id	sid	tid	token	lemma	pos
fcis-31242	1	1	frontiers	frontier	NOUN
fcis-31242	1	2	in	in	ADP
fcis-31242	1	3	computing	computing	NOUN
fcis-31242	1	4	and	and	CCONJ
fcis-31242	1	5	intelligent	intelligent	ADJ
fcis-31242	1	6	systems	system	NOUN
fcis-31242	1	7	issn	issn	VERB
fcis-31242	1	8	:	:	PUNCT
fcis-31242	1	9	2832	2832	NUM
fcis-31242	1	10	-	-	SYM
fcis-31242	1	11	6024	6024	NUM
fcis-31242	1	12	|	|	NOUN
fcis-31242	1	13	vol	vol	NOUN
fcis-31242	1	14	.	.	PROPN
fcis-31242	2	1	12	12	NUM
fcis-31242	2	2	,	,	PUNCT
fcis-31242	2	3	no	no	INTJ
fcis-31242	2	4	.	.	NOUN
fcis-31242	2	5	3	3	NUM
fcis-31242	2	6	,	,	PUNCT
fcis-31242	2	7	2025	2025	NUM
fcis-31242	2	8	63	63	NUM
fcis-31242	2	9	multi‐strategy	multi‐strategy	NOUN
fcis-31242	2	10	improved	improve	VERB
fcis-31242	2	11	petal	petal	ADJ
fcis-31242	2	12	kingfisher	kingfisher	NOUN
fcis-31242	2	13	algorithm	algorithm	NOUN
fcis-31242	2	14	for	for	ADP
fcis-31242	2	15	robot	robot	NOUN
fcis-31242	2	16	path	path	PROPN
fcis-31242	2	17	planning	planning	PROPN
fcis-31242	2	18	guogang	guogang	PROPN
fcis-31242	2	19	wang	wang	PROPN
fcis-31242	2	20	,	,	PUNCT
fcis-31242	2	21	hongwei	hongwei	PROPN
fcis-31242	2	22	sun	sun	PROPN
fcis-31242	2	23	,	,	PUNCT
fcis-31242	2	24	shouliang	shouliang	PROPN
fcis-31242	2	25	xie	xie	PROPN
fcis-31242	2	26	,	,	PUNCT
fcis-31242	2	27	xu	xu	PROPN
fcis-31242	2	28	chen	chen	PROPN
fcis-31242	2	29	,	,	PUNCT
fcis-31242	2	30	zichao	zichao	PROPN
fcis-31242	2	31	feng	feng	PROPN
fcis-31242	2	32	jilin	jilin	PROPN
fcis-31242	2	33	institute	institute	PROPN
fcis-31242	2	34	of	of	ADP
fcis-31242	2	35	chemical	chemical	PROPN
fcis-31242	2	36	technology	technology	PROPN
fcis-31242	2	37	,	,	PUNCT
fcis-31242	2	38	jilin	jilin	PROPN
fcis-31242	2	39	,	,	PUNCT
fcis-31242	2	40	jilin	jilin	PROPN
fcis-31242	2	41	132000	132000	NUM
fcis-31242	2	42	,	,	PUNCT
fcis-31242	2	43	china	china	PROPN
fcis-31242	2	44	abstract	abstract	NOUN
fcis-31242	2	45	:	:	PUNCT
fcis-31242	2	46	aiming	aim	VERB
fcis-31242	2	47	at	at	ADP
fcis-31242	2	48	the	the	DET
fcis-31242	2	49	problems	problem	NOUN
fcis-31242	2	50	of	of	ADP
fcis-31242	2	51	slow	slow	ADJ
fcis-31242	2	52	convergence	convergence	NOUN
fcis-31242	2	53	speed	speed	NOUN
fcis-31242	2	54	and	and	CCONJ
fcis-31242	2	55	easy	easy	ADJ
fcis-31242	2	56	to	to	PART
fcis-31242	2	57	fall	fall	VERB
fcis-31242	2	58	into	into	ADP
fcis-31242	2	59	local	local	ADJ
fcis-31242	2	60	optimal	optimal	ADJ
fcis-31242	2	61	solutions	solution	NOUN
fcis-31242	2	62	of	of	ADP
fcis-31242	2	63	the	the	DET
fcis-31242	2	64	original	original	ADJ
fcis-31242	2	65	spotted	spot	VERB
fcis-31242	2	66	kingfisher	kingfisher	NOUN
fcis-31242	2	67	algorithm	algorithm	NOUN
fcis-31242	2	68	,	,	PUNCT
fcis-31242	2	69	this	this	DET
fcis-31242	2	70	paper	paper	NOUN
fcis-31242	2	71	proposes	propose	VERB
fcis-31242	2	72	an	an	DET
fcis-31242	2	73	improved	improved	ADJ
fcis-31242	2	74	spotted	spot	VERB
fcis-31242	2	75	kingfisher	kingfisher	NOUN
fcis-31242	2	76	algorithm	algorithm	NOUN
fcis-31242	2	77	,	,	PUNCT
fcis-31242	2	78	which	which	PRON
fcis-31242	2	79	firstly	firstly	ADV
fcis-31242	2	80	initializes	initialize	VERB
fcis-31242	2	81	the	the	DET
fcis-31242	2	82	population	population	NOUN
fcis-31242	2	83	through	through	ADP
fcis-31242	2	84	logistic	logistic	ADJ
fcis-31242	2	85	chaotic	chaotic	ADJ
fcis-31242	2	86	mapping	mapping	NOUN
fcis-31242	2	87	to	to	PART
fcis-31242	2	88	improve	improve	VERB
fcis-31242	2	89	the	the	DET
fcis-31242	2	90	uniformity	uniformity	NOUN
fcis-31242	2	91	of	of	ADP
fcis-31242	2	92	the	the	DET
fcis-31242	2	93	population	population	NOUN
fcis-31242	2	94	position	position	NOUN
fcis-31242	2	95	,	,	PUNCT
fcis-31242	2	96	secondly	secondly	ADV
fcis-31242	2	97	introduces	introduce	VERB
fcis-31242	2	98	the	the	DET
fcis-31242	2	99	learning	learning	NOUN
fcis-31242	2	100	decay	decay	NOUN
fcis-31242	2	101	rate	rate	NOUN
fcis-31242	2	102	to	to	PART
fcis-31242	2	103	dynamically	dynamically	ADV
fcis-31242	2	104	adjust	adjust	VERB
fcis-31242	2	105	the	the	DET
fcis-31242	2	106	search	search	NOUN
fcis-31242	2	107	step	step	NOUN
fcis-31242	2	108	to	to	PART
fcis-31242	2	109	accelerate	accelerate	VERB
fcis-31242	2	110	the	the	DET
fcis-31242	2	111	convergence	convergence	NOUN
fcis-31242	2	112	of	of	ADP
fcis-31242	2	113	the	the	DET
fcis-31242	2	114	algorithm	algorithm	NOUN
fcis-31242	2	115	;	;	PUNCT
fcis-31242	2	116	and	and	CCONJ
fcis-31242	2	117	adopts	adopt	VERB
fcis-31242	2	118	gaussian	gaussian	ADJ
fcis-31242	2	119	random	random	ADJ
fcis-31242	2	120	variation	variation	NOUN
fcis-31242	2	121	strategy	strategy	NOUN
fcis-31242	2	122	to	to	PART
fcis-31242	2	123	avoid	avoid	VERB
fcis-31242	2	124	the	the	DET
fcis-31242	2	125	algorithm	algorithm	NOUN
fcis-31242	2	126	from	from	ADP
fcis-31242	2	127	falling	fall	VERB
fcis-31242	2	128	into	into	ADP
fcis-31242	2	129	the	the	DET
fcis-31242	2	130	local	local	ADJ
fcis-31242	2	131	optimum	optimum	NOUN
fcis-31242	2	132	.	.	PUNCT
fcis-31242	3	1	the	the	DET
fcis-31242	3	2	algorithm	algorithm	NOUN
fcis-31242	3	3	is	be	AUX
fcis-31242	3	4	experiments	experiment	NOUN
fcis-31242	3	5	are	be	AUX
fcis-31242	3	6	conducted	conduct	VERB
fcis-31242	3	7	on	on	ADP
fcis-31242	3	8	six	six	NUM
fcis-31242	3	9	kinds	kind	NOUN
fcis-31242	3	10	of	of	ADP
fcis-31242	3	11	benchmark	benchmark	NOUN
fcis-31242	3	12	test	test	NOUN
fcis-31242	3	13	functions	function	NOUN
fcis-31242	3	14	,	,	PUNCT
fcis-31242	3	15	and	and	CCONJ
fcis-31242	3	16	the	the	DET
fcis-31242	3	17	results	result	NOUN
fcis-31242	3	18	show	show	VERB
fcis-31242	3	19	that	that	SCONJ
fcis-31242	3	20	the	the	DET
fcis-31242	3	21	improved	improved	ADJ
fcis-31242	3	22	algorithm	algorithm	NOUN
fcis-31242	3	23	significantly	significantly	ADV
fcis-31242	3	24	improves	improve	VERB
fcis-31242	3	25	the	the	DET
fcis-31242	3	26	original	original	ADJ
fcis-31242	3	27	pko	pko	NOUN
fcis-31242	3	28	algorithm	algorithm	NOUN
fcis-31242	3	29	in	in	ADP
fcis-31242	3	30	terms	term	NOUN
fcis-31242	3	31	of	of	ADP
fcis-31242	3	32	solution	solution	NOUN
fcis-31242	3	33	accuracy	accuracy	NOUN
fcis-31242	3	34	and	and	CCONJ
fcis-31242	3	35	convergence	convergence	NOUN
fcis-31242	3	36	speed	speed	NOUN
fcis-31242	3	37	,	,	PUNCT
fcis-31242	3	38	which	which	PRON
fcis-31242	3	39	effectively	effectively	ADV
fcis-31242	3	40	improves	improve	VERB
fcis-31242	3	41	the	the	DET
fcis-31242	3	42	performance	performance	NOUN
fcis-31242	3	43	of	of	ADP
fcis-31242	3	44	the	the	DET
fcis-31242	3	45	algorithm	algorithm	NOUN
fcis-31242	3	46	.	.	PUNCT
fcis-31242	4	1	finally	finally	ADV
fcis-31242	4	2	,	,	PUNCT
fcis-31242	4	3	it	it	PRON
fcis-31242	4	4	is	be	AUX
fcis-31242	4	5	applied	apply	VERB
fcis-31242	4	6	to	to	ADP
fcis-31242	4	7	robot	robot	NOUN
fcis-31242	4	8	path	path	NOUN
fcis-31242	4	9	planning	planning	NOUN
fcis-31242	4	10	in	in	ADP
fcis-31242	4	11	matlab	matlab	PROPN
fcis-31242	4	12	and	and	CCONJ
fcis-31242	4	13	ros	ros	PROPN
fcis-31242	4	14	,	,	PUNCT
fcis-31242	4	15	which	which	PRON
fcis-31242	4	16	shows	show	VERB
fcis-31242	4	17	that	that	SCONJ
fcis-31242	4	18	the	the	DET
fcis-31242	4	19	improved	improved	ADJ
fcis-31242	4	20	algorithm	algorithm	NOUN
fcis-31242	4	21	has	have	VERB
fcis-31242	4	22	shorter	short	ADJ
fcis-31242	4	23	path	path	NOUN
fcis-31242	4	24	planning	planning	NOUN
fcis-31242	4	25	length	length	NOUN
fcis-31242	4	26	,	,	PUNCT
fcis-31242	4	27	shorter	short	ADJ
fcis-31242	4	28	convergence	convergence	NOUN
fcis-31242	4	29	time	time	NOUN
fcis-31242	4	30	and	and	CCONJ
fcis-31242	4	31	better	well	ADJ
fcis-31242	4	32	robustness	robustness	NOUN
fcis-31242	4	33	than	than	ADP
fcis-31242	4	34	other	other	ADJ
fcis-31242	4	35	optimization	optimization	NOUN
fcis-31242	4	36	algorithms	algorithm	NOUN
fcis-31242	4	37	.	.	PUNCT
fcis-31242	5	1	keywords	keyword	NOUN
fcis-31242	5	2	:	:	PUNCT
fcis-31242	5	3	mobile	mobile	ADJ
fcis-31242	5	4	robot	robot	NOUN
fcis-31242	5	5	;	;	PUNCT
fcis-31242	5	6	path	path	NOUN
fcis-31242	5	7	planning	planning	NOUN
fcis-31242	5	8	;	;	PUNCT
fcis-31242	5	9	optimization	optimization	NOUN
fcis-31242	5	10	algorithm	algorithm	NOUN
fcis-31242	5	11	;	;	PUNCT
fcis-31242	5	12	logistic	logistic	ADJ
fcis-31242	5	13	chaos	chaos	NOUN
fcis-31242	5	14	mapping	mapping	NOUN
fcis-31242	5	15	.	.	PUNCT
fcis-31242	6	1	1	1	X
fcis-31242	6	2	.	.	X
fcis-31242	6	3	introduction	introduction	NOUN
fcis-31242	6	4	with	with	ADP
fcis-31242	6	5	the	the	DET
fcis-31242	6	6	rapid	rapid	ADJ
fcis-31242	6	7	development	development	NOUN
fcis-31242	6	8	of	of	ADP
fcis-31242	6	9	artificial	artificial	ADJ
fcis-31242	6	10	intelligence	intelligence	NOUN
fcis-31242	6	11	and	and	CCONJ
fcis-31242	6	12	robotics	robotic	NOUN
fcis-31242	6	13	,	,	PUNCT
fcis-31242	6	14	mobile	mobile	ADJ
fcis-31242	6	15	robots	robot	NOUN
fcis-31242	6	16	have	have	AUX
fcis-31242	6	17	been	be	AUX
fcis-31242	6	18	used	use	VERB
fcis-31242	6	19	in	in	ADP
fcis-31242	6	20	many	many	ADJ
fcis-31242	6	21	fields	field	NOUN
fcis-31242	6	22	,	,	PUNCT
fcis-31242	6	23	such	such	ADJ
fcis-31242	6	24	as	as	ADP
fcis-31242	6	25	intelligent	intelligent	ADJ
fcis-31242	6	26	manufacturing	manufacturing	NOUN
fcis-31242	6	27	,	,	PUNCT
fcis-31242	6	28	warehousing	warehousing	NOUN
fcis-31242	6	29	and	and	CCONJ
fcis-31242	6	30	logistics	logistic	NOUN
fcis-31242	6	31	,	,	PUNCT
fcis-31242	6	32	medical	medical	ADJ
fcis-31242	6	33	care	care	NOUN
fcis-31242	6	34	,	,	PUNCT
fcis-31242	6	35	etc[1	etc[1	NOUN
fcis-31242	6	36	-	-	SYM
fcis-31242	6	37	2	2	NUM
fcis-31242	6	38	]	]	PUNCT
fcis-31242	6	39	,	,	PUNCT
fcis-31242	6	40	path	path	NOUN
fcis-31242	6	41	planning	planning	NOUN
fcis-31242	6	42	as	as	ADP
fcis-31242	6	43	the	the	DET
fcis-31242	6	44	core	core	NOUN
fcis-31242	6	45	link	link	NOUN
fcis-31242	6	46	of	of	ADP
fcis-31242	6	47	autonomous	autonomous	ADJ
fcis-31242	6	48	navigation	navigation	NOUN
fcis-31242	6	49	of	of	ADP
fcis-31242	6	50	mobile	mobile	NOUN
fcis-31242	6	51	robots	robot	NOUN
fcis-31242	6	52	,	,	PUNCT
fcis-31242	6	53	the	the	DET
fcis-31242	6	54	purpose	purpose	NOUN
fcis-31242	6	55	is	be	AUX
fcis-31242	6	56	to	to	PART
fcis-31242	6	57	allow	allow	VERB
fcis-31242	6	58	the	the	DET
fcis-31242	6	59	robot	robot	NOUN
fcis-31242	6	60	to	to	PART
fcis-31242	6	61	move	move	VERB
fcis-31242	6	62	safely	safely	ADV
fcis-31242	6	63	from	from	ADP
fcis-31242	6	64	the	the	DET
fcis-31242	6	65	starting	starting	NOUN
fcis-31242	6	66	point	point	NOUN
fcis-31242	6	67	to	to	ADP
fcis-31242	6	68	the	the	DET
fcis-31242	6	69	end	end	NOUN
fcis-31242	6	70	point	point	NOUN
fcis-31242	6	71	in	in	ADP
fcis-31242	6	72	the	the	DET
fcis-31242	6	73	known	know	VERB
fcis-31242	6	74	environment	environment	NOUN
fcis-31242	6	75	,	,	PUNCT
fcis-31242	6	76	and	and	CCONJ
fcis-31242	6	77	excellent	excellent	ADJ
fcis-31242	6	78	path	path	NOUN
fcis-31242	6	79	planning	planning	NOUN
fcis-31242	6	80	technology	technology	NOUN
fcis-31242	6	81	can	can	AUX
fcis-31242	6	82	accelerate	accelerate	VERB
fcis-31242	6	83	the	the	DET
fcis-31242	6	84	productivity	productivity	NOUN
fcis-31242	6	85	of	of	ADP
fcis-31242	6	86	factories	factory	NOUN
fcis-31242	6	87	,	,	PUNCT
fcis-31242	6	88	reduce	reduce	VERB
fcis-31242	6	89	the	the	DET
fcis-31242	6	90	degree	degree	NOUN
fcis-31242	6	91	of	of	ADP
fcis-31242	6	92	human	human	ADJ
fcis-31242	6	93	labor	labor	NOUN
fcis-31242	6	94	,	,	PUNCT
fcis-31242	6	95	and	and	CCONJ
fcis-31242	6	96	improve	improve	VERB
fcis-31242	6	97	the	the	DET
fcis-31242	6	98	social	social	ADJ
fcis-31242	6	99	and	and	CCONJ
fcis-31242	6	100	economic	economic	ADJ
fcis-31242	6	101	development	development	NOUN
fcis-31242	6	102	play	play	VERB
fcis-31242	6	103	a	a	DET
fcis-31242	6	104	key	key	ADJ
fcis-31242	6	105	role	role	NOUN
fcis-31242	6	106	.	.	PUNCT
fcis-31242	7	1	excellent	excellent	ADJ
fcis-31242	7	2	path	path	NOUN
fcis-31242	7	3	planning	planning	NOUN
fcis-31242	7	4	technology	technology	NOUN
fcis-31242	7	5	can	can	AUX
fcis-31242	7	6	accelerate	accelerate	VERB
fcis-31242	7	7	factory	factory	NOUN
fcis-31242	7	8	production	production	NOUN
fcis-31242	7	9	efficiency	efficiency	NOUN
fcis-31242	7	10	,	,	PUNCT
fcis-31242	7	11	reduce	reduce	VERB
fcis-31242	7	12	the	the	DET
fcis-31242	7	13	degree	degree	NOUN
fcis-31242	7	14	of	of	ADP
fcis-31242	7	15	human	human	ADJ
fcis-31242	7	16	labor	labor	NOUN
fcis-31242	7	17	,	,	PUNCT
fcis-31242	7	18	and	and	CCONJ
fcis-31242	7	19	improve	improve	VERB
fcis-31242	7	20	social	social	ADJ
fcis-31242	7	21	and	and	CCONJ
fcis-31242	7	22	economic	economic	ADJ
fcis-31242	7	23	development	development	NOUN
fcis-31242	7	24	play	play	VERB
fcis-31242	7	25	a	a	DET
fcis-31242	7	26	key	key	ADJ
fcis-31242	7	27	role	role	NOUN
fcis-31242	7	28	.	.	PUNCT
fcis-31242	8	1	for	for	ADP
fcis-31242	8	2	this	this	DET
fcis-31242	8	3	reason	reason	NOUN
fcis-31242	8	4	,	,	PUNCT
fcis-31242	8	5	many	many	ADJ
fcis-31242	8	6	scholars	scholar	NOUN
fcis-31242	8	7	at	at	ADP
fcis-31242	8	8	home	home	ADV
fcis-31242	8	9	and	and	CCONJ
fcis-31242	8	10	abroad	abroad	ADV
fcis-31242	8	11	have	have	AUX
fcis-31242	8	12	carried	carry	VERB
fcis-31242	8	13	out	out	ADP
fcis-31242	8	14	relevant	relevant	ADJ
fcis-31242	8	15	research	research	NOUN
fcis-31242	8	16	on	on	ADP
fcis-31242	8	17	path	path	NOUN
fcis-31242	8	18	planning	planning	NOUN
fcis-31242	8	19	technology	technology	NOUN
fcis-31242	8	20	,	,	PUNCT
fcis-31242	8	21	traditional	traditional	ADJ
fcis-31242	8	22	path	path	NOUN
fcis-31242	8	23	planning	planning	NOUN
fcis-31242	8	24	methods	method	NOUN
fcis-31242	8	25	including	include	VERB
fcis-31242	8	26	rrt	rrt	NOUN
fcis-31242	8	27	algorithm	algorithm	NOUN
fcis-31242	9	1	[	[	X
fcis-31242	9	2	3	3	NUM
fcis-31242	9	3	]	]	PUNCT
fcis-31242	9	4	,	,	PUNCT
fcis-31242	9	5	a	a	PRON
fcis-31242	9	6	*	*	PROPN
fcis-31242	9	7	algorithm[4	algorithm[4	NUM
fcis-31242	9	8	]	]	X
fcis-31242	9	9	,	,	PUNCT
fcis-31242	9	10	dijkstra	dijkstra	ADJ
fcis-31242	9	11	algorithm	algorithm	NOUN
fcis-31242	9	12	[	[	X
fcis-31242	9	13	5	5	NUM
fcis-31242	9	14	]	]	PUNCT
fcis-31242	9	15	and	and	CCONJ
fcis-31242	9	16	prm	prm	ADJ
fcis-31242	9	17	algorithm[6	algorithm[6	NOUN
fcis-31242	9	18	]	]	PUNCT
fcis-31242	9	19	,	,	PUNCT
fcis-31242	9	20	although	although	SCONJ
fcis-31242	9	21	they	they	PRON
fcis-31242	9	22	can	can	AUX
fcis-31242	9	23	plan	plan	VERB
fcis-31242	9	24	a	a	DET
fcis-31242	9	25	safe	safe	ADJ
fcis-31242	9	26	path	path	NOUN
fcis-31242	9	27	without	without	ADP
fcis-31242	9	28	collision	collision	NOUN
fcis-31242	9	29	.	.	PUNCT
fcis-31242	10	1	but	but	CCONJ
fcis-31242	10	2	in	in	ADP
fcis-31242	10	3	the	the	DET
fcis-31242	10	4	face	face	NOUN
fcis-31242	10	5	of	of	ADP
fcis-31242	10	6	complex	complex	ADJ
fcis-31242	10	7	environments	environment	NOUN
fcis-31242	10	8	,	,	PUNCT
fcis-31242	10	9	there	there	PRON
fcis-31242	10	10	are	be	VERB
fcis-31242	10	11	still	still	ADV
fcis-31242	10	12	limitations	limitation	NOUN
fcis-31242	10	13	,	,	PUNCT
fcis-31242	10	14	for	for	ADP
fcis-31242	10	15	example	example	NOUN
fcis-31242	10	16	,	,	PUNCT
fcis-31242	10	17	the	the	DET
fcis-31242	10	18	path	path	NOUN
fcis-31242	10	19	generated	generate	VERB
fcis-31242	10	20	by	by	ADP
fcis-31242	10	21	the	the	DET
fcis-31242	10	22	traditional	traditional	ADJ
fcis-31242	10	23	rrt	rrt	NOUN
fcis-31242	10	24	algorithm	algorithm	NOUN
fcis-31242	10	25	is	be	AUX
fcis-31242	10	26	not	not	PART
fcis-31242	10	27	smooth	smooth	ADJ
fcis-31242	10	28	and	and	CCONJ
fcis-31242	10	29	is	be	AUX
fcis-31242	10	30	not	not	PART
fcis-31242	10	31	suitable	suitable	ADJ
fcis-31242	10	32	for	for	SCONJ
fcis-31242	10	33	the	the	DET
fcis-31242	10	34	robot	robot	NOUN
fcis-31242	10	35	to	to	PART
fcis-31242	10	36	move	move	VERB
fcis-31242	10	37	quickly	quickly	ADV
fcis-31242	10	38	,	,	PUNCT
fcis-31242	10	39	and	and	CCONJ
fcis-31242	10	40	the	the	DET
fcis-31242	10	41	a	a	PRON
fcis-31242	10	42	*	*	PROPN
fcis-31242	10	43	algorithm	algorithm	NOUN
fcis-31242	10	44	occupies	occupy	VERB
fcis-31242	10	45	a	a	DET
fcis-31242	10	46	large	large	ADJ
fcis-31242	10	47	amount	amount	NOUN
fcis-31242	10	48	of	of	ADP
fcis-31242	10	49	storage	storage	NOUN
fcis-31242	10	50	space	space	NOUN
fcis-31242	10	51	in	in	ADP
fcis-31242	10	52	the	the	DET
fcis-31242	10	53	face	face	NOUN
fcis-31242	10	54	of	of	ADP
fcis-31242	10	55	complex	complex	ADJ
fcis-31242	10	56	scenarios	scenario	NOUN
fcis-31242	10	57	,	,	PUNCT
fcis-31242	10	58	resulting	result	VERB
fcis-31242	10	59	in	in	ADP
fcis-31242	10	60	a	a	DET
fcis-31242	10	61	waste	waste	NOUN
fcis-31242	10	62	of	of	ADP
fcis-31242	10	63	computational	computational	ADJ
fcis-31242	10	64	resources	resource	NOUN
fcis-31242	10	65	,	,	PUNCT
fcis-31242	10	66	based	base	VERB
fcis-31242	10	67	on	on	ADP
fcis-31242	10	68	these	these	DET
fcis-31242	10	69	problems	problem	NOUN
fcis-31242	10	70	,	,	PUNCT
fcis-31242	10	71	heuristic	heuristic	ADJ
fcis-31242	10	72	functions	function	NOUN
fcis-31242	10	73	have	have	AUX
fcis-31242	10	74	become	become	VERB
fcis-31242	10	75	a	a	DET
fcis-31242	10	76	hotspot	hotspot	NOUN
fcis-31242	10	77	for	for	SCONJ
fcis-31242	10	78	scholars	scholar	NOUN
fcis-31242	10	79	to	to	PART
fcis-31242	10	80	study	study	VERB
fcis-31242	10	81	in	in	ADP
fcis-31242	10	82	recent	recent	ADJ
fcis-31242	10	83	years	year	NOUN
fcis-31242	10	84	,	,	PUNCT
fcis-31242	10	85	which	which	PRON
fcis-31242	10	86	include	include	VERB
fcis-31242	10	87	cpo	cpo	PROPN
fcis-31242	10	88	algorithm[7	algorithm[7	PROPN
fcis-31242	10	89	]	]	PUNCT
fcis-31242	10	90	,	,	PUNCT
fcis-31242	10	91	da	da	PROPN
fcis-31242	10	92	algorithm[8	algorithm[8	PROPN
fcis-31242	10	93	]	]	PUNCT
fcis-31242	10	94	,	,	PUNCT
fcis-31242	10	95	esoa	esoa	NOUN
fcis-31242	10	96	algorithm[9	algorithm[9	NOUN
fcis-31242	10	97	]	]	PUNCT
fcis-31242	10	98	and	and	CCONJ
fcis-31242	10	99	so	so	ADV
fcis-31242	10	100	on	on	ADV
fcis-31242	10	101	.	.	PUNCT
fcis-31242	11	1	these	these	DET
fcis-31242	11	2	algorithms	algorithm	NOUN
fcis-31242	11	3	show	show	VERB
fcis-31242	11	4	strong	strong	ADJ
fcis-31242	11	5	global	global	ADJ
fcis-31242	11	6	search	search	NOUN
fcis-31242	11	7	and	and	CCONJ
fcis-31242	11	8	local	local	ADJ
fcis-31242	11	9	development	development	NOUN
fcis-31242	11	10	ability	ability	NOUN
fcis-31242	11	11	by	by	ADP
fcis-31242	11	12	simulating	simulate	VERB
fcis-31242	11	13	swarm	swarm	NOUN
fcis-31242	11	14	behavior	behavior	NOUN
fcis-31242	11	15	,	,	PUNCT
fcis-31242	11	16	and	and	CCONJ
fcis-31242	11	17	have	have	VERB
fcis-31242	11	18	strong	strong	ADJ
fcis-31242	11	19	adaptability	adaptability	NOUN
fcis-31242	11	20	to	to	ADP
fcis-31242	11	21	the	the	DET
fcis-31242	11	22	environment	environment	NOUN
fcis-31242	11	23	.	.	PUNCT
fcis-31242	12	1	xu	xu	PROPN
fcis-31242	13	1	guanghui	guanghui	PROPN
fcis-31242	13	2	et	et	PROPN
fcis-31242	13	3	al[10]proposed	al[10]propose	VERB
fcis-31242	13	4	an	an	DET
fcis-31242	13	5	improved	improved	ADJ
fcis-31242	13	6	crown	crown	NOUN
fcis-31242	13	7	porcupine	porcupine	NOUN
fcis-31242	13	8	optimization	optimization	NOUN
fcis-31242	13	9	algorithm	algorithm	NOUN
fcis-31242	13	10	,	,	PUNCT
fcis-31242	13	11	which	which	PRON
fcis-31242	13	12	improves	improve	VERB
fcis-31242	13	13	the	the	DET
fcis-31242	13	14	adaptability	adaptability	NOUN
fcis-31242	13	15	and	and	CCONJ
fcis-31242	13	16	robustness	robustness	NOUN
fcis-31242	13	17	of	of	ADP
fcis-31242	13	18	uavs	uavs	NOUN
fcis-31242	13	19	in	in	ADP
fcis-31242	13	20	complex	complex	ADJ
fcis-31242	13	21	terrain	terrain	NOUN
fcis-31242	13	22	by	by	ADP
fcis-31242	13	23	introducing	introduce	VERB
fcis-31242	13	24	inelastic	inelastic	ADJ
fcis-31242	13	25	collision	collision	NOUN
fcis-31242	13	26	principle	principle	NOUN
fcis-31242	13	27	and	and	CCONJ
fcis-31242	13	28	comprehensive	comprehensive	ADJ
fcis-31242	13	29	cost	cost	NOUN
fcis-31242	13	30	function	function	NOUN
fcis-31242	13	31	evaluation	evaluation	NOUN
fcis-31242	13	32	system	system	NOUN
fcis-31242	13	33	;	;	PUNCT
fcis-31242	13	34	chen	chen	PROPN
fcis-31242	13	35	et	et	PROPN
fcis-31242	13	36	al	al	PROPN
fcis-31242	14	1	[	[	X
fcis-31242	14	2	11	11	NUM
fcis-31242	14	3	]	]	PUNCT
fcis-31242	14	4	proposed	propose	VERB
fcis-31242	14	5	an	an	DET
fcis-31242	14	6	improved	improved	ADJ
fcis-31242	14	7	snowy	snowy	ADJ
fcis-31242	14	8	egret	egret	NOUN
fcis-31242	14	9	optimization	optimization	NOUN
fcis-31242	14	10	algorithm	algorithm	NOUN
fcis-31242	14	11	,	,	PUNCT
fcis-31242	14	12	which	which	PRON
fcis-31242	14	13	employs	employ	VERB
fcis-31242	14	14	a	a	DET
fcis-31242	14	15	synergistic	synergistic	ADJ
fcis-31242	14	16	combination	combination	NOUN
fcis-31242	14	17	of	of	ADP
fcis-31242	14	18	sit	sit	NOUN
fcis-31242	14	19	-	-	PUNCT
fcis-31242	14	20	and	and	CCONJ
fcis-31242	14	21	-	-	PUNCT
fcis-31242	14	22	wait	wait	VERB
fcis-31242	14	23	and	and	CCONJ
fcis-31242	14	24	proactive	proactive	ADJ
fcis-31242	14	25	strategies	strategy	NOUN
fcis-31242	14	26	to	to	PART
fcis-31242	14	27	enhance	enhance	VERB
fcis-31242	14	28	the	the	DET
fcis-31242	14	29	exploration	exploration	NOUN
fcis-31242	14	30	of	of	ADP
fcis-31242	14	31	the	the	DET
fcis-31242	14	32	solution	solution	NOUN
fcis-31242	14	33	space	space	NOUN
fcis-31242	14	34	and	and	CCONJ
fcis-31242	14	35	the	the	DET
fcis-31242	14	36	ability	ability	NOUN
fcis-31242	14	37	of	of	ADP
fcis-31242	14	38	local	local	ADJ
fcis-31242	14	39	exploitation	exploitation	NOUN
fcis-31242	14	40	;	;	PUNCT
fcis-31242	14	41	huang	huang	PROPN
fcis-31242	14	42	huajuan	huajuan	PROPN
fcis-31242	14	43	et	et	PROPN
fcis-31242	14	44	al	al	PROPN
fcis-31242	15	1	[	[	X
fcis-31242	15	2	12	12	NUM
fcis-31242	15	3	]	]	PUNCT
fcis-31242	15	4	proposed	propose	VERB
fcis-31242	15	5	an	an	DET
fcis-31242	15	6	improved	improved	ADJ
fcis-31242	15	7	dragonfly	dragonfly	NOUN
fcis-31242	15	8	optimization	optimization	NOUN
fcis-31242	15	9	algorithm	algorithm	NOUN
fcis-31242	15	10	,	,	PUNCT
fcis-31242	15	11	which	which	PRON
fcis-31242	15	12	introduces	introduce	VERB
fcis-31242	15	13	logistic	logistic	ADJ
fcis-31242	15	14	chaos	chaos	NOUN
fcis-31242	15	15	mapping	mapping	NOUN
fcis-31242	15	16	in	in	ADP
fcis-31242	15	17	the	the	DET
fcis-31242	15	18	population	population	NOUN
fcis-31242	15	19	initialization	initialization	NOUN
fcis-31242	15	20	stage	stage	NOUN
fcis-31242	15	21	to	to	PART
fcis-31242	15	22	improve	improve	VERB
fcis-31242	15	23	the	the	DET
fcis-31242	15	24	initial	initial	ADJ
fcis-31242	15	25	solution	solution	NOUN
fcis-31242	15	26	diversity	diversity	NOUN
fcis-31242	15	27	,	,	PUNCT
fcis-31242	15	28	and	and	CCONJ
fcis-31242	15	29	adopts	adopt	VERB
fcis-31242	15	30	cosine	cosine	NOUN
fcis-31242	15	31	perturbation	perturbation	NOUN
fcis-31242	15	32	strategy	strategy	NOUN
fcis-31242	15	33	to	to	PART
fcis-31242	15	34	avoid	avoid	VERB
fcis-31242	15	35	the	the	DET
fcis-31242	15	36	algorithm	algorithm	NOUN
fcis-31242	15	37	falling	fall	VERB
fcis-31242	15	38	into	into	ADP
fcis-31242	15	39	local	local	ADJ
fcis-31242	15	40	optimum	optimum	NOUN
fcis-31242	15	41	.	.	PUNCT
fcis-31242	16	1	although	although	SCONJ
fcis-31242	16	2	the	the	DET
fcis-31242	16	3	above	above	ADJ
fcis-31242	16	4	literature	literature	NOUN
fcis-31242	16	5	has	have	AUX
fcis-31242	16	6	improved	improve	VERB
fcis-31242	16	7	the	the	DET
fcis-31242	16	8	optimization	optimization	NOUN
fcis-31242	16	9	algorithm	algorithm	NOUN
fcis-31242	16	10	and	and	CCONJ
fcis-31242	16	11	improved	improve	VERB
fcis-31242	16	12	the	the	DET
fcis-31242	16	13	global	global	ADJ
fcis-31242	16	14	search	search	NOUN
fcis-31242	16	15	ability	ability	NOUN
fcis-31242	16	16	of	of	ADP
fcis-31242	16	17	the	the	DET
fcis-31242	16	18	algorithm	algorithm	NOUN
fcis-31242	16	19	to	to	ADP
fcis-31242	16	20	a	a	DET
fcis-31242	16	21	certain	certain	ADJ
fcis-31242	16	22	extent	extent	NOUN
fcis-31242	16	23	,	,	PUNCT
fcis-31242	16	24	there	there	PRON
fcis-31242	16	25	is	be	VERB
fcis-31242	16	26	still	still	ADV
fcis-31242	16	27	much	much	ADJ
fcis-31242	16	28	room	room	NOUN
fcis-31242	16	29	for	for	ADP
fcis-31242	16	30	improvement	improvement	NOUN
fcis-31242	16	31	in	in	ADP
fcis-31242	16	32	the	the	DET
fcis-31242	16	33	convergence	convergence	NOUN
fcis-31242	16	34	speed	speed	NOUN
fcis-31242	16	35	and	and	CCONJ
fcis-31242	16	36	convergence	convergence	NOUN
fcis-31242	16	37	accuracy	accuracy	NOUN
fcis-31242	16	38	.	.	PUNCT
fcis-31242	17	1	in	in	ADP
fcis-31242	17	2	this	this	DET
fcis-31242	17	3	paper	paper	NOUN
fcis-31242	17	4	,	,	PUNCT
fcis-31242	17	5	we	we	PRON
fcis-31242	17	6	propose	propose	VERB
fcis-31242	17	7	an	an	DET
fcis-31242	17	8	improved	improved	ADJ
fcis-31242	17	9	patterned	pattern	VERB
fcis-31242	17	10	kingfisher	kingfisher	NOUN
fcis-31242	17	11	algorithm	algorithm	NOUN
fcis-31242	17	12	(	(	PUNCT
fcis-31242	17	13	ipko	ipko	VERB
fcis-31242	17	14	)	)	PUNCT
fcis-31242	17	15	,	,	PUNCT
fcis-31242	17	16	which	which	PRON
fcis-31242	17	17	uses	use	VERB
fcis-31242	17	18	logistic	logistic	ADJ
fcis-31242	17	19	chaotic	chaotic	ADJ
fcis-31242	17	20	mapping	mapping	NOUN
fcis-31242	17	21	instead	instead	ADV
fcis-31242	17	22	of	of	ADP
fcis-31242	17	23	the	the	DET
fcis-31242	17	24	traditional	traditional	ADJ
fcis-31242	17	25	randomized	randomized	ADJ
fcis-31242	17	26	initialization	initialization	NOUN
fcis-31242	17	27	of	of	ADP
fcis-31242	17	28	the	the	DET
fcis-31242	17	29	individual	individual	ADJ
fcis-31242	17	30	positions	position	NOUN
fcis-31242	17	31	of	of	ADP
fcis-31242	17	32	the	the	DET
fcis-31242	17	33	patterned	pattern	VERB
fcis-31242	17	34	kingfisher	kingfisher	NOUN
fcis-31242	17	35	,	,	PUNCT
fcis-31242	17	36	to	to	PART
fcis-31242	17	37	increase	increase	VERB
fcis-31242	17	38	the	the	DET
fcis-31242	17	39	diversity	diversity	NOUN
fcis-31242	17	40	of	of	ADP
fcis-31242	17	41	the	the	DET
fcis-31242	17	42	population	population	NOUN
fcis-31242	17	43	,	,	PUNCT
fcis-31242	17	44	and	and	CCONJ
fcis-31242	17	45	make	make	VERB
fcis-31242	17	46	it	it	PRON
fcis-31242	17	47	more	more	ADV
fcis-31242	17	48	homogeneous	homogeneous	ADJ
fcis-31242	17	49	.	.	PUNCT
fcis-31242	18	1	secondly	secondly	ADV
fcis-31242	18	2	,	,	PUNCT
fcis-31242	18	3	the	the	DET
fcis-31242	18	4	search	search	NOUN
fcis-31242	18	5	step	step	NOUN
fcis-31242	18	6	of	of	ADP
fcis-31242	18	7	the	the	DET
fcis-31242	18	8	algorithm	algorithm	NOUN
fcis-31242	18	9	is	be	AUX
fcis-31242	18	10	dynamically	dynamically	ADV
fcis-31242	18	11	adjusted	adjust	VERB
fcis-31242	18	12	by	by	ADP
fcis-31242	18	13	introducing	introduce	VERB
fcis-31242	18	14	the	the	DET
fcis-31242	18	15	learning	learning	NOUN
fcis-31242	18	16	decay	decay	NOUN
fcis-31242	18	17	rate	rate	NOUN
fcis-31242	18	18	,	,	PUNCT
fcis-31242	18	19	which	which	PRON
fcis-31242	18	20	accelerates	accelerate	VERB
fcis-31242	18	21	the	the	DET
fcis-31242	18	22	convergence	convergence	NOUN
fcis-31242	18	23	speed	speed	NOUN
fcis-31242	18	24	of	of	ADP
fcis-31242	18	25	the	the	DET
fcis-31242	18	26	algorithm	algorithm	NOUN
fcis-31242	18	27	,	,	PUNCT
fcis-31242	18	28	and	and	CCONJ
fcis-31242	18	29	the	the	DET
fcis-31242	18	30	introduction	introduction	NOUN
fcis-31242	18	31	of	of	ADP
fcis-31242	18	32	gaussian	gaussian	ADJ
fcis-31242	18	33	random	random	ADJ
fcis-31242	18	34	variation	variation	NOUN
fcis-31242	18	35	strategy	strategy	NOUN
fcis-31242	18	36	can	can	AUX
fcis-31242	18	37	improve	improve	VERB
fcis-31242	18	38	the	the	DET
fcis-31242	18	39	local	local	ADJ
fcis-31242	18	40	search	search	NOUN
fcis-31242	18	41	ability	ability	NOUN
fcis-31242	18	42	.	.	PUNCT
fcis-31242	19	1	2	2	X
fcis-31242	19	2	.	.	X
fcis-31242	19	3	traditional	traditional	ADJ
fcis-31242	19	4	kingfisher	kingfisher	NOUN
fcis-31242	19	5	algorithm	algorithm	NOUN
fcis-31242	19	6	pied	pie	VERB
fcis-31242	19	7	kingfisher	kingfisher	NOUN
fcis-31242	19	8	optimizer	optimizer	NOUN
fcis-31242	19	9	(	(	PUNCT
fcis-31242	19	10	pko)[13]is	pko)[13]is	ADP
fcis-31242	19	11	a	a	DET
fcis-31242	19	12	meta	meta	ADJ
fcis-31242	19	13	-	-	PUNCT
fcis-31242	19	14	heuristic	heuristic	ADJ
fcis-31242	19	15	optimization	optimization	NOUN
fcis-31242	19	16	algorithm	algorithm	NOUN
fcis-31242	19	17	based	base	VERB
fcis-31242	19	18	on	on	ADP
fcis-31242	19	19	group	group	NOUN
fcis-31242	19	20	intelligence	intelligence	NOUN
fcis-31242	19	21	,	,	PUNCT
fcis-31242	19	22	inspired	inspire	VERB
fcis-31242	19	23	by	by	ADP
fcis-31242	19	24	the	the	DET
fcis-31242	19	25	hunting	hunt	VERB
fcis-31242	19	26	behavior	behavior	NOUN
fcis-31242	19	27	and	and	CCONJ
fcis-31242	19	28	symbiotic	symbiotic	ADJ
fcis-31242	19	29	relationship	relationship	NOUN
fcis-31242	19	30	of	of	ADP
fcis-31242	19	31	pied	pied	ADJ
fcis-31242	19	32	kingfisher	kingfisher	NOUN
fcis-31242	19	33	in	in	ADP
fcis-31242	19	34	nature	nature	NOUN
fcis-31242	19	35	.	.	PUNCT
fcis-31242	20	1	pko	pko	PROPN
fcis-31242	20	2	algorithm	algorithm	PROPN
fcis-31242	20	3	achieves	achieve	VERB
fcis-31242	20	4	high	high	ADJ
fcis-31242	20	5	efficiency	efficiency	NOUN
fcis-31242	20	6	by	by	ADP
fcis-31242	20	7	simulating	simulate	VERB
fcis-31242	20	8	the	the	DET
fcis-31242	20	9	hunting	hunting	NOUN
fcis-31242	20	10	strategy	strategy	NOUN
fcis-31242	20	11	of	of	ADP
fcis-31242	20	12	pied	pied	ADJ
fcis-31242	20	13	kingfisher	kingfisher	NOUN
fcis-31242	20	14	in	in	ADP
fcis-31242	20	15	different	different	ADJ
fcis-31242	20	16	stages	stage	NOUN
fcis-31242	20	17	.	.	PUNCT
fcis-31242	21	1	the	the	DET
fcis-31242	21	2	pko	pko	PROPN
fcis-31242	21	3	algorithm	algorithm	PROPN
fcis-31242	21	4	is	be	AUX
fcis-31242	21	5	divided	divide	VERB
fcis-31242	21	6	into	into	ADP
fcis-31242	21	7	three	three	NUM
fcis-31242	21	8	phases	phase	NOUN
fcis-31242	21	9	:	:	PUNCT
fcis-31242	21	10	the	the	DET
fcis-31242	21	11	exploration	exploration	NOUN
fcis-31242	21	12	phase	phase	NOUN
fcis-31242	21	13	,	,	PUNCT
fcis-31242	21	14	the	the	DET
fcis-31242	21	15	exploitation	exploitation	NOUN
fcis-31242	21	16	phase	phase	NOUN
fcis-31242	21	17	and	and	CCONJ
fcis-31242	21	18	the	the	DET
fcis-31242	21	19	local	local	ADJ
fcis-31242	21	20	escape	escape	NOUN
fcis-31242	21	21	phase	phase	NOUN
fcis-31242	21	22	.	.	PUNCT
fcis-31242	22	1	each	each	DET
fcis-31242	22	2	phase	phase	NOUN
fcis-31242	22	3	simulates	simulate	VERB
fcis-31242	22	4	the	the	DET
fcis-31242	22	5	behavior	behavior	NOUN
fcis-31242	22	6	of	of	ADP
fcis-31242	22	7	the	the	DET
fcis-31242	22	8	spotted	spot	VERB
fcis-31242	22	9	kingfisher	kingfisher	NOUN
fcis-31242	22	10	in	in	ADP
fcis-31242	22	11	the	the	DET
fcis-31242	22	12	natural	natural	ADJ
fcis-31242	22	13	environment	environment	NOUN
fcis-31242	22	14	,	,	PUNCT
fcis-31242	22	15	so	so	SCONJ
fcis-31242	22	16	as	as	SCONJ
fcis-31242	22	17	to	to	PART
fcis-31242	22	18	achieve	achieve	VERB
fcis-31242	22	19	the	the	DET
fcis-31242	22	20	solution	solution	NOUN
fcis-31242	22	21	of	of	ADP
fcis-31242	22	22	the	the	DET
fcis-31242	22	23	complex	complex	ADJ
fcis-31242	22	24	optimization	optimization	NOUN
fcis-31242	22	25	problem	problem	NOUN
fcis-31242	22	26	.	.	PUNCT
fcis-31242	23	1	2.1	2.1	NUM
fcis-31242	23	2	.	.	PUNCT
fcis-31242	23	3	initialization	initialization	NOUN
fcis-31242	23	4	phase	phase	NOUN
fcis-31242	23	5	the	the	DET
fcis-31242	23	6	pko	pko	PROPN
fcis-31242	23	7	algorithm	algorithm	PROPN
fcis-31242	23	8	initiates	initiate	VERB
fcis-31242	23	9	the	the	DET
fcis-31242	23	10	search	search	NOUN
fcis-31242	23	11	process	process	NOUN
fcis-31242	23	12	by	by	ADP
fcis-31242	23	13	randomly	randomly	ADV
fcis-31242	23	14	generating	generate	VERB
fcis-31242	23	15	an	an	DET
fcis-31242	23	16	initial	initial	ADJ
fcis-31242	23	17	population	population	NOUN
fcis-31242	23	18	with	with	ADP
fcis-31242	23	19	the	the	DET
fcis-31242	23	20	following	follow	VERB
fcis-31242	23	21	formula	formula	NOUN
fcis-31242	23	22	:	:	PUNCT
fcis-31242	23	23	64	64	NUM
fcis-31242	23	24			NOUN
fcis-31242	23	25	i	i	PROPN
fcis-31242	23	26	,	,	PUNCT
fcis-31242	23	27	j	j	PROPN
fcis-31242	23	28	1	1	NUM
fcis-31242	23	29	i	i	NOUN
fcis-31242	23	30	1,2	1,2	NUM
fcis-31242	23	31	,	,	PUNCT
fcis-31242	23	32	...	...	PUNCT
fcis-31242	23	33	,	,	PUNCT
fcis-31242	23	34	1,2	1,2	NUM
fcis-31242	23	35	,	,	PUNCT
fcis-31242	23	36	...	...	PUNCT
fcis-31242	23	37	,	,	PUNCT
fcis-31242	23	38	x	x	X
fcis-31242	23	39	lb	lb	X
fcis-31242	23	40	ub	ub	INTJ
fcis-31242	23	41	lb	lb	NUM
fcis-31242	23	42	r	r	NOUN
fcis-31242	23	43	n	n	PROPN
fcis-31242	23	44	and	and	CCONJ
fcis-31242	23	45	j	j	PROPN
fcis-31242	23	46	dim	dim	ADJ
fcis-31242	23	47			PROPN
fcis-31242	23	48			ADV
fcis-31242	23	49			X
fcis-31242	23	50			PROPN
fcis-31242	23	51			NUM
fcis-31242	24	1			NUM
fcis-31242	24	2			NOUN
fcis-31242	24	3	(	(	PUNCT
fcis-31242	24	4	1	1	NUM
fcis-31242	24	5	)	)	PUNCT
fcis-31242	24	6	where	where	SCONJ
fcis-31242	24	7	，	，	SCONJ
fcis-31242	24	8	i	i	PRON
fcis-31242	24	9	,	,	PUNCT
fcis-31242	24	10	jx	jx	PROPN
fcis-31242	24	11	is	be	AUX
fcis-31242	24	12	the	the	DET
fcis-31242	24	13	ith	ith	PROPN
fcis-31242	24	14	spotted	spot	VERB
fcis-31242	24	15	kingfisher	kingfisher	NOUN
fcis-31242	24	16	individual	individual	ADJ
fcis-31242	24	17	in	in	ADP
fcis-31242	24	18	the	the	DET
fcis-31242	24	19	jth	jth	PROPN
fcis-31242	24	20	dimension	dimension	NOUN
fcis-31242	24	21	,	,	PUNCT
fcis-31242	24	22	ub	ub	ADP
fcis-31242	24	23	,	,	PUNCT
fcis-31242	24	24	lb	lb	NUM
fcis-31242	24	25	is	be	AUX
fcis-31242	24	26	the	the	DET
fcis-31242	24	27	upper	upper	ADJ
fcis-31242	24	28	and	and	CCONJ
fcis-31242	24	29	lower	low	ADJ
fcis-31242	24	30	bounds	bound	NOUN
fcis-31242	24	31	of	of	ADP
fcis-31242	24	32	the	the	DET
fcis-31242	24	33	search	search	NOUN
fcis-31242	24	34	space	space	NOUN
fcis-31242	24	35	;	;	PUNCT
fcis-31242	24	36	1r	1r	NUM
fcis-31242	24	37	is	be	AUX
fcis-31242	24	38	a	a	DET
fcis-31242	24	39	random	random	ADJ
fcis-31242	24	40	number	number	NOUN
fcis-31242	24	41	in	in	ADP
fcis-31242	24	42	the	the	DET
fcis-31242	24	43	interval	interval	NOUN
fcis-31242	24	44	[	[	X
fcis-31242	24	45	0,1	0,1	NOUN
fcis-31242	24	46	]	]	PUNCT
fcis-31242	24	47	.	.	PUNCT
fcis-31242	25	1	;	;	PUNCT
fcis-31242	25	2	,	,	PUNCT
fcis-31242	25	3	where	where	SCONJ
fcis-31242	25	4	i	i	PRON
fcis-31242	25	5	,	,	PUNCT
fcis-31242	25	6	j	j	PROPN
fcis-31242	25	7	are	be	AUX
fcis-31242	25	8	positive	positive	ADJ
fcis-31242	25	9	integers	integer	NOUN
fcis-31242	25	10	of	of	ADP
fcis-31242	25	11	[	[	X
fcis-31242	25	12	1,n	1,n	X
fcis-31242	25	13	]	]	X
fcis-31242	25	14	and	and	CCONJ
fcis-31242	25	15	i≠j	i≠j	NOUN
fcis-31242	25	16	,	,	PUNCT
fcis-31242	25	17	n	n	CCONJ
fcis-31242	25	18	,	,	PUNCT
fcis-31242	25	19	n	n	X
fcis-31242	25	20	is	be	AUX
fcis-31242	25	21	the	the	DET
fcis-31242	25	22	overall	overall	ADJ
fcis-31242	25	23	population	population	NOUN
fcis-31242	25	24	size	size	NOUN
fcis-31242	25	25	.	.	PUNCT
fcis-31242	26	1	dim	dim	NOUN
fcis-31242	26	2	is	be	AUX
fcis-31242	26	3	the	the	DET
fcis-31242	26	4	dimension	dimension	NOUN
fcis-31242	26	5	.	.	PUNCT
fcis-31242	27	1	provide	provide	VERB
fcis-31242	27	2	diversified	diversified	ADJ
fcis-31242	27	3	initial	initial	ADJ
fcis-31242	27	4	solutions	solution	NOUN
fcis-31242	27	5	for	for	ADP
fcis-31242	27	6	the	the	DET
fcis-31242	27	7	subsequent	subsequent	ADJ
fcis-31242	27	8	search	search	NOUN
fcis-31242	27	9	and	and	CCONJ
fcis-31242	27	10	lay	lie	VERB
fcis-31242	27	11	the	the	DET
fcis-31242	27	12	foundation	foundation	NOUN
fcis-31242	27	13	for	for	ADP
fcis-31242	27	14	global	global	ADJ
fcis-31242	27	15	exploration	exploration	NOUN
fcis-31242	27	16	.	.	PUNCT
fcis-31242	28	1	2.2	2.2	NUM
fcis-31242	28	2	.	.	PUNCT
fcis-31242	28	3	exploration	exploration	NOUN
fcis-31242	28	4	phase	phase	NOUN
fcis-31242	28	5	the	the	DET
fcis-31242	28	6	spotted	spot	VERB
fcis-31242	28	7	kingfisher	kingfisher	NOUN
fcis-31242	28	8	expands	expand	VERB
fcis-31242	28	9	its	its	PRON
fcis-31242	28	10	field	field	NOUN
fcis-31242	28	11	of	of	ADP
fcis-31242	28	12	view	view	NOUN
fcis-31242	28	13	by	by	ADP
fcis-31242	28	14	alternating	alternate	VERB
fcis-31242	28	15	between	between	ADP
fcis-31242	28	16	perching	perch	VERB
fcis-31242	28	17	and	and	CCONJ
fcis-31242	28	18	hovering	hover	VERB
fcis-31242	28	19	behaviors	behavior	NOUN
fcis-31242	28	20	,	,	PUNCT
fcis-31242	28	21	corresponding	correspond	VERB
fcis-31242	28	22	to	to	ADP
fcis-31242	28	23	the	the	DET
fcis-31242	28	24	exploration	exploration	NOUN
fcis-31242	28	25	phase	phase	NOUN
fcis-31242	28	26	of	of	ADP
fcis-31242	28	27	the	the	DET
fcis-31242	28	28	algorithm	algorithm	NOUN
fcis-31242	28	29	,	,	PUNCT
fcis-31242	28	30	which	which	PRON
fcis-31242	28	31	aims	aim	VERB
fcis-31242	28	32	to	to	PART
fcis-31242	28	33	enhance	enhance	VERB
fcis-31242	28	34	the	the	DET
fcis-31242	28	35	global	global	ADJ
fcis-31242	28	36	search	search	NOUN
fcis-31242	28	37	capability	capability	NOUN
fcis-31242	28	38	.	.	PUNCT
fcis-31242	29	1	static	static	ADJ
fcis-31242	29	2	observation	observation	NOUN
fcis-31242	29	3	of	of	ADP
fcis-31242	29	4	prey	prey	NOUN
fcis-31242	29	5	during	during	ADP
fcis-31242	29	6	perching	perch	VERB
fcis-31242	29	7	and	and	CCONJ
fcis-31242	29	8	dynamic	dynamic	ADJ
fcis-31242	29	9	adjustment	adjustment	NOUN
fcis-31242	29	10	of	of	ADP
fcis-31242	29	11	view	view	NOUN
fcis-31242	29	12	angle	angle	NOUN
fcis-31242	29	13	during	during	ADP
fcis-31242	29	14	hovering	hover	VERB
fcis-31242	29	15	.	.	PUNCT
fcis-31242	30	1	2.2.1	2.2.1	NUM
fcis-31242	30	2	.	.	PUNCT
fcis-31242	30	3	perching	perch	VERB
fcis-31242	30	4	strategy	strategy	NOUN
fcis-31242	30	5	the	the	DET
fcis-31242	30	6	parameter	parameter	NOUN
fcis-31242	30	7	t	t	PROPN
fcis-31242	30	8	characterizes	characterize	VERB
fcis-31242	30	9	the	the	DET
fcis-31242	30	10	environment	environment	NOUN
fcis-31242	30	11	perception	perception	NOUN
fcis-31242	30	12	dynamics	dynamic	NOUN
fcis-31242	30	13	and	and	CCONJ
fcis-31242	30	14	is	be	AUX
fcis-31242	30	15	calculated	calculate	VERB
fcis-31242	30	16	as	as	ADP
fcis-31242	30	17	:	:	PUNCT
fcis-31242	30	18			NOUN
fcis-31242	30	19			PROPN
fcis-31242	30	20	1	1	NUM
fcis-31242	30	21	1	1	NUM
fcis-31242	30	22	exp(1	exp(1	NOUN
fcis-31242	30	23	)	)	PUNCT
fcis-31242	30	24	exp	exp	NOUN
fcis-31242	30	25	cos	co	NOUN
fcis-31242	30	26	_	_	PUNCT
fcis-31242	30	27	_	_	PUNCT
fcis-31242	31	1	_	_	PUNCT
fcis-31242	31	2	2	2	NUM
fcis-31242	31	3	bft	bft	PROPN
fcis-31242	31	4	t	t	PROPN
fcis-31242	31	5	crest	crest	NOUN
fcis-31242	31	6	angles	angle	VERB
fcis-31242	31	7	max	max	PROPN
fcis-31242	31	8	iter	iter	PROPN
fcis-31242	31	9	crest	crest	NOUN
fcis-31242	31	10	angles	angle	VERB
fcis-31242	31	11	rand	rand	PROPN
fcis-31242	31	12			ADP
fcis-31242	31	13			NOUN
fcis-31242	31	14			PROPN
fcis-31242	31	15			PROPN
fcis-31242	31	16			PROPN
fcis-31242	31	17			PROPN
fcis-31242	31	18			VERB
fcis-31242	31	19			PROPN
fcis-31242	31	20			ADP
fcis-31242	31	21			PROPN
fcis-31242	31	22			NOUN
fcis-31242	31	23			PROPN
fcis-31242	31	24			PROPN
fcis-31242	31	25			PROPN
fcis-31242	31	26			PROPN
fcis-31242	32	1			PROPN
fcis-31242	32	2			PROPN
fcis-31242	32	3			NUM
fcis-31242	32	4			PROPN
fcis-31242	32	5			PROPN
fcis-31242	32	6	(	(	PUNCT
fcis-31242	32	7	2	2	NUM
fcis-31242	32	8	)	)	PUNCT
fcis-31242	32	9	where	where	SCONJ
fcis-31242	32	10	,	,	PUNCT
fcis-31242	32	11	t	t	PROPN
fcis-31242	32	12	is	be	AUX
fcis-31242	32	13	the	the	DET
fcis-31242	32	14	current	current	ADJ
fcis-31242	32	15	number	number	NOUN
fcis-31242	32	16	of	of	ADP
fcis-31242	32	17	iterations	iteration	NOUN
fcis-31242	32	18	,	,	PUNCT
fcis-31242	32	19	_	_	PRON
fcis-31242	32	20	max	max	PROPN
fcis-31242	32	21	iter	iter	NOUN
fcis-31242	32	22	is	be	AUX
fcis-31242	32	23	the	the	DET
fcis-31242	32	24	maximum	maximum	ADJ
fcis-31242	32	25	number	number	NOUN
fcis-31242	32	26	of	of	ADP
fcis-31242	32	27	iterations	iteration	NOUN
fcis-31242	32	28	,	,	PUNCT
fcis-31242	32	29	_	_	DET
fcis-31242	32	30	crest	crest	NOUN
fcis-31242	32	31	angles	angle	NOUN
fcis-31242	32	32	is	be	AUX
fcis-31242	32	33	the	the	DET
fcis-31242	32	34	decay	decay	NOUN
fcis-31242	32	35	rate	rate	NOUN
fcis-31242	32	36	of	of	ADP
fcis-31242	32	37	the	the	DET
fcis-31242	32	38	control	control	NOUN
fcis-31242	32	39	index	index	NOUN
fcis-31242	32	40	,	,	PUNCT
fcis-31242	32	41	which	which	PRON
fcis-31242	32	42	is	be	AUX
fcis-31242	32	43	set	set	VERB
fcis-31242	32	44	to	to	ADP
fcis-31242	32	45	a	a	DET
fcis-31242	32	46	value	value	NOUN
fcis-31242	32	47	of	of	ADP
fcis-31242	32	48	8	8	NUM
fcis-31242	32	49	,	,	PUNCT
fcis-31242	32	50	and	and	CCONJ
fcis-31242	32	51	x	x	X
fcis-31242	32	52	is	be	AUX
fcis-31242	32	53	the	the	DET
fcis-31242	32	54	random	random	ADJ
fcis-31242	32	55	variation	variation	NOUN
fcis-31242	32	56	of	of	ADP
fcis-31242	32	57	the	the	DET
fcis-31242	32	58	angle	angle	NOUN
fcis-31242	32	59	of	of	ADP
fcis-31242	32	60	the	the	DET
fcis-31242	32	61	simulated	simulate	VERB
fcis-31242	32	62	bird	bird	NOUN
fcis-31242	32	63	's	's	PART
fcis-31242	32	64	crown	crown	ADJ
fcis-31242	32	65	feather	feather	NOUN
fcis-31242	32	66	.	.	PUNCT
fcis-31242	33	1	2.2.2	2.2.2	X
fcis-31242	33	2	.	.	PUNCT
fcis-31242	34	1	hovering	hover	VERB
fcis-31242	34	2	strategy	strategy	NOUN
fcis-31242	34	3	the	the	DET
fcis-31242	34	4	spotted	spot	VERB
fcis-31242	34	5	kingfisher	kingfisher	NOUN
fcis-31242	34	6	flaps	flap	VERB
fcis-31242	34	7	its	its	PRON
fcis-31242	34	8	wings	wing	NOUN
fcis-31242	34	9	at	at	ADP
fcis-31242	34	10	high	high	ADJ
fcis-31242	34	11	frequencies	frequency	NOUN
fcis-31242	34	12	and	and	CCONJ
fcis-31242	34	13	can	can	AUX
fcis-31242	34	14	remain	remain	VERB
fcis-31242	34	15	stable	stable	ADJ
fcis-31242	34	16	in	in	ADP
fcis-31242	34	17	the	the	DET
fcis-31242	34	18	air	air	NOUN
fcis-31242	34	19	and	and	CCONJ
fcis-31242	34	20	hunt	hunt	NOUN
fcis-31242	34	21	.	.	PUNCT
fcis-31242	35	1	the	the	DET
fcis-31242	35	2	expression	expression	NOUN
fcis-31242	35	3	for	for	ADP
fcis-31242	35	4	the	the	DET
fcis-31242	35	5	t	t	NOUN
fcis-31242	35	6	-	-	PUNCT
fcis-31242	35	7	value	value	NOUN
fcis-31242	35	8	in	in	ADP
fcis-31242	35	9	the	the	DET
fcis-31242	35	10	hover	hover	NOUN
fcis-31242	35	11	strategy	strategy	NOUN
fcis-31242	35	12	is	be	AUX
fcis-31242	35	13	:	:	PUNCT
fcis-31242	35	14	1	1	NUM
fcis-31242	35	15	_	_	PUNCT
fcis-31242	35	16	_	_	PUNCT
fcis-31242	36	1	(	(	PUNCT
fcis-31242	36	2	)	)	PUNCT
fcis-31242	36	3	_	_	PUNCT
fcis-31242	36	4	(	(	PUNCT
fcis-31242	36	5	)	)	PUNCT
fcis-31242	36	6	bt	bt	PROPN
fcis-31242	36	7	t	t	PROPN
fcis-31242	36	8	b	b	PROPN
fcis-31242	36	9	max	max	PROPN
fcis-31242	36	10	iter	iter	PROPN
fcis-31242	36	11	pko	pko	PROPN
fcis-31242	36	12	fitness	fitness	PROPN
fcis-31242	36	13	j	j	PROPN
fcis-31242	36	14	b	b	PROPN
fcis-31242	36	15	rand	rand	PROPN
fcis-31242	36	16	pko	pko	PROPN
fcis-31242	36	17	fitness	fitness	PROPN
fcis-31242	37	1	i	i	PRON
fcis-31242	37	2			VERB
fcis-31242	37	3			NOUN
fcis-31242	37	4			PROPN
fcis-31242	38	1			NUM
fcis-31242	38	2			NOUN
fcis-31242	38	3			PROPN
fcis-31242	38	4			PROPN
fcis-31242	38	5			PROPN
fcis-31242	38	6			ADJ
fcis-31242	38	7			NOUN
fcis-31242	38	8			NOUN
fcis-31242	38	9			NUM
fcis-31242	38	10			NOUN
fcis-31242	38	11			PROPN
fcis-31242	38	12			PROPN
fcis-31242	39	1			PROPN
fcis-31242	39	2			PROPN
fcis-31242	39	3	(	(	PUNCT
fcis-31242	39	4	3	3	NUM
fcis-31242	39	5	)	)	PUNCT
fcis-31242	39	6	where	where	SCONJ
fcis-31242	39	7	,	,	PUNCT
fcis-31242	39	8			PRON
fcis-31242	39	9	reflects	reflect	VERB
fcis-31242	39	10	the	the	DET
fcis-31242	39	11	effect	effect	NOUN
fcis-31242	39	12	of	of	ADP
fcis-31242	39	13	individual	individual	ADJ
fcis-31242	39	14	fitness	fitness	NOUN
fcis-31242	39	15	differences	difference	NOUN
fcis-31242	39	16	on	on	ADP
fcis-31242	39	17	the	the	DET
fcis-31242	39	18	frequency	frequency	NOUN
fcis-31242	39	19	of	of	ADP
fcis-31242	39	20	wing	wing	NOUN
fcis-31242	39	21	beats	beat	NOUN
fcis-31242	39	22	,	,	PUNCT
fcis-31242	39	23	and	and	CCONJ
fcis-31242	39	24	_	_	PRON
fcis-31242	39	25	(	(	PUNCT
fcis-31242	39	26	)	)	PUNCT
fcis-31242	39	27	pko	pko	PROPN
fcis-31242	39	28	fitness	fitness	PROPN
fcis-31242	40	1	i	i	PRON
fcis-31242	40	2	is	be	AUX
fcis-31242	40	3	the	the	DET
fcis-31242	40	4	fitness	fitness	NOUN
fcis-31242	40	5	value	value	NOUN
fcis-31242	40	6	of	of	ADP
fcis-31242	40	7	the	the	DET
fcis-31242	40	8	ith	ith	PROPN
fcis-31242	40	9	individual	individual	NOUN
fcis-31242	40	10	.	.	PUNCT
fcis-31242	41	1	2.3	2.3	NUM
fcis-31242	41	2	.	.	PUNCT
fcis-31242	41	3	exploitation	exploitation	NOUN
fcis-31242	41	4	phase	phase	NOUN
fcis-31242	41	5	:	:	PUNCT
fcis-31242	41	6	simulation	simulation	NOUN
fcis-31242	41	7	of	of	ADP
fcis-31242	41	8	the	the	DET
fcis-31242	41	9	fast	fast	ADJ
fcis-31242	41	10	diving	diving	ADJ
fcis-31242	41	11	behavior	behavior	NOUN
fcis-31242	41	12	of	of	ADP
fcis-31242	41	13	the	the	DET
fcis-31242	41	14	spotted	spot	VERB
fcis-31242	41	15	kingfisher	kingfisher	NOUN
fcis-31242	41	16	to	to	PART
fcis-31242	41	17	catch	catch	VERB
fcis-31242	41	18	fish	fish	NOUN
fcis-31242	41	19	was	be	AUX
fcis-31242	41	20	used	use	VERB
fcis-31242	41	21	for	for	ADP
fcis-31242	41	22	the	the	DET
fcis-31242	41	23	development	development	NOUN
fcis-31242	41	24	phase	phase	NOUN
fcis-31242	41	25	,	,	PUNCT
fcis-31242	41	26	due	due	ADP
fcis-31242	41	27	to	to	ADP
fcis-31242	41	28	its	its	PRON
fcis-31242	41	29	ability	ability	NOUN
fcis-31242	41	30	to	to	PART
fcis-31242	41	31	dive	dive	VERB
fcis-31242	41	32	quickly	quickly	ADV
fcis-31242	41	33	and	and	CCONJ
fcis-31242	41	34	accurately	accurately	ADV
fcis-31242	41	35	and	and	CCONJ
fcis-31242	41	36	rapidly	rapidly	ADV
fcis-31242	41	37	by	by	ADP
fcis-31242	41	38	virtue	virtue	NOUN
fcis-31242	41	39	of	of	ADP
fcis-31242	41	40	its	its	PRON
fcis-31242	41	41	sharp	sharp	ADJ
fcis-31242	41	42	beak	beak	NOUN
fcis-31242	41	43	and	and	CCONJ
fcis-31242	41	44	keen	keen	ADJ
fcis-31242	41	45	vision	vision	NOUN
fcis-31242	41	46	,	,	PUNCT
fcis-31242	41	47	which	which	PRON
fcis-31242	41	48	makes	make	VERB
fcis-31242	41	49	the	the	DET
fcis-31242	41	50	spotted	spotted	ADJ
fcis-31242	41	51	kingfisher	kingfisher	NOUN
fcis-31242	41	52	an	an	DET
fcis-31242	41	53	excellent	excellent	ADJ
fcis-31242	41	54	aquatic	aquatic	ADJ
fcis-31242	41	55	hunter	hunter	NOUN
fcis-31242	41	56	,	,	PUNCT
fcis-31242	41	57	the	the	DET
fcis-31242	41	58	positional	positional	ADJ
fcis-31242	41	59	updating	updating	NOUN
fcis-31242	41	60	equation	equation	NOUN
fcis-31242	41	61	is	be	AUX
fcis-31242	41	62	:	:	PUNCT
fcis-31242	41	63			NOUN
fcis-31242	41	64			SYM
fcis-31242	41	65			NOUN
fcis-31242	41	66			SYM
fcis-31242	41	67			NOUN
fcis-31242	41	68			PROPN
fcis-31242	41	69	2	2	NUM
fcis-31242	41	70	3	3	NUM
fcis-31242	41	71	_	_	PRON
fcis-31242	41	72	(	(	PUNCT
fcis-31242	41	73	)	)	PUNCT
fcis-31242	41	74	1	1	NUM
fcis-31242	41	75	(	(	PUNCT
fcis-31242	41	76	)	)	PUNCT
fcis-31242	41	77	(	(	PUNCT
fcis-31242	41	78	)	)	PUNCT
fcis-31242	41	79	2	2	NUM
fcis-31242	42	1	1	1	NUM
fcis-31242	42	2	_	_	NOUN
fcis-31242	43	1	i	i	PRON
fcis-31242	43	2	best	well	ADV
fcis-31242	43	3	best	well	ADV
fcis-31242	44	1	i	i	PRON
fcis-31242	44	2	best	well	ADV
fcis-31242	44	3	pko	pko	VERB
fcis-31242	44	4	fitness	fitness	NOUN
fcis-31242	45	1	i	i	NOUN
fcis-31242	45	2	x	x	X
fcis-31242	45	3	s	s	AUX
fcis-31242	45	4	x	x	X
fcis-31242	45	5	s	s	X
fcis-31242	45	6	x	x	X
fcis-31242	45	7	t	t	NOUN
fcis-31242	45	8	x	x	SYM
fcis-31242	45	9	t	t	PROPN
fcis-31242	45	10	f	f	PROPN
fcis-31242	45	11	t	t	PROPN
fcis-31242	45	12	max	max	PROPN
fcis-31242	45	13	iter	iter	NOUN
fcis-31242	45	14			NOUN
fcis-31242	45	15			NOUN
fcis-31242	45	16			NOUN
fcis-31242	45	17			ADP
fcis-31242	45	18			ADJ
fcis-31242	45	19			ADP
fcis-31242	45	20			NOUN
fcis-31242	45	21			PROPN
fcis-31242	45	22			PROPN
fcis-31242	45	23			PROPN
fcis-31242	45	24			ADJ
fcis-31242	45	25			PROPN
fcis-31242	45	26			NOUN
fcis-31242	45	27			PROPN
fcis-31242	45	28			PROPN
fcis-31242	45	29			PROPN
fcis-31242	45	30			PROPN
fcis-31242	45	31			PROPN
fcis-31242	46	1			PROPN
fcis-31242	46	2			NUM
fcis-31242	46	3			PROPN
fcis-31242	46	4			NOUN
fcis-31242	46	5			VERB
fcis-31242	46	6			PROPN
fcis-31242	46	7			NUM
fcis-31242	46	8			NUM
fcis-31242	46	9			NUM
fcis-31242	46	10			PROPN
fcis-31242	46	11			PROPN
fcis-31242	46	12	(	(	PUNCT
fcis-31242	46	13	4	4	NUM
fcis-31242	46	14	)	)	PUNCT
fcis-31242	46	15	where	where	SCONJ
fcis-31242	46	16	，	，	PUNCT
fcis-31242	46	17	bestx	bestx	NOUN
fcis-31242	46	18	is	be	AUX
fcis-31242	46	19	the	the	DET
fcis-31242	46	20	current	current	ADJ
fcis-31242	46	21	optimal	optimal	ADJ
fcis-31242	46	22	individual	individual	ADJ
fcis-31242	46	23	position	position	NOUN
fcis-31242	46	24	,	,	PUNCT
fcis-31242	46	25	bestf	bestf	NOUN
fcis-31242	46	26	is	be	AUX
fcis-31242	46	27	the	the	DET
fcis-31242	46	28	historical	historical	ADJ
fcis-31242	46	29	best	good	ADJ
fcis-31242	46	30	fitness	fitness	NOUN
fcis-31242	46	31	,	,	PUNCT
fcis-31242	46	32	2	2	NUM
fcis-31242	46	33	3,	3,	NUM
fcis-31242	46	34			NOUN
fcis-31242	46	35	is	be	AUX
fcis-31242	46	36	a	a	DET
fcis-31242	46	37	standard	standard	NOUN
fcis-31242	46	38	normally	normally	ADV
fcis-31242	46	39	distributed	distribute	VERB
fcis-31242	46	40	random	random	ADJ
fcis-31242	46	41	number	number	NOUN
fcis-31242	46	42	,	,	PUNCT
fcis-31242	46	43	and	and	CCONJ
fcis-31242	46	44			NUM
fcis-31242	46	45	is	be	AUX
fcis-31242	46	46	a	a	DET
fcis-31242	46	47	linear	linear	ADJ
fcis-31242	46	48	decreasing	decrease	VERB
fcis-31242	46	49	factor	factor	NOUN
fcis-31242	46	50	used	use	VERB
fcis-31242	46	51	to	to	PART
fcis-31242	46	52	balance	balance	VERB
fcis-31242	46	53	the	the	DET
fcis-31242	46	54	development	development	NOUN
fcis-31242	46	55	intensity	intensity	NOUN
fcis-31242	46	56	.	.	PUNCT
fcis-31242	47	1	so	so	ADV
fcis-31242	47	2	the	the	DET
fcis-31242	47	3	formula	formula	NOUN
fcis-31242	47	4	for	for	ADP
fcis-31242	47	5	updating	update	VERB
fcis-31242	47	6	the	the	DET
fcis-31242	47	7	current	current	ADJ
fcis-31242	47	8	position	position	NOUN
fcis-31242	47	9	of	of	ADP
fcis-31242	47	10	the	the	DET
fcis-31242	47	11	spotted	spot	VERB
fcis-31242	47	12	kingfisher	kingfisher	NOUN
fcis-31242	47	13	is	be	AUX
fcis-31242	47	14			NOUN
fcis-31242	47	15			PROPN
fcis-31242	47	16	1	1	NUM
fcis-31242	47	17	(	(	PUNCT
fcis-31242	47	18	1	1	NUM
fcis-31242	47	19	)	)	PUNCT
fcis-31242	47	20	(	(	PUNCT
fcis-31242	47	21	)	)	PUNCT
fcis-31242	47	22	(	(	PUNCT
fcis-31242	47	23	)	)	PUNCT
fcis-31242	47	24	(	(	PUNCT
fcis-31242	47	25	)	)	PUNCT
fcis-31242	47	26	2	2	NUM
fcis-31242	47	27	1	1	NUM
fcis-31242	47	28	ii	ii	NUM
fcis-31242	48	1	i	i	NOUN
fcis-31242	48	2	jx	jx	PROPN
fcis-31242	49	1	t	t	PROPN
fcis-31242	49	2	x	x	PROPN
fcis-31242	49	3	t	t	PROPN
fcis-31242	49	4	t	t	PROPN
fcis-31242	49	5	x	x	SYM
fcis-31242	49	6	t	t	PROPN
fcis-31242	49	7	x	x	PROPN
fcis-31242	49	8	t	t	NOUN
fcis-31242	49	9			X
fcis-31242	49	10			NOUN
fcis-31242	49	11			NOUN
fcis-31242	49	12			PROPN
fcis-31242	50	1			PROPN
fcis-31242	50	2			PROPN
fcis-31242	50	3			PROPN
fcis-31242	50	4			PROPN
fcis-31242	50	5			VERB
fcis-31242	50	6			PROPN
fcis-31242	50	7			ADJ
fcis-31242	50	8			PROPN
fcis-31242	50	9	(	(	PUNCT
fcis-31242	50	10	5	5	NUM
fcis-31242	50	11	)	)	PUNCT
fcis-31242	50	12	where	where	SCONJ
fcis-31242	50	13	，	，	PUNCT
fcis-31242	50	14	1	1	NUM
fcis-31242	50	15	is	be	AUX
fcis-31242	50	16	a	a	DET
fcis-31242	50	17	standard	standard	NOUN
fcis-31242	50	18	normally	normally	ADV
fcis-31242	50	19	distributed	distribute	VERB
fcis-31242	50	20	random	random	ADJ
fcis-31242	50	21	number	number	NOUN
fcis-31242	50	22	.	.	PUNCT
fcis-31242	51	1	this	this	DET
fcis-31242	51	2	parameter	parameter	NOUN
fcis-31242	51	3	is	be	AUX
fcis-31242	51	4	used	use	VERB
fcis-31242	51	5	to	to	PART
fcis-31242	51	6	drive	drive	VERB
fcis-31242	51	7	the	the	DET
fcis-31242	51	8	individual	individual	NOUN
fcis-31242	51	9	to	to	PART
fcis-31242	51	10	move	move	VERB
fcis-31242	51	11	towards	towards	ADP
fcis-31242	51	12	the	the	DET
fcis-31242	51	13	region	region	NOUN
fcis-31242	51	14	with	with	ADP
fcis-31242	51	15	better	well	ADJ
fcis-31242	51	16	adaptation	adaptation	NOUN
fcis-31242	51	17	.	.	PUNCT
fcis-31242	52	1	65	65	NUM
fcis-31242	52	2	2.4	2.4	NUM
fcis-31242	52	3	.	.	PUNCT
fcis-31242	53	1	symbiosis	symbiosis	NOUN
fcis-31242	53	2	stage	stage	NOUN
fcis-31242	53	3	simulate	simulate	VERB
fcis-31242	53	4	the	the	DET
fcis-31242	53	5	symbiotic	symbiotic	ADJ
fcis-31242	53	6	relationship	relationship	NOUN
fcis-31242	53	7	between	between	ADP
fcis-31242	53	8	the	the	DET
fcis-31242	53	9	spotted	spot	VERB
fcis-31242	53	10	kingfisher	kingfisher	NOUN
fcis-31242	53	11	and	and	CCONJ
fcis-31242	53	12	other	other	ADJ
fcis-31242	53	13	organisms	organism	NOUN
fcis-31242	53	14	such	such	ADJ
fcis-31242	53	15	as	as	ADP
fcis-31242	53	16	otters	otter	NOUN
fcis-31242	53	17	,	,	PUNCT
fcis-31242	53	18	which	which	PRON
fcis-31242	53	19	is	be	AUX
fcis-31242	53	20	used	use	VERB
fcis-31242	53	21	for	for	ADP
fcis-31242	53	22	local	local	ADJ
fcis-31242	53	23	escape	escape	NOUN
fcis-31242	53	24	to	to	PART
fcis-31242	53	25	avoid	avoid	VERB
fcis-31242	53	26	falling	fall	VERB
fcis-31242	53	27	into	into	ADP
fcis-31242	53	28	the	the	DET
fcis-31242	53	29	local	local	ADJ
fcis-31242	53	30	optimal	optimal	ADJ
fcis-31242	53	31	solution	solution	NOUN
fcis-31242	53	32	.	.	PUNCT
fcis-31242	54	1			NOUN
fcis-31242	54	2			SYM
fcis-31242	54	3			NOUN
fcis-31242	54	4	max	max	NOUN
fcis-31242	54	5	max	max	PROPN
fcis-31242	54	6	min	min	PROPN
fcis-31242	54	7	(	(	PUNCT
fcis-31242	54	8	)	)	PUNCT
fcis-31242	54	9	(	(	PUNCT
fcis-31242	54	10	)	)	PUNCT
fcis-31242	54	11	(	(	PUNCT
fcis-31242	54	12	)	)	PUNCT
fcis-31242	54	13	(	(	PUNCT
fcis-31242	54	14	1	1	X
fcis-31242	54	15	)	)	SYM
fcis-31242	54	16	1	1	NUM
fcis-31242	54	17	(	(	PUNCT
fcis-31242	54	18	)	)	PUNCT
fcis-31242	55	1	_	_	PUNCT
fcis-31242	56	1	m	m	VERB
fcis-31242	56	2	i	i	PRON
fcis-31242	56	3	n	n	VERB
fcis-31242	57	1	i	i	PRON
fcis-31242	57	2	i	i	INTJ
fcis-31242	57	3	x	x	VERB
fcis-31242	57	4	t	t	NOUN
fcis-31242	57	5	x	x	SYM
fcis-31242	57	6	t	t	PROPN
fcis-31242	57	7	x	x	SYM
fcis-31242	57	8	t	t	NOUN
fcis-31242	57	9	rand	rand	NOUN
fcis-31242	58	1	x	x	SYM
fcis-31242	58	2	t	t	PROPN
fcis-31242	58	3	x	x	PUNCT
fcis-31242	58	4	t	t	PROPN
fcis-31242	58	5	otherwise	otherwise	ADV
fcis-31242	58	6	t	t	PROPN
fcis-31242	58	7	max	max	PROPN
fcis-31242	58	8	iter	iter	PROPN
fcis-31242	58	9			PROPN
fcis-31242	58	10			X
fcis-31242	58	11			NUM
fcis-31242	58	12			X
fcis-31242	58	13			PROPN
fcis-31242	58	14			PROPN
fcis-31242	58	15			X
fcis-31242	58	16			NOUN
fcis-31242	58	17			NOUN
fcis-31242	58	18			PROPN
fcis-31242	58	19			PROPN
fcis-31242	58	20			PROPN
fcis-31242	58	21			PROPN
fcis-31242	58	22			PROPN
fcis-31242	58	23			VERB
fcis-31242	58	24			VERB
fcis-31242	58	25			NUM
fcis-31242	58	26			NUM
fcis-31242	58	27			NUM
fcis-31242	58	28			NUM
fcis-31242	58	29			PROPN
fcis-31242	58	30			PROPN
fcis-31242	58	31			PROPN
fcis-31242	58	32			NOUN
fcis-31242	58	33	(	(	PUNCT
fcis-31242	58	34	6	6	NUM
fcis-31242	58	35	)	)	PUNCT
fcis-31242	58	36	where	where	SCONJ
fcis-31242	58	37	,	,	PUNCT
fcis-31242	58	38	(	(	PUNCT
fcis-31242	58	39	)	)	PUNCT
fcis-31242	58	40	,	,	PUNCT
fcis-31242	58	41	(	(	PUNCT
fcis-31242	58	42	)	)	PUNCT
fcis-31242	58	43	m	m	VERB
fcis-31242	58	44	nx	nx	PROPN
fcis-31242	58	45	t	t	PROPN
fcis-31242	58	46	x	x	PROPN
fcis-31242	58	47	t	t	PROPN
fcis-31242	58	48	is	be	AUX
fcis-31242	58	49	the	the	DET
fcis-31242	58	50	position	position	NOUN
fcis-31242	58	51	of	of	ADP
fcis-31242	58	52	two	two	NUM
fcis-31242	58	53	randomly	randomly	ADV
fcis-31242	58	54	selected	select	VERB
fcis-31242	58	55	individuals	individual	NOUN
fcis-31242	58	56	,	,	PUNCT
fcis-31242	58	57			PROPN
fcis-31242	58	58	is	be	AUX
fcis-31242	58	59	used	use	VERB
fcis-31242	58	60	to	to	PART
fcis-31242	58	61	dynamically	dynamically	ADV
fcis-31242	58	62	adjust	adjust	VERB
fcis-31242	58	63	the	the	DET
fcis-31242	58	64	escape	escape	NOUN
fcis-31242	58	65	probability	probability	NOUN
fcis-31242	58	66	,	,	PUNCT
fcis-31242	58	67	and	and	CCONJ
fcis-31242	58	68	max	max	PROPN
fcis-31242	58	69	min,	min,	PROPN
fcis-31242	58	70			PROPN
fcis-31242	58	71	is	be	AUX
fcis-31242	58	72	set	set	VERB
fcis-31242	58	73	to	to	ADP
fcis-31242	58	74	0.5	0.5	NUM
fcis-31242	58	75	,	,	PUNCT
fcis-31242	58	76	0	0	NUM
fcis-31242	58	77	.	.	PUNCT
fcis-31242	59	1			PROPN
fcis-31242	59	2	is	be	AUX
fcis-31242	59	3	the	the	DET
fcis-31242	59	4	hunting	hunt	VERB
fcis-31242	59	5	ability	ability	NOUN
fcis-31242	59	6	parameter	parameter	NOUN
fcis-31242	59	7	,	,	PUNCT
fcis-31242	59	8	which	which	PRON
fcis-31242	59	9	is	be	AUX
fcis-31242	59	10	calculated	calculate	VERB
fcis-31242	59	11	by	by	ADP
fcis-31242	59	12	adaptation	adaptation	NOUN
fcis-31242	59	13	.	.	PUNCT
fcis-31242	60	1	3	3	X
fcis-31242	60	2	.	.	X
fcis-31242	60	3	improvement	improvement	NOUN
fcis-31242	60	4	of	of	ADP
fcis-31242	60	5	the	the	DET
fcis-31242	60	6	flamboyant	flamboyant	ADJ
fcis-31242	60	7	kingfisher	kingfisher	NOUN
fcis-31242	60	8	algorithm	algorithm	NOUN
fcis-31242	60	9	3.1	3.1	NUM
fcis-31242	60	10	.	.	PUNCT
fcis-31242	61	1	population	population	NOUN
fcis-31242	61	2	initialization	initialization	NOUN
fcis-31242	61	3	by	by	ADP
fcis-31242	61	4	invoking	invoke	VERB
fcis-31242	61	5	logistic	logistic	ADJ
fcis-31242	61	6	chaotic	chaotic	ADJ
fcis-31242	61	7	mapping	mapping	NOUN
fcis-31242	61	8	the	the	DET
fcis-31242	61	9	traditional	traditional	ADJ
fcis-31242	61	10	pko	pko	PROPN
fcis-31242	61	11	uses	use	VERB
fcis-31242	61	12	uniform	uniform	ADJ
fcis-31242	61	13	random	random	ADJ
fcis-31242	61	14	distribution	distribution	NOUN
fcis-31242	61	15	to	to	PART
fcis-31242	61	16	generate	generate	VERB
fcis-31242	61	17	the	the	DET
fcis-31242	61	18	initial	initial	ADJ
fcis-31242	61	19	solution	solution	NOUN
fcis-31242	61	20	,	,	PUNCT
fcis-31242	61	21	which	which	PRON
fcis-31242	61	22	may	may	AUX
fcis-31242	61	23	lead	lead	VERB
fcis-31242	61	24	to	to	ADP
fcis-31242	61	25	uneven	uneven	ADJ
fcis-31242	61	26	coverage	coverage	NOUN
fcis-31242	61	27	of	of	ADP
fcis-31242	61	28	the	the	DET
fcis-31242	61	29	search	search	NOUN
fcis-31242	61	30	space	space	NOUN
fcis-31242	61	31	.	.	PUNCT
fcis-31242	62	1	introducing	introduce	VERB
fcis-31242	62	2	logistic	logistic	ADJ
fcis-31242	62	3	chaotic	chaotic	ADJ
fcis-31242	62	4	mapping	mapping	NOUN
fcis-31242	62	5	to	to	PART
fcis-31242	62	6	generate	generate	VERB
fcis-31242	62	7	the	the	DET
fcis-31242	62	8	initial	initial	ADJ
fcis-31242	62	9	population	population	NOUN
fcis-31242	62	10	,	,	PUNCT
fcis-31242	62	11	the	the	DET
fcis-31242	62	12	sequence	sequence	NOUN
fcis-31242	62	13	generated	generate	VERB
fcis-31242	62	14	by	by	ADP
fcis-31242	62	15	logistic	logistic	ADJ
fcis-31242	62	16	mapping	mapping	NOUN
fcis-31242	62	17	has	have	VERB
fcis-31242	62	18	traversal	traversal	NOUN
fcis-31242	62	19	and	and	CCONJ
fcis-31242	62	20	mutual	mutual	ADJ
fcis-31242	62	21	dissimilarity	dissimilarity	NOUN
fcis-31242	62	22	,	,	PUNCT
fcis-31242	62	23	which	which	PRON
fcis-31242	62	24	can	can	AUX
fcis-31242	62	25	effectively	effectively	ADV
fcis-31242	62	26	avoid	avoid	VERB
fcis-31242	62	27	the	the	DET
fcis-31242	62	28	initial	initial	ADJ
fcis-31242	62	29	solution	solution	NOUN
fcis-31242	62	30	aggregation	aggregation	NOUN
fcis-31242	62	31	with	with	ADP
fcis-31242	62	32	its	its	PRON
fcis-31242	62	33	mathematical	mathematical	ADJ
fcis-31242	62	34	expression	expression	NOUN
fcis-31242	62	35	as	as	ADP
fcis-31242	62	36	:	:	PUNCT
fcis-31242	62	37			NOUN
fcis-31242	62	38	1	1	VERB
fcis-31242	63	1	1k	1k	NUM
fcis-31242	63	2	k	k	PROPN
fcis-31242	63	3	kx	kx	PROPN
fcis-31242	63	4	x	x	X
fcis-31242	64	1	x	x	PUNCT
fcis-31242	64	2			PROPN
fcis-31242	64	3			PROPN
fcis-31242	64	4			PROPN
fcis-31242	64	5	(	(	PUNCT
fcis-31242	64	6	7	7	NUM
fcis-31242	64	7	)	)	PUNCT
fcis-31242	64	8	where	where	SCONJ
fcis-31242	64	9	,	,	PUNCT
fcis-31242	64	10			PROPN
fcis-31242	64	11	is	be	AUX
fcis-31242	64	12	a	a	DET
fcis-31242	64	13	control	control	NOUN
fcis-31242	64	14	parameter	parameter	NOUN
fcis-31242	64	15	,	,	PUNCT
fcis-31242	64	16	which	which	PRON
fcis-31242	64	17	generally	generally	ADV
fcis-31242	64	18	takes	take	VERB
fcis-31242	64	19	the	the	DET
fcis-31242	64	20	value	value	NOUN
fcis-31242	64	21	of	of	ADP
fcis-31242	64	22	[	[	X
fcis-31242	64	23	3.57,4	3.57,4	NOUN
fcis-31242	64	24	]	]	PUNCT
fcis-31242	64	25	.	.	PUNCT
fcis-31242	65	1	in	in	ADP
fcis-31242	65	2	this	this	DET
fcis-31242	65	3	paper	paper	NOUN
fcis-31242	65	4	,	,	PUNCT
fcis-31242	65	5	the	the	DET
fcis-31242	65	6	value	value	NOUN
fcis-31242	65	7	is	be	AUX
fcis-31242	65	8	taken	take	VERB
fcis-31242	65	9	as	as	ADP
fcis-31242	65	10	4	4	NUM
fcis-31242	65	11	.	.	PUNCT
fcis-31242	66	1	it	it	PRON
fcis-31242	66	2	is	be	AUX
fcis-31242	66	3	in	in	ADP
fcis-31242	66	4	a	a	DET
fcis-31242	66	5	completely	completely	ADV
fcis-31242	66	6	chaotic	chaotic	ADJ
fcis-31242	66	7	state	state	NOUN
fcis-31242	66	8	.	.	PUNCT
fcis-31242	67	1	3.2	3.2	NUM
fcis-31242	67	2	.	.	PUNCT
fcis-31242	67	3	dynamic	dynamic	ADJ
fcis-31242	67	4	adjustment	adjustment	NOUN
fcis-31242	67	5	of	of	ADP
fcis-31242	67	6	parameters	parameter	NOUN
fcis-31242	67	7	for	for	ADP
fcis-31242	67	8	nonlinear	nonlinear	ADJ
fcis-31242	67	9	learning	learning	NOUN
fcis-31242	67	10	decay	decay	NOUN
fcis-31242	67	11	rate	rate	NOUN
fcis-31242	67	12	beating	beating	NOUN
fcis-31242	67	13	factor	factor	NOUN
fcis-31242	67	14	(	(	PUNCT
fcis-31242	67	15	bf	bf	NOUN
fcis-31242	67	16	)	)	PUNCT
fcis-31242	67	17	in	in	ADP
fcis-31242	67	18	pko	pko	PROPN
fcis-31242	67	19	algorithm	algorithm	PROPN
fcis-31242	67	20	controls	control	VERB
fcis-31242	67	21	the	the	DET
fcis-31242	67	22	development	development	NOUN
fcis-31242	67	23	intensity	intensity	NOUN
fcis-31242	67	24	in	in	ADP
fcis-31242	67	25	the	the	DET
fcis-31242	67	26	search	search	NOUN
fcis-31242	67	27	phase	phase	NOUN
fcis-31242	67	28	,	,	PUNCT
fcis-31242	67	29	but	but	CCONJ
fcis-31242	67	30	its	its	PRON
fcis-31242	67	31	linear	linear	ADJ
fcis-31242	67	32	adjustment	adjustment	NOUN
fcis-31242	67	33	strategy	strategy	NOUN
fcis-31242	67	34	is	be	AUX
fcis-31242	67	35	difficult	difficult	ADJ
fcis-31242	67	36	to	to	PART
fcis-31242	67	37	adapt	adapt	VERB
fcis-31242	67	38	to	to	ADP
fcis-31242	67	39	the	the	DET
fcis-31242	67	40	complex	complex	ADJ
fcis-31242	67	41	search	search	NOUN
fcis-31242	67	42	process	process	NOUN
fcis-31242	67	43	.	.	PUNCT
fcis-31242	68	1	in	in	ADP
fcis-31242	68	2	this	this	DET
fcis-31242	68	3	paper	paper	NOUN
fcis-31242	68	4	,	,	PUNCT
fcis-31242	68	5	we	we	PRON
fcis-31242	68	6	propose	propose	VERB
fcis-31242	68	7	a	a	DET
fcis-31242	68	8	hybrid	hybrid	ADJ
fcis-31242	68	9	learning	learning	NOUN
fcis-31242	68	10	rate	rate	NOUN
fcis-31242	68	11	model	model	NOUN
fcis-31242	68	12	based	base	VERB
fcis-31242	68	13	on	on	ADP
fcis-31242	68	14	exponential	exponential	ADJ
fcis-31242	68	15	decay	decay	NOUN
fcis-31242	68	16	and	and	CCONJ
fcis-31242	68	17	cosine	cosine	NOUN
fcis-31242	68	18	annealing	annealing	NOUN
fcis-31242	68	19	,	,	PUNCT
fcis-31242	68	20	which	which	PRON
fcis-31242	68	21	realizes	realize	VERB
fcis-31242	68	22	the	the	DET
fcis-31242	68	23	dynamic	dynamic	ADJ
fcis-31242	68	24	balance	balance	NOUN
fcis-31242	68	25	between	between	ADP
fcis-31242	68	26	global	global	ADJ
fcis-31242	68	27	search	search	NOUN
fcis-31242	68	28	and	and	CCONJ
fcis-31242	68	29	local	local	ADJ
fcis-31242	68	30	exploitation	exploitation	NOUN
fcis-31242	68	31	by	by	ADP
fcis-31242	68	32	accelerating	accelerate	VERB
fcis-31242	68	33	the	the	DET
fcis-31242	68	34	initial	initial	ADJ
fcis-31242	68	35	exploration	exploration	NOUN
fcis-31242	68	36	through	through	ADP
fcis-31242	68	37	the	the	DET
fcis-31242	68	38	exponential	exponential	ADJ
fcis-31242	68	39	term	term	NOUN
fcis-31242	68	40	and	and	CCONJ
fcis-31242	68	41	smoothing	smooth	VERB
fcis-31242	68	42	the	the	DET
fcis-31242	68	43	late	late	ADJ
fcis-31242	68	44	convergence	convergence	NOUN
fcis-31242	68	45	through	through	ADP
fcis-31242	68	46	the	the	DET
fcis-31242	68	47	cosine	cosine	ADJ
fcis-31242	68	48	term	term	NOUN
fcis-31242	68	49	.	.	PUNCT
fcis-31242	69	1	the	the	DET
fcis-31242	69	2	expression	expression	NOUN
fcis-31242	69	3	is	be	AUX
fcis-31242	69	4	as	as	SCONJ
fcis-31242	69	5	follows	follow	VERB
fcis-31242	69	6	:	:	PUNCT
fcis-31242	69	7	0	0	NUM
fcis-31242	69	8	(	(	PUNCT
fcis-31242	69	9	)	)	PUNCT
fcis-31242	69	10	exp	exp	NOUN
fcis-31242	69	11	cos	cos	PROPN
fcis-31242	69	12	2	2	NUM
fcis-31242	69	13	t	t	NOUN
fcis-31242	69	14	t	t	NOUN
fcis-31242	69	15	t	t	PROPN
fcis-31242	69	16	t	t	PROPN
fcis-31242	69	17	t	t	PROPN
fcis-31242	69	18			ADJ
fcis-31242	69	19			NOUN
fcis-31242	69	20			ADP
fcis-31242	69	21			PROPN
fcis-31242	69	22			PROPN
fcis-31242	69	23			PROPN
fcis-31242	69	24			PROPN
fcis-31242	69	25			PROPN
fcis-31242	69	26			PROPN
fcis-31242	69	27			PROPN
fcis-31242	69	28			PROPN
fcis-31242	69	29			PROPN
fcis-31242	69	30			PROPN
fcis-31242	70	1			PROPN
fcis-31242	70	2			PROPN
fcis-31242	71	1			ADJ
fcis-31242	71	2			PROPN
fcis-31242	71	3			PROPN
fcis-31242	71	4			NOUN
fcis-31242	71	5	(	(	PUNCT
fcis-31242	71	6	8)	8)	NUM
fcis-31242	71	7	where	where	SCONJ
fcis-31242	71	8	,	,	PUNCT
fcis-31242	71	9	0	0	NOUN
fcis-31242	71	10	is	be	AUX
fcis-31242	71	11	the	the	DET
fcis-31242	71	12	initial	initial	ADJ
fcis-31242	71	13	learning	learning	NOUN
fcis-31242	71	14	rate	rate	NOUN
fcis-31242	71	15	,	,	PUNCT
fcis-31242	71	16			ADP
fcis-31242	71	17	is	be	AUX
fcis-31242	71	18	the	the	DET
fcis-31242	71	19	decay	decay	NOUN
fcis-31242	71	20	coefficient	coefficient	NOUN
fcis-31242	71	21	,	,	PUNCT
fcis-31242	71	22			PROPN
fcis-31242	71	23	is	be	AUX
fcis-31242	71	24	the	the	DET
fcis-31242	71	25	annealing	anneal	VERB
fcis-31242	71	26	amplitude	amplitude	NOUN
fcis-31242	71	27	,	,	PUNCT
fcis-31242	71	28	and	and	CCONJ
fcis-31242	71	29	t	t	PROPN
fcis-31242	71	30	is	be	AUX
fcis-31242	71	31	the	the	DET
fcis-31242	71	32	total	total	ADJ
fcis-31242	71	33	number	number	NOUN
fcis-31242	71	34	of	of	ADP
fcis-31242	71	35	iterations	iteration	NOUN
fcis-31242	71	36	.	.	PUNCT
fcis-31242	72	1	3.3	3.3	NUM
fcis-31242	72	2	.	.	PUNCT
fcis-31242	73	1	local	local	ADJ
fcis-31242	73	2	escape	escape	NOUN
fcis-31242	73	3	mechanism	mechanism	NOUN
fcis-31242	73	4	of	of	ADP
fcis-31242	73	5	gaussian	gaussian	ADJ
fcis-31242	73	6	random	random	ADJ
fcis-31242	73	7	variation	variation	NOUN
fcis-31242	73	8	strategy	strategy	NOUN
fcis-31242	73	9	gaussian	gaussian	NOUN
fcis-31242	73	10	variants	variant	NOUN
fcis-31242	73	11	are	be	AUX
fcis-31242	73	12	introduced	introduce	VERB
fcis-31242	73	13	in	in	ADP
fcis-31242	73	14	the	the	DET
fcis-31242	73	15	symbiosis	symbiosis	NOUN
fcis-31242	73	16	phase	phase	NOUN
fcis-31242	73	17	to	to	PART
fcis-31242	73	18	enhance	enhance	VERB
fcis-31242	73	19	the	the	DET
fcis-31242	73	20	ability	ability	NOUN
fcis-31242	73	21	of	of	ADP
fcis-31242	73	22	the	the	DET
fcis-31242	73	23	algorithm	algorithm	NOUN
fcis-31242	73	24	to	to	PART
fcis-31242	73	25	jump	jump	VERB
fcis-31242	73	26	out	out	ADP
fcis-31242	73	27	of	of	ADP
fcis-31242	73	28	the	the	DET
fcis-31242	73	29	local	local	ADJ
fcis-31242	73	30	optimum	optimum	NOUN
fcis-31242	73	31	,	,	PUNCT
fcis-31242	73	32	and	and	CCONJ
fcis-31242	73	33	this	this	DET
fcis-31242	73	34	strategy	strategy	NOUN
fcis-31242	73	35	focuses	focus	VERB
fcis-31242	73	36	on	on	ADP
fcis-31242	73	37	global	global	ADJ
fcis-31242	73	38	perturbations	perturbation	NOUN
fcis-31242	73	39	at	at	ADP
fcis-31242	73	40	the	the	DET
fcis-31242	73	41	beginning	beginning	NOUN
fcis-31242	73	42	of	of	ADP
fcis-31242	73	43	the	the	DET
fcis-31242	73	44	iteration	iteration	NOUN
fcis-31242	73	45	,	,	PUNCT
fcis-31242	73	46	and	and	CCONJ
fcis-31242	73	47	gradually	gradually	ADV
fcis-31242	73	48	converges	converge	VERB
fcis-31242	73	49	to	to	ADP
fcis-31242	73	50	fine	fine	ADJ
fcis-31242	73	51	search	search	NOUN
fcis-31242	73	52	at	at	ADP
fcis-31242	73	53	the	the	DET
fcis-31242	73	54	later	later	ADJ
fcis-31242	73	55	stage	stage	NOUN
fcis-31242	73	56	.	.	PUNCT
fcis-31242	74	1			NOUN
fcis-31242	74	2			SYM
fcis-31242	74	3			NOUN
fcis-31242	74	4	0,1	0,1	NOUN
fcis-31242	74	5	0.1	0.1	NUM
fcis-31242	74	6	1	1	NUM
fcis-31242	74	7	mut	mut	NOUN
fcis-31242	74	8	elitex	elitex	NOUN
fcis-31242	74	9	x	x	PUNCT
fcis-31242	74	10	u	u	NOUN
fcis-31242	74	11	l	l	NOUN
fcis-31242	74	12	n	n	ADP
fcis-31242	74	13	t	t	NOUN
fcis-31242	74	14	t	t	X
fcis-31242	74	15			NOUN
fcis-31242	74	16			X
fcis-31242	75	1			PROPN
fcis-31242	75	2			PROPN
fcis-31242	75	3			X
fcis-31242	75	4			PROPN
fcis-31242	75	5			PROPN
fcis-31242	75	6			NUM
fcis-31242	75	7			NUM
fcis-31242	75	8			NOUN
fcis-31242	75	9			PROPN
fcis-31242	75	10			PROPN
fcis-31242	75	11			PROPN
fcis-31242	75	12			PROPN
fcis-31242	75	13			PROPN
fcis-31242	75	14			PROPN
fcis-31242	75	15	(	(	PUNCT
fcis-31242	75	16	9	9	NUM
fcis-31242	75	17	)	)	PUNCT
fcis-31242	75	18	where	where	SCONJ
fcis-31242	75	19	,	,	PUNCT
fcis-31242	75	20	elitex	elitex	NOUN
fcis-31242	75	21	is	be	AUX
fcis-31242	75	22	the	the	DET
fcis-31242	75	23	elite	elite	ADJ
fcis-31242	75	24	individual	individual	NOUN
fcis-31242	75	25	,	,	PUNCT
fcis-31242	75	26			PROPN
fcis-31242	75	27	is	be	AUX
fcis-31242	75	28	the	the	DET
fcis-31242	75	29	adaptive	adaptive	ADJ
fcis-31242	75	30	standard	standard	ADJ
fcis-31242	75	31	deviation	deviation	NOUN
fcis-31242	75	32	,	,	PUNCT
fcis-31242	75	33	and	and	CCONJ
fcis-31242	75	34	u	u	NOUN
fcis-31242	75	35	and	and	CCONJ
fcis-31242	75	36	l	l	NOUN
fcis-31242	75	37	are	be	AUX
fcis-31242	75	38	the	the	DET
fcis-31242	75	39	search	search	NOUN
fcis-31242	75	40	space	space	NOUN
fcis-31242	75	41	boundaries	boundary	NOUN
fcis-31242	75	42	.	.	PUNCT
fcis-31242	76	1	3.4	3.4	NUM
fcis-31242	76	2	.	.	PUNCT
fcis-31242	77	1	multi	multi	ADJ
fcis-31242	77	2	-	-	ADJ
fcis-31242	77	3	strategy	strategy	ADJ
fcis-31242	77	4	improvement	improvement	NOUN
fcis-31242	77	5	of	of	ADP
fcis-31242	77	6	the	the	DET
fcis-31242	77	7	flamboyant	flamboyant	ADJ
fcis-31242	77	8	kingfisher	kingfisher	NOUN
fcis-31242	77	9	optimization	optimization	NOUN
fcis-31242	77	10	algorithm	algorithm	NOUN
fcis-31242	77	11	flow	flow	NOUN
fcis-31242	77	12	in	in	ADP
fcis-31242	77	13	this	this	DET
fcis-31242	77	14	paper	paper	NOUN
fcis-31242	77	15	,	,	PUNCT
fcis-31242	77	16	we	we	PRON
fcis-31242	77	17	propose	propose	VERB
fcis-31242	77	18	to	to	PART
fcis-31242	77	19	use	use	VERB
fcis-31242	77	20	multiple	multiple	ADJ
fcis-31242	77	21	strategies	strategy	NOUN
fcis-31242	77	22	to	to	PART
fcis-31242	77	23	improve	improve	VERB
fcis-31242	77	24	the	the	DET
fcis-31242	77	25	spotted	spot	VERB
fcis-31242	77	26	kingfisher	kingfisher	NOUN
fcis-31242	77	27	optimization	optimization	NOUN
fcis-31242	77	28	algorithm	algorithm	NOUN
fcis-31242	77	29	(	(	PUNCT
fcis-31242	77	30	pko	pko	PROPN
fcis-31242	77	31	)	)	PUNCT
fcis-31242	77	32	.	.	PUNCT
fcis-31242	78	1	firstly	firstly	ADV
fcis-31242	78	2	,	,	PUNCT
fcis-31242	78	3	logistic	logistic	ADJ
fcis-31242	78	4	chaos	chaos	NOUN
fcis-31242	78	5	mapping	mapping	NOUN
fcis-31242	78	6	is	be	AUX
fcis-31242	78	7	used	use	VERB
fcis-31242	78	8	to	to	PART
fcis-31242	78	9	increase	increase	VERB
fcis-31242	78	10	the	the	DET
fcis-31242	78	11	initial	initial	ADJ
fcis-31242	78	12	diversity	diversity	NOUN
fcis-31242	78	13	of	of	ADP
fcis-31242	78	14	the	the	DET
fcis-31242	78	15	population	population	NOUN
fcis-31242	78	16	;	;	PUNCT
fcis-31242	78	17	secondly	secondly	ADV
fcis-31242	78	18	,	,	PUNCT
fcis-31242	78	19	the	the	DET
fcis-31242	78	20	learning	learning	NOUN
fcis-31242	78	21	decay	decay	NOUN
fcis-31242	78	22	rate	rate	NOUN
fcis-31242	78	23	is	be	AUX
fcis-31242	78	24	introduced	introduce	VERB
fcis-31242	78	25	to	to	PART
fcis-31242	78	26	dynamically	dynamically	ADV
fcis-31242	78	27	adjust	adjust	VERB
fcis-31242	78	28	the	the	DET
fcis-31242	78	29	search	search	NOUN
fcis-31242	78	30	step	step	NOUN
fcis-31242	78	31	of	of	ADP
fcis-31242	78	32	the	the	DET
fcis-31242	78	33	algorithm	algorithm	NOUN
fcis-31242	78	34	to	to	PART
fcis-31242	78	35	accelerate	accelerate	VERB
fcis-31242	78	36	the	the	DET
fcis-31242	78	37	convergence	convergence	NOUN
fcis-31242	78	38	speed	speed	NOUN
fcis-31242	78	39	;	;	PUNCT
fcis-31242	78	40	finally	finally	ADV
fcis-31242	78	41	,	,	PUNCT
fcis-31242	78	42	gaussian	gaussian	ADJ
fcis-31242	78	43	stochastic	stochastic	ADJ
fcis-31242	78	44	variation	variation	NOUN
fcis-31242	78	45	is	be	AUX
fcis-31242	78	46	used	use	VERB
fcis-31242	78	47	to	to	PART
fcis-31242	78	48	avoid	avoid	VERB
fcis-31242	78	49	the	the	DET
fcis-31242	78	50	algorithm	algorithm	NOUN
fcis-31242	78	51	from	from	ADP
fcis-31242	78	52	falling	fall	VERB
fcis-31242	78	53	into	into	ADP
fcis-31242	78	54	a	a	DET
fcis-31242	78	55	local	local	ADJ
fcis-31242	78	56	optimum	optimum	NOUN
fcis-31242	78	57	.	.	PUNCT
fcis-31242	79	1	the	the	DET
fcis-31242	79	2	following	follow	VERB
fcis-31242	79	3	are	be	AUX
fcis-31242	79	4	the	the	DET
fcis-31242	79	5	specific	specific	ADJ
fcis-31242	79	6	steps	step	NOUN
fcis-31242	79	7	of	of	ADP
fcis-31242	79	8	the	the	DET
fcis-31242	79	9	multi	multi	ADJ
fcis-31242	79	10	-	-	ADJ
fcis-31242	79	11	strategy	strategy	ADJ
fcis-31242	79	12	improvement	improvement	NOUN
fcis-31242	79	13	of	of	ADP
fcis-31242	79	14	the	the	DET
fcis-31242	79	15	flower	flower	NOUN
fcis-31242	79	16	-	-	PUNCT
fcis-31242	79	17	spotted	spot	VERB
fcis-31242	79	18	kingfisher	kingfisher	NOUN
fcis-31242	79	19	optimization	optimization	NOUN
fcis-31242	79	20	algorithm	algorithm	NOUN
fcis-31242	79	21	:	:	PUNCT
fcis-31242	79	22	step	step	NOUN
fcis-31242	79	23	1	1	NUM
fcis-31242	79	24	:	:	PUNCT
fcis-31242	79	25	initialize	initialize	VERB
fcis-31242	79	26	the	the	DET
fcis-31242	79	27	parameters	parameter	NOUN
fcis-31242	79	28	of	of	ADP
fcis-31242	79	29	pko	pko	PROPN
fcis-31242	79	30	algorithm	algorithm	PROPN
fcis-31242	79	31	,	,	PUNCT
fcis-31242	79	32	including	include	VERB
fcis-31242	79	33	the	the	DET
fcis-31242	79	34	basic	basic	ADJ
fcis-31242	79	35	parameters	parameter	NOUN
fcis-31242	79	36	such	such	ADJ
fcis-31242	79	37	as	as	ADP
fcis-31242	79	38	the	the	DET
fcis-31242	79	39	number	number	NOUN
fcis-31242	79	40	of	of	ADP
fcis-31242	79	41	populations	population	NOUN
fcis-31242	79	42	n	n	CCONJ
fcis-31242	79	43	,	,	PUNCT
fcis-31242	79	44	the	the	DET
fcis-31242	79	45	dimensions	dimension	NOUN
fcis-31242	79	46	of	of	ADP
fcis-31242	79	47	the	the	DET
fcis-31242	79	48	claim	claim	NOUN
fcis-31242	79	49	space	space	NOUN
fcis-31242	79	50	d	d	PROPN
fcis-31242	79	51	,	,	PUNCT
fcis-31242	79	52	the	the	DET
fcis-31242	79	53	maximum	maximum	ADJ
fcis-31242	79	54	number	number	NOUN
fcis-31242	79	55	of	of	ADP
fcis-31242	79	56	iterations	iteration	NOUN
fcis-31242	79	57	x	x	PUNCT
fcis-31242	79	58	and	and	CCONJ
fcis-31242	79	59	so	so	ADV
fcis-31242	79	60	on	on	ADV
fcis-31242	79	61	;	;	PUNCT
fcis-31242	79	62	step	step	NOUN
fcis-31242	79	63	2	2	NUM
fcis-31242	79	64	:	:	PUNCT
fcis-31242	79	65	initialize	initialize	VERB
fcis-31242	79	66	the	the	DET
fcis-31242	79	67	spotted	spot	VERB
fcis-31242	79	68	kingfisher	kingfisher	NOUN
fcis-31242	79	69	population	population	NOUN
fcis-31242	79	70	using	use	VERB
fcis-31242	79	71	logist	logist	NOUN
fcis-31242	79	72	chaotic	chaotic	ADJ
fcis-31242	79	73	mapping	mapping	NOUN
fcis-31242	79	74	,	,	PUNCT
fcis-31242	79	75	calculate	calculate	VERB
fcis-31242	79	76	and	and	CCONJ
fcis-31242	79	77	rank	rank	VERB
fcis-31242	79	78	the	the	DET
fcis-31242	79	79	population	population	NOUN
fcis-31242	79	80	fitness	fitness	NOUN
fcis-31242	79	81	,	,	PUNCT
fcis-31242	79	82	and	and	CCONJ
fcis-31242	79	83	find	find	VERB
fcis-31242	79	84	the	the	DET
fcis-31242	79	85	current	current	ADJ
fcis-31242	79	86	global	global	ADJ
fcis-31242	79	87	optimal	optimal	ADJ
fcis-31242	79	88	solution	solution	NOUN
fcis-31242	79	89	x	x	X
fcis-31242	79	90	;	;	PUNCT
fcis-31242	79	91	step	step	NOUN
fcis-31242	79	92	3	3	NUM
fcis-31242	79	93	:	:	PUNCT
fcis-31242	79	94	in	in	ADP
fcis-31242	79	95	the	the	DET
fcis-31242	79	96	search	search	NOUN
fcis-31242	79	97	phase	phase	NOUN
fcis-31242	79	98	,	,	PUNCT
fcis-31242	79	99	the	the	DET
fcis-31242	79	100	individual	individual	ADJ
fcis-31242	79	101	kingfisher	kingfisher	NOUN
fcis-31242	79	102	adjusts	adjust	VERB
fcis-31242	79	103	its	its	PRON
fcis-31242	79	104	search	search	NOUN
fcis-31242	79	105	step	step	NOUN
fcis-31242	79	106	according	accord	VERB
fcis-31242	79	107	to	to	ADP
fcis-31242	79	108	eq	eq	PROPN
fcis-31242	79	109	.	.	PUNCT
fcis-31242	80	1	(	(	PUNCT
fcis-31242	80	2	8)	8)	NUM
fcis-31242	80	3	to	to	PART
fcis-31242	80	4	update	update	VERB
fcis-31242	80	5	its	its	PRON
fcis-31242	80	6	position	position	NOUN
fcis-31242	80	7	;	;	PUNCT
fcis-31242	80	8	step	step	NOUN
fcis-31242	80	9	4	4	NUM
fcis-31242	80	10	:	:	PUNCT
fcis-31242	80	11	in	in	ADP
fcis-31242	80	12	the	the	DET
fcis-31242	80	13	exploitation	exploitation	NOUN
fcis-31242	80	14	phase	phase	NOUN
fcis-31242	80	15	,	,	PUNCT
fcis-31242	80	16	operate	operate	VERB
fcis-31242	80	17	eq	eq	ADP
fcis-31242	80	18	.	.	PUNCT
fcis-31242	81	1	(	(	PUNCT
fcis-31242	81	2	9	9	NUM
fcis-31242	81	3	)	)	PUNCT
fcis-31242	81	4	on	on	ADP
fcis-31242	81	5	the	the	DET
fcis-31242	81	6	current	current	ADJ
fcis-31242	81	7	spotted	spot	VERB
fcis-31242	81	8	kingfisher	kingfisher	NOUN
fcis-31242	81	9	population	population	NOUN
fcis-31242	81	10	,	,	PUNCT
fcis-31242	81	11	recalculate	recalculate	VERB
fcis-31242	81	12	individual	individual	ADJ
fcis-31242	81	13	fitness	fitness	NOUN
fcis-31242	81	14	,	,	PUNCT
fcis-31242	81	15	and	and	CCONJ
fcis-31242	81	16	keep	keep	VERB
fcis-31242	81	17	the	the	DET
fcis-31242	81	18	mutated	mutate	VERB
fcis-31242	81	19	individuals	individual	NOUN
fcis-31242	81	20	if	if	SCONJ
fcis-31242	81	21	the	the	DET
fcis-31242	81	22	fitness	fitness	NOUN
fcis-31242	81	23	improves	improve	VERB
fcis-31242	81	24	,	,	PUNCT
fcis-31242	81	25	otherwise	otherwise	ADV
fcis-31242	81	26	keep	keep	VERB
fcis-31242	81	27	the	the	DET
fcis-31242	81	28	original	original	ADJ
fcis-31242	81	29	individuals	individual	NOUN
fcis-31242	81	30	;	;	PUNCT
fcis-31242	81	31	step	step	NOUN
fcis-31242	81	32	5	5	NUM
fcis-31242	81	33	:	:	PUNCT
fcis-31242	81	34	judge	judge	VERB
fcis-31242	81	35	whether	whether	SCONJ
fcis-31242	81	36	the	the	DET
fcis-31242	81	37	algorithm	algorithm	NOUN
fcis-31242	81	38	reaches	reach	VERB
fcis-31242	81	39	the	the	DET
fcis-31242	81	40	termination	termination	NOUN
fcis-31242	81	41	condition	condition	NOUN
fcis-31242	81	42	,	,	PUNCT
fcis-31242	81	43	output	output	VERB
fcis-31242	81	44	the	the	DET
fcis-31242	81	45	optimal	optimal	ADJ
fcis-31242	81	46	solution	solution	NOUN
fcis-31242	81	47	if	if	SCONJ
fcis-31242	81	48	the	the	DET
fcis-31242	81	49	termination	termination	NOUN
fcis-31242	81	50	condition	condition	NOUN
fcis-31242	81	51	is	be	AUX
fcis-31242	81	52	reached	reach	VERB
fcis-31242	81	53	,	,	PUNCT
fcis-31242	81	54	otherwise	otherwise	ADV
fcis-31242	81	55	repeat	repeat	VERB
fcis-31242	81	56	steps	step	NOUN
fcis-31242	81	57	2step	2step	NUM
fcis-31242	81	58	4	4	NUM
fcis-31242	81	59	.	.	NOUN
fcis-31242	81	60	4	4	NUM
fcis-31242	81	61	.	.	X
fcis-31242	81	62	experimental	experimental	ADJ
fcis-31242	81	63	results	result	NOUN
fcis-31242	81	64	and	and	CCONJ
fcis-31242	81	65	analysis	analysis	NOUN
fcis-31242	81	66	4.1	4.1	NUM
fcis-31242	81	67	.	.	PUNCT
fcis-31242	82	1	experimental	experimental	ADJ
fcis-31242	82	2	parameter	parameter	NOUN
fcis-31242	82	3	settings	setting	NOUN
fcis-31242	82	4	selected	select	VERB
fcis-31242	82	5	spotted	spot	VERB
fcis-31242	82	6	kingfisher	kingfisher	NOUN
fcis-31242	82	7	optimization	optimization	NOUN
fcis-31242	82	8	algorithm	algorithm	NOUN
fcis-31242	82	9	(	(	PUNCT
fcis-31242	82	10	pko	pko	PROPN
fcis-31242	82	11	)	)	PUNCT
fcis-31242	82	12	,	,	PUNCT
fcis-31242	82	13	crown	crown	NOUN
fcis-31242	82	14	porcupine	porcupine	NOUN
fcis-31242	82	15	optimization	optimization	NOUN
fcis-31242	82	16	algorithm	algorithm	NOUN
fcis-31242	82	17	(	(	PUNCT
fcis-31242	82	18	cpo	cpo	PROPN
fcis-31242	82	19	)	)	PUNCT
fcis-31242	82	20	,	,	PUNCT
fcis-31242	82	21	dragonfly	dragonfly	NOUN
fcis-31242	82	22	optimization	optimization	NOUN
fcis-31242	82	23	algorithm	algorithm	NOUN
fcis-31242	82	24	(	(	PUNCT
fcis-31242	82	25	da	da	NOUN
fcis-31242	82	26	)	)	PUNCT
fcis-31242	82	27	,	,	PUNCT
fcis-31242	82	28	egret	egret	NOUN
fcis-31242	82	29	swarm	swarm	NOUN
fcis-31242	82	30	optimization	optimization	NOUN
fcis-31242	82	31	algorithm	algorithm	NOUN
fcis-31242	82	32	(	(	PUNCT
fcis-31242	82	33	wsoa	wsoa	PROPN
fcis-31242	82	34	)	)	PUNCT
fcis-31242	82	35	,	,	PUNCT
fcis-31242	82	36	multi	multi	ADJ
fcis-31242	82	37	-	-	ADJ
fcis-31242	82	38	strategy	strategy	ADJ
fcis-31242	82	39	spotted	spot	VERB
fcis-31242	82	40	kingfisher	kingfisher	NOUN
fcis-31242	82	41	optimization	optimization	NOUN
fcis-31242	82	42	algorithm	algorithm	NOUN
fcis-31242	82	43	(	(	PUNCT
fcis-31242	82	44	ipko	ipko	VERB
fcis-31242	82	45	)	)	PUNCT
fcis-31242	82	46	,	,	PUNCT
fcis-31242	82	47	this	this	DET
fcis-31242	82	48	paper	paper	NOUN
fcis-31242	82	49	's	's	PART
fcis-31242	82	50	experimental	experimental	ADJ
fcis-31242	82	51	environment	environment	NOUN
fcis-31242	82	52	:	:	PUNCT
fcis-31242	82	53	processor	processor	NOUN
fcis-31242	82	54	amd	amd	ADJ
fcis-31242	82	55	ryzen	ryzen	ADJ
fcis-31242	82	56	77435h	77435h	NOUN
fcis-31242	82	57	,	,	PUNCT
fcis-31242	82	58	graphics	graphic	NOUN
fcis-31242	82	59	card	card	NOUN
fcis-31242	82	60	66	66	NUM
fcis-31242	82	61	rtx4060	rtx4060	NOUN
fcis-31242	82	62	,	,	PUNCT
fcis-31242	82	63	the	the	DET
fcis-31242	82	64	main	main	ADJ
fcis-31242	82	65	frequency	frequency	NOUN
fcis-31242	82	66	of	of	ADP
fcis-31242	82	67	3100	3100	NUM
fcis-31242	82	68	mhz	mhz	NOUN
fcis-31242	82	69	,	,	PUNCT
fcis-31242	82	70	memory	memory	NOUN
fcis-31242	82	71	16	16	NUM
fcis-31242	82	72	gb	gb	NOUN
fcis-31242	82	73	,	,	PUNCT
fcis-31242	82	74	the	the	DET
fcis-31242	82	75	operating	operating	NOUN
fcis-31242	82	76	system	system	NOUN
fcis-31242	82	77	is	be	AUX
fcis-31242	82	78	64	64	NUM
fcis-31242	82	79	-	-	PUNCT
fcis-31242	82	80	bit	bit	NOUN
fcis-31242	82	81	windows11	windows11	NOUN
fcis-31242	82	82	computer	computer	NOUN
fcis-31242	82	83	,	,	PUNCT
fcis-31242	82	84	using	use	VERB
fcis-31242	82	85	matlab	matlab	PROPN
fcis-31242	82	86	r2024a	r2024a	PROPN
fcis-31242	82	87	,	,	PUNCT
fcis-31242	82	88	all	all	DET
fcis-31242	82	89	algorithms	algorithm	NOUN
fcis-31242	82	90	were	be	AUX
fcis-31242	82	91	run	run	VERB
fcis-31242	82	92	independently	independently	ADV
fcis-31242	82	93	for	for	ADP
fcis-31242	82	94	50	50	NUM
fcis-31242	82	95	times	time	NOUN
fcis-31242	82	96	,	,	PUNCT
fcis-31242	82	97	the	the	DET
fcis-31242	82	98	maximum	maximum	ADJ
fcis-31242	82	99	population	population	NOUN
fcis-31242	82	100	size	size	NOUN
fcis-31242	82	101	of	of	ADP
fcis-31242	82	102	30	30	NUM
fcis-31242	82	103	,	,	PUNCT
fcis-31242	82	104	the	the	DET
fcis-31242	82	105	maximum	maximum	ADJ
fcis-31242	82	106	number	number	NOUN
fcis-31242	82	107	of	of	ADP
fcis-31242	82	108	times	time	NOUN
fcis-31242	82	109	,	,	PUNCT
fcis-31242	82	110	the	the	DET
fcis-31242	82	111	experimental	experimental	ADJ
fcis-31242	82	112	parameters	parameter	NOUN
fcis-31242	82	113	were	be	AUX
fcis-31242	82	114	set	set	VERB
fcis-31242	82	115	up	up	ADP
fcis-31242	82	116	.	.	PUNCT
fcis-31242	83	1	the	the	DET
fcis-31242	83	2	operating	operating	NOUN
fcis-31242	83	3	system	system	NOUN
fcis-31242	83	4	is	be	AUX
fcis-31242	83	5	64	64	NUM
fcis-31242	83	6	-	-	PUNCT
fcis-31242	83	7	bit	bit	NOUN
fcis-31242	83	8	windows11	windows11	NOUN
fcis-31242	83	9	on	on	ADP
fcis-31242	83	10	the	the	DET
fcis-31242	83	11	computer	computer	NOUN
fcis-31242	83	12	,	,	PUNCT
fcis-31242	83	13	using	use	VERB
fcis-31242	83	14	matlab	matlab	PROPN
fcis-31242	83	15	r2024a	r2024a	PROPN
fcis-31242	83	16	,	,	PUNCT
fcis-31242	83	17	all	all	DET
fcis-31242	83	18	the	the	DET
fcis-31242	83	19	algorithms	algorithm	NOUN
fcis-31242	83	20	are	be	AUX
fcis-31242	83	21	run	run	VERB
fcis-31242	83	22	independently	independently	ADV
fcis-31242	83	23	50	50	NUM
fcis-31242	83	24	times	time	NOUN
fcis-31242	83	25	,	,	PUNCT
fcis-31242	83	26	the	the	DET
fcis-31242	83	27	population	population	NOUN
fcis-31242	83	28	size	size	NOUN
fcis-31242	83	29	is	be	AUX
fcis-31242	83	30	30	30	NUM
fcis-31242	83	31	,	,	PUNCT
fcis-31242	83	32	and	and	CCONJ
fcis-31242	83	33	the	the	DET
fcis-31242	83	34	maximum	maximum	ADJ
fcis-31242	83	35	number	number	NOUN
fcis-31242	83	36	of	of	ADP
fcis-31242	83	37	iterations	iteration	NOUN
fcis-31242	83	38	is	be	AUX
fcis-31242	83	39	set	set	VERB
fcis-31242	83	40	to	to	ADP
fcis-31242	83	41	500	500	NUM
fcis-31242	83	42	.	.	NOUN
fcis-31242	84	1	6	6	NUM
fcis-31242	84	2	commonly	commonly	ADV
fcis-31242	84	3	used	use	VERB
fcis-31242	84	4	benchmark	benchmark	NOUN
fcis-31242	84	5	test	test	NOUN
fcis-31242	84	6	functions	function	NOUN
fcis-31242	84	7	are	be	AUX
fcis-31242	84	8	selected	select	VERB
fcis-31242	84	9	for	for	ADP
fcis-31242	84	10	the	the	DET
fcis-31242	84	11	simulation	simulation	NOUN
fcis-31242	84	12	experiments	experiment	NOUN
fcis-31242	84	13	as	as	SCONJ
fcis-31242	84	14	shown	show	VERB
fcis-31242	84	15	in	in	ADP
fcis-31242	84	16	figure	figure	NOUN
fcis-31242	84	17	1	1	NUM
fcis-31242	84	18	,	,	PUNCT
fcis-31242	84	19	and	and	CCONJ
fcis-31242	84	20	the	the	DET
fcis-31242	84	21	test	test	NOUN
fcis-31242	84	22	functions	function	NOUN
fcis-31242	84	23	are	be	AUX
fcis-31242	84	24	shown	show	VERB
fcis-31242	84	25	in	in	ADP
fcis-31242	84	26	table	table	NOUN
fcis-31242	84	27	1	1	NUM
fcis-31242	84	28	.	.	PUNCT
fcis-31242	84	29	4.2	4.2	NUM
fcis-31242	84	30	.	.	PUNCT
fcis-31242	85	1	analysis	analysis	NOUN
fcis-31242	85	2	of	of	ADP
fcis-31242	85	3	experimental	experimental	ADJ
fcis-31242	85	4	results	result	NOUN
fcis-31242	85	5	from	from	ADP
fcis-31242	85	6	figure	figure	NOUN
fcis-31242	85	7	1	1	NUM
fcis-31242	85	8	,	,	PUNCT
fcis-31242	85	9	it	it	PRON
fcis-31242	85	10	can	can	AUX
fcis-31242	85	11	be	be	AUX
fcis-31242	85	12	seen	see	VERB
fcis-31242	85	13	that	that	SCONJ
fcis-31242	85	14	the	the	DET
fcis-31242	85	15	improved	improved	ADJ
fcis-31242	85	16	algorithm	algorithm	NOUN
fcis-31242	85	17	in	in	ADP
fcis-31242	85	18	this	this	DET
fcis-31242	85	19	paper	paper	NOUN
fcis-31242	85	20	in	in	ADP
fcis-31242	85	21	the	the	DET
fcis-31242	85	22	single	single	ADJ
fcis-31242	85	23	-	-	PUNCT
fcis-31242	85	24	peak	peak	NOUN
fcis-31242	85	25	function	function	NOUN
fcis-31242	85	26	,	,	PUNCT
fcis-31242	85	27	multi	multi	ADJ
fcis-31242	85	28	-	-	ADJ
fcis-31242	85	29	peak	peak	ADJ
fcis-31242	85	30	function	function	NOUN
fcis-31242	85	31	and	and	CCONJ
fcis-31242	85	32	composite	composite	ADJ
fcis-31242	85	33	function	function	NOUN
fcis-31242	85	34	under	under	ADP
fcis-31242	85	35	the	the	DET
fcis-31242	85	36	convergence	convergence	NOUN
fcis-31242	85	37	speed	speed	NOUN
fcis-31242	85	38	and	and	CCONJ
fcis-31242	85	39	are	be	AUX
fcis-31242	85	40	faster	fast	ADJ
fcis-31242	85	41	than	than	ADP
fcis-31242	85	42	other	other	ADJ
fcis-31242	85	43	algorithms	algorithm	NOUN
fcis-31242	85	44	,	,	PUNCT
fcis-31242	85	45	in	in	ADP
fcis-31242	85	46	the	the	DET
fcis-31242	85	47	single	single	ADJ
fcis-31242	85	48	-	-	PUNCT
fcis-31242	85	49	peak	peak	NOUN
fcis-31242	85	50	function	function	NOUN
fcis-31242	85	51	test	test	NOUN
fcis-31242	85	52	,	,	PUNCT
fcis-31242	85	53	ipko	ipko	VERB
fcis-31242	85	54	algorithm	algorithm	NOUN
fcis-31242	85	55	convergence	convergence	NOUN
fcis-31242	85	56	speed	speed	NOUN
fcis-31242	85	57	is	be	AUX
fcis-31242	85	58	faster	fast	ADJ
fcis-31242	85	59	than	than	ADP
fcis-31242	85	60	the	the	DET
fcis-31242	85	61	other	other	ADJ
fcis-31242	85	62	optimization	optimization	NOUN
fcis-31242	85	63	algorithms	algorithm	NOUN
fcis-31242	85	64	,	,	PUNCT
fcis-31242	85	65	can	can	AUX
fcis-31242	85	66	be	be	AUX
fcis-31242	85	67	in	in	ADP
fcis-31242	85	68	the	the	DET
fcis-31242	85	69	early	early	ADJ
fcis-31242	85	70	iteration	iteration	NOUN
fcis-31242	85	71	to	to	PART
fcis-31242	85	72	quickly	quickly	ADV
fcis-31242	85	73	find	find	VERB
fcis-31242	85	74	the	the	DET
fcis-31242	85	75	location	location	NOUN
fcis-31242	85	76	of	of	ADP
fcis-31242	85	77	the	the	DET
fcis-31242	85	78	optimal	optimal	ADJ
fcis-31242	85	79	solution	solution	NOUN
fcis-31242	85	80	,	,	PUNCT
fcis-31242	85	81	in	in	ADP
fcis-31242	85	82	the	the	DET
fcis-31242	85	83	multipeak	multipeak	NOUN
fcis-31242	85	84	function	function	NOUN
fcis-31242	85	85	test	test	NOUN
fcis-31242	85	86	,	,	PUNCT
fcis-31242	85	87	the	the	DET
fcis-31242	85	88	ipko	ipko	ADJ
fcis-31242	85	89	algorithm	algorithm	NOUN
fcis-31242	85	90	has	have	VERB
fcis-31242	85	91	a	a	DET
fcis-31242	85	92	stronger	strong	ADJ
fcis-31242	85	93	convergence	convergence	NOUN
fcis-31242	85	94	accuracy	accuracy	NOUN
fcis-31242	85	95	and	and	CCONJ
fcis-31242	85	96	the	the	DET
fcis-31242	85	97	ability	ability	NOUN
fcis-31242	85	98	to	to	PART
fcis-31242	85	99	jump	jump	VERB
fcis-31242	85	100	out	out	ADP
fcis-31242	85	101	of	of	ADP
fcis-31242	85	102	the	the	DET
fcis-31242	85	103	local	local	ADJ
fcis-31242	85	104	optimal	optimal	ADJ
fcis-31242	85	105	solution	solution	NOUN
fcis-31242	85	106	,	,	PUNCT
fcis-31242	85	107	composite	composite	ADJ
fcis-31242	85	108	function	function	NOUN
fcis-31242	85	109	in	in	ADP
fcis-31242	85	110	the	the	DET
fcis-31242	85	111	multi	multi	ADJ
fcis-31242	85	112	-	-	ADJ
fcis-31242	85	113	peak	peak	ADJ
fcis-31242	85	114	function	function	NOUN
fcis-31242	85	115	test	test	NOUN
fcis-31242	85	116	,	,	PUNCT
fcis-31242	85	117	ipko	ipko	VERB
fcis-31242	85	118	algorithm	algorithm	PROPN
fcis-31242	85	119	has	have	VERB
fcis-31242	85	120	stronger	strong	ADJ
fcis-31242	85	121	convergence	convergence	NOUN
fcis-31242	85	122	accuracy	accuracy	NOUN
fcis-31242	85	123	and	and	CCONJ
fcis-31242	85	124	ability	ability	NOUN
fcis-31242	85	125	to	to	PART
fcis-31242	85	126	jump	jump	VERB
fcis-31242	85	127	out	out	ADP
fcis-31242	85	128	of	of	ADP
fcis-31242	85	129	the	the	DET
fcis-31242	85	130	local	local	ADJ
fcis-31242	85	131	optimal	optimal	ADJ
fcis-31242	85	132	solution	solution	NOUN
fcis-31242	85	133	,	,	PUNCT
fcis-31242	85	134	and	and	CCONJ
fcis-31242	85	135	the	the	DET
fcis-31242	85	136	convergence	convergence	NOUN
fcis-31242	85	137	curve	curve	NOUN
fcis-31242	85	138	of	of	ADP
fcis-31242	85	139	ipko	ipko	ADJ
fcis-31242	85	140	algorithm	algorithm	NOUN
fcis-31242	85	141	is	be	AUX
fcis-31242	85	142	significantly	significantly	ADV
fcis-31242	85	143	higher	high	ADJ
fcis-31242	85	144	than	than	ADP
fcis-31242	85	145	pko	pko	PROPN
fcis-31242	85	146	algorithm	algorithm	PROPN
fcis-31242	85	147	in	in	ADP
fcis-31242	85	148	the	the	DET
fcis-31242	85	149	middle	middle	ADJ
fcis-31242	85	150	and	and	CCONJ
fcis-31242	85	151	late	late	ADJ
fcis-31242	85	152	stages	stage	NOUN
fcis-31242	85	153	of	of	ADP
fcis-31242	85	154	the	the	DET
fcis-31242	85	155	test	test	NOUN
fcis-31242	85	156	,	,	PUNCT
fcis-31242	85	157	which	which	PRON
fcis-31242	85	158	indicates	indicate	VERB
fcis-31242	85	159	that	that	SCONJ
fcis-31242	85	160	ipko	ipko	ADJ
fcis-31242	85	161	algorithm	algorithm	NOUN
fcis-31242	85	162	is	be	AUX
fcis-31242	85	163	better	well	ADJ
fcis-31242	85	164	than	than	ADP
fcis-31242	85	165	other	other	ADJ
fcis-31242	85	166	optimization	optimization	NOUN
fcis-31242	85	167	algorithms	algorithm	NOUN
fcis-31242	85	168	in	in	ADP
fcis-31242	85	169	terms	term	NOUN
fcis-31242	85	170	of	of	ADP
fcis-31242	85	171	convergence	convergence	NOUN
fcis-31242	85	172	speed	speed	NOUN
fcis-31242	85	173	,	,	PUNCT
fcis-31242	85	174	convergence	convergence	NOUN
fcis-31242	85	175	accuracy	accuracy	NOUN
fcis-31242	85	176	,	,	PUNCT
fcis-31242	85	177	and	and	CCONJ
fcis-31242	85	178	optimization	optimization	NOUN
fcis-31242	85	179	searching	searching	NOUN
fcis-31242	85	180	ability	ability	NOUN
fcis-31242	85	181	,	,	PUNCT
fcis-31242	85	182	and	and	CCONJ
fcis-31242	85	183	it	it	PRON
fcis-31242	85	184	is	be	AUX
fcis-31242	85	185	more	more	ADV
fcis-31242	85	186	suitable	suitable	ADJ
fcis-31242	85	187	for	for	ADP
fcis-31242	85	188	the	the	DET
fcis-31242	85	189	ability	ability	NOUN
fcis-31242	85	190	of	of	ADP
fcis-31242	85	191	complex	complex	ADJ
fcis-31242	85	192	optimization	optimization	NOUN
fcis-31242	85	193	problems	problem	NOUN
fcis-31242	85	194	and	and	CCONJ
fcis-31242	85	195	better	well	ADJ
fcis-31242	85	196	robustness	robustness	NOUN
fcis-31242	85	197	.	.	PUNCT
fcis-31242	86	1	table	table	NOUN
fcis-31242	86	2	1	1	NUM
fcis-31242	86	3	.	.	PUNCT
fcis-31242	86	4	benchmark	benchmark	NOUN
fcis-31242	86	5	function	function	NOUN
fcis-31242	86	6	specific	specific	ADJ
fcis-31242	86	7	information	information	NOUN
fcis-31242	86	8	function	function	NOUN
fcis-31242	86	9	type	type	NOUN
fcis-31242	86	10	function	function	NOUN
fcis-31242	86	11	name	name	NOUN
fcis-31242	86	12	function	function	NOUN
fcis-31242	86	13	code	code	NOUN
fcis-31242	86	14	dimension	dimension	NOUN
fcis-31242	86	15	variable	variable	ADJ
fcis-31242	86	16	interval	interval	NOUN
fcis-31242	86	17	minimum	minimum	NOUN
fcis-31242	86	18	value	value	NOUN
fcis-31242	86	19	single	single	ADJ
fcis-31242	86	20	-	-	PUNCT
fcis-31242	86	21	peak	peak	NOUN
fcis-31242	86	22	function	function	NOUN
fcis-31242	86	23	bent	bent	ADJ
fcis-31242	86	24	cigar	cigar	NOUN
fcis-31242	86	25	f1	f1	NOUN
fcis-31242	86	26	30	30	NUM
fcis-31242	87	1	[	[	NOUN
fcis-31242	87	2	100,100	100,100	NUM
fcis-31242	87	3	]	]	SYM
fcis-31242	87	4	0	0	NUM
fcis-31242	87	5	zakharov	zakharov	PROPN
fcis-31242	87	6	f2	f2	PROPN
fcis-31242	87	7	30	30	NUM
fcis-31242	88	1	[	[	X
fcis-31242	88	2	-10,10	-10,10	X
fcis-31242	88	3	]	]	SYM
fcis-31242	88	4	0	0	NUM
fcis-31242	88	5	multifunction	multifunction	NOUN
fcis-31242	88	6	griewank	griewank	NOUN
fcis-31242	88	7	f3	f3	PROPN
fcis-31242	88	8	30	30	NUM
fcis-31242	89	1	[	[	X
fcis-31242	89	2	-1.28,1.28	-1.28,1.28	X
fcis-31242	89	3	]	]	X
fcis-31242	89	4	0	0	PUNCT
fcis-31242	90	1	ackley	ackley	PROPN
fcis-31242	90	2	f4	f4	PROPN
fcis-31242	90	3	30	30	NUM
fcis-31242	90	4	[	[	X
fcis-31242	90	5	-5.12,5.12	-5.12,5.12	X
fcis-31242	90	6	]	]	X
fcis-31242	90	7	0	0	NUM
fcis-31242	90	8	composite	composite	ADJ
fcis-31242	90	9	function	function	NOUN
fcis-31242	90	10	pathological	pathological	ADJ
fcis-31242	90	11	f5	f5	NOUN
fcis-31242	90	12	3	3	NUM
fcis-31242	90	13	[	[	X
fcis-31242	90	14	-600,600	-600,600	X
fcis-31242	90	15	]	]	PUNCT
fcis-31242	90	16	0	0	NUM
fcis-31242	90	17	penholder	penholder	NOUN
fcis-31242	90	18	f6	f6	NOUN
fcis-31242	90	19	4	4	NUM
fcis-31242	90	20	[	[	X
fcis-31242	90	21	-32,32	-32,32	X
fcis-31242	90	22	]	]	X
fcis-31242	90	23	0	0	NUM
fcis-31242	91	1	(	(	PUNCT
fcis-31242	91	2	a	a	PRON
fcis-31242	91	3	)	)	PUNCT
fcis-31242	91	4	f1	f1	NOUN
fcis-31242	91	5	function	function	NOUN
fcis-31242	91	6	(	(	PUNCT
fcis-31242	91	7	b	b	NOUN
fcis-31242	91	8	)	)	PUNCT
fcis-31242	91	9	f2	f2	ADJ
fcis-31242	91	10	function	function	NOUN
fcis-31242	91	11	(	(	PUNCT
fcis-31242	91	12	c	c	NOUN
fcis-31242	91	13	)	)	PUNCT
fcis-31242	91	14	f3	f3	ADJ
fcis-31242	91	15	function	function	NOUN
fcis-31242	91	16	(	(	PUNCT
fcis-31242	91	17	d	d	NOUN
fcis-31242	91	18	)	)	PUNCT
fcis-31242	91	19	f4	f4	ADJ
fcis-31242	91	20	function	function	NOUN
fcis-31242	91	21	(	(	PUNCT
fcis-31242	91	22	e	e	NOUN
fcis-31242	91	23	)	)	PUNCT
fcis-31242	91	24	f5	f5	NOUN
fcis-31242	91	25	function	function	NOUN
fcis-31242	91	26	(	(	PUNCT
fcis-31242	91	27	f	f	X
fcis-31242	91	28	)	)	PUNCT
fcis-31242	91	29	f6	f6	PROPN
fcis-31242	91	30	function	function	PROPN
fcis-31242	91	31	fig	fig	NOUN
fcis-31242	91	32	1	1	NUM
fcis-31242	91	33	.	.	PUNCT
fcis-31242	91	34	convergence	convergence	NOUN
fcis-31242	91	35	curves	curve	NOUN
fcis-31242	91	36	of	of	ADP
fcis-31242	91	37	each	each	DET
fcis-31242	91	38	algorithm	algorithm	NOUN
fcis-31242	91	39	under	under	ADP
fcis-31242	91	40	the	the	DET
fcis-31242	91	41	benchmark	benchmark	NOUN
fcis-31242	91	42	test	test	NOUN
fcis-31242	91	43	function	function	NOUN
fcis-31242	91	44	5	5	NUM
fcis-31242	91	45	.	.	PUNCT
fcis-31242	91	46	robot	robot	NOUN
fcis-31242	91	47	path	path	PROPN
fcis-31242	91	48	planning	planning	PROPN
fcis-31242	91	49	simulation	simulation	NOUN
fcis-31242	91	50	verification	verification	PROPN
fcis-31242	91	51	5.1	5.1	NUM
fcis-31242	91	52	.	.	PUNCT
fcis-31242	92	1	path	path	NOUN
fcis-31242	92	2	planning	planning	NOUN
fcis-31242	92	3	experiment	experiment	NOUN
fcis-31242	92	4	in	in	ADP
fcis-31242	92	5	order	order	NOUN
fcis-31242	92	6	to	to	PART
fcis-31242	92	7	verify	verify	VERB
fcis-31242	92	8	the	the	DET
fcis-31242	92	9	application	application	NOUN
fcis-31242	92	10	of	of	ADP
fcis-31242	92	11	the	the	DET
fcis-31242	92	12	spotted	spot	VERB
fcis-31242	92	13	kingfisher	kingfisher	NOUN
fcis-31242	92	14	optimization	optimization	NOUN
fcis-31242	92	15	algorithm	algorithm	NOUN
fcis-31242	92	16	in	in	ADP
fcis-31242	92	17	mobile	mobile	ADJ
fcis-31242	92	18	robot	robot	NOUN
fcis-31242	92	19	path	path	NOUN
fcis-31242	92	20	planning	planning	NOUN
fcis-31242	93	1	,	,	PUNCT
fcis-31242	93	2	this	this	DET
fcis-31242	93	3	paper	paper	NOUN
fcis-31242	93	4	selects	select	VERB
fcis-31242	93	5	20	20	NUM
fcis-31242	93	6	20	20	NUM
fcis-31242	93	7	simple	simple	ADJ
fcis-31242	93	8	raster	raster	NOUN
fcis-31242	93	9	map	map	NOUN
fcis-31242	93	10	environment	environment	NOUN
fcis-31242	93	11	and	and	CCONJ
fcis-31242	93	12	50	50	NUM
fcis-31242	93	13	50	50	NUM
fcis-31242	93	14	complex	complex	ADJ
fcis-31242	93	15	raster	raster	NOUN
fcis-31242	93	16	map	map	NOUN
fcis-31242	93	17	environment	environment	NOUN
fcis-31242	93	18	.	.	PUNCT
fcis-31242	94	1	at	at	ADP
fcis-31242	94	2	the	the	DET
fcis-31242	94	3	same	same	ADJ
fcis-31242	94	4	time	time	NOUN
fcis-31242	94	5	calculated	calculate	VERB
fcis-31242	94	6	the	the	DET
fcis-31242	94	7	number	number	NOUN
fcis-31242	94	8	of	of	ADP
fcis-31242	94	9	turns	turn	NOUN
fcis-31242	94	10	in	in	ADP
fcis-31242	94	11	the	the	DET
fcis-31242	94	12	path	path	NOUN
fcis-31242	94	13	planning	planning	NOUN
fcis-31242	94	14	algorithm	algorithm	NOUN
fcis-31242	94	15	,	,	PUNCT
fcis-31242	94	16	path	path	NOUN
fcis-31242	94	17	length	length	NOUN
fcis-31242	94	18	and	and	CCONJ
fcis-31242	94	19	convergence	convergence	NOUN
fcis-31242	94	20	time	time	NOUN
fcis-31242	94	21	as	as	ADP
fcis-31242	94	22	the	the	DET
fcis-31242	94	23	key	key	ADJ
fcis-31242	94	24	indicators	indicator	NOUN
fcis-31242	94	25	of	of	ADP
fcis-31242	94	26	the	the	DET
fcis-31242	94	27	67	67	NUM
fcis-31242	94	28	performance	performance	NOUN
fcis-31242	94	29	of	of	ADP
fcis-31242	94	30	each	each	DET
fcis-31242	94	31	algorithm	algorithm	NOUN
fcis-31242	94	32	,	,	PUNCT
fcis-31242	94	33	these	these	DET
fcis-31242	94	34	indicators	indicator	NOUN
fcis-31242	94	35	not	not	PART
fcis-31242	94	36	only	only	ADV
fcis-31242	94	37	take	take	VERB
fcis-31242	94	38	into	into	ADP
fcis-31242	94	39	account	account	NOUN
fcis-31242	94	40	the	the	DET
fcis-31242	94	41	speed	speed	NOUN
fcis-31242	94	42	of	of	ADP
fcis-31242	94	43	the	the	DET
fcis-31242	94	44	algorithm	algorithm	NOUN
fcis-31242	94	45	to	to	PART
fcis-31242	94	46	reach	reach	VERB
fcis-31242	94	47	the	the	DET
fcis-31242	94	48	optimal	optimal	ADJ
fcis-31242	94	49	position	position	NOUN
fcis-31242	94	50	,	,	PUNCT
fcis-31242	94	51	but	but	CCONJ
fcis-31242	94	52	also	also	ADV
fcis-31242	94	53	measures	measure	VERB
fcis-31242	94	54	the	the	DET
fcis-31242	94	55	degree	degree	NOUN
fcis-31242	94	56	of	of	ADP
fcis-31242	94	57	optimization	optimization	NOUN
fcis-31242	94	58	of	of	ADP
fcis-31242	94	59	the	the	DET
fcis-31242	94	60	algorithm	algorithm	NOUN
fcis-31242	94	61	and	and	CCONJ
fcis-31242	94	62	the	the	DET
fcis-31242	94	63	practicality	practicality	NOUN
fcis-31242	94	64	of	of	ADP
fcis-31242	94	65	the	the	DET
fcis-31242	94	66	planning	planning	NOUN
fcis-31242	94	67	,	,	PUNCT
fcis-31242	94	68	in	in	ADP
fcis-31242	94	69	order	order	NOUN
fcis-31242	94	70	to	to	PART
fcis-31242	94	71	ensure	ensure	VERB
fcis-31242	94	72	that	that	SCONJ
fcis-31242	94	73	the	the	DET
fcis-31242	94	74	algorithm	algorithm	NOUN
fcis-31242	94	75	in	in	ADP
fcis-31242	94	76	the	the	DET
fcis-31242	94	77	path	path	NOUN
fcis-31242	94	78	planning	planning	NOUN
fcis-31242	94	79	of	of	ADP
fcis-31242	94	80	the	the	DET
fcis-31242	94	81	fairness	fairness	NOUN
fcis-31242	94	82	,	,	PUNCT
fcis-31242	94	83	the	the	DET
fcis-31242	94	84	maximum	maximum	ADJ
fcis-31242	94	85	number	number	NOUN
fcis-31242	94	86	of	of	ADP
fcis-31242	94	87	iterations	iteration	NOUN
fcis-31242	94	88	are	be	AUX
fcis-31242	94	89	set	set	VERB
fcis-31242	94	90	to	to	ADP
fcis-31242	94	91	500	500	NUM
fcis-31242	94	92	,	,	PUNCT
fcis-31242	94	93	the	the	DET
fcis-31242	94	94	number	number	NOUN
fcis-31242	94	95	of	of	ADP
fcis-31242	94	96	populations	population	NOUN
fcis-31242	94	97	are	be	AUX
fcis-31242	94	98	30	30	NUM
fcis-31242	94	99	.	.	PUNCT
fcis-31242	95	1	(	(	PUNCT
fcis-31242	95	2	a)ipko	a)ipko	PROPN
fcis-31242	95	3	arithmetic	arithmetic	PROPN
fcis-31242	95	4	(	(	PUNCT
fcis-31242	95	5	b)cpo	b)cpo	PROPN
fcis-31242	95	6	arithmetic	arithmetic	NOUN
fcis-31242	95	7	(	(	PUNCT
fcis-31242	95	8	c)da	c)da	ADJ
fcis-31242	95	9	arithmetic	arithmetic	NOUN
fcis-31242	95	10	(	(	PUNCT
fcis-31242	95	11	d)esoa	d)esoa	PROPN
fcis-31242	95	12	arithmetic	arithmetic	ADJ
fcis-31242	95	13	(	(	PUNCT
fcis-31242	95	14	e	e	NOUN
fcis-31242	95	15	)	)	PUNCT
fcis-31242	95	16	pko	pko	PROPN
fcis-31242	95	17	arithmetic	arithmetic	ADJ
fcis-31242	95	18	(	(	PUNCT
fcis-31242	95	19	f)convergence	f)convergence	NOUN
fcis-31242	95	20	curves	curve	VERB
fcis-31242	95	21	for	for	ADP
fcis-31242	95	22	each	each	DET
fcis-31242	95	23	algorithm	algorithm	NOUN
fcis-31242	95	24	in	in	ADP
fcis-31242	95	25	a	a	DET
fcis-31242	95	26	simple	simple	ADJ
fcis-31242	95	27	environment	environment	NOUN
fcis-31242	95	28	fig	fig	NOUN
fcis-31242	95	29	2	2	NUM
fcis-31242	95	30	.	.	PUNCT
fcis-31242	95	31	experimental	experimental	ADJ
fcis-31242	95	32	diagram	diagram	NOUN
fcis-31242	95	33	of	of	ADP
fcis-31242	95	34	mobile	mobile	PROPN
fcis-31242	95	35	robot	robot	NOUN
fcis-31242	95	36	path	path	NOUN
fcis-31242	95	37	planning	planning	NOUN
fcis-31242	95	38	in	in	ADP
fcis-31242	95	39	simple	simple	ADJ
fcis-31242	95	40	environment	environment	NOUN
fcis-31242	95	41	table	table	NOUN
fcis-31242	95	42	2	2	NUM
fcis-31242	95	43	.	.	PUNCT
fcis-31242	95	44	experimental	experimental	ADJ
fcis-31242	95	45	data	datum	NOUN
fcis-31242	95	46	of	of	ADP
fcis-31242	95	47	mobile	mobile	ADJ
fcis-31242	95	48	robot	robot	NOUN
fcis-31242	95	49	path	path	NOUN
fcis-31242	95	50	planning	planning	NOUN
fcis-31242	95	51	in	in	ADP
fcis-31242	95	52	simple	simple	ADJ
fcis-31242	95	53	environment	environment	NOUN
fcis-31242	95	54	in	in	ADP
fcis-31242	95	55	the	the	DET
fcis-31242	95	56	end	end	NOUN
fcis-31242	95	57	ipko	ipko	VERB
fcis-31242	95	58	pko	pko	PROPN
fcis-31242	95	59	da	da	PROPN
fcis-31242	95	60	cpo	cpo	PROPN
fcis-31242	95	61	esoa	esoa	PROPN
fcis-31242	95	62	path	path	PROPN
fcis-31242	95	63	length	length	NOUN
fcis-31242	95	64	28.1486	28.1486	NUM
fcis-31242	95	65	29.8243	29.8243	NUM
fcis-31242	95	66	30.8877	30.8877	NUM
fcis-31242	95	67	32.0067	32.0067	NUM
fcis-31242	95	68	32.9706	32.9706	NUM
fcis-31242	95	69	number	number	NOUN
fcis-31242	95	70	of	of	ADP
fcis-31242	95	71	turns	turn	VERB
fcis-31242	95	72	7	7	NUM
fcis-31242	95	73	10	10	NUM
fcis-31242	95	74	12	12	NUM
fcis-31242	95	75	12	12	NUM
fcis-31242	95	76	14	14	NUM
fcis-31242	95	77	average	average	ADJ
fcis-31242	95	78	convergence	convergence	NOUN
fcis-31242	95	79	time	time	NOUN
fcis-31242	95	80	/	/	SYM
fcis-31242	95	81	second	second	NOUN
fcis-31242	95	82	0.2589	0.2589	NUM
fcis-31242	95	83	0.562	0.562	NUM
fcis-31242	95	84	0.5809	0.5809	NUM
fcis-31242	95	85	0.6813	0.6813	NUM
fcis-31242	95	86	0.9777	0.9777	NUM
fcis-31242	95	87	(	(	PUNCT
fcis-31242	95	88	a)ipko	a)ipko	PROPN
fcis-31242	95	89	arithmetic	arithmetic	PROPN
fcis-31242	95	90	(	(	PUNCT
fcis-31242	95	91	b	b	NOUN
fcis-31242	95	92	)	)	PUNCT
fcis-31242	95	93	cpo	cpo	PROPN
fcis-31242	95	94	arithmetic	arithmetic	PROPN
fcis-31242	95	95	(	(	PUNCT
fcis-31242	95	96	c)da	c)da	ADJ
fcis-31242	95	97	arithmetic	arithmetic	NOUN
fcis-31242	95	98	(	(	PUNCT
fcis-31242	95	99	d)esoa	d)esoa	PROPN
fcis-31242	95	100	arithmetic	arithmetic	ADJ
fcis-31242	95	101	(	(	PUNCT
fcis-31242	95	102	e	e	NOUN
fcis-31242	95	103	)	)	PUNCT
fcis-31242	95	104	pko	pko	PROPN
fcis-31242	95	105	arithmetic	arithmetic	ADJ
fcis-31242	95	106	(	(	PUNCT
fcis-31242	95	107	f)convergence	f)convergence	NOUN
fcis-31242	95	108	curves	curve	NOUN
fcis-31242	95	109	of	of	ADP
fcis-31242	95	110	each	each	DET
fcis-31242	95	111	algorithm	algorithm	NOUN
fcis-31242	95	112	in	in	ADP
fcis-31242	95	113	complex	complex	ADJ
fcis-31242	95	114	environments	environment	NOUN
fcis-31242	95	115	fig	fig	NOUN
fcis-31242	95	116	3	3	NUM
fcis-31242	95	117	.	.	PUNCT
fcis-31242	95	118	experimental	experimental	ADJ
fcis-31242	95	119	map	map	NOUN
fcis-31242	95	120	of	of	ADP
fcis-31242	95	121	mobile	mobile	ADJ
fcis-31242	95	122	robot	robot	NOUN
fcis-31242	95	123	path	path	NOUN
fcis-31242	95	124	planning	planning	NOUN
fcis-31242	95	125	in	in	ADP
fcis-31242	95	126	complex	complex	ADJ
fcis-31242	95	127	setting	setting	NOUN
fcis-31242	95	128	table	table	NOUN
fcis-31242	95	129	3	3	NUM
fcis-31242	95	130	.	.	PUNCT
fcis-31242	95	131	comparison	comparison	NOUN
fcis-31242	95	132	of	of	ADP
fcis-31242	95	133	various	various	ADJ
fcis-31242	95	134	algorithms	algorithm	NOUN
fcis-31242	95	135	in	in	ADP
fcis-31242	95	136	complex	complex	ADJ
fcis-31242	95	137	map	map	NOUN
fcis-31242	95	138	setting	set	VERB
fcis-31242	95	139	in	in	ADP
fcis-31242	95	140	the	the	DET
fcis-31242	95	141	end	end	NOUN
fcis-31242	95	142	ipko	ipko	VERB
fcis-31242	95	143	pko	pko	PROPN
fcis-31242	95	144	da	da	PROPN
fcis-31242	95	145	cpo	cpo	PROPN
fcis-31242	95	146	esoa	esoa	PROPN
fcis-31242	95	147	path	path	PROPN
fcis-31242	95	148	length	length	NOUN
fcis-31242	96	1	97.099	97.099	NUM
fcis-31242	97	1	104.8965	104.8965	NUM
fcis-31242	97	2	105.8182	105.8182	NUM
fcis-31242	97	3	184.309	184.309	NUM
fcis-31242	97	4	205.1863	205.1863	NUM
fcis-31242	97	5	number	number	NOUN
fcis-31242	97	6	of	of	ADP
fcis-31242	97	7	turns	turn	NOUN
fcis-31242	97	8	2	2	NUM
fcis-31242	97	9	38	38	NUM
fcis-31242	97	10	41	41	NUM
fcis-31242	97	11	46	46	NUM
fcis-31242	97	12	50	50	NUM
fcis-31242	97	13	average	average	ADJ
fcis-31242	97	14	convergence	convergence	NOUN
fcis-31242	97	15	time	time	NOUN
fcis-31242	97	16	/	/	SYM
fcis-31242	97	17	second	second	NOUN
fcis-31242	97	18	0.4377	0.4377	NUM
fcis-31242	97	19	0.562	0.562	NUM
fcis-31242	97	20	2.7676	2.7676	NUM
fcis-31242	97	21	0.0758	0.0758	NUM
fcis-31242	97	22	0.0359	0.0359	NUM
fcis-31242	97	23	68	68	NUM
fcis-31242	97	24	5.2	5.2	NUM
fcis-31242	97	25	.	.	PUNCT
fcis-31242	98	1	simulation	simulation	NOUN
fcis-31242	98	2	experiment	experiment	NOUN
fcis-31242	98	3	analysis	analysis	NOUN
fcis-31242	98	4	from	from	ADP
fcis-31242	98	5	the	the	DET
fcis-31242	98	6	above	above	ADJ
fcis-31242	98	7	graphs	graph	NOUN
fcis-31242	98	8	,	,	PUNCT
fcis-31242	98	9	it	it	PRON
fcis-31242	98	10	can	can	AUX
fcis-31242	98	11	be	be	AUX
fcis-31242	98	12	seen	see	VERB
fcis-31242	98	13	that	that	SCONJ
fcis-31242	98	14	ipko	ipko	VERB
fcis-31242	98	15	algorithm	algorithm	NOUN
fcis-31242	98	16	outperforms	outperform	VERB
fcis-31242	98	17	other	other	ADJ
fcis-31242	98	18	optimization	optimization	NOUN
fcis-31242	98	19	algorithms	algorithm	NOUN
fcis-31242	98	20	in	in	ADP
fcis-31242	98	21	terms	term	NOUN
fcis-31242	98	22	of	of	ADP
fcis-31242	98	23	convergence	convergence	NOUN
fcis-31242	98	24	time	time	NOUN
fcis-31242	98	25	,	,	PUNCT
fcis-31242	98	26	and	and	CCONJ
fcis-31242	98	27	in	in	ADP
fcis-31242	98	28	specific	specific	ADJ
fcis-31242	98	29	analysis	analysis	NOUN
fcis-31242	98	30	,	,	PUNCT
fcis-31242	98	31	the	the	DET
fcis-31242	98	32	complex	complex	ADJ
fcis-31242	98	33	setting	setting	NOUN
fcis-31242	98	34	is	be	AUX
fcis-31242	98	35	shortened	shorten	VERB
fcis-31242	98	36	by	by	ADP
fcis-31242	98	37	53.93	53.93	NUM
fcis-31242	98	38	%	%	NOUN
fcis-31242	98	39	,	,	PUNCT
fcis-31242	98	40	55.43	55.43	NUM
fcis-31242	98	41	%	%	NOUN
fcis-31242	98	42	,	,	PUNCT
fcis-31242	98	43	61.99	61.99	NUM
fcis-31242	98	44	%	%	NOUN
fcis-31242	98	45	,	,	PUNCT
fcis-31242	98	46	and	and	CCONJ
fcis-31242	98	47	73.52	73.52	NUM
fcis-31242	98	48	%	%	NOUN
fcis-31242	98	49	compared	compare	VERB
fcis-31242	98	50	to	to	ADP
fcis-31242	98	51	pko	pko	PROPN
fcis-31242	98	52	,	,	PUNCT
fcis-31242	98	53	da	da	PROPN
fcis-31242	98	54	,	,	PUNCT
fcis-31242	98	55	cpo	cpo	PROPN
fcis-31242	98	56	,	,	PUNCT
fcis-31242	98	57	and	and	CCONJ
fcis-31242	98	58	esoa	esoa	PROPN
fcis-31242	98	59	,	,	PUNCT
fcis-31242	98	60	respectively	respectively	ADV
fcis-31242	98	61	.	.	PUNCT
fcis-31242	99	1	in	in	ADP
fcis-31242	99	2	the	the	DET
fcis-31242	99	3	simple	simple	ADJ
fcis-31242	99	4	setting	setting	NOUN
fcis-31242	99	5	,	,	PUNCT
fcis-31242	99	6	compared	compare	VERB
fcis-31242	99	7	with	with	ADP
fcis-31242	99	8	pko	pko	PROPN
fcis-31242	99	9	,	,	PUNCT
fcis-31242	99	10	da	da	PROPN
fcis-31242	99	11	,	,	PUNCT
fcis-31242	99	12	cpo	cpo	PROPN
fcis-31242	99	13	and	and	CCONJ
fcis-31242	99	14	esoa	esoa	PROPN
fcis-31242	99	15	,	,	PUNCT
fcis-31242	99	16	the	the	DET
fcis-31242	99	17	shortening	shortening	NOUN
fcis-31242	99	18	is	be	AUX
fcis-31242	99	19	22.12	22.12	NUM
fcis-31242	99	20	%	%	NOUN
fcis-31242	99	21	,	,	PUNCT
fcis-31242	99	22	84.19	84.19	NUM
fcis-31242	99	23	%	%	NOUN
fcis-31242	99	24	,	,	PUNCT
fcis-31242	99	25	82.68	82.68	NUM
fcis-31242	99	26	%	%	NOUN
fcis-31242	99	27	and	and	CCONJ
fcis-31242	99	28	91.79	91.79	NUM
fcis-31242	99	29	%	%	NOUN
fcis-31242	99	30	respectively	respectively	ADV
fcis-31242	99	31	,	,	PUNCT
fcis-31242	99	32	which	which	PRON
fcis-31242	99	33	proves	prove	VERB
fcis-31242	99	34	that	that	SCONJ
fcis-31242	99	35	the	the	DET
fcis-31242	99	36	improved	improved	ADJ
fcis-31242	99	37	algorithm	algorithm	NOUN
fcis-31242	99	38	can	can	AUX
fcis-31242	99	39	reach	reach	VERB
fcis-31242	99	40	the	the	DET
fcis-31242	99	41	target	target	NOUN
fcis-31242	99	42	point	point	NOUN
fcis-31242	99	43	quickly	quickly	ADV
fcis-31242	99	44	in	in	ADP
fcis-31242	99	45	a	a	DET
fcis-31242	99	46	short	short	ADJ
fcis-31242	99	47	period	period	NOUN
fcis-31242	99	48	of	of	ADP
fcis-31242	99	49	time	time	NOUN
fcis-31242	99	50	,	,	PUNCT
fcis-31242	99	51	and	and	CCONJ
fcis-31242	99	52	it	it	PRON
fcis-31242	99	53	can	can	AUX
fcis-31242	99	54	be	be	AUX
fcis-31242	99	55	seen	see	VERB
fcis-31242	99	56	that	that	SCONJ
fcis-31242	99	57	the	the	DET
fcis-31242	99	58	improved	improved	ADJ
fcis-31242	99	59	algorithm	algorithm	NOUN
fcis-31242	99	60	makes	make	VERB
fcis-31242	99	61	fewer	few	ADJ
fcis-31242	99	62	turns	turn	NOUN
fcis-31242	99	63	,	,	PUNCT
fcis-31242	99	64	has	have	VERB
fcis-31242	99	65	better	well	ADJ
fcis-31242	99	66	smoothing	smoothing	NOUN
fcis-31242	99	67	,	,	PUNCT
fcis-31242	99	68	and	and	CCONJ
fcis-31242	99	69	is	be	AUX
fcis-31242	99	70	more	more	ADV
fcis-31242	99	71	suitable	suitable	ADJ
fcis-31242	99	72	for	for	ADP
fcis-31242	99	73	the	the	DET
fcis-31242	99	74	robot	robot	NOUN
fcis-31242	99	75	's	's	PART
fcis-31242	99	76	movement	movement	NOUN
fcis-31242	99	77	,	,	PUNCT
fcis-31242	99	78	and	and	CCONJ
fcis-31242	99	79	in	in	ADP
fcis-31242	99	80	terms	term	NOUN
fcis-31242	99	81	of	of	ADP
fcis-31242	99	82	the	the	DET
fcis-31242	99	83	path	path	NOUN
fcis-31242	99	84	length	length	NOUN
fcis-31242	99	85	,	,	PUNCT
fcis-31242	99	86	compared	compare	VERB
fcis-31242	99	87	with	with	ADP
fcis-31242	99	88	pko	pko	PROPN
fcis-31242	99	89	,	,	PUNCT
fcis-31242	99	90	da	da	PROPN
fcis-31242	99	91	,	,	PUNCT
fcis-31242	99	92	cpo	cpo	PROPN
fcis-31242	99	93	and	and	CCONJ
fcis-31242	99	94	esoa	esoa	PROPN
fcis-31242	99	95	,	,	PUNCT
fcis-31242	99	96	the	the	DET
fcis-31242	99	97	shortening	shortening	NOUN
fcis-31242	99	98	is	be	AUX
fcis-31242	99	99	53.93	53.93	NUM
fcis-31242	99	100	%	%	NOUN
fcis-31242	99	101	,	,	PUNCT
fcis-31242	99	102	55.43	55.43	NUM
fcis-31242	99	103	%	%	NOUN
fcis-31242	99	104	,	,	PUNCT
fcis-31242	99	105	61.99	61.99	NUM
fcis-31242	99	106	%	%	NOUN
fcis-31242	99	107	and	and	CCONJ
fcis-31242	99	108	73.99	73.99	NUM
fcis-31242	99	109	%	%	NOUN
fcis-31242	99	110	respectively	respectively	ADV
fcis-31242	99	111	in	in	ADP
fcis-31242	99	112	the	the	DET
fcis-31242	99	113	simple	simple	ADJ
fcis-31242	99	114	setting	setting	NOUN
fcis-31242	99	115	.	.	PUNCT
fcis-31242	100	1	in	in	ADP
fcis-31242	100	2	terms	term	NOUN
fcis-31242	100	3	of	of	ADP
fcis-31242	100	4	path	path	NOUN
fcis-31242	100	5	length	length	NOUN
fcis-31242	100	6	,	,	PUNCT
fcis-31242	100	7	it	it	PRON
fcis-31242	100	8	is	be	AUX
fcis-31242	100	9	shortened	shorten	VERB
fcis-31242	100	10	by	by	ADP
fcis-31242	100	11	5.62	5.62	NUM
fcis-31242	100	12	%	%	NOUN
fcis-31242	100	13	,	,	PUNCT
fcis-31242	100	14	8.87	8.87	NUM
fcis-31242	100	15	%	%	NOUN
fcis-31242	100	16	,	,	PUNCT
fcis-31242	100	17	12.05	12.05	NUM
fcis-31242	100	18	%	%	NOUN
fcis-31242	100	19	and	and	CCONJ
fcis-31242	100	20	14.62	14.62	NUM
fcis-31242	100	21	%	%	NOUN
fcis-31242	100	22	in	in	ADP
fcis-31242	100	23	simple	simple	ADJ
fcis-31242	100	24	environment	environment	NOUN
fcis-31242	100	25	compared	compare	VERB
fcis-31242	100	26	with	with	ADP
fcis-31242	100	27	pko	pko	PROPN
fcis-31242	100	28	,	,	PUNCT
fcis-31242	100	29	da	da	PROPN
fcis-31242	100	30	,	,	PUNCT
fcis-31242	100	31	cpo	cpo	PROPN
fcis-31242	100	32	and	and	CCONJ
fcis-31242	100	33	esoa	esoa	NOUN
fcis-31242	100	34	respectively	respectively	ADV
fcis-31242	100	35	.	.	PUNCT
fcis-31242	101	1	in	in	ADP
fcis-31242	101	2	the	the	DET
fcis-31242	101	3	complex	complex	ADJ
fcis-31242	101	4	setting	setting	NOUN
fcis-31242	101	5	,	,	PUNCT
fcis-31242	101	6	it	it	PRON
fcis-31242	101	7	reduces	reduce	VERB
fcis-31242	101	8	7.43	7.43	NUM
fcis-31242	101	9	%	%	NOUN
fcis-31242	101	10	,	,	PUNCT
fcis-31242	101	11	8.24	8.24	NUM
fcis-31242	101	12	%	%	NOUN
fcis-31242	101	13	,	,	PUNCT
fcis-31242	101	14	47.32	47.32	NUM
fcis-31242	101	15	%	%	NOUN
fcis-31242	101	16	and	and	CCONJ
fcis-31242	101	17	52.68	52.68	NUM
fcis-31242	101	18	%	%	NOUN
fcis-31242	101	19	compared	compare	VERB
fcis-31242	101	20	with	with	ADP
fcis-31242	101	21	pko	pko	PROPN
fcis-31242	101	22	,	,	PUNCT
fcis-31242	101	23	da	da	PROPN
fcis-31242	101	24	,	,	PUNCT
fcis-31242	101	25	cpo	cpo	PROPN
fcis-31242	101	26	and	and	CCONJ
fcis-31242	101	27	esoa	esoa	PROPN
fcis-31242	101	28	,	,	PUNCT
fcis-31242	101	29	respectively	respectively	ADV
fcis-31242	101	30	.	.	PUNCT
fcis-31242	102	1	the	the	DET
fcis-31242	102	2	improved	improved	ADJ
fcis-31242	102	3	algorithm	algorithm	NOUN
fcis-31242	102	4	has	have	VERB
fcis-31242	102	5	significant	significant	ADJ
fcis-31242	102	6	advantages	advantage	NOUN
fcis-31242	102	7	in	in	ADP
fcis-31242	102	8	path	path	NOUN
fcis-31242	102	9	planning	planning	NOUN
fcis-31242	102	10	,	,	PUNCT
fcis-31242	102	11	and	and	CCONJ
fcis-31242	102	12	the	the	DET
fcis-31242	102	13	above	above	ADJ
fcis-31242	102	14	analysis	analysis	NOUN
fcis-31242	102	15	proves	prove	VERB
fcis-31242	102	16	that	that	SCONJ
fcis-31242	102	17	the	the	DET
fcis-31242	102	18	improved	improved	ADJ
fcis-31242	102	19	algorithm	algorithm	NOUN
fcis-31242	102	20	has	have	VERB
fcis-31242	102	21	higher	high	ADJ
fcis-31242	102	22	search	search	NOUN
fcis-31242	102	23	efficiency	efficiency	NOUN
fcis-31242	102	24	,	,	PUNCT
fcis-31242	102	25	smoother	smooth	ADJ
fcis-31242	102	26	trajectory	trajectory	NOUN
fcis-31242	102	27	and	and	CCONJ
fcis-31242	102	28	shorter	short	ADJ
fcis-31242	102	29	planning	planning	NOUN
fcis-31242	102	30	time	time	NOUN
fcis-31242	102	31	in	in	ADP
fcis-31242	102	32	path	path	NOUN
fcis-31242	102	33	planning	planning	NOUN
fcis-31242	102	34	.	.	PUNCT
fcis-31242	103	1	6	6	X
fcis-31242	103	2	.	.	PUNCT
fcis-31242	103	3	ros	ros	PROPN
fcis-31242	103	4	simulation	simulation	PROPN
fcis-31242	103	5	verification	verification	PROPN
fcis-31242	103	6	robot	robot	PROPN
fcis-31242	103	7	path	path	PROPN
fcis-31242	103	8	planning	planning	NOUN
fcis-31242	103	9	experiment	experiment	NOUN
fcis-31242	103	10	6.1	6.1	NUM
fcis-31242	103	11	.	.	PUNCT
fcis-31242	104	1	ros	ros	PROPN
fcis-31242	104	2	map	map	VERB
fcis-31242	104	3	building	building	NOUN
fcis-31242	104	4	and	and	CCONJ
fcis-31242	104	5	autonomous	autonomous	ADJ
fcis-31242	104	6	navigation	navigation	NOUN
fcis-31242	104	7	simulation	simulation	NOUN
fcis-31242	104	8	in	in	ADP
fcis-31242	104	9	this	this	DET
fcis-31242	104	10	paper	paper	NOUN
fcis-31242	104	11	,	,	PUNCT
fcis-31242	104	12	we	we	PRON
fcis-31242	104	13	use	use	VERB
fcis-31242	104	14	ubuntu	ubuntu	ADJ
fcis-31242	104	15	22.04	22.04	NUM
fcis-31242	104	16	ros1	ros1	PROPN
fcis-31242	104	17	noetic	noetic	ADJ
fcis-31242	104	18	version	version	NOUN
fcis-31242	104	19	to	to	PART
fcis-31242	104	20	build	build	VERB
fcis-31242	104	21	a	a	DET
fcis-31242	104	22	real	real	ADJ
fcis-31242	104	23	environment	environment	NOUN
fcis-31242	104	24	in	in	ADP
fcis-31242	104	25	gazebo	gazebo	PROPN
fcis-31242	104	26	experimental	experimental	ADJ
fcis-31242	104	27	platform	platform	NOUN
fcis-31242	104	28	,	,	PUNCT
fcis-31242	104	29	set	set	VERB
fcis-31242	104	30	up	up	ADP
fcis-31242	104	31	human	human	NOUN
fcis-31242	104	32	-	-	PUNCT
fcis-31242	104	33	shaped	shape	VERB
fcis-31242	104	34	obstacles	obstacle	NOUN
fcis-31242	104	35	and	and	CCONJ
fcis-31242	104	36	multiple	multiple	ADJ
fcis-31242	104	37	rectangular	rectangular	ADJ
fcis-31242	104	38	obstacles	obstacle	NOUN
fcis-31242	104	39	,	,	PUNCT
fcis-31242	104	40	use	use	VERB
fcis-31242	104	41	gmapping	gmappe	VERB
fcis-31242	104	42	algorithm	algorithm	NOUN
fcis-31242	104	43	to	to	PART
fcis-31242	104	44	complete	complete	VERB
fcis-31242	104	45	the	the	DET
fcis-31242	104	46	slam	slam	NOUN
fcis-31242	104	47	construction	construction	NOUN
fcis-31242	104	48	as	as	SCONJ
fcis-31242	104	49	shown	show	VERB
fcis-31242	104	50	in	in	ADP
fcis-31242	104	51	fig	fig	NOUN
fcis-31242	104	52	4	4	NUM
fcis-31242	104	53	.	.	PUNCT
fcis-31242	105	1	next	next	ADV
fcis-31242	105	2	,	,	PUNCT
fcis-31242	105	3	we	we	PRON
fcis-31242	105	4	verify	verify	VERB
fcis-31242	105	5	the	the	DET
fcis-31242	105	6	performance	performance	NOUN
fcis-31242	105	7	of	of	ADP
fcis-31242	105	8	the	the	DET
fcis-31242	105	9	four	four	NUM
fcis-31242	105	10	algorithms	algorithm	NOUN
fcis-31242	105	11	in	in	ADP
fcis-31242	105	12	path	path	NOUN
fcis-31242	105	13	planning	planning	NOUN
fcis-31242	105	14	in	in	ADP
fcis-31242	105	15	rviz	rviz	NOUN
fcis-31242	105	16	.	.	PUNCT
fcis-31242	106	1	all	all	PRON
fcis-31242	106	2	set	set	VERB
fcis-31242	106	3	the	the	DET
fcis-31242	106	4	same	same	ADJ
fcis-31242	106	5	starting	starting	NOUN
fcis-31242	106	6	point	point	NOUN
fcis-31242	106	7	and	and	CCONJ
fcis-31242	106	8	end	end	NOUN
fcis-31242	106	9	point	point	NOUN
fcis-31242	106	10	,	,	PUNCT
fcis-31242	106	11	each	each	DET
fcis-31242	106	12	algorithm	algorithm	NOUN
fcis-31242	106	13	for	for	ADP
fcis-31242	106	14	30	30	NUM
fcis-31242	106	15	times	time	NOUN
fcis-31242	106	16	path	path	NOUN
fcis-31242	106	17	planning	planning	NOUN
fcis-31242	106	18	,	,	PUNCT
fcis-31242	106	19	the	the	DET
fcis-31242	106	20	path	path	NOUN
fcis-31242	106	21	planning	planning	NOUN
fcis-31242	106	22	of	of	ADP
fcis-31242	106	23	the	the	DET
fcis-31242	106	24	four	four	NUM
fcis-31242	106	25	optimization	optimization	NOUN
fcis-31242	106	26	algorithms	algorithm	NOUN
fcis-31242	106	27	is	be	AUX
fcis-31242	106	28	shown	show	VERB
fcis-31242	106	29	in	in	ADP
fcis-31242	106	30	figure	figure	NOUN
fcis-31242	106	31	5	5	NUM
fcis-31242	106	32	.	.	PUNCT
fcis-31242	107	1	(	(	PUNCT
fcis-31242	107	2	a	a	X
fcis-31242	107	3	)	)	PUNCT
fcis-31242	107	4	slam	slam	NOUN
fcis-31242	107	5	before	before	ADP
fcis-31242	107	6	mapping	map	VERB
fcis-31242	107	7	(	(	PUNCT
fcis-31242	107	8	b	b	NOUN
fcis-31242	107	9	)	)	PUNCT
fcis-31242	107	10	end	end	NOUN
fcis-31242	107	11	of	of	ADP
fcis-31242	107	12	slam	slam	NOUN
fcis-31242	107	13	build	build	PROPN
fcis-31242	107	14	fig	fig	NOUN
fcis-31242	107	15	4	4	NUM
fcis-31242	107	16	.	.	PUNCT
fcis-31242	107	17	slam	slam	PROPN
fcis-31242	107	18	building	building	PROPN
fcis-31242	107	19	diagram	diagram	PROPN
fcis-31242	107	20	(	(	PUNCT
fcis-31242	107	21	a)ipko	a)ipko	PROPN
fcis-31242	107	22	arithmetic	arithmetic	PROPN
fcis-31242	107	23	(	(	PUNCT
fcis-31242	107	24	b)pko	b)pko	PROPN
fcis-31242	107	25	arithmetic	arithmetic	PROPN
fcis-31242	107	26	(	(	PUNCT
fcis-31242	107	27	c)cpo	c)cpo	PROPN
fcis-31242	107	28	arithmetic	arithmetic	NOUN
fcis-31242	107	29	(	(	PUNCT
fcis-31242	107	30	d	d	NOUN
fcis-31242	107	31	)	)	PUNCT
fcis-31242	107	32	da	da	PROPN
fcis-31242	107	33	arithmetic	arithmetic	ADJ
fcis-31242	107	34	fig	fig	NOUN
fcis-31242	107	35	5	5	NUM
fcis-31242	107	36	.	.	PUNCT
fcis-31242	108	1	experimental	experimental	ADJ
fcis-31242	108	2	comparison	comparison	NOUN
fcis-31242	108	3	of	of	ADP
fcis-31242	108	4	the	the	DET
fcis-31242	108	5	algorithms	algorithm	NOUN
fcis-31242	108	6	in	in	ADP
fcis-31242	108	7	rviz	rviz	NOUN
fcis-31242	108	8	table	table	NOUN
fcis-31242	108	9	4	4	NUM
fcis-31242	108	10	.	.	PUNCT
fcis-31242	108	11	experimental	experimental	ADJ
fcis-31242	108	12	results	result	NOUN
fcis-31242	108	13	of	of	ADP
fcis-31242	108	14	the	the	DET
fcis-31242	108	15	four	four	NUM
fcis-31242	108	16	algorithms	algorithm	NOUN
fcis-31242	108	17	in	in	ADP
fcis-31242	108	18	rviz	rviz	NOUN
fcis-31242	108	19	in	in	ADP
fcis-31242	108	20	the	the	DET
fcis-31242	108	21	end	end	NOUN
fcis-31242	108	22	ipko	ipko	VERB
fcis-31242	108	23	cpo	cpo	PROPN
fcis-31242	108	24	da	da	PROPN
fcis-31242	108	25	esoa	esoa	PROPN
fcis-31242	108	26	pko	pko	PROPN
fcis-31242	108	27	path	path	PROPN
fcis-31242	108	28	length	length	PROPN
fcis-31242	108	29	/	/	SYM
fcis-31242	108	30	m	m	VERB
fcis-31242	108	31	14.25	14.25	NUM
fcis-31242	108	32	18.95	18.95	NUM
fcis-31242	108	33	27.14	27.14	NUM
fcis-31242	108	34	29.99	29.99	NUM
fcis-31242	108	35	38.41	38.41	NUM
fcis-31242	108	36	average	average	ADJ
fcis-31242	108	37	convergence	convergence	NOUN
fcis-31242	108	38	time	time	NOUN
fcis-31242	108	39	/	/	SYM
fcis-31242	108	40	second	second	ADJ
fcis-31242	108	41	10.62	10.62	NUM
fcis-31242	108	42	14.98	14.98	NUM
fcis-31242	108	43	23.83	23.83	NUM
fcis-31242	108	44	27.95	27.95	NUM
fcis-31242	108	45	32.69	32.69	NUM
fcis-31242	108	46	as	as	SCONJ
fcis-31242	108	47	can	can	AUX
fcis-31242	108	48	be	be	AUX
fcis-31242	108	49	seen	see	VERB
fcis-31242	108	50	from	from	ADP
fcis-31242	108	51	table	table	NOUN
fcis-31242	108	52	4	4	NUM
fcis-31242	108	53	,	,	PUNCT
fcis-31242	108	54	this	this	DET
fcis-31242	108	55	paper	paper	NOUN
fcis-31242	108	56	's	's	PART
fcis-31242	108	57	algorithm	algorithm	NOUN
fcis-31242	108	58	still	still	ADV
fcis-31242	108	59	shows	show	VERB
fcis-31242	108	60	strong	strong	ADJ
fcis-31242	108	61	performance	performance	NOUN
fcis-31242	108	62	in	in	ADP
fcis-31242	108	63	the	the	DET
fcis-31242	108	64	real	real	ADJ
fcis-31242	108	65	setting	setting	NOUN
fcis-31242	108	66	,	,	PUNCT
fcis-31242	108	67	and	and	CCONJ
fcis-31242	108	68	can	can	AUX
fcis-31242	108	69	complete	complete	VERB
fcis-31242	108	70	the	the	DET
fcis-31242	108	71	planning	planning	NOUN
fcis-31242	108	72	in	in	ADP
fcis-31242	108	73	a	a	DET
fcis-31242	108	74	short	short	ADJ
fcis-31242	108	75	period	period	NOUN
fcis-31242	108	76	of	of	ADP
fcis-31242	108	77	time	time	NOUN
fcis-31242	108	78	with	with	ADP
fcis-31242	108	79	a	a	DET
fcis-31242	108	80	shorter	short	ADJ
fcis-31242	108	81	path	path	NOUN
fcis-31242	108	82	length	length	NOUN
fcis-31242	108	83	,	,	PUNCT
fcis-31242	108	84	and	and	CCONJ
fcis-31242	108	85	at	at	ADP
fcis-31242	108	86	the	the	DET
fcis-31242	108	87	same	same	ADJ
fcis-31242	108	88	time	time	NOUN
fcis-31242	108	89	,	,	PUNCT
fcis-31242	108	90	the	the	DET
fcis-31242	108	91	paths	path	NOUN
fcis-31242	108	92	planned	plan	VERB
fcis-31242	108	93	by	by	ADP
fcis-31242	108	94	this	this	DET
fcis-31242	108	95	paper	paper	NOUN
fcis-31242	108	96	's	's	PART
fcis-31242	108	97	algorithm	algorithm	NOUN
fcis-31242	108	98	have	have	VERB
fcis-31242	108	99	a	a	DET
fcis-31242	108	100	high	high	ADJ
fcis-31242	108	101	degree	degree	NOUN
fcis-31242	108	102	of	of	ADP
fcis-31242	108	103	smoothness	smoothness	NOUN
fcis-31242	108	104	,	,	PUNCT
fcis-31242	108	105	which	which	PRON
fcis-31242	108	106	is	be	AUX
fcis-31242	108	107	more	more	ADV
fcis-31242	108	108	suitable	suitable	ADJ
fcis-31242	108	109	for	for	SCONJ
fcis-31242	108	110	the	the	DET
fcis-31242	108	111	robot	robot	NOUN
fcis-31242	108	112	to	to	PART
fcis-31242	108	113	move	move	VERB
fcis-31242	108	114	in	in	ADP
fcis-31242	108	115	the	the	DET
fcis-31242	108	116	complex	complex	ADJ
fcis-31242	108	117	scene	scene	NOUN
fcis-31242	108	118	,	,	PUNCT
fcis-31242	108	119	proving	prove	VERB
fcis-31242	108	120	that	that	SCONJ
fcis-31242	108	121	the	the	DET
fcis-31242	108	122	algorithm	algorithm	NOUN
fcis-31242	108	123	's	's	PART
fcis-31242	108	124	stability	stability	NOUN
fcis-31242	108	125	and	and	CCONJ
fcis-31242	108	126	planning	planning	NOUN
fcis-31242	108	127	efficiency	efficiency	NOUN
fcis-31242	108	128	are	be	AUX
fcis-31242	108	129	both	both	ADV
fcis-31242	108	130	higher	high	ADJ
fcis-31242	108	131	.	.	PUNCT
fcis-31242	109	1	7	7	X
fcis-31242	109	2	.	.	X
fcis-31242	109	3	conclusion	conclusion	NOUN
fcis-31242	109	4	in	in	ADP
fcis-31242	109	5	order	order	NOUN
fcis-31242	109	6	to	to	PART
fcis-31242	109	7	overcome	overcome	VERB
fcis-31242	109	8	the	the	DET
fcis-31242	109	9	problems	problem	NOUN
fcis-31242	109	10	encountered	encounter	VERB
fcis-31242	109	11	by	by	ADP
fcis-31242	109	12	the	the	DET
fcis-31242	109	13	original	original	ADJ
fcis-31242	109	14	pko	pko	PROPN
fcis-31242	109	15	algorithm	algorithm	NOUN
fcis-31242	109	16	in	in	ADP
fcis-31242	109	17	robot	robot	NOUN
fcis-31242	109	18	path	path	PROPN
fcis-31242	109	19	planning	planning	NOUN
fcis-31242	109	20	,	,	PUNCT
fcis-31242	109	21	such	such	ADJ
fcis-31242	109	22	as	as	ADP
fcis-31242	109	23	slow	slow	ADJ
fcis-31242	109	24	convergence	convergence	NOUN
fcis-31242	109	25	speed	speed	NOUN
fcis-31242	109	26	,	,	PUNCT
fcis-31242	109	27	low	low	ADJ
fcis-31242	109	28	search	search	NOUN
fcis-31242	109	29	efficiency	efficiency	NOUN
fcis-31242	109	30	and	and	CCONJ
fcis-31242	109	31	low	low	ADJ
fcis-31242	109	32	trajectory	trajectory	NOUN
fcis-31242	109	33	smoothness	smoothness	NOUN
fcis-31242	109	34	,	,	PUNCT
fcis-31242	109	35	an	an	DET
fcis-31242	109	36	improved	improved	ADJ
fcis-31242	109	37	spotted	spot	VERB
fcis-31242	109	38	kingfisher	kingfisher	NOUN
fcis-31242	109	39	algorithm	algorithm	NOUN
fcis-31242	109	40	is	be	AUX
fcis-31242	109	41	proposed	propose	VERB
fcis-31242	109	42	,	,	PUNCT
fcis-31242	109	43	which	which	PRON
fcis-31242	109	44	firstly	firstly	ADV
fcis-31242	109	45	enriches	enrich	VERB
fcis-31242	109	46	the	the	DET
fcis-31242	109	47	diversity	diversity	NOUN
fcis-31242	109	48	and	and	CCONJ
fcis-31242	109	49	expansion	expansion	NOUN
fcis-31242	109	50	of	of	ADP
fcis-31242	109	51	the	the	DET
fcis-31242	109	52	population	population	NOUN
fcis-31242	109	53	by	by	ADP
fcis-31242	109	54	initializing	initialize	VERB
fcis-31242	109	55	the	the	DET
fcis-31242	109	56	population	population	NOUN
fcis-31242	109	57	through	through	ADP
fcis-31242	109	58	logist	logist	ADJ
fcis-31242	109	59	chaotic	chaotic	ADJ
fcis-31242	109	60	mapping	mapping	NOUN
fcis-31242	109	61	.	.	PUNCT
fcis-31242	110	1	to	to	PART
fcis-31242	110	2	avoid	avoid	VERB
fcis-31242	110	3	premature	premature	ADJ
fcis-31242	110	4	convergence	convergence	NOUN
fcis-31242	110	5	of	of	ADP
fcis-31242	110	6	the	the	DET
fcis-31242	110	7	69	69	NUM
fcis-31242	110	8	spotted	spot	VERB
fcis-31242	110	9	kingfisher	kingfisher	NOUN
fcis-31242	110	10	algorithm	algorithm	NOUN
fcis-31242	110	11	,	,	PUNCT
fcis-31242	110	12	secondly	secondly	ADV
fcis-31242	110	13	,	,	PUNCT
fcis-31242	110	14	through	through	ADP
fcis-31242	110	15	the	the	DET
fcis-31242	110	16	nonlinear	nonlinear	ADJ
fcis-31242	110	17	learning	learning	NOUN
fcis-31242	110	18	decay	decay	NOUN
fcis-31242	110	19	rate	rate	NOUN
fcis-31242	110	20	and	and	CCONJ
fcis-31242	110	21	gaussian	gaussian	ADJ
fcis-31242	110	22	random	random	ADJ
fcis-31242	110	23	variation	variation	NOUN
fcis-31242	110	24	strategy	strategy	NOUN
fcis-31242	110	25	,	,	PUNCT
fcis-31242	110	26	it	it	PRON
fcis-31242	110	27	can	can	AUX
fcis-31242	110	28	improve	improve	VERB
fcis-31242	110	29	the	the	DET
fcis-31242	110	30	convergence	convergence	NOUN
fcis-31242	110	31	accuracy	accuracy	NOUN
fcis-31242	110	32	and	and	CCONJ
fcis-31242	110	33	global	global	ADJ
fcis-31242	110	34	search	search	NOUN
fcis-31242	110	35	ability	ability	NOUN
fcis-31242	110	36	,	,	PUNCT
fcis-31242	110	37	and	and	CCONJ
fcis-31242	110	38	finally	finally	ADV
fcis-31242	110	39	applied	apply	VERB
fcis-31242	110	40	in	in	ADP
fcis-31242	110	41	the	the	DET
fcis-31242	110	42	robot	robot	NOUN
fcis-31242	110	43	path	path	NOUN
fcis-31242	110	44	planning	planning	NOUN
fcis-31242	110	45	,	,	PUNCT
fcis-31242	110	46	the	the	DET
fcis-31242	110	47	simulation	simulation	NOUN
fcis-31242	110	48	experimental	experimental	ADJ
fcis-31242	110	49	results	result	NOUN
fcis-31242	110	50	have	have	AUX
fcis-31242	110	51	shown	show	VERB
fcis-31242	110	52	that	that	SCONJ
fcis-31242	110	53	the	the	DET
fcis-31242	110	54	improved	improved	ADJ
fcis-31242	110	55	algorithm	algorithm	NOUN
fcis-31242	110	56	has	have	VERB
fcis-31242	110	57	a	a	DET
fcis-31242	110	58	stronger	strong	ADJ
fcis-31242	110	59	stability	stability	NOUN
fcis-31242	110	60	,	,	PUNCT
fcis-31242	110	61	faster	fast	ADJ
fcis-31242	110	62	convergence	convergence	NOUN
fcis-31242	110	63	speed	speed	NOUN
fcis-31242	110	64	and	and	CCONJ
fcis-31242	110	65	excellent	excellent	ADJ
fcis-31242	110	66	trajectory	trajectory	NOUN
fcis-31242	110	67	smoothness	smoothness	NOUN
fcis-31242	110	68	in	in	ADP
fcis-31242	110	69	the	the	DET
fcis-31242	110	70	path	path	NOUN
fcis-31242	110	71	planning	planning	NOUN
fcis-31242	110	72	.	.	PUNCT
fcis-31242	111	1	the	the	DET
fcis-31242	111	2	performance	performance	NOUN
fcis-31242	111	3	of	of	ADP
fcis-31242	111	4	the	the	DET
fcis-31242	111	5	improved	improved	ADJ
fcis-31242	111	6	algorithm	algorithm	NOUN
fcis-31242	111	7	exceeds	exceed	VERB
fcis-31242	111	8	that	that	PRON
fcis-31242	111	9	of	of	ADP
fcis-31242	111	10	the	the	DET
fcis-31242	111	11	original	original	ADJ
fcis-31242	111	12	spotted	spot	VERB
fcis-31242	111	13	kingfisher	kingfisher	NOUN
fcis-31242	111	14	algorithm	algorithm	NOUN
fcis-31242	111	15	and	and	CCONJ
fcis-31242	111	16	other	other	ADJ
fcis-31242	111	17	optimization	optimization	NOUN
fcis-31242	111	18	algorithms	algorithm	NOUN
fcis-31242	111	19	.	.	PUNCT
fcis-31242	112	1	references	reference	NOUN
fcis-31242	112	2	[	[	X
fcis-31242	112	3	1	1	NUM
fcis-31242	112	4	]	]	X
fcis-31242	112	5	ravi	ravi	NOUN
fcis-31242	112	6	r	r	PROPN
fcis-31242	112	7	,	,	PUNCT
fcis-31242	112	8	andrzej	andrzej	PROPN
fcis-31242	112	9	k	k	PROPN
fcis-31242	112	10	.a	.a	PROPN
fcis-31242	112	11	comprehensive	comprehensive	ADJ
fcis-31242	112	12	study	study	NOUN
fcis-31242	112	13	of	of	ADP
fcis-31242	112	14	mobile	mobile	ADJ
fcis-31242	112	15	robot	robot	NOUN
fcis-31242	112	16	:	:	PUNCT
fcis-31242	112	17	history	history	NOUN
fcis-31242	112	18	,	,	PUNCT
fcis-31242	112	19	developments	development	NOUN
fcis-31242	112	20	,	,	PUNCT
fcis-31242	112	21	applications	application	NOUN
fcis-31242	112	22	,	,	PUNCT
fcis-31242	112	23	and	and	CCONJ
fcis-31242	112	24	future	future	ADJ
fcis-31242	112	25	research	research	NOUN
fcis-31242	112	26	perspectives	perspective	NOUN
fcis-31242	112	27	[	[	X
fcis-31242	112	28	j].applied	j].applie	VERB
fcis-31242	112	29	sciences,2022,12(14):6951	sciences,2022,12(14):6951	PROPN
fcis-31242	112	30	-	-	PUNCT
fcis-31242	112	31	6951	6951	NUM
fcis-31242	112	32	.	.	PUNCT
fcis-31242	113	1	[	[	X
fcis-31242	113	2	2	2	NUM
fcis-31242	113	3	]	]	X
fcis-31242	113	4	li	li	PROPN
fcis-31242	113	5	zhonglin	zhonglin	PROPN
fcis-31242	113	6	,	,	PUNCT
fcis-31242	113	7	luo	luo	PROPN
fcis-31242	113	8	shaoping	shaoping	NOUN
fcis-31242	113	9	,	,	PUNCT
fcis-31242	113	10	jia	jia	PROPN
fcis-31242	113	11	yuting	yuting	NOUN
fcis-31242	113	12	.	.	PUNCT
fcis-31242	114	1	a	a	DET
fcis-31242	114	2	review	review	NOUN
fcis-31242	114	3	of	of	ADP
fcis-31242	114	4	path	path	NOUN
fcis-31242	114	5	planning	planning	NOUN
fcis-31242	114	6	algorithms	algorithm	NOUN
fcis-31242	114	7	for	for	ADP
fcis-31242	114	8	mobile	mobile	ADJ
fcis-31242	114	9	robots[j	robots[j	PROPN
fcis-31242	114	10	]	]	PUNCT
fcis-31242	114	11	.	.	PUNCT
fcis-31242	115	1	modern	modern	ADJ
fcis-31242	115	2	information	information	NOUN
fcis-31242	115	3	technology,2024,8(19):184	technology,2024,8(19):184	NOUN
fcis-31242	115	4	-	-	PUNCT
fcis-31242	115	5	188	188	NUM
fcis-31242	115	6	.	.	PUNCT
fcis-31242	116	1	[	[	X
fcis-31242	116	2	3	3	X
fcis-31242	116	3	]	]	X
fcis-31242	116	4	liu	liu	PROPN
fcis-31242	116	5	shanshan	shanshan	PROPN
fcis-31242	116	6	,	,	PUNCT
fcis-31242	116	7	jin	jin	PROPN
fcis-31242	116	8	ming	ming	PROPN
fcis-31242	116	9	.	.	PUNCT
fcis-31242	117	1	mobile	mobile	PROPN
fcis-31242	117	2	robot	robot	PROPN
fcis-31242	117	3	path	path	PROPN
fcis-31242	117	4	planning	planning	NOUN
fcis-31242	117	5	algorithm	algorithm	NOUN
fcis-31242	117	6	based	base	VERB
fcis-31242	117	7	on	on	ADP
fcis-31242	117	8	improved	improved	ADJ
fcis-31242	117	9	rrt[j	rrt[j	NOUN
fcis-31242	117	10	/	/	SYM
fcis-31242	117	11	ol	ol	ADJ
fcis-31242	117	12	]	]	PUNCT
fcis-31242	117	13	.	.	PUNCT
fcis-31242	118	1	journal	journal	PROPN
fcis-31242	118	2	of	of	ADP
fcis-31242	118	3	qufu	qufu	PROPN
fcis-31242	118	4	normal	normal	ADJ
fcis-31242	118	5	university	university	NOUN
fcis-31242	118	6	(	(	PUNCT
fcis-31242	118	7	natural	natural	ADJ
fcis-31242	118	8	science	science	NOUN
fcis-31242	118	9	edition),1	edition),1	PROPN
fcis-31242	118	10	-	-	PUNCT
fcis-31242	118	11	7[2025	7[2025	PROPN
fcis-31242	118	12	-	-	PUNCT
fcis-31242	118	13	06	06	NUM
fcis-31242	118	14	-	-	SYM
fcis-31242	118	15	02	02	NUM
fcis-31242	118	16	]	]	PUNCT
fcis-31242	118	17	.	.	PUNCT
fcis-31242	119	1	[	[	X
fcis-31242	119	2	4	4	X
fcis-31242	119	3	]	]	X
fcis-31242	119	4	gao	gao	PROPN
fcis-31242	119	5	huanchao	huanchao	PROPN
fcis-31242	119	6	.	.	PUNCT
fcis-31242	120	1	research	research	NOUN
fcis-31242	120	2	on	on	ADP
fcis-31242	120	3	path	path	NOUN
fcis-31242	120	4	planning	planning	NOUN
fcis-31242	120	5	of	of	ADP
fcis-31242	120	6	picking	pick	VERB
fcis-31242	120	7	robot	robot	NOUN
fcis-31242	120	8	based	base	VERB
fcis-31242	120	9	on	on	ADP
fcis-31242	120	10	a	a	DET
fcis-31242	120	11	*	*	PROPN
fcis-31242	120	12	algorithm[j	algorithm[j	PROPN
fcis-31242	120	13	]	]	PUNCT
fcis-31242	120	14	.	.	PUNCT
fcis-31242	121	1	research	research	NOUN
fcis-31242	121	2	on	on	ADP
fcis-31242	121	3	agricultural	agricultural	ADJ
fcis-31242	121	4	mechanization	mechanization	NOUN
fcis-31242	121	5	,	,	PUNCT
fcis-31242	121	6	2025,47(07):240	2025,47(07):240	NOUN
fcis-31242	121	7	-	-	SYM
fcis-31242	121	8	244	244	NUM
fcis-31242	121	9	.	.	PUNCT
fcis-31242	122	1	[	[	X
fcis-31242	122	2	5	5	NUM
fcis-31242	122	3	]	]	PUNCT
fcis-31242	122	4	xianming	xianme	VERB
fcis-31242	122	5	s	s	PROPN
fcis-31242	122	6	,	,	PUNCT
fcis-31242	122	7	haobang	haobang	PROPN
fcis-31242	122	8	l	l	NOUN
fcis-31242	122	9	,	,	PUNCT
fcis-31242	122	10	yuan	yuan	PROPN
fcis-31242	122	11	l	l	NOUN
fcis-31242	122	12	,	,	PUNCT
fcis-31242	122	13	et	et	NOUN
fcis-31242	122	14	al.location	al.location	NOUN
fcis-31242	122	15	planning	planning	NOUN
fcis-31242	122	16	of	of	ADP
fcis-31242	122	17	field	field	NOUN
fcis-31242	122	18	ammunition	ammunition	NOUN
fcis-31242	122	19	depot	depot	NOUN
fcis-31242	122	20	for	for	ADP
fcis-31242	122	21	multi	multi	ADJ
fcis-31242	122	22	-	-	ADJ
fcis-31242	122	23	stage	stage	ADJ
fcis-31242	122	24	supply	supply	NOUN
fcis-31242	122	25	based	base	VERB
fcis-31242	122	26	on	on	ADP
fcis-31242	122	27	dijstra	dijstra	PROPN
fcis-31242	122	28	algorithm[j].journal	algorithm[j].journal	PROPN
fcis-31242	122	29	of	of	ADP
fcis-31242	122	30	physics	physics	NOUN
fcis-31242	122	31	:	:	PUNCT
fcis-31242	122	32	conference	conference	NOUN
fcis-31242	122	33	series	series	NOUN
fcis-31242	122	34	,	,	PUNCT
fcis-31242	122	35	2021	2021	NUM
fcis-31242	122	36	,	,	PUNCT
fcis-31242	122	37	2068(1	2068(1	NUM
fcis-31242	122	38	)	)	PUNCT
fcis-31242	122	39	.	.	PUNCT
fcis-31242	123	1	[	[	X
fcis-31242	123	2	6	6	NUM
fcis-31242	123	3	]	]	SYM
fcis-31242	123	4	avirams	aviram	NOUN
fcis-31242	123	5	,	,	PUNCT
fcis-31242	123	6	levnere	levnere	ADJ
fcis-31242	123	7	.enhancing	.enhancing	ADP
fcis-31242	123	8	path	path	NOUN
fcis-31242	123	9	planning	planning	NOUN
fcis-31242	123	10	for	for	ADP
fcis-31242	123	11	autonomous	autonomous	ADJ
fcis-31242	123	12	robots	robot	NOUN
fcis-31242	123	13	in	in	ADP
fcis-31242	123	14	large	large	ADJ
fcis-31242	123	15	,	,	PUNCT
fcis-31242	123	16	obstacle‐crowded	obstacle‐crowded	ADJ
fcis-31242	123	17	environments	environment	NOUN
fcis-31242	123	18	:	:	PUNCT
fcis-31242	123	19	a	a	DET
fcis-31242	123	20	practical	practical	ADJ
fcis-31242	123	21	improvement	improvement	NOUN
fcis-31242	123	22	to	to	ADP
fcis-31242	123	23	the	the	DET
fcis-31242	123	24	prm	prm	PROPN
fcis-31242	123	25	algorithm[j].journal	algorithm[j].journal	PROPN
fcis-31242	123	26	of	of	ADP
fcis-31242	123	27	robotics	robotic	NOUN
fcis-31242	123	28	,	,	PUNCT
fcis-31242	123	29	2025	2025	NUM
fcis-31242	123	30	,	,	PUNCT
fcis-31242	123	31	2025(1):9569965	2025(1):9569965	NOUN
fcis-31242	123	32	-	-	NOUN
fcis-31242	123	33	9569965	9569965	NUM
fcis-31242	123	34	.	.	PUNCT
fcis-31242	124	1	[	[	X
fcis-31242	124	2	7	7	X
fcis-31242	124	3	]	]	X
fcis-31242	124	4	wang	wang	PROPN
fcis-31242	124	5	xinwei	xinwei	PROPN
fcis-31242	124	6	,	,	PUNCT
fcis-31242	124	7	feng	feng	PROPN
fcis-31242	124	8	feng	feng	PROPN
fcis-31242	124	9	.	.	PUNCT
fcis-31242	125	1	research	research	NOUN
fcis-31242	125	2	on	on	ADP
fcis-31242	125	3	two	two	NUM
fcis-31242	125	4	-	-	PUNCT
fcis-31242	125	5	dimensional	dimensional	ADJ
fcis-31242	125	6	path	path	NOUN
fcis-31242	125	7	planning	planning	NOUN
fcis-31242	125	8	for	for	ADP
fcis-31242	125	9	robots	robot	NOUN
fcis-31242	125	10	based	base	VERB
fcis-31242	125	11	on	on	ADP
fcis-31242	125	12	crown	crown	NOUN
fcis-31242	125	13	porcupine	porcupine	NOUN
fcis-31242	125	14	optimization	optimization	NOUN
fcis-31242	125	15	algorithm	algorithm	NOUN
fcis-31242	126	1	[	[	X
fcis-31242	126	2	j	j	X
fcis-31242	126	3	/	/	SYM
fcis-31242	126	4	ol	ol	PROPN
fcis-31242	126	5	]	]	PUNCT
fcis-31242	126	6	.	.	PUNCT
fcis-31242	127	1	internet	internet	NOUN
fcis-31242	127	2	of	of	ADP
fcis-31242	127	3	things	thing	NOUN
fcis-31242	127	4	technology,1	technology,1	NOUN
fcis-31242	127	5	-	-	PUNCT
fcis-31242	127	6	4[2025	4[2025	NOUN
fcis-31242	127	7	-	-	PUNCT
fcis-31242	127	8	0602	0602	NUM
fcis-31242	127	9	]	]	PUNCT
fcis-31242	127	10	.	.	PUNCT
fcis-31242	128	1	[	[	X
fcis-31242	128	2	8	8	NUM
fcis-31242	128	3	]	]	PUNCT
fcis-31242	128	4	song	song	NOUN
fcis-31242	128	5	qingjun	qingjun	PROPN
fcis-31242	128	6	,	,	PUNCT
fcis-31242	128	7	meng	meng	PROPN
fcis-31242	128	8	xiangfu	xiangfu	PROPN
fcis-31242	128	9	,	,	PUNCT
fcis-31242	128	10	jiang	jiang	PROPN
fcis-31242	128	11	haiyan	haiyan	PROPN
fcis-31242	128	12	,	,	PUNCT
fcis-31242	128	13	et	et	PROPN
fcis-31242	128	14	al	al	PROPN
fcis-31242	128	15	.	.	PROPN
fcis-31242	128	16	mobile	mobile	PROPN
fcis-31242	128	17	robot	robot	PROPN
fcis-31242	128	18	path	path	PROPN
fcis-31242	128	19	planning	planning	NOUN
fcis-31242	128	20	based	base	VERB
fcis-31242	128	21	on	on	ADP
fcis-31242	128	22	improved	improved	ADJ
fcis-31242	128	23	dragonfly	dragonfly	NOUN
fcis-31242	128	24	algorithm	algorithm	NOUN
fcis-31242	129	1	[	[	X
fcis-31242	129	2	j	j	X
fcis-31242	129	3	/	/	SYM
fcis-31242	129	4	ol	ol	PROPN
fcis-31242	129	5	]	]	PUNCT
fcis-31242	129	6	.	.	PUNCT
fcis-31242	130	1	combined	combine	VERB
fcis-31242	130	2	machine	machine	NOUN
fcis-31242	130	3	tools	tool	NOUN
fcis-31242	130	4	and	and	CCONJ
fcis-31242	130	5	automated	automate	VERB
fcis-31242	130	6	machining	machining	NOUN
fcis-31242	130	7	technology,1	technology,1	NOUN
fcis-31242	130	8	-	-	PUNCT
fcis-31242	130	9	7[2025	7[2025	PROPN
fcis-31242	130	10	-	-	PUNCT
fcis-31242	130	11	06	06	NUM
fcis-31242	130	12	-	-	SYM
fcis-31242	130	13	02	02	NUM
fcis-31242	130	14	]	]	PUNCT
fcis-31242	130	15	.	.	PUNCT
fcis-31242	131	1	[	[	X
fcis-31242	131	2	9	9	NUM
fcis-31242	131	3	]	]	SYM
fcis-31242	131	4	zhengjun	zhengjun	NOUN
fcis-31242	131	5	zhao	zhao	PROPN
fcis-31242	131	6	,	,	PUNCT
fcis-31242	131	7	likun	likun	PROPN
fcis-31242	131	8	hu	hu	PROPN
fcis-31242	131	9	,	,	PUNCT
fcis-31242	131	10	chengjie	chengjie	PROPN
fcis-31242	131	11	cai	cai	PROPN
fcis-31242	131	12	,	,	PUNCT
fcis-31242	131	13	et	et	PROPN
fcis-31242	131	14	.	.	PUNCT
fcis-31242	132	1	al	al	PROPN
fcis-31242	132	2	.	.	PROPN
fcis-31242	132	3	mobile	mobile	PROPN
fcis-31242	132	4	robot	robot	PROPN
fcis-31242	132	5	path	path	PROPN
fcis-31242	132	6	planning	planning	NOUN
fcis-31242	132	7	based	base	VERB
fcis-31242	132	8	on	on	ADP
fcis-31242	132	9	improved	improved	ADJ
fcis-31242	132	10	egret	egret	NOUN
fcis-31242	132	11	swarm	swarm	NOUN
fcis-31242	132	12	optimization	optimization	NOUN
fcis-31242	132	13	algorithm[j	algorithm[j	PROPN
fcis-31242	132	14	]	]	PUNCT
fcis-31242	132	15	.	.	PUNCT
fcis-31242	133	1	modern	modern	ADJ
fcis-31242	133	2	manufacturing	manufacturing	NOUN
fcis-31242	133	3	engineering	engineering	NOUN
fcis-31242	133	4	,	,	PUNCT
fcis-31242	133	5	2025	2025	NUM
fcis-31242	133	6	,	,	PUNCT
fcis-31242	133	7	(	(	PUNCT
fcis-31242	133	8	02):37	02):37	NUM
fcis-31242	133	9	-	-	SYM
fcis-31242	133	10	43	43	NUM
fcis-31242	133	11	+	+	NOUN
fcis-31242	133	12	150	150	NUM
fcis-31242	133	13	.	.	PUNCT
fcis-31242	134	1	[	[	X
fcis-31242	134	2	10	10	NUM
fcis-31242	134	3	]	]	PUNCT
fcis-31242	134	4	guanghui	guanghui	PROPN
fcis-31242	134	5	xu	xu	PROPN
fcis-31242	134	6	,	,	PUNCT
fcis-31242	134	7	eddie	eddie	PROPN
fcis-31242	134	8	deng	deng	PROPN
fcis-31242	134	9	,	,	PUNCT
fcis-31242	134	10	shuqing	shuqe	VERB
fcis-31242	134	11	wang	wang	PROPN
fcis-31242	134	12	,	,	PUNCT
fcis-31242	134	13	et	et	PROPN
fcis-31242	134	14	al	al	PROPN
fcis-31242	134	15	.	.	PROPN
fcis-31242	134	16	improved	improve	VERB
fcis-31242	134	17	crested	crest	VERB
fcis-31242	134	18	porcupine	porcupine	NOUN
fcis-31242	134	19	optimization	optimization	NOUN
fcis-31242	134	20	algorithm	algorithm	NOUN
fcis-31242	134	21	for	for	ADP
fcis-31242	134	22	threedimensional	threedimensional	ADJ
fcis-31242	134	23	path	path	NOUN
fcis-31242	134	24	planning	planning	NOUN
fcis-31242	134	25	of	of	ADP
fcis-31242	134	26	unmanned	unmanned	ADJ
fcis-31242	134	27	aerial	aerial	ADJ
fcis-31242	134	28	vehicles[j	vehicles[j	NOUN
fcis-31242	134	29	]	]	PUNCT
fcis-31242	134	30	.	.	PUNCT
fcis-31242	135	1	journal	journal	PROPN
fcis-31242	135	2	of	of	ADP
fcis-31242	135	3	central	central	PROPN
fcis-31242	135	4	south	south	PROPN
fcis-31242	135	5	university	university	PROPN
fcis-31242	135	6	for	for	ADP
fcis-31242	135	7	nationalities	nationality	NOUN
fcis-31242	135	8	(	(	PUNCT
fcis-31242	135	9	natural	natural	ADJ
fcis-31242	135	10	science	science	NOUN
fcis-31242	135	11	edition),2025,44(02):237	edition),2025,44(02):237	PROPN
fcis-31242	135	12	-	-	PUNCT
fcis-31242	135	13	244	244	NUM
fcis-31242	135	14	.	.	PUNCT
fcis-31242	136	1	[	[	X
fcis-31242	136	2	11	11	NUM
fcis-31242	136	3	]	]	X
fcis-31242	136	4	zuyan	zuyan	PROPN
fcis-31242	136	5	c	c	X
fcis-31242	136	6	,	,	PUNCT
fcis-31242	136	7	adam	adam	PROPN
fcis-31242	136	8	f	f	PROPN
fcis-31242	136	9	,	,	PUNCT
fcis-31242	136	10	shuai	shuai	PROPN
fcis-31242	136	11	l	l	PROPN
fcis-31242	136	12	,	,	PUNCT
fcis-31242	136	13	et	et	PROPN
fcis-31242	136	14	al.egret	al.egret	NOUN
fcis-31242	136	15	swarm	swarm	NOUN
fcis-31242	136	16	optimization	optimization	NOUN
fcis-31242	136	17	algorithm	algorithm	NOUN
fcis-31242	136	18	:	:	PUNCT
fcis-31242	136	19	an	an	DET
fcis-31242	136	20	evolutionary	evolutionary	ADJ
fcis-31242	136	21	computation	computation	NOUN
fcis-31242	136	22	approach	approach	NOUN
fcis-31242	136	23	for	for	ADP
fcis-31242	136	24	model	model	NOUN
fcis-31242	136	25	free	free	ADJ
fcis-31242	136	26	optimization.[j].biomimetics	optimization.[j].biomimetic	NOUN
fcis-31242	136	27	(	(	PUNCT
fcis-31242	136	28	basel	basel	PROPN
fcis-31242	136	29	,	,	PUNCT
fcis-31242	136	30	switzerland	switzerland	PROPN
fcis-31242	136	31	)	)	PUNCT
fcis-31242	136	32	,	,	PUNCT
fcis-31242	136	33	2022	2022	NUM
fcis-31242	136	34	,	,	PUNCT
fcis-31242	136	35	7	7	NUM
fcis-31242	136	36	(	(	PUNCT
fcis-31242	136	37	4):144	4):144	NUM
fcis-31242	136	38	-	-	NOUN
fcis-31242	136	39	144	144	NUM
fcis-31242	136	40	.	.	PUNCT
fcis-31242	137	1	[	[	X
fcis-31242	137	2	12	12	NUM
fcis-31242	137	3	]	]	X
fcis-31242	137	4	huang	huang	PROPN
fcis-31242	137	5	huajuan	huajuan	PROPN
fcis-31242	137	6	,	,	PUNCT
fcis-31242	137	7	min	min	PROPN
fcis-31242	137	8	feng	feng	PROPN
fcis-31242	137	9	.	.	PUNCT
fcis-31242	138	1	a	a	DET
fcis-31242	138	2	multi	multi	ADJ
fcis-31242	138	3	-	-	ADJ
fcis-31242	138	4	strategy	strategy	ADJ
fcis-31242	138	5	dragonfly	dragonfly	NOUN
fcis-31242	138	6	algorithm	algorithm	NOUN
fcis-31242	138	7	for	for	ADP
fcis-31242	138	8	solving	solve	VERB
fcis-31242	138	9	inverse	inverse	NOUN
fcis-31242	138	10	kinematics[j	kinematics[j	PROPN
fcis-31242	138	11	]	]	PUNCT
fcis-31242	138	12	.	.	PUNCT
fcis-31242	139	1	journal	journal	PROPN
fcis-31242	139	2	of	of	ADP
fcis-31242	139	3	henan	henan	PROPN
fcis-31242	139	4	normal	normal	ADJ
fcis-31242	139	5	university	university	NOUN
fcis-31242	139	6	(	(	PUNCT
fcis-31242	139	7	natural	natural	ADJ
fcis-31242	139	8	science	science	NOUN
fcis-31242	139	9	edition),2023,51(05):4658	edition),2023,51(05):4658	NOUN
fcis-31242	139	10	.	.	PUNCT
fcis-31242	140	1	[	[	X
fcis-31242	140	2	13	13	NUM
fcis-31242	140	3	]	]	X
fcis-31242	140	4	sulaiman	sulaiman	PROPN
fcis-31242	140	5	h	h	PROPN
fcis-31242	140	6	m	m	PROPN
fcis-31242	140	7	,	,	PUNCT
fcis-31242	140	8	mustaffa	mustaffa	PROPN
fcis-31242	140	9	z	z	PROPN
fcis-31242	140	10	,	,	PUNCT
fcis-31242	140	11	saari	saari	PROPN
fcis-31242	140	12	m	m	VERB
fcis-31242	140	13	m	m	VERB
fcis-31242	140	14	,	,	PUNCT
fcis-31242	140	15	et	et	NOUN
fcis-31242	140	16	al.barnacles	al.barnacle	VERB
fcis-31242	140	17	mating	mating	NOUN
fcis-31242	140	18	optimizer	optimizer	NOUN
fcis-31242	140	19	:	:	PUNCT
fcis-31242	140	20	a	a	DET
fcis-31242	140	21	new	new	ADJ
fcis-31242	140	22	bio	bio	ADJ
fcis-31242	140	23	-	-	PUNCT
fcis-31242	140	24	inspired	inspire	VERB
fcis-31242	140	25	algorithm	algorithm	NOUN
fcis-31242	140	26	for	for	ADP
fcis-31242	140	27	solving	solve	VERB
fcis-31242	140	28	engineering	engineering	NOUN
fcis-31242	140	29	optimization	optimization	NOUN
fcis-31242	140	30	problems[j].engineering	problems[j].engineering	NOUN
fcis-31242	140	31	applications	application	NOUN
fcis-31242	140	32	of	of	ADP
fcis-31242	140	33	artificial	artificial	ADJ
fcis-31242	140	34	intelligence,2020,87103330	intelligence,2020,87103330	NOUN
fcis-31242	140	35	-	-	PUNCT
fcis-31242	140	36	103330	103330	NUM
fcis-31242	140	37	.	.	PUNCT