJ
fcis-30832	222	6	for	for	ADP
fcis-30832	222	7	longdistance	longdistance	NOUN
fcis-30832	222	8	path	path	NOUN
fcis-30832	222	9	planning	planning	NOUN
fcis-30832	222	10	,	,	PUNCT
fcis-30832	222	11	significantly	significantly	ADV
fcis-30832	222	12	improving	improve	VERB
fcis-30832	222	13	search	search	NOUN
fcis-30832	222	14	efficiency	efficiency	NOUN
fcis-30832	222	15	and	and	CCONJ
fcis-30832	222	16	helping	help	VERB
fcis-30832	222	17	the	the	DET
fcis-30832	222	18	algorithm	algorithm	NOUN
fcis-30832	222	19	find	find	VERB
fcis-30832	222	20	the	the	DET
fcis-30832	222	21	optimal	optimal	ADJ
fcis-30832	222	22	solution	solution	NOUN
fcis-30832	222	23	faster	fast	ADV
fcis-30832	222	24	.	.	PUNCT
fcis-30832	223	1	through	through	ADP
fcis-30832	223	2	matlab	matlab	PROPN
fcis-30832	223	3	simulation	simulation	NOUN
fcis-30832	223	4	experiments	experiment	NOUN
fcis-30832	223	5	,	,	PUNCT
fcis-30832	223	6	the	the	DET
fcis-30832	223	7	performance	performance	NOUN
fcis-30832	223	8	of	of	ADP
fcis-30832	223	9	the	the	DET
fcis-30832	223	10	improved	improved	ADJ
fcis-30832	223	11	algorithm	algorithm	NOUN
fcis-30832	223	12	was	be	AUX
fcis-30832	223	13	compared	compare	VERB
fcis-30832	223	14	with	with	ADP
fcis-30832	223	15	the	the	DET
fcis-30832	223	16	original	original	ADJ
fcis-30832	223	17	a	a	PRON
fcis-30832	223	18	*	*	ADJ
fcis-30832	223	19	algorithm	algorithm	NOUN
fcis-30832	223	20	.	.	PUNCT
fcis-30832	224	1	experimental	experimental	ADJ
fcis-30832	224	2	results	result	NOUN
fcis-30832	224	3	show	show	VERB
fcis-30832	224	4	that	that	SCONJ
fcis-30832	224	5	the	the	DET
fcis-30832	224	6	improved	improved	ADJ
fcis-30832	224	7	algorithm	algorithm	NOUN
fcis-30832	224	8	outperforms	outperform	VERB
fcis-30832	224	9	the	the	DET
fcis-30832	224	10	original	original	ADJ
fcis-30832	224	11	algorithm	algorithm	NOUN
fcis-30832	224	12	in	in	ADP
fcis-30832	224	13	terms	term	NOUN
fcis-30832	224	14	of	of	ADP
fcis-30832	224	15	search	search	NOUN
fcis-30832	224	16	speed	speed	NOUN
fcis-30832	224	17	.	.	PUNCT
fcis-30832	225	1	specifically	specifically	ADV
fcis-30832	225	2	,	,	PUNCT
fcis-30832	225	3	the	the	DET
fcis-30832	225	4	improved	improved	ADJ
fcis-30832	225	5	algorithm	algorithm	NOUN
fcis-30832	225	6	can	can	AUX
fcis-30832	225	7	find	find	VERB
fcis-30832	225	8	the	the	DET
fcis-30832	225	9	optimal	optimal	ADJ
fcis-30832	225	10	charging	charging	NOUN
fcis-30832	225	11	path	path	NOUN
fcis-30832	225	12	faster	fast	ADV
fcis-30832	225	13	,	,	PUNCT
fcis-30832	225	14	thereby	thereby	ADV
fcis-30832	225	15	contributing	contribute	VERB
fcis-30832	225	16	to	to	ADP
fcis-30832	225	17	improving	improve	VERB
fcis-30832	225	18	the	the	DET
fcis-30832	225	19	driving	drive	VERB
fcis-30832	225	20	range	range	NOUN
fcis-30832	225	21	of	of	ADP
fcis-30832	225	22	electric	electric	ADJ
fcis-30832	225	23	vehicles	vehicle	NOUN
fcis-30832	225	24	.	.	PUNCT
fcis-30832	226	1	in	in	ADP
fcis-30832	226	2	summary	summary	NOUN
fcis-30832	226	3	,	,	PUNCT
fcis-30832	226	4	this	this	DET
fcis-30832	226	5	study	study	NOUN
fcis-30832	226	6	successfully	successfully	ADV
fcis-30832	226	7	improved	improve	VERB
fcis-30832	226	8	the	the	DET
fcis-30832	226	9	a	a	NOUN
fcis-30832	226	10	*	*	ADJ
fcis-30832	226	11	algorithm	algorithm	NOUN
fcis-30832	226	12	by	by	ADP
fcis-30832	226	13	introducing	introduce	VERB
fcis-30832	226	14	optimized	optimize	VERB
fcis-30832	226	15	goal	goal	NOUN
fcis-30832	226	16	-	-	PUNCT
fcis-30832	226	17	directed	direct	VERB
fcis-30832	226	18	strategies	strategy	NOUN
fcis-30832	226	19	,	,	PUNCT
fcis-30832	226	20	linear	linear	ADJ
fcis-30832	226	21	adaptation	adaptation	NOUN
fcis-30832	226	22	strategies	strategy	NOUN
fcis-30832	226	23	,	,	PUNCT
fcis-30832	226	24	and	and	CCONJ
fcis-30832	226	25	exponential	exponential	ADJ
fcis-30832	226	26	adaptation	adaptation	NOUN
fcis-30832	226	27	strategies	strategy	NOUN
fcis-30832	226	28	.	.	PUNCT
fcis-30832	227	1	the	the	DET
fcis-30832	227	2	effectiveness	effectiveness	NOUN
fcis-30832	227	3	of	of	ADP
fcis-30832	227	4	the	the	DET
fcis-30832	227	5	improved	improved	ADJ
fcis-30832	227	6	algorithm	algorithm	NOUN
fcis-30832	227	7	was	be	AUX
fcis-30832	227	8	verified	verify	VERB
fcis-30832	227	9	through	through	ADP
fcis-30832	227	10	matlab	matlab	PROPN
fcis-30832	227	11	simulation	simulation	NOUN
fcis-30832	227	12	experiments	experiment	NOUN
fcis-30832	227	13	.	.	PUNCT
fcis-30832	228	1	these	these	DET
fcis-30832	228	2	improvements	improvement	NOUN
fcis-30832	228	3	not	not	PART
fcis-30832	228	4	only	only	ADV
fcis-30832	228	5	enhance	enhance	VERB
fcis-30832	228	6	the	the	DET
fcis-30832	228	7	performance	performance	NOUN
fcis-30832	228	8	and	and	CCONJ
fcis-30832	228	9	efficiency	efficiency	NOUN
fcis-30832	228	10	of	of	ADP
fcis-30832	228	11	the	the	DET
fcis-30832	228	12	algorithm	algorithm	NOUN
fcis-30832	228	13	but	but	CCONJ
fcis-30832	228	14	also	also	ADV
fcis-30832	228	15	provide	provide	VERB
fcis-30832	228	16	a	a	DET
fcis-30832	228	17	new	new	ADJ
fcis-30832	228	18	solution	solution	NOUN
fcis-30832	228	19	for	for	ADP
fcis-30832	228	20	optimal	optimal	ADJ
fcis-30832	228	21	charging	charging	NOUN
fcis-30832	228	22	path	path	NOUN
fcis-30832	228	23	planning	planning	NOUN
fcis-30832	228	24	for	for	ADP
fcis-30832	228	25	electric	electric	ADJ
fcis-30832	228	26	vehicles	vehicle	NOUN
fcis-30832	228	27	.	.	PUNCT
fcis-30832	229	1	in	in	ADP
fcis-30832	229	2	the	the	DET
fcis-30832	229	3	future	future	NOUN
fcis-30832	229	4	,	,	PUNCT
fcis-30832	229	5	we	we	PRON
fcis-30832	229	6	will	will	AUX
fcis-30832	229	7	continue	continue	VERB
fcis-30832	229	8	to	to	PART
fcis-30832	229	9	optimize	optimize	VERB
fcis-30832	229	10	the	the	DET
fcis-30832	229	11	algorithm	algorithm	NOUN
fcis-30832	229	12	and	and	CCONJ
fcis-30832	229	13	explore	explore	VERB
fcis-30832	229	14	its	its	PRON
fcis-30832	229	15	potential	potential	NOUN
fcis-30832	229	16	in	in	ADP
fcis-30832	229	17	practical	practical	ADJ
fcis-30832	229	18	applications	application	NOUN
fcis-30832	229	19	.	.	PUNCT
fcis-30832	230	1	data	datum	NOUN
fcis-30832	230	2	availability	availability	NOUN
fcis-30832	230	3	statement	statement	NOUN
fcis-30832	230	4	all	all	DET
fcis-30832	230	5	data	datum	NOUN
fcis-30832	230	6	generated	generate	VERB
fcis-30832	230	7	or	or	CCONJ
fcis-30832	230	8	analyzed	analyze	VERB
fcis-30832	230	9	during	during	ADP
fcis-30832	230	10	this	this	DET
fcis-30832	230	11	study	study	NOUN
fcis-30832	230	12	are	be	AUX
fcis-30832	230	13	included	include	VERB
fcis-30832	230	14	in	in	ADP
fcis-30832	230	15	this	this	DET
fcis-30832	230	16	published	publish	VERB
fcis-30832	230	17	article	article	NOUN
fcis-30832	230	18	.	.	PUNCT
fcis-30832	231	1	author	author	NOUN
fcis-30832	231	2	contributions	contribution	NOUN
fcis-30832	231	3	chen	chen	PROPN
fcis-30832	231	4	xianyan	xianyan	PROPN
fcis-30832	231	5	wrote	write	VERB
fcis-30832	231	6	the	the	DET
fcis-30832	231	7	main	main	ADJ
fcis-30832	231	8	manuscript	manuscript	NOUN
fcis-30832	231	9	text	text	NOUN
fcis-30832	231	10	.	.	PUNCT
fcis-30832	232	1	competing	compete	VERB
fcis-30832	232	2	interests	interest	NOUN
fcis-30832	232	3	te	te	ADP
fcis-30832	232	4	authors	author	NOUN
fcis-30832	232	5	declare	declare	VERB
fcis-30832	232	6	no	no	DET
fcis-30832	232	7	competing	compete	VERB
fcis-30832	232	8	interests	interest	NOUN
fcis-30832	232	9	.	.	PUNCT
fcis-30832	233	1	acknowledgments	acknowledgment	NOUN
fcis-30832	233	2	this	this	DET
fcis-30832	233	3	work	work	NOUN
fcis-30832	233	4	has	have	AUX
fcis-30832	233	5	been	be	AUX
fcis-30832	233	6	supported	support	VERB
fcis-30832	233	7	by	by	ADP
fcis-30832	233	8	chongqing	chongqing	PROPN
fcis-30832	233	9	university	university	PROPN
fcis-30832	233	10	of	of	ADP
fcis-30832	233	11	international	international	ADJ
fcis-30832	233	12	business	business	NOUN
fcis-30832	233	13	and	and	CCONJ
fcis-30832	233	14	economics	economic	NOUN
fcis-30832	233	15	(	(	PUNCT
fcis-30832	233	16	kyzk2024037	kyzk2024037	PROPN
fcis-30832	233	17	)	)	PUNCT
fcis-30832	233	18	.	.	PUNCT
fcis-30832	234	1	references	reference	NOUN
fcis-30832	234	2	[	[	X
fcis-30832	234	3	1	1	NUM
fcis-30832	234	4	]	]	PUNCT
fcis-30832	234	5	ran	run	VERB
fcis-30832	234	6	jing	jing	PROPN
fcis-30832	234	7	,	,	PUNCT
fcis-30832	234	8	chen	chen	PROPN
fcis-30832	234	9	yuan	yuan	PROPN
fcis-30832	234	10	,	,	PUNCT
fcis-30832	234	11	hamidreza	hamidreza	PROPN
fcis-30832	234	12	rezaei	rezaei	PROPN
fcis-30832	234	13	,	,	PUNCT
fcis-30832	234	14	et	et	PROPN
fcis-30832	234	15	al	al	PROPN
fcis-30832	234	16	.	.	PUNCT
fcis-30832	234	17	assessments	assessment	NOUN
fcis-30832	234	18	on	on	ADP
fcis-30832	234	19	emergy	emergy	ADJ
fcis-30832	234	20	and	and	CCONJ
fcis-30832	234	21	greenhouse	greenhouse	NOUN
fcis-30832	234	22	gas	gas	NOUN
fcis-30832	234	23	emissions	emission	NOUN
fcis-30832	234	24	of	of	ADP
fcis-30832	234	25	internal	internal	ADJ
fcis-30832	234	26	combustion	combustion	NOUN
fcis-30832	234	27	engine	engine	NOUN
fcis-30832	234	28	automobiles	automobile	NOUN
fcis-30832	234	29	and	and	CCONJ
fcis-30832	234	30	electric	electric	ADJ
fcis-30832	234	31	automobiles	automobile	NOUN
fcis-30832	234	32	in	in	ADP
fcis-30832	234	33	the	the	DET
fcis-30832	234	34	usa	usa	PROPN
fcis-30832	234	35	,	,	PUNCT
fcis-30832	234	36	journal	journal	NOUN
fcis-30832	234	37	of	of	ADP
fcis-30832	234	38	environmental	environmental	ADJ
fcis-30832	234	39	sciences	science	NOUN
fcis-30832	234	40	,	,	PUNCT
fcis-30832	234	41	volume	volume	NOUN
fcis-30832	234	42	90,2020	90,2020	NUM
fcis-30832	234	43	,	,	PUNCT
fcis-30832	234	44	pages	page	NOUN
fcis-30832	234	45	297	297	NUM
fcis-30832	234	46	-	-	SYM
fcis-30832	234	47	309	309	NUM
fcis-30832	234	48	.	.	PUNCT
fcis-30832	235	1	[	[	X
fcis-30832	235	2	2	2	NUM
fcis-30832	235	3	]	]	PUNCT
fcis-30832	235	4	fulan	fulan	NOUN
fcis-30832	235	5	wu	wu	PROPN
fcis-30832	235	6	,	,	PUNCT
fcis-30832	235	7	pei	pei	PROPN
fcis-30832	235	8	li	li	PROPN
fcis-30832	235	9	,	,	PUNCT
fcis-30832	235	10	xuebing	xuebing	PROPN
fcis-30832	235	11	dong	dong	PROPN
fcis-30832	235	12	,	,	PUNCT
fcis-30832	235	13	et	et	PROPN
fcis-30832	235	14	al	al	PROPN
fcis-30832	235	15	.	.	PUNCT
fcis-30832	235	16	exploring	explore	VERB
fcis-30832	235	17	the	the	DET
fcis-30832	235	18	effectiveness	effectiveness	NOUN
fcis-30832	235	19	of	of	ADP
fcis-30832	235	20	china	china	PROPN
fcis-30832	235	21	's	's	PART
fcis-30832	235	22	dual	dual	ADJ
fcis-30832	235	23	credit	credit	NOUN
fcis-30832	235	24	policy	policy	NOUN
fcis-30832	235	25	in	in	ADP
fcis-30832	235	26	a	a	DET
fcis-30832	235	27	differentiated	differentiated	ADJ
fcis-30832	235	28	automobile	automobile	NOUN
fcis-30832	235	29	market	market	NOUN
fcis-30832	235	30	when	when	SCONJ
fcis-30832	235	31	some	some	DET
fcis-30832	235	32	consumers	consumer	NOUN
fcis-30832	235	33	are	be	AUX
fcis-30832	235	34	environmentally	environmentally	ADV
fcis-30832	235	35	aware	aware	ADJ
fcis-30832	235	36	,	,	PUNCT
fcis-30832	235	37	energy	energy	NOUN
fcis-30832	235	38	economics	economic	NOUN
fcis-30832	235	39	,	,	PUNCT
fcis-30832	235	40	volume	volume	NOUN
fcis-30832	235	41	111,2022,106077,issn	111,2022,106077,issn	PROPN
fcis-30832	235	42	0140	0140	NUM
fcis-30832	235	43	-	-	SYM
fcis-30832	235	44	9883	9883	NUM
fcis-30832	235	45	.	.	PUNCT
fcis-30832	236	1	[	[	X
fcis-30832	236	2	3	3	X
fcis-30832	236	3	]	]	X
fcis-30832	236	4	xiaohong	xiaohong	PROPN
fcis-30832	236	5	dong	dong	PROPN
fcis-30832	236	6	,	,	PUNCT
fcis-30832	236	7	zhiwei	zhiwei	PROPN
fcis-30832	236	8	feng	feng	PROPN
fcis-30832	236	9	,	,	PUNCT
fcis-30832	236	10	xiaodan	xiaodan	PROPN
fcis-30832	236	11	yu	yu	PROPN
fcis-30832	236	12	,	,	PUNCT
fcis-30832	236	13	et	et	PROPN
fcis-30832	236	14	al	al	PROPN
fcis-30832	236	15	.	.	PROPN
fcis-30832	236	16	evolution	evolution	PROPN
fcis-30832	236	17	prediction	prediction	NOUN
fcis-30832	236	18	method	method	NOUN
fcis-30832	236	19	for	for	ADP
fcis-30832	236	20	electric	electric	ADJ
fcis-30832	236	21	private	private	ADJ
fcis-30832	236	22	car	car	NOUN
fcis-30832	236	23	ownership	ownership	NOUN
fcis-30832	236	24	considering	consider	VERB
fcis-30832	236	25	the	the	DET
fcis-30832	236	26	decision	decision	NOUN
fcis-30832	236	27	-	-	PUNCT
fcis-30832	236	28	making	make	VERB
fcis-30832	236	29	behaviour	behaviour	NOUN
fcis-30832	236	30	of	of	ADP
fcis-30832	236	31	consumers	consumer	NOUN
fcis-30832	236	32	,	,	PUNCT
fcis-30832	236	33	energy	energy	NOUN
fcis-30832	236	34	reports	report	NOUN
fcis-30832	236	35	,	,	PUNCT
fcis-30832	236	36	volume	volume	NOUN
fcis-30832	236	37	11,2024,pages	11,2024,pages	NUM
fcis-30832	236	38	498	498	NUM
fcis-30832	236	39	-	-	SYM
fcis-30832	236	40	509	509	NUM
fcis-30832	236	41	.	.	PUNCT
fcis-30832	237	1	[	[	X
fcis-30832	237	2	4	4	NUM
fcis-30832	237	3	]	]	X
fcis-30832	237	4	bakheit	bakheit	PROPN
fcis-30832	237	5	mohammed	mohammed	PROPN
fcis-30832	237	6	nur	nur	PROPN
fcis-30832	237	7	.	.	PUNCT
fcis-30832	238	1	a	a	DET
fcis-30832	238	2	case	case	NOUN
fcis-30832	238	3	study	study	NOUN
fcis-30832	238	4	of	of	ADP
fcis-30832	238	5	socio	socio	NOUN
fcis-30832	238	6	-	-	PUNCT
fcis-30832	238	7	cultural	cultural	ADJ
fcis-30832	238	8	and	and	CCONJ
fcis-30832	238	9	technical	technical	ADJ
fcis-30832	238	10	factors	factor	NOUN
fcis-30832	238	11	in	in	ADP
fcis-30832	238	12	automobile	automobile	NOUN
fcis-30832	238	13	design	design	NOUN
fcis-30832	238	14	:	:	PUNCT
fcis-30832	238	15	discourses	discourse	NOUN
fcis-30832	238	16	between	between	ADP
fcis-30832	238	17	designers	designer	NOUN
fcis-30832	238	18	and	and	CCONJ
fcis-30832	238	19	potential	potential	ADJ
fcis-30832	238	20	users	user	NOUN
fcis-30832	238	21	on	on	ADP
fcis-30832	238	22	a	a	DET
fcis-30832	238	23	new	new	ADJ
fcis-30832	238	24	electric	electric	ADJ
fcis-30832	238	25	vehicle	vehicle	NOUN
fcis-30832	238	26	in	in	ADP
fcis-30832	238	27	africa	africa	PROPN
fcis-30832	238	28	,	,	PUNCT
fcis-30832	238	29	technology	technology	NOUN
fcis-30832	238	30	in	in	ADP
fcis-30832	238	31	society	society	NOUN
fcis-30832	238	32	,	,	PUNCT
fcis-30832	238	33	volume	volume	NOUN
fcis-30832	238	34	63,2020,101398	63,2020,101398	PROPN
fcis-30832	238	35	.	.	PUNCT
fcis-30832	239	1	[	[	X
fcis-30832	239	2	5	5	X
fcis-30832	239	3	]	]	PUNCT
fcis-30832	239	4	alpaslan	alpaslan	PROPN
fcis-30832	239	5	alkan	alkan	PROPN
fcis-30832	239	6	,	,	PUNCT
fcis-30832	239	7	mehmet	mehmet	PROPN
fcis-30832	239	8	sait	sait	PROPN
fcis-30832	239	9	i̇nan	i̇nan	PROPN
fcis-30832	239	10	.	.	PUNCT
fcis-30832	240	1	experimental	experimental	ADJ
fcis-30832	240	2	investigation	investigation	NOUN
fcis-30832	240	3	of	of	ADP
fcis-30832	240	4	the	the	DET
fcis-30832	240	5	effects	effect	NOUN
fcis-30832	240	6	of	of	ADP
fcis-30832	240	7	compressor	compressor	NOUN
fcis-30832	240	8	types	type	NOUN
fcis-30832	240	9	on	on	ADP
fcis-30832	240	10	the	the	DET
fcis-30832	240	11	performance	performance	NOUN
fcis-30832	240	12	of	of	ADP
fcis-30832	240	13	an	an	DET
fcis-30832	240	14	automobile	automobile	NOUN
fcis-30832	240	15	air	air	NOUN
fcis-30832	240	16	conditioning	conditioning	NOUN
fcis-30832	240	17	system	system	NOUN
fcis-30832	240	18	using	use	VERB
fcis-30832	240	19	r1234yf	r1234yf	PROPN
fcis-30832	240	20	,	,	PUNCT
fcis-30832	240	21	international	international	ADJ
fcis-30832	240	22	journal	journal	NOUN
fcis-30832	240	23	of	of	ADP
fcis-30832	240	24	refrigeration	refrigeration	NOUN
fcis-30832	240	25	,	,	PUNCT
fcis-30832	240	26	volume	volume	NOUN
fcis-30832	240	27	155,2023,pages	155,2023,page	NOUN
fcis-30832	240	28	58	58	NUM
fcis-30832	240	29	-	-	SYM
fcis-30832	240	30	66,issn	66,issn	NUM
fcis-30832	240	31	0140	0140	NUM
fcis-30832	240	32	-	-	SYM
fcis-30832	240	33	7007	7007	NUM
fcis-30832	240	34	.	.	PUNCT
fcis-30832	241	1	[	[	X
fcis-30832	241	2	6	6	NUM
fcis-30832	241	3	]	]	PUNCT
fcis-30832	241	4	yoshitomo	yoshitomo	PROPN
fcis-30832	241	5	yamasaki	yamasaki	PROPN
fcis-30832	241	6	,	,	PUNCT
fcis-30832	241	7	noboru	noboru	NOUN
fcis-30832	241	8	noguchi	noguchi	PROPN
fcis-30832	241	9	.	.	PUNCT
fcis-30832	242	1	optimal	optimal	ADJ
fcis-30832	242	2	route	route	NOUN
fcis-30832	242	3	planning	planning	NOUN
fcis-30832	242	4	and	and	CCONJ
fcis-30832	242	5	a	a	DET
fcis-30832	242	6	turning	turning	NOUN
fcis-30832	242	7	method	method	NOUN
fcis-30832	242	8	for	for	ADP
fcis-30832	242	9	an	an	DET
fcis-30832	242	10	electric	electric	ADJ
fcis-30832	242	11	vehicle	vehicle	NOUN
fcis-30832	242	12	robot	robot	NOUN
fcis-30832	242	13	in	in	ADP
fcis-30832	242	14	an	an	DET
fcis-30832	242	15	irregularly	irregularly	ADV
fcis-30832	242	16	shaped	shape	VERB
fcis-30832	242	17	vineyard	vineyard	NOUN
fcis-30832	242	18	,	,	PUNCT
fcis-30832	242	19	ifac	ifac	NOUN
fcis-30832	242	20	-	-	PUNCT
fcis-30832	242	21	papersonline	papersonline	NOUN
fcis-30832	242	22	,	,	PUNCT
fcis-30832	242	23	volume	volume	NOUN
fcis-30832	242	24	55	55	NUM
fcis-30832	242	25	,	,	PUNCT
fcis-30832	242	26	issue	issue	VERB
fcis-30832	242	27	32,2022,pages	32,2022,pages	NUM
fcis-30832	242	28	1	1	NUM
fcis-30832	242	29	-	-	SYM
fcis-30832	242	30	5,issn	5,issn	NUM
fcis-30832	242	31	2405	2405	NUM
fcis-30832	242	32	-	-	PUNCT
fcis-30832	242	33	8963	8963	NUM
fcis-30832	242	34	.	.	PUNCT
fcis-30832	243	1	[	[	X
fcis-30832	243	2	7	7	X
fcis-30832	243	3	]	]	X
fcis-30832	243	4	miguel	miguel	PROPN
fcis-30832	243	5	campaña	campaña	PROPN
fcis-30832	243	6	,	,	PUNCT
fcis-30832	243	7	esteban	esteban	PROPN
fcis-30832	243	8	inga	inga	NOUN
fcis-30832	243	9	.	.	PUNCT
fcis-30832	244	1	optimal	optimal	ADJ
fcis-30832	244	2	deployment	deployment	NOUN
fcis-30832	244	3	of	of	ADP
fcis-30832	244	4	fastcharging	fastcharging	NOUN
fcis-30832	244	5	stations	station	NOUN
fcis-30832	244	6	for	for	ADP
fcis-30832	244	7	electric	electric	ADJ
fcis-30832	244	8	vehicles	vehicle	NOUN
fcis-30832	244	9	considering	consider	VERB
fcis-30832	244	10	the	the	DET
fcis-30832	244	11	sizing	sizing	NOUN
fcis-30832	244	12	of	of	ADP
fcis-30832	244	13	the	the	DET
fcis-30832	244	14	electrical	electrical	ADJ
fcis-30832	244	15	distribution	distribution	NOUN
fcis-30832	244	16	network	network	NOUN
fcis-30832	244	17	and	and	CCONJ
fcis-30832	244	18	traffic	traffic	NOUN
fcis-30832	244	19	condition	condition	NOUN
fcis-30832	244	20	,	,	PUNCT
fcis-30832	244	21	energy	energy	NOUN
fcis-30832	244	22	reports	report	NOUN
fcis-30832	244	23	,	,	PUNCT
fcis-30832	244	24	volume	volume	NOUN
fcis-30832	244	25	9,2023,pages	9,2023,page	NOUN
fcis-30832	244	26	5246	5246	NUM
fcis-30832	244	27	-	-	SYM
fcis-30832	244	28	5268,issn	5268,issn	NUM
fcis-30832	244	29	2352	2352	NUM
fcis-30832	244	30	-	-	SYM
fcis-30832	244	31	4847	4847	NUM
fcis-30832	244	32	.	.	PUNCT
fcis-30832	245	1	[	[	X
fcis-30832	245	2	8	8	X
fcis-30832	245	3	]	]	X
fcis-30832	245	4	kangoh	kangoh	PROPN
fcis-30832	245	5	lee	lee	PROPN
fcis-30832	245	6	.	.	PROPN
fcis-30832	246	1	bold	bold	ADJ
fcis-30832	246	2	fiscal	fiscal	ADJ
fcis-30832	246	3	policies	policy	NOUN
fcis-30832	246	4	for	for	ADP
fcis-30832	246	5	a	a	DET
fcis-30832	246	6	net	net	ADJ
fcis-30832	246	7	-	-	PUNCT
fcis-30832	246	8	zero	zero	NUM
fcis-30832	246	9	eu	eu	PROPN
fcis-30832	246	10	:	:	PUNCT
fcis-30832	246	11	promotion	promotion	NOUN
fcis-30832	246	12	of	of	ADP
fcis-30832	246	13	electric	electric	ADJ
fcis-30832	246	14	vehicles	vehicle	NOUN
fcis-30832	246	15	and	and	CCONJ
fcis-30832	246	16	expansion	expansion	NOUN
fcis-30832	246	17	of	of	ADP
fcis-30832	246	18	green	green	ADJ
fcis-30832	246	19	energy	energy	NOUN
fcis-30832	246	20	,	,	PUNCT
fcis-30832	246	21	energy	energy	NOUN
fcis-30832	246	22	reports	report	NOUN
fcis-30832	246	23	,	,	PUNCT
fcis-30832	246	24	volume	volume	NOUN
fcis-30832	246	25	10,2023	10,2023	NUM
fcis-30832	246	26	,	,	PUNCT
fcis-30832	246	27	pages	page	NOUN
fcis-30832	246	28	2944	2944	NUM
fcis-30832	246	29	-	-	SYM
fcis-30832	246	30	2949,issn	2949,issn	NUM
fcis-30832	246	31	2352	2352	NUM
fcis-30832	246	32	-	-	SYM
fcis-30832	246	33	4847	4847	NUM
fcis-30832	246	34	.	.	PUNCT
fcis-30832	247	1	[	[	X
fcis-30832	247	2	9	9	NUM
fcis-30832	247	3	]	]	X
fcis-30832	247	4	mansoor	mansoor	PROPN
fcis-30832	247	5	davoodi	davoodi	PROPN
fcis-30832	247	6	,	,	PUNCT
fcis-30832	247	7	marjan	marjan	PROPN
fcis-30832	247	8	abedin	abedin	PROPN
fcis-30832	247	9	,	,	PUNCT
fcis-30832	247	10	bahareh	bahareh	NOUN
fcis-30832	247	11	banyassady	banyassady	NOUN
fcis-30832	247	12	,	,	PUNCT
fcis-30832	247	13	et	et	NOUN
fcis-30832	247	14	al.an	al.an	PROPN
fcis-30832	247	15	optimal	optimal	ADJ
fcis-30832	247	16	algorithm	algorithm	NOUN
fcis-30832	247	17	for	for	ADP
fcis-30832	247	18	two	two	NUM
fcis-30832	247	19	robots	robot	NOUN
fcis-30832	247	20	path	path	NOUN
fcis-30832	247	21	planning	planning	NOUN
fcis-30832	247	22	problem	problem	NOUN
fcis-30832	247	23	on	on	ADP
fcis-30832	247	24	the	the	DET
fcis-30832	247	25	grid	grid	NOUN
fcis-30832	247	26	,	,	PUNCT
fcis-30832	247	27	robotics	robotic	NOUN
fcis-30832	247	28	and	and	CCONJ
fcis-30832	247	29	autonomous	autonomous	ADJ
fcis-30832	247	30	systems	system	NOUN
fcis-30832	247	31	,	,	PUNCT
fcis-30832	247	32	volume	volume	NOUN
fcis-30832	247	33	61	61	NUM
fcis-30832	247	34	,	,	PUNCT
fcis-30832	247	35	issue	issue	VERB
fcis-30832	247	36	12,2013,pages	12,2013,pages	NUM
fcis-30832	247	37	1406	1406	NUM
fcis-30832	247	38	-	-	SYM
fcis-30832	247	39	1414	1414	NUM
fcis-30832	247	40	,	,	PUNCT
fcis-30832	247	41	issn	issn	PROPN
fcis-30832	247	42	0921	0921	NUM
fcis-30832	247	43	-	-	SYM
fcis-30832	247	44	8890	8890	NUM
fcis-30832	247	45	.	.	PUNCT
fcis-30832	248	1	[	[	X
fcis-30832	248	2	10	10	NUM
fcis-30832	248	3	]	]	SYM
fcis-30832	248	4	yibing	yibing	NOUN
fcis-30832	248	5	cui	cui	PROPN
fcis-30832	248	6	,	,	PUNCT
fcis-30832	248	7	wei	wei	PROPN
fcis-30832	248	8	hu	hu	PROPN
fcis-30832	248	9	,	,	PUNCT
fcis-30832	248	10	ahmed	ahmed	PROPN
fcis-30832	248	11	rahmani	rahmani	PROPN
fcis-30832	248	12	.	.	PUNCT
fcis-30832	249	1	multi	multi	ADJ
fcis-30832	249	2	-	-	ADJ
fcis-30832	249	3	robot	robot	ADJ
fcis-30832	249	4	path	path	NOUN
fcis-30832	249	5	planning	planning	NOUN
fcis-30832	249	6	using	use	VERB
fcis-30832	249	7	learning	learning	NOUN
fcis-30832	249	8	-	-	PUNCT
fcis-30832	249	9	based	base	VERB
fcis-30832	249	10	artificial	artificial	ADJ
fcis-30832	249	11	bee	bee	NOUN
fcis-30832	249	12	colony	colony	NOUN
fcis-30832	249	13	algorithm	algorithm	NOUN
fcis-30832	249	14	,	,	PUNCT
fcis-30832	249	15	engineering	engineering	NOUN
fcis-30832	249	16	applications	application	NOUN
fcis-30832	249	17	of	of	ADP
fcis-30832	249	18	artificial	artificial	ADJ
fcis-30832	249	19	intelligence	intelligence	NOUN
fcis-30832	249	20	,	,	PUNCT
fcis-30832	249	21	volume	volume	NOUN
fcis-30832	249	22	129	129	NUM
fcis-30832	249	23	,	,	PUNCT
fcis-30832	249	24	2024,107579,issn	2024,107579,issn	NUM
fcis-30832	249	25	0952	0952	NUM
fcis-30832	249	26	-	-	SYM
fcis-30832	249	27	1976	1976	NUM
fcis-30832	249	28	.	.	PUNCT
fcis-30832	250	1	[	[	X
fcis-30832	250	2	11	11	NUM
fcis-30832	250	3	]	]	X
fcis-30832	250	4	yang	yang	PROPN
fcis-30832	250	5	jiang	jiang	PROPN
fcis-30832	250	6	,	,	PUNCT
fcis-30832	250	7	yifan	yifan	PROPN
fcis-30832	250	8	yu	yu	PROPN
fcis-30832	250	9	,	,	PUNCT
fcis-30832	250	10	ruohuai	ruohuai	PROPN
fcis-30832	250	11	sun	sun	PROPN
fcis-30832	250	12	,	,	PUNCT
fcis-30832	250	13	et	et	PROPN
fcis-30832	250	14	al	al	PROPN
fcis-30832	250	15	.	.	PROPN
fcis-30832	250	16	research	research	NOUN
fcis-30832	250	17	on	on	ADP
fcis-30832	250	18	dynamic	dynamic	ADJ
fcis-30832	250	19	path	path	NOUN
fcis-30832	250	20	planning	planning	NOUN
fcis-30832	250	21	method	method	NOUN
fcis-30832	250	22	of	of	ADP
fcis-30832	250	23	electric	electric	ADJ
fcis-30832	250	24	inspection	inspection	NOUN
fcis-30832	250	25	robot	robot	NOUN
fcis-30832	250	26	based	base	VERB
fcis-30832	250	27	on	on	ADP
fcis-30832	250	28	fuzzy	fuzzy	ADJ
fcis-30832	250	29	neural	neural	ADJ
fcis-30832	250	30	network	network	NOUN
fcis-30832	250	31	,	,	PUNCT
fcis-30832	250	32	energy	energy	NOUN
fcis-30832	250	33	reports	report	NOUN
fcis-30832	250	34	,	,	PUNCT
fcis-30832	250	35	volume	volume	NOUN
fcis-30832	250	36	9	9	NUM
fcis-30832	250	37	,	,	PUNCT
fcis-30832	250	38	supplement	supplement	VERB
fcis-30832	250	39	8,2023,pages	8,2023,page	NOUN
fcis-30832	250	40	483	483	NUM
fcis-30832	250	41	-	-	SYM
fcis-30832	250	42	491,issn	491,issn	NUM
fcis-30832	250	43	2352	2352	NUM
fcis-30832	250	44	-	-	SYM
fcis-30832	250	45	4847	4847	NUM
fcis-30832	250	46	.	.	PUNCT
fcis-30832	251	1	[	[	X
fcis-30832	251	2	12	12	NUM
fcis-30832	251	3	]	]	X
fcis-30832	251	4	yisheng	yisheng	PROPN
fcis-30832	251	5	an	an	PROPN
fcis-30832	251	6	,	,	PUNCT
fcis-30832	251	7	yuxin	yuxin	PROPN
fcis-30832	251	8	gao	gao	PROPN
fcis-30832	251	9	,	,	PUNCT
fcis-30832	251	10	naiqi	naiqi	PROPN
fcis-30832	251	11	wu	wu	PROPN
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fcis-30832	251	20	vehicle	vehicle	NOUN
fcis-30832	251	21	charging	charge	VERB
fcis-30832	251	22	operations	operation	NOUN
fcis-30832	251	23	considering	consider	VERB
fcis-30832	251	24	real	real	ADJ
fcis-30832	251	25	-	-	PUNCT
fcis-30832	251	26	time	time	NOUN
fcis-30832	251	27	traffic	traffic	NOUN
fcis-30832	251	28	condition	condition	NOUN
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fcis-30832	251	30	travel	travel	NOUN
fcis-30832	251	31	distance	distance	NOUN
fcis-30832	251	32	,	,	PUNCT
fcis-30832	251	33	expert	expert	NOUN
fcis-30832	251	34	systems	system	NOUN
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fcis-30832	251	36	applications	application	NOUN
fcis-30832	251	37	,	,	PUNCT
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fcis-30832	253	2	on	on	ADP
fcis-30832	253	3	global	global	ADJ
fcis-30832	253	4	path	path	PROPN
fcis-30832	253	5	planning	planning	NOUN
fcis-30832	253	6	of	of	ADP
fcis-30832	253	7	electric	electric	ADJ
fcis-30832	253	8	disinfection	disinfection	NOUN
fcis-30832	253	9	vehicle	vehicle	NOUN
fcis-30832	253	10	based	base	VERB
fcis-30832	253	11	on	on	ADP
fcis-30832	253	12	improved	improve	VERB
fcis-30832	253	13	a	a	DET
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fcis-30832	253	15	algorithm	algorithm	NOUN
fcis-30832	253	16	,	,	PUNCT
fcis-30832	253	17	energy	energy	NOUN
fcis-30832	253	18	reports	report	NOUN
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fcis-30832	253	27	-	-	SYM
fcis-30832	253	28	4847	4847	NUM
fcis-30832	253	29	.	.	PUNCT
fcis-30832	254	1	[	[	X
fcis-30832	254	2	14	14	NUM
fcis-30832	254	3	]	]	SYM
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fcis-30832	254	5	fescioglu	fescioglu	NOUN
fcis-30832	254	6	-	-	PUNCT
fcis-30832	254	7	unver	unver	ADJ
fcis-30832	254	8	,	,	PUNCT
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fcis-30832	254	10	yıldız	yıldız	PROPN
fcis-30832	254	11	aktaş	aktaş	PROPN
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fcis-30832	254	19	service	service	NOUN
fcis-30832	254	20	operations	operation	NOUN
fcis-30832	254	21	:	:	PUNCT
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fcis-30832	254	24	of	of	ADP
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fcis-30832	254	26	learning	learn	VERB
fcis-30832	254	27	applications	application	NOUN
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fcis-30832	254	31	,	,	PUNCT
fcis-30832	254	32	control	control	NOUN
fcis-30832	254	33	,	,	PUNCT
fcis-30832	254	34	pricing	pricing	NOUN
fcis-30832	254	35	and	and	CCONJ
fcis-30832	254	36	routing	routing	NOUN
fcis-30832	254	37	,	,	PUNCT
fcis-30832	254	38	renewable	renewable	ADJ
fcis-30832	254	39	and	and	CCONJ
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fcis-30832	254	41	energy	energy	NOUN
fcis-30832	254	42	reviews	review	NOUN
fcis-30832	254	43	,	,	PUNCT
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fcis-30832	254	47	-	-	SYM
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fcis-30832	255	5	cai	cai	PROPN
fcis-30832	255	6	,	,	PUNCT
fcis-30832	255	7	kun	kun	PROPN
fcis-30832	255	8	huang	huang	PROPN
fcis-30832	255	9	,	,	PUNCT
fcis-30832	255	10	shu	shu	PROPN
fcis-30832	255	11	zheng	zheng	PROPN
fcis-30832	255	12	,	,	PUNCT
fcis-30832	255	13	et	et	PROPN
fcis-30832	255	14	al	al	PROPN
fcis-30832	255	15	.	.	PROPN
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fcis-30832	255	23	-	-	ADJ
fcis-30832	255	24	energy	energy	ADJ
fcis-30832	255	25	complementary	complementary	ADJ
fcis-30832	255	26	electric	electric	ADJ
fcis-30832	255	27	vehicle	vehicle	NOUN
fcis-30832	255	28	charging	charge	VERB
fcis-30832	255	29	station	station	NOUN
fcis-30832	255	30	,	,	PUNCT
fcis-30832	255	31	energy	energy	NOUN
fcis-30832	255	32	reports	report	NOUN
fcis-30832	255	33	,	,	PUNCT
fcis-30832	255	34	volume	volume	NOUN
fcis-30832	255	35	9	9	NUM
fcis-30832	255	36	,	,	PUNCT
fcis-30832	255	37	supplement	supplement	VERB
fcis-30832	255	38	7	7	NUM
fcis-30832	255	39	,	,	PUNCT
fcis-30832	255	40	2023,pages	2023,pages	NUM
fcis-30832	255	41	1037	1037	NUM
fcis-30832	255	42	-	-	SYM
fcis-30832	255	43	1047,issn	1047,issn	NUM
fcis-30832	255	44	2352	2352	NUM
fcis-30832	255	45	-	-	SYM
fcis-30832	255	46	4847	4847	NUM
fcis-30832	255	47	,	,	PUNCT
fcis-30832	255	48	[	[	X
fcis-30832	255	49	16	16	NUM
fcis-30832	255	50	]	]	X
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fcis-30832	255	57	bin	bin	PROPN
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fcis-30832	256	6	energy	energy	NOUN
fcis-30832	256	7	management	management	NOUN
fcis-30832	256	8	strategy	strategy	NOUN
fcis-30832	256	9	for	for	ADP
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fcis-30832	256	11	vehicles	vehicle	NOUN
fcis-30832	256	12	considering	consider	VERB
fcis-30832	256	13	battery	battery	NOUN
fcis-30832	256	14	aging	aging	NOUN
fcis-30832	256	15	,	,	PUNCT
fcis-30832	256	16	energy	energy	NOUN
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fcis-30832	256	25	-	-	SYM
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