id	sid	tid	token	lemma	pos
fcis-31433	1	1	frontiers	frontier	NOUN
fcis-31433	1	2	in	in	ADP
fcis-31433	1	3	computing	computing	NOUN
fcis-31433	1	4	and	and	CCONJ
fcis-31433	1	5	intelligent	intelligent	ADJ
fcis-31433	1	6	systems	system	NOUN
fcis-31433	1	7	issn	issn	VERB
fcis-31433	1	8	:	:	PUNCT
fcis-31433	1	9	2832	2832	NUM
fcis-31433	1	10	-	-	SYM
fcis-31433	1	11	6024	6024	NUM
fcis-31433	1	12	|	|	NOUN
fcis-31433	1	13	vol	vol	NOUN
fcis-31433	1	14	.	.	PROPN
fcis-31433	2	1	13	13	NUM
fcis-31433	2	2	,	,	PUNCT
fcis-31433	2	3	no	no	INTJ
fcis-31433	2	4	.	.	NOUN
fcis-31433	2	5	1	1	NUM
fcis-31433	2	6	,	,	PUNCT
fcis-31433	2	7	2025	2025	NUM
fcis-31433	2	8	61	61	NUM
fcis-31433	2	9	a	a	DET
fcis-31433	2	10	self‐adaptive	self‐adaptive	ADJ
fcis-31433	2	11	heterogeneous	heterogeneous	ADJ
fcis-31433	2	12	ant	ant	ADJ
fcis-31433	2	13	colony	colony	NOUN
fcis-31433	2	14	algorithm	algorithm	NOUN
fcis-31433	2	15	for	for	ADP
fcis-31433	2	16	path	path	NOUN
fcis-31433	2	17	planning	planning	NOUN
fcis-31433	2	18	jiawei	jiawei	PROPN
fcis-31433	2	19	ge	ge	PROPN
fcis-31433	2	20	,	,	PUNCT
fcis-31433	2	21	jianjun	jianjun	PROPN
fcis-31433	2	22	zhu	zhu	PROPN
fcis-31433	2	23	college	college	PROPN
fcis-31433	2	24	of	of	ADP
fcis-31433	2	25	information	information	NOUN
fcis-31433	2	26	and	and	CCONJ
fcis-31433	2	27	control	control	PROPN
fcis-31433	2	28	engineering	engineering	PROPN
fcis-31433	2	29	,	,	PUNCT
fcis-31433	2	30	jilin	jilin	PROPN
fcis-31433	2	31	institute	institute	PROPN
fcis-31433	2	32	of	of	ADP
fcis-31433	2	33	chemical	chemical	PROPN
fcis-31433	2	34	technology	technology	PROPN
fcis-31433	2	35	,	,	PUNCT
fcis-31433	2	36	jilin	jilin	PROPN
fcis-31433	2	37	jilin	jilin	PROPN
fcis-31433	2	38	,	,	PUNCT
fcis-31433	2	39	132022	132022	NUM
fcis-31433	2	40	,	,	PUNCT
fcis-31433	2	41	china	china	PROPN
fcis-31433	2	42	abstract	abstract	NOUN
fcis-31433	2	43	:	:	PUNCT
fcis-31433	2	44	to	to	PART
fcis-31433	2	45	address	address	VERB
fcis-31433	2	46	the	the	DET
fcis-31433	2	47	issues	issue	NOUN
fcis-31433	2	48	of	of	ADP
fcis-31433	2	49	traditional	traditional	ADJ
fcis-31433	2	50	ant	ant	ADJ
fcis-31433	2	51	colony	colony	NOUN
fcis-31433	2	52	optimization	optimization	NOUN
fcis-31433	2	53	(	(	PUNCT
fcis-31433	2	54	aco	aco	PROPN
fcis-31433	2	55	)	)	PUNCT
fcis-31433	2	56	algorithms	algorithm	NOUN
fcis-31433	2	57	in	in	ADP
fcis-31433	2	58	path	path	NOUN
fcis-31433	2	59	planning	planning	NOUN
fcis-31433	2	60	,	,	PUNCT
fcis-31433	2	61	including	include	VERB
fcis-31433	2	62	susceptibility	susceptibility	NOUN
fcis-31433	2	63	to	to	ADP
fcis-31433	2	64	local	local	ADJ
fcis-31433	2	65	optima	optima	NOUN
fcis-31433	2	66	,	,	PUNCT
fcis-31433	2	67	low	low	ADJ
fcis-31433	2	68	convergence	convergence	NOUN
fcis-31433	2	69	efficiency	efficiency	NOUN
fcis-31433	2	70	,	,	PUNCT
fcis-31433	2	71	and	and	CCONJ
fcis-31433	2	72	insufficient	insufficient	ADJ
fcis-31433	2	73	environmental	environmental	ADJ
fcis-31433	2	74	adaptability	adaptability	NOUN
fcis-31433	3	1	,	,	PUNCT
fcis-31433	3	2	this	this	DET
fcis-31433	3	3	paper	paper	NOUN
fcis-31433	3	4	proposes	propose	VERB
fcis-31433	3	5	a	a	DET
fcis-31433	3	6	self	self	NOUN
fcis-31433	3	7	-	-	PUNCT
fcis-31433	3	8	adaptive	adaptive	ADJ
fcis-31433	3	9	heterogeneous	heterogeneous	ADJ
fcis-31433	3	10	ant	ant	ADJ
fcis-31433	3	11	colony	colony	NOUN
fcis-31433	3	12	optimization	optimization	NOUN
fcis-31433	3	13	(	(	PUNCT
fcis-31433	3	14	sa	sa	NOUN
fcis-31433	3	15	-	-	PUNCT
fcis-31433	3	16	haco	haco	PROPN
fcis-31433	3	17	)	)	PUNCT
fcis-31433	3	18	.	.	PUNCT
fcis-31433	4	1	firstly	firstly	ADV
fcis-31433	4	2	,	,	PUNCT
fcis-31433	4	3	a	a	DET
fcis-31433	4	4	non	non	ADJ
fcis-31433	4	5	-	-	ADJ
fcis-31433	4	6	uniform	uniform	ADJ
fcis-31433	4	7	pheromone	pheromone	NOUN
fcis-31433	4	8	initialization	initialization	NOUN
fcis-31433	4	9	method	method	NOUN
fcis-31433	4	10	is	be	AUX
fcis-31433	4	11	introduced	introduce	VERB
fcis-31433	4	12	to	to	PART
fcis-31433	4	13	preset	preset	VERB
fcis-31433	4	14	pheromone	pheromone	NOUN
fcis-31433	4	15	concentrations	concentration	NOUN
fcis-31433	4	16	on	on	ADP
fcis-31433	4	17	feasible	feasible	ADJ
fcis-31433	4	18	paths	path	NOUN
fcis-31433	4	19	between	between	ADP
fcis-31433	4	20	start	start	NOUN
fcis-31433	4	21	and	and	CCONJ
fcis-31433	4	22	end	end	NOUN
fcis-31433	4	23	points	point	NOUN
fcis-31433	4	24	,	,	PUNCT
fcis-31433	4	25	enhancing	enhance	VERB
fcis-31433	4	26	initial	initial	ADJ
fcis-31433	4	27	search	search	NOUN
fcis-31433	4	28	efficiency	efficiency	NOUN
fcis-31433	4	29	.	.	PUNCT
fcis-31433	5	1	secondly	secondly	ADV
fcis-31433	5	2	,	,	PUNCT
fcis-31433	5	3	a	a	DET
fcis-31433	5	4	pheromone	pheromone	NOUN
fcis-31433	5	5	diffusion	diffusion	NOUN
fcis-31433	5	6	model	model	NOUN
fcis-31433	5	7	is	be	AUX
fcis-31433	5	8	designed	design	VERB
fcis-31433	5	9	to	to	PART
fcis-31433	5	10	enable	enable	VERB
fcis-31433	5	11	pheromone	pheromone	NOUN
fcis-31433	5	12	spreading	spread	VERB
fcis-31433	5	13	to	to	ADP
fcis-31433	5	14	adjacent	adjacent	ADJ
fcis-31433	5	15	grids	grid	NOUN
fcis-31433	5	16	,	,	PUNCT
fcis-31433	5	17	strengthening	strengthen	VERB
fcis-31433	5	18	global	global	ADJ
fcis-31433	5	19	exploration	exploration	NOUN
fcis-31433	5	20	capability	capability	NOUN
fcis-31433	5	21	and	and	CCONJ
fcis-31433	5	22	preventing	prevent	VERB
fcis-31433	5	23	local	local	ADJ
fcis-31433	5	24	optima	optima	NOUN
fcis-31433	5	25	.	.	PUNCT
fcis-31433	6	1	meanwhile	meanwhile	ADV
fcis-31433	6	2	,	,	PUNCT
fcis-31433	6	3	a	a	DET
fcis-31433	6	4	heterogeneous	heterogeneous	ADJ
fcis-31433	6	5	ant	ant	ADJ
fcis-31433	6	6	colony	colony	NOUN
fcis-31433	6	7	system	system	NOUN
fcis-31433	6	8	is	be	AUX
fcis-31433	6	9	implemented	implement	VERB
fcis-31433	6	10	,	,	PUNCT
fcis-31433	6	11	where	where	SCONJ
fcis-31433	6	12	gaussian	gaussian	ADJ
fcis-31433	6	13	mutation	mutation	NOUN
fcis-31433	6	14	functions	function	NOUN
fcis-31433	6	15	assign	assign	VERB
fcis-31433	6	16	differentiated	differentiated	ADJ
fcis-31433	6	17	parameters	parameter	NOUN
fcis-31433	6	18	to	to	ADP
fcis-31433	6	19	individual	individual	ADJ
fcis-31433	6	20	ants	ant	NOUN
fcis-31433	6	21	,	,	PUNCT
fcis-31433	6	22	thereby	thereby	ADV
fcis-31433	6	23	improving	improve	VERB
fcis-31433	6	24	population	population	NOUN
fcis-31433	6	25	diversity	diversity	NOUN
fcis-31433	6	26	.	.	PUNCT
fcis-31433	7	1	combined	combine	VERB
fcis-31433	7	2	with	with	ADP
fcis-31433	7	3	an	an	DET
fcis-31433	7	4	information	information	NOUN
fcis-31433	7	5	entropy	entropy	ADV
fcis-31433	7	6	-	-	PUNCT
fcis-31433	7	7	based	base	VERB
fcis-31433	7	8	adaptive	adaptive	ADJ
fcis-31433	7	9	mechanism	mechanism	NOUN
fcis-31433	7	10	that	that	PRON
fcis-31433	7	11	dynamically	dynamically	ADV
fcis-31433	7	12	adjusts	adjust	VERB
fcis-31433	7	13	exploration	exploration	NOUN
fcis-31433	7	14	-	-	PUNCT
fcis-31433	7	15	exploitation	exploitation	NOUN
fcis-31433	7	16	weight	weight	NOUN
fcis-31433	7	17	parameters	parameter	NOUN
fcis-31433	7	18	,	,	PUNCT
fcis-31433	7	19	the	the	DET
fcis-31433	7	20	algorithm	algorithm	NOUN
fcis-31433	7	21	achieves	achieve	VERB
fcis-31433	7	22	a	a	DET
fcis-31433	7	23	balance	balance	NOUN
fcis-31433	7	24	between	between	ADP
fcis-31433	7	25	convergence	convergence	NOUN
fcis-31433	7	26	speed	speed	NOUN
fcis-31433	7	27	and	and	CCONJ
fcis-31433	7	28	global	global	ADJ
fcis-31433	7	29	optimization	optimization	NOUN
fcis-31433	7	30	capability	capability	NOUN
fcis-31433	7	31	.	.	PUNCT
fcis-31433	8	1	simulation	simulation	NOUN
fcis-31433	8	2	experiments	experiment	NOUN
fcis-31433	8	3	conducted	conduct	VERB
fcis-31433	8	4	on	on	ADP
fcis-31433	8	5	30×30	30×30	NUM
fcis-31433	8	6	and	and	CCONJ
fcis-31433	8	7	50×50	50×50	NUM
fcis-31433	8	8	grid	grid	NOUN
fcis-31433	8	9	maps	map	NOUN
fcis-31433	8	10	demonstrate	demonstrate	VERB
fcis-31433	8	11	that	that	SCONJ
fcis-31433	8	12	sa	sa	NOUN
fcis-31433	8	13	-	-	PUNCT
fcis-31433	8	14	haco	haco	NOUN
fcis-31433	8	15	significantly	significantly	ADV
fcis-31433	8	16	outperforms	outperform	VERB
fcis-31433	8	17	comparative	comparative	ADJ
fcis-31433	8	18	algorithms	algorithm	NOUN
fcis-31433	8	19	(	(	PUNCT
fcis-31433	8	20	aco	aco	PROPN
fcis-31433	8	21	,	,	PUNCT
fcis-31433	8	22	ps	ps	PROPN
fcis-31433	8	23	-	-	PUNCT
fcis-31433	8	24	aco	aco	PROPN
fcis-31433	8	25	,	,	PUNCT
fcis-31433	8	26	and	and	CCONJ
fcis-31433	8	27	jop	jop	PROPN
fcis-31433	8	28	-	-	PUNCT
fcis-31433	8	29	aco	aco	PROPN
fcis-31433	8	30	)	)	PUNCT
fcis-31433	8	31	in	in	ADP
fcis-31433	8	32	path	path	NOUN
fcis-31433	8	33	length	length	NOUN
fcis-31433	8	34	,	,	PUNCT
fcis-31433	8	35	smoothness	smoothness	ADJ
fcis-31433	8	36	,	,	PUNCT
fcis-31433	8	37	and	and	CCONJ
fcis-31433	8	38	convergence	convergence	NOUN
fcis-31433	8	39	speed	speed	NOUN
fcis-31433	8	40	.	.	PUNCT
fcis-31433	9	1	particularly	particularly	ADV
fcis-31433	9	2	in	in	ADP
fcis-31433	9	3	complex	complex	ADJ
fcis-31433	9	4	environments	environment	NOUN
fcis-31433	9	5	,	,	PUNCT
fcis-31433	9	6	it	it	PRON
fcis-31433	9	7	consistently	consistently	ADV
fcis-31433	9	8	obtains	obtain	VERB
fcis-31433	9	9	optimal	optimal	ADJ
fcis-31433	9	10	paths	path	NOUN
fcis-31433	9	11	,	,	PUNCT
fcis-31433	9	12	verifying	verify	VERB
fcis-31433	9	13	its	its	PRON
fcis-31433	9	14	robustness	robustness	NOUN
fcis-31433	9	15	and	and	CCONJ
fcis-31433	9	16	adaptability	adaptability	NOUN
fcis-31433	9	17	.	.	PUNCT
fcis-31433	10	1	this	this	DET
fcis-31433	10	2	research	research	NOUN
fcis-31433	10	3	provides	provide	VERB
fcis-31433	10	4	a	a	DET
fcis-31433	10	5	novel	novel	ADJ
fcis-31433	10	6	methodology	methodology	NOUN
fcis-31433	10	7	for	for	ADP
fcis-31433	10	8	path	path	NOUN
fcis-31433	10	9	planning	planning	NOUN
fcis-31433	10	10	problems	problem	NOUN
fcis-31433	10	11	that	that	PRON
fcis-31433	10	12	effectively	effectively	ADV
fcis-31433	10	13	balances	balance	VERB
fcis-31433	10	14	efficiency	efficiency	NOUN
fcis-31433	10	15	and	and	CCONJ
fcis-31433	10	16	global	global	ADJ
fcis-31433	10	17	optimization	optimization	NOUN
fcis-31433	10	18	capability	capability	NOUN
fcis-31433	10	19	.	.	PUNCT
fcis-31433	11	1	keywords	keyword	NOUN
fcis-31433	11	2	:	:	PUNCT
fcis-31433	11	3	path	path	NOUN
fcis-31433	11	4	planning	planning	NOUN
fcis-31433	11	5	;	;	PUNCT
fcis-31433	11	6	heterogeneous	heterogeneous	ADJ
fcis-31433	11	7	ant	ant	ADJ
fcis-31433	11	8	colony	colony	NOUN
fcis-31433	11	9	system	system	NOUN
fcis-31433	11	10	;	;	PUNCT
fcis-31433	11	11	pheromone	pheromone	NOUN
fcis-31433	11	12	diffusion	diffusion	NOUN
fcis-31433	11	13	model	model	NOUN
fcis-31433	11	14	;	;	PUNCT
fcis-31433	11	15	information	information	NOUN
fcis-31433	11	16	entropy	entropy	NOUN
fcis-31433	11	17	adaptation	adaptation	NOUN
fcis-31433	11	18	.	.	PUNCT
fcis-31433	12	1	1	1	X
fcis-31433	12	2	.	.	X
fcis-31433	12	3	introduction	introduction	NOUN
fcis-31433	12	4	with	with	ADP
fcis-31433	12	5	the	the	DET
fcis-31433	12	6	continuous	continuous	ADJ
fcis-31433	12	7	advancement	advancement	NOUN
fcis-31433	12	8	of	of	ADP
fcis-31433	12	9	automation	automation	NOUN
fcis-31433	12	10	technology	technology	NOUN
fcis-31433	12	11	,	,	PUNCT
fcis-31433	12	12	global	global	ADJ
fcis-31433	12	13	path	path	NOUN
fcis-31433	12	14	planning	planning	NOUN
fcis-31433	12	15	plays	play	VERB
fcis-31433	12	16	a	a	DET
fcis-31433	12	17	vital	vital	ADJ
fcis-31433	12	18	role	role	NOUN
fcis-31433	12	19	in	in	ADP
fcis-31433	12	20	fields	field	NOUN
fcis-31433	12	21	such	such	ADJ
fcis-31433	12	22	as	as	ADP
fcis-31433	12	23	autonomous	autonomous	ADJ
fcis-31433	12	24	vehicles	vehicle	NOUN
fcis-31433	12	25	,	,	PUNCT
fcis-31433	12	26	mobile	mobile	ADJ
fcis-31433	12	27	robots	robot	NOUN
fcis-31433	12	28	,	,	PUNCT
fcis-31433	12	29	and	and	CCONJ
fcis-31433	12	30	industrial	industrial	ADJ
fcis-31433	12	31	automation	automation	NOUN
fcis-31433	12	32	assembly	assembly	NOUN
fcis-31433	12	33	lines	line	NOUN
fcis-31433	12	34	.	.	PUNCT
fcis-31433	13	1	its	its	PRON
fcis-31433	13	2	objective	objective	NOUN
fcis-31433	13	3	is	be	AUX
fcis-31433	13	4	to	to	PART
fcis-31433	13	5	find	find	VERB
fcis-31433	13	6	an	an	DET
fcis-31433	13	7	optimal	optimal	ADJ
fcis-31433	13	8	path	path	NOUN
fcis-31433	13	9	in	in	ADP
fcis-31433	13	10	a	a	DET
fcis-31433	13	11	given	give	VERB
fcis-31433	13	12	environment	environment	NOUN
fcis-31433	13	13	that	that	PRON
fcis-31433	13	14	satisfies	satisfy	VERB
fcis-31433	13	15	specific	specific	ADJ
fcis-31433	13	16	constraints	constraint	NOUN
fcis-31433	13	17	,	,	PUNCT
fcis-31433	13	18	such	such	ADJ
fcis-31433	13	19	as	as	ADP
fcis-31433	13	20	obstacle	obstacle	NOUN
fcis-31433	13	21	avoidance	avoidance	NOUN
fcis-31433	13	22	,	,	PUNCT
fcis-31433	13	23	minimizing	minimize	VERB
fcis-31433	13	24	path	path	NOUN
fcis-31433	13	25	length	length	NOUN
fcis-31433	13	26	,	,	PUNCT
fcis-31433	13	27	etc	etc	X
fcis-31433	13	28	.	.	X
fcis-31433	14	1	[	[	X
fcis-31433	14	2	1	1	NUM
fcis-31433	14	3	]	]	PUNCT
fcis-31433	14	4	.	.	PUNCT
fcis-31433	15	1	traditional	traditional	ADJ
fcis-31433	15	2	path	path	NOUN
fcis-31433	15	3	planning	planning	NOUN
fcis-31433	15	4	algorithms	algorithm	NOUN
fcis-31433	15	5	like	like	ADP
fcis-31433	15	6	the	the	DET
fcis-31433	15	7	a*[2	a*[2	PROPN
fcis-31433	15	8	]	]	X
fcis-31433	15	9	and	and	CCONJ
fcis-31433	15	10	genetic	genetic	ADJ
fcis-31433	15	11	algorithms	algorithm	NOUN
fcis-31433	15	12	[	[	X
fcis-31433	15	13	3	3	X
fcis-31433	15	14	]	]	PUNCT
fcis-31433	15	15	perform	perform	VERB
fcis-31433	15	16	well	well	ADV
fcis-31433	15	17	in	in	ADP
fcis-31433	15	18	certain	certain	ADJ
fcis-31433	15	19	scenarios	scenario	NOUN
fcis-31433	15	20	but	but	CCONJ
fcis-31433	15	21	often	often	ADV
fcis-31433	15	22	struggle	struggle	VERB
fcis-31433	15	23	to	to	PART
fcis-31433	15	24	meet	meet	VERB
fcis-31433	15	25	real	real	ADJ
fcis-31433	15	26	-	-	PUNCT
fcis-31433	15	27	time	time	NOUN
fcis-31433	15	28	and	and	CCONJ
fcis-31433	15	29	optimality	optimality	NOUN
fcis-31433	15	30	requirements	requirement	NOUN
fcis-31433	15	31	in	in	ADP
fcis-31433	15	32	complex	complex	ADJ
fcis-31433	15	33	environments	environment	NOUN
fcis-31433	15	34	,	,	PUNCT
fcis-31433	15	35	facing	face	VERB
fcis-31433	15	36	challenges	challenge	NOUN
fcis-31433	15	37	such	such	ADJ
fcis-31433	15	38	as	as	ADP
fcis-31433	15	39	high	high	ADJ
fcis-31433	15	40	computational	computational	ADJ
fcis-31433	15	41	load	load	NOUN
fcis-31433	15	42	,	,	PUNCT
fcis-31433	15	43	poor	poor	ADJ
fcis-31433	15	44	real	real	ADJ
fcis-31433	15	45	-	-	PUNCT
fcis-31433	15	46	time	time	NOUN
fcis-31433	15	47	performance	performance	NOUN
fcis-31433	15	48	,	,	PUNCT
fcis-31433	15	49	and	and	CCONJ
fcis-31433	15	50	susceptibility	susceptibility	NOUN
fcis-31433	15	51	to	to	ADP
fcis-31433	15	52	local	local	ADJ
fcis-31433	15	53	optima	optima	PROPN
fcis-31433	15	54	.	.	PUNCT
fcis-31433	16	1	dorigo	dorigo	PROPN
fcis-31433	16	2	[	[	X
fcis-31433	16	3	4	4	NUM
fcis-31433	16	4	]	]	PUNCT
fcis-31433	16	5	proposed	propose	VERB
fcis-31433	16	6	the	the	DET
fcis-31433	16	7	ant	ant	ADJ
fcis-31433	16	8	colony	colony	NOUN
fcis-31433	16	9	optimization	optimization	NOUN
fcis-31433	16	10	(	(	PUNCT
fcis-31433	16	11	aco	aco	PROPN
fcis-31433	16	12	)	)	PUNCT
fcis-31433	16	13	algorithm	algorithm	NOUN
fcis-31433	16	14	in	in	ADP
fcis-31433	16	15	the	the	DET
fcis-31433	16	16	1990s	1990s	NUM
fcis-31433	16	17	,	,	PUNCT
fcis-31433	16	18	inspired	inspire	VERB
fcis-31433	16	19	by	by	ADP
fcis-31433	16	20	the	the	DET
fcis-31433	16	21	foraging	forage	VERB
fcis-31433	16	22	behavior	behavior	NOUN
fcis-31433	16	23	of	of	ADP
fcis-31433	16	24	ants	ant	NOUN
fcis-31433	16	25	in	in	ADP
fcis-31433	16	26	nature	nature	NOUN
fcis-31433	16	27	.	.	PUNCT
fcis-31433	17	1	as	as	ADP
fcis-31433	17	2	a	a	DET
fcis-31433	17	3	heuristic	heuristic	ADJ
fcis-31433	17	4	algorithm	algorithm	NOUN
fcis-31433	17	5	,	,	PUNCT
fcis-31433	17	6	aco	aco	PROPN
fcis-31433	17	7	exhibits	exhibit	VERB
fcis-31433	17	8	advantages	advantage	NOUN
fcis-31433	17	9	like	like	ADP
fcis-31433	17	10	strong	strong	ADJ
fcis-31433	17	11	convergence	convergence	NOUN
fcis-31433	17	12	and	and	CCONJ
fcis-31433	17	13	adaptability	adaptability	NOUN
fcis-31433	17	14	but	but	CCONJ
fcis-31433	17	15	also	also	ADV
fcis-31433	17	16	suffers	suffer	VERB
fcis-31433	17	17	from	from	ADP
fcis-31433	17	18	issues	issue	NOUN
fcis-31433	17	19	such	such	ADJ
fcis-31433	17	20	as	as	ADP
fcis-31433	17	21	local	local	ADJ
fcis-31433	17	22	optima	optima	PROPN
fcis-31433	17	23	entrapment	entrapment	NOUN
fcis-31433	17	24	and	and	CCONJ
fcis-31433	17	25	dependency	dependency	NOUN
fcis-31433	17	26	on	on	ADP
fcis-31433	17	27	initial	initial	ADJ
fcis-31433	17	28	parameters	parameter	NOUN
fcis-31433	17	29	.	.	PUNCT
fcis-31433	18	1	many	many	ADJ
fcis-31433	18	2	scholars	scholar	NOUN
fcis-31433	18	3	have	have	AUX
fcis-31433	18	4	proposed	propose	VERB
fcis-31433	18	5	improvements	improvement	NOUN
fcis-31433	18	6	to	to	PART
fcis-31433	18	7	address	address	VERB
fcis-31433	18	8	these	these	DET
fcis-31433	18	9	limitations	limitation	NOUN
fcis-31433	18	10	.	.	PUNCT
fcis-31433	19	1	for	for	ADP
fcis-31433	19	2	instance	instance	NOUN
fcis-31433	19	3	,	,	PUNCT
fcis-31433	19	4	miao[5	miao[5	ADP
fcis-31433	19	5	]	]	PUNCT
fcis-31433	19	6	proposed	propose	VERB
fcis-31433	19	7	a	a	DET
fcis-31433	19	8	hybrid	hybrid	ADJ
fcis-31433	19	9	algorithm	algorithm	NOUN
fcis-31433	19	10	integrating	integrate	VERB
fcis-31433	19	11	particle	particle	NOUN
fcis-31433	19	12	swarm	swarm	NOUN
fcis-31433	19	13	optimization	optimization	NOUN
fcis-31433	19	14	(	(	PUNCT
fcis-31433	19	15	pso	pso	NOUN
fcis-31433	19	16	)	)	PUNCT
fcis-31433	19	17	and	and	CCONJ
fcis-31433	19	18	ant	ant	ADJ
fcis-31433	19	19	colony	colony	NOUN
fcis-31433	19	20	optimization	optimization	NOUN
fcis-31433	19	21	(	(	PUNCT
fcis-31433	19	22	aco	aco	PROPN
fcis-31433	19	23	)	)	PUNCT
fcis-31433	19	24	,	,	PUNCT
fcis-31433	19	25	which	which	PRON
fcis-31433	19	26	significantly	significantly	ADV
fcis-31433	19	27	enhances	enhance	VERB
fcis-31433	19	28	path	path	NOUN
fcis-31433	19	29	convergence	convergence	NOUN
fcis-31433	19	30	speed	speed	NOUN
fcis-31433	19	31	through	through	ADP
fcis-31433	19	32	cooperative	cooperative	ADJ
fcis-31433	19	33	optimization	optimization	NOUN
fcis-31433	19	34	of	of	ADP
fcis-31433	19	35	a	a	DET
fcis-31433	19	36	dynamic	dynamic	ADJ
fcis-31433	19	37	pheromone	pheromone	NOUN
fcis-31433	19	38	update	update	NOUN
fcis-31433	19	39	mechanism	mechanism	NOUN
fcis-31433	19	40	and	and	CCONJ
fcis-31433	19	41	particle	particle	NOUN
fcis-31433	19	42	swarm	swarm	NOUN
fcis-31433	19	43	global	global	ADJ
fcis-31433	19	44	search	search	NOUN
fcis-31433	19	45	.	.	PUNCT
fcis-31433	20	1	to	to	PART
fcis-31433	20	2	address	address	VERB
fcis-31433	20	3	the	the	DET
fcis-31433	20	4	issues	issue	NOUN
fcis-31433	20	5	of	of	ADP
fcis-31433	20	6	rigid	rigid	ADJ
fcis-31433	20	7	subgoal	subgoal	PROPN
fcis-31433	20	8	mapping	mapping	NOUN
fcis-31433	20	9	and	and	CCONJ
fcis-31433	20	10	algorithm	algorithm	PROPN
fcis-31433	20	11	local	local	ADJ
fcis-31433	20	12	convergence	convergence	NOUN
fcis-31433	20	13	in	in	ADP
fcis-31433	20	14	robot	robot	NOUN
fcis-31433	20	15	path	path	NOUN
fcis-31433	20	16	planning	planning	NOUN
fcis-31433	20	17	within	within	ADP
fcis-31433	20	18	static	static	ADJ
fcis-31433	20	19	unknown	unknown	ADJ
fcis-31433	20	20	environments	environment	NOUN
fcis-31433	20	21	,	,	PUNCT
fcis-31433	20	22	xu[6	xu[6	PROPN
fcis-31433	20	23	]	]	PUNCT
fcis-31433	20	24	proposes	propose	VERB
fcis-31433	20	25	a	a	DET
fcis-31433	20	26	dynamic	dynamic	ADJ
fcis-31433	20	27	subgoal	subgoal	NOUN
fcis-31433	20	28	mapping	mapping	NOUN
fcis-31433	20	29	strategy	strategy	NOUN
fcis-31433	20	30	and	and	CCONJ
fcis-31433	20	31	an	an	DET
fcis-31433	20	32	aco	aco	PROPN
fcis-31433	20	33	-	-	PUNCT
fcis-31433	20	34	pso	pso	NOUN
fcis-31433	20	35	hybrid	hybrid	ADJ
fcis-31433	20	36	optimization	optimization	NOUN
fcis-31433	20	37	framework	framework	NOUN
fcis-31433	20	38	.	.	PUNCT
fcis-31433	21	1	by	by	ADP
fcis-31433	21	2	incorporating	incorporate	VERB
fcis-31433	21	3	real	real	ADJ
fcis-31433	21	4	-	-	PUNCT
fcis-31433	21	5	time	time	NOUN
fcis-31433	21	6	path	path	NOUN
fcis-31433	21	7	correction	correction	NOUN
fcis-31433	21	8	under	under	ADP
fcis-31433	21	9	a	a	DET
fcis-31433	21	10	rolling	rolling	ADJ
fcis-31433	21	11	window	window	NOUN
fcis-31433	21	12	mechanism	mechanism	NOUN
fcis-31433	21	13	,	,	PUNCT
fcis-31433	21	14	the	the	DET
fcis-31433	21	15	approach	approach	NOUN
fcis-31433	21	16	achieves	achieve	VERB
fcis-31433	21	17	collaborative	collaborative	ADJ
fcis-31433	21	18	optimization	optimization	NOUN
fcis-31433	21	19	between	between	ADP
fcis-31433	21	20	global	global	ADJ
fcis-31433	21	21	path	path	NOUN
fcis-31433	21	22	length	length	NOUN
fcis-31433	21	23	reduction	reduction	NOUN
fcis-31433	21	24	and	and	CCONJ
fcis-31433	21	25	computational	computational	ADJ
fcis-31433	21	26	efficiency	efficiency	NOUN
fcis-31433	21	27	enhancement	enhancement	NOUN
fcis-31433	21	28	.	.	PUNCT
fcis-31433	22	1	du	du	PROPN
fcis-31433	22	2	zhenxin	zhenxin	PROPN
fcis-31433	23	1	[	[	X
fcis-31433	23	2	7	7	X
fcis-31433	23	3	]	]	PUNCT
fcis-31433	23	4	proposed	propose	VERB
fcis-31433	23	5	a	a	DET
fcis-31433	23	6	hybrid	hybrid	ADJ
fcis-31433	23	7	algorithm	algorithm	NOUN
fcis-31433	23	8	combining	combine	VERB
fcis-31433	23	9	aco	aco	PROPN
fcis-31433	23	10	with	with	ADP
fcis-31433	23	11	the	the	DET
fcis-31433	23	12	simulated	simulate	VERB
fcis-31433	23	13	annealing	anneal	VERB
fcis-31433	23	14	(	(	PUNCT
fcis-31433	23	15	sa	sa	NOUN
fcis-31433	23	16	)	)	PUNCT
fcis-31433	23	17	algorithm	algorithm	NOUN
fcis-31433	23	18	.	.	PUNCT
fcis-31433	24	1	after	after	ADP
fcis-31433	24	2	each	each	DET
fcis-31433	24	3	iteration	iteration	NOUN
fcis-31433	24	4	,	,	PUNCT
fcis-31433	24	5	paths	path	NOUN
fcis-31433	24	6	are	be	AUX
fcis-31433	24	7	optimized	optimize	VERB
fcis-31433	24	8	using	use	VERB
fcis-31433	24	9	sa	sa	NOUN
fcis-31433	24	10	to	to	PART
fcis-31433	24	11	ensure	ensure	VERB
fcis-31433	24	12	pheromone	pheromone	NOUN
fcis-31433	24	13	updates	update	NOUN
fcis-31433	24	14	better	well	ADV
fcis-31433	24	15	reflect	reflect	VERB
fcis-31433	24	16	path	path	NOUN
fcis-31433	24	17	quality	quality	NOUN
fcis-31433	24	18	,	,	PUNCT
fcis-31433	24	19	while	while	SCONJ
fcis-31433	24	20	also	also	ADV
fcis-31433	24	21	preventing	prevent	VERB
fcis-31433	24	22	premature	premature	ADJ
fcis-31433	24	23	convergence	convergence	NOUN
fcis-31433	24	24	.	.	PUNCT
fcis-31433	25	1	this	this	DET
fcis-31433	25	2	paper	paper	NOUN
fcis-31433	25	3	proposes	propose	VERB
fcis-31433	25	4	improvements	improvement	NOUN
fcis-31433	25	5	based	base	VERB
fcis-31433	25	6	on	on	ADP
fcis-31433	25	7	the	the	DET
fcis-31433	25	8	ant	ant	ADJ
fcis-31433	25	9	colony	colony	NOUN
fcis-31433	25	10	system	system	NOUN
fcis-31433	25	11	(	(	PUNCT
fcis-31433	25	12	acs	acs	NOUN
fcis-31433	25	13	)	)	PUNCT
fcis-31433	25	14	model	model	NOUN
fcis-31433	25	15	.	.	PUNCT
fcis-31433	26	1	first	first	ADV
fcis-31433	26	2	,	,	PUNCT
fcis-31433	26	3	a	a	DET
fcis-31433	26	4	non	non	ADJ
fcis-31433	26	5	-	-	ADJ
fcis-31433	26	6	uniform	uniform	ADJ
fcis-31433	26	7	pheromone	pheromone	NOUN
fcis-31433	26	8	initialization	initialization	NOUN
fcis-31433	26	9	method	method	NOUN
fcis-31433	26	10	is	be	AUX
fcis-31433	26	11	adopted	adopt	VERB
fcis-31433	26	12	to	to	PART
fcis-31433	26	13	preassign	preassign	VERB
fcis-31433	26	14	higher	high	ADJ
fcis-31433	26	15	pheromone	pheromone	NOUN
fcis-31433	26	16	concentrations	concentration	NOUN
fcis-31433	26	17	to	to	ADP
fcis-31433	26	18	feasible	feasible	ADJ
fcis-31433	26	19	paths	path	NOUN
fcis-31433	26	20	between	between	ADP
fcis-31433	26	21	the	the	DET
fcis-31433	26	22	start	start	NOUN
fcis-31433	26	23	and	and	CCONJ
fcis-31433	26	24	end	end	VERB
fcis-31433	26	25	points	point	NOUN
fcis-31433	26	26	,	,	PUNCT
fcis-31433	26	27	enhancing	enhance	VERB
fcis-31433	26	28	early	early	ADJ
fcis-31433	26	29	-	-	PUNCT
fcis-31433	26	30	stage	stage	NOUN
fcis-31433	26	31	optimization	optimization	NOUN
fcis-31433	26	32	efficiency	efficiency	NOUN
fcis-31433	26	33	.	.	PUNCT
fcis-31433	27	1	second	second	ADJ
fcis-31433	27	2	,	,	PUNCT
fcis-31433	27	3	an	an	DET
fcis-31433	27	4	adaptive	adaptive	ADJ
fcis-31433	27	5	mechanism	mechanism	NOUN
fcis-31433	27	6	based	base	VERB
fcis-31433	27	7	on	on	ADP
fcis-31433	27	8	information	information	NOUN
fcis-31433	27	9	entropy	entropy	NOUN
fcis-31433	27	10	is	be	AUX
fcis-31433	27	11	introduced	introduce	VERB
fcis-31433	27	12	to	to	PART
fcis-31433	27	13	dynamically	dynamically	ADV
fcis-31433	27	14	adjust	adjust	VERB
fcis-31433	27	15	the	the	DET
fcis-31433	27	16	probabilities	probability	NOUN
fcis-31433	27	17	of	of	ADP
fcis-31433	27	18	exploration	exploration	NOUN
fcis-31433	27	19	and	and	CCONJ
fcis-31433	27	20	exploitation	exploitation	NOUN
fcis-31433	27	21	by	by	ADP
fcis-31433	27	22	analyzing	analyze	VERB
fcis-31433	27	23	solutions	solution	NOUN
fcis-31433	27	24	generated	generate	VERB
fcis-31433	27	25	during	during	ADP
fcis-31433	27	26	iterations	iteration	NOUN
fcis-31433	27	27	,	,	PUNCT
fcis-31433	27	28	thereby	thereby	ADV
fcis-31433	27	29	accelerating	accelerate	VERB
fcis-31433	27	30	convergence	convergence	NOUN
fcis-31433	27	31	.	.	PUNCT
fcis-31433	28	1	finally	finally	ADV
fcis-31433	28	2	,	,	PUNCT
fcis-31433	28	3	a	a	DET
fcis-31433	28	4	pheromone	pheromone	NOUN
fcis-31433	28	5	diffusion	diffusion	NOUN
fcis-31433	28	6	mechanism	mechanism	NOUN
fcis-31433	28	7	is	be	AUX
fcis-31433	28	8	incorporated	incorporate	VERB
fcis-31433	28	9	to	to	PART
fcis-31433	28	10	improve	improve	VERB
fcis-31433	28	11	the	the	DET
fcis-31433	28	12	algorithm	algorithm	NOUN
fcis-31433	28	13	’s	’s	PART
fcis-31433	28	14	ability	ability	NOUN
fcis-31433	28	15	to	to	PART
fcis-31433	28	16	escape	escape	VERB
fcis-31433	28	17	local	local	ADJ
fcis-31433	28	18	optima	optima	NOUN
fcis-31433	28	19	.	.	PUNCT
fcis-31433	29	1	these	these	DET
fcis-31433	29	2	enhancements	enhancement	NOUN
fcis-31433	29	3	collectively	collectively	ADV
fcis-31433	29	4	balance	balance	NOUN
fcis-31433	29	5	convergence	convergence	NOUN
fcis-31433	29	6	speed	speed	NOUN
fcis-31433	29	7	,	,	PUNCT
fcis-31433	29	8	global	global	ADJ
fcis-31433	29	9	optimization	optimization	NOUN
fcis-31433	29	10	capability	capability	NOUN
fcis-31433	29	11	,	,	PUNCT
fcis-31433	29	12	and	and	CCONJ
fcis-31433	29	13	robustness	robustness	NOUN
fcis-31433	29	14	in	in	ADP
fcis-31433	29	15	complex	complex	ADJ
fcis-31433	29	16	environments	environment	NOUN
fcis-31433	29	17	.	.	PUNCT
fcis-31433	30	1	2	2	X
fcis-31433	30	2	.	.	X
fcis-31433	30	3	ant	ant	ADJ
fcis-31433	30	4	colony	colony	NOUN
fcis-31433	30	5	system	system	NOUN
fcis-31433	30	6	(	(	PUNCT
fcis-31433	30	7	acs	acs	PROPN
fcis-31433	30	8	)	)	PUNCT
fcis-31433	30	9	the	the	DET
fcis-31433	30	10	ant	ant	ADJ
fcis-31433	30	11	colony	colony	NOUN
fcis-31433	30	12	algorithm	algorithm	NOUN
fcis-31433	30	13	is	be	AUX
fcis-31433	30	14	a	a	DET
fcis-31433	30	15	heuristic	heuristic	ADJ
fcis-31433	30	16	path	path	NOUN
fcis-31433	30	17	planning	planning	NOUN
fcis-31433	30	18	algorithm	algorithm	NOUN
fcis-31433	30	19	that	that	PRON
fcis-31433	30	20	simulates	simulate	VERB
fcis-31433	30	21	the	the	DET
fcis-31433	30	22	foraging	forage	VERB
fcis-31433	30	23	behavior	behavior	NOUN
fcis-31433	30	24	of	of	ADP
fcis-31433	30	25	ants	ant	NOUN
fcis-31433	30	26	,	,	PUNCT
fcis-31433	30	27	belonging	belong	VERB
fcis-31433	30	28	to	to	ADP
fcis-31433	30	29	the	the	DET
fcis-31433	30	30	category	category	NOUN
fcis-31433	30	31	of	of	ADP
fcis-31433	30	32	swarm	swarm	NOUN
fcis-31433	30	33	intelligence	intelligence	NOUN
fcis-31433	30	34	optimization	optimization	NOUN
fcis-31433	30	35	algorithms	algorithm	NOUN
fcis-31433	30	36	.	.	PUNCT
fcis-31433	31	1	it	it	PRON
fcis-31433	31	2	offers	offer	VERB
fcis-31433	31	3	advantages	advantage	NOUN
fcis-31433	31	4	such	such	ADJ
fcis-31433	31	5	as	as	ADP
fcis-31433	31	6	positive	positive	ADJ
fcis-31433	31	7	feedback	feedback	NOUN
fcis-31433	31	8	,	,	PUNCT
fcis-31433	31	9	parallel	parallel	ADJ
fcis-31433	31	10	computation	computation	NOUN
fcis-31433	31	11	,	,	PUNCT
fcis-31433	31	12	and	and	CCONJ
fcis-31433	31	13	strong	strong	ADJ
fcis-31433	31	14	adaptability	adaptability	NOUN
fcis-31433	31	15	,	,	PUNCT
fcis-31433	31	16	and	and	CCONJ
fcis-31433	31	17	has	have	AUX
fcis-31433	31	18	been	be	AUX
fcis-31433	31	19	widely	widely	ADV
fcis-31433	31	20	applied	apply	VERB
fcis-31433	31	21	to	to	ADP
fcis-31433	31	22	path	path	NOUN
fcis-31433	31	23	planning	planning	NOUN
fcis-31433	31	24	problems	problem	NOUN
fcis-31433	31	25	.	.	PUNCT
fcis-31433	32	1	the	the	DET
fcis-31433	32	2	ant	ant	ADJ
fcis-31433	32	3	colony	colony	NOUN
fcis-31433	32	4	system	system	NOUN
fcis-31433	32	5	(	(	PUNCT
fcis-31433	32	6	acs	acs	PROPN
fcis-31433	32	7	)	)	PUNCT
fcis-31433	32	8	,	,	PUNCT
fcis-31433	32	9	an	an	DET
fcis-31433	32	10	enhanced	enhanced	ADJ
fcis-31433	32	11	version	version	NOUN
fcis-31433	32	12	of	of	ADP
fcis-31433	32	13	the	the	DET
fcis-31433	32	14	classic	classic	ADJ
fcis-31433	32	15	ant	ant	ADJ
fcis-31433	32	16	colony	colony	NOUN
fcis-31433	32	17	algorithm	algorithm	NOUN
fcis-31433	32	18	,	,	PUNCT
fcis-31433	32	19	improves	improve	VERB
fcis-31433	32	20	convergence	convergence	NOUN
fcis-31433	32	21	speed	speed	NOUN
fcis-31433	32	22	and	and	CCONJ
fcis-31433	32	23	optimization	optimization	NOUN
fcis-31433	32	24	capability	capability	NOUN
fcis-31433	32	25	,	,	PUNCT
fcis-31433	32	26	making	make	VERB
fcis-31433	32	27	it	it	PRON
fcis-31433	32	28	one	one	NUM
fcis-31433	32	29	of	of	ADP
fcis-31433	32	30	the	the	DET
fcis-31433	32	31	most	most	ADV
fcis-31433	32	32	classical	classical	ADJ
fcis-31433	32	33	ant	ant	ADJ
fcis-31433	32	34	colony	colony	NOUN
fcis-31433	32	35	algorithms	algorithm	NOUN
fcis-31433	32	36	.	.	PUNCT
fcis-31433	33	1	key	key	ADJ
fcis-31433	33	2	improvements	improvement	NOUN
fcis-31433	33	3	in	in	ADP
fcis-31433	33	4	acs	acs	PROPN
fcis-31433	33	5	include	include	VERB
fcis-31433	33	6	:	:	PUNCT
fcis-31433	33	7	(	(	PUNCT
fcis-31433	33	8	1)path	1)path	NUM
fcis-31433	33	9	selection	selection	NOUN
fcis-31433	33	10	rules	rule	NOUN
fcis-31433	33	11	for	for	ADP
fcis-31433	33	12	ants	ant	NOUN
fcis-31433	33	13	:	:	PUNCT
fcis-31433	33	14	combines	combine	VERB
fcis-31433	33	15	stochastic	stochastic	ADJ
fcis-31433	33	16	selection	selection	NOUN
fcis-31433	33	17	mode	mode	NOUN
fcis-31433	33	18	(	(	PUNCT
fcis-31433	33	19	for	for	ADP
fcis-31433	33	20	solution	solution	NOUN
fcis-31433	33	21	space	space	NOUN
fcis-31433	33	22	exploration	exploration	NOUN
fcis-31433	33	23	)	)	PUNCT
fcis-31433	33	24	with	with	ADP
fcis-31433	33	25	greedy	greedy	ADJ
fcis-31433	33	26	selection	selection	NOUN
fcis-31433	33	27	mode	mode	NOUN
fcis-31433	33	28	(	(	PUNCT
fcis-31433	33	29	for	for	ADP
fcis-31433	33	30	exploiting	exploit	VERB
fcis-31433	33	31	optimal	optimal	ADJ
fcis-31433	33	32	solutions	solution	NOUN
fcis-31433	33	33	)	)	PUNCT
fcis-31433	33	34	,	,	PUNCT
fcis-31433	33	35	employing	employ	VERB
fcis-31433	33	36	parameter	parameter	NOUN
fcis-31433	33	37	0q	0q	NOUN
fcis-31433	33	38	to	to	PART
fcis-31433	33	39	balance	balance	VERB
fcis-31433	33	40	exploration	exploration	NOUN
fcis-31433	33	41	and	and	CCONJ
fcis-31433	33	42	exploitation	exploitation	NOUN
fcis-31433	33	43	during	during	ADP
fcis-31433	33	44	solution	solution	NOUN
fcis-31433	33	45	construction	construction	NOUN
fcis-31433	33	46	.	.	PUNCT
fcis-31433	34	1	(	(	PUNCT
fcis-31433	34	2	2)global	2)global	NUM
fcis-31433	34	3	update	update	NOUN
fcis-31433	34	4	rule	rule	NOUN
fcis-31433	34	5	:	:	PUNCT
fcis-31433	34	6	the	the	DET
fcis-31433	34	7	global	global	ADJ
fcis-31433	34	8	pheromone	pheromone	NOUN
fcis-31433	34	9	update	update	NOUN
fcis-31433	34	10	after	after	ADP
fcis-31433	34	11	62	62	NUM
fcis-31433	34	12	each	each	DET
fcis-31433	34	13	iteration	iteration	NOUN
fcis-31433	34	14	is	be	AUX
fcis-31433	34	15	applied	apply	VERB
fcis-31433	34	16	exclusively	exclusively	ADV
fcis-31433	34	17	to	to	ADP
fcis-31433	34	18	the	the	DET
fcis-31433	34	19	optimal	optimal	ADJ
fcis-31433	34	20	ant	ant	NOUN
fcis-31433	34	21	rather	rather	ADV
fcis-31433	34	22	than	than	ADP
fcis-31433	34	23	all	all	DET
fcis-31433	34	24	ants	ant	NOUN
fcis-31433	34	25	.	.	PUNCT
fcis-31433	35	1	(	(	PUNCT
fcis-31433	35	2	3)local	3)local	NUM
fcis-31433	35	3	pheromone	pheromone	NOUN
fcis-31433	35	4	update	update	NOUN
fcis-31433	35	5	:	:	PUNCT
fcis-31433	35	6	introduces	introduce	VERB
fcis-31433	35	7	an	an	DET
fcis-31433	35	8	additional	additional	ADJ
fcis-31433	35	9	local	local	ADJ
fcis-31433	35	10	pheromone	pheromone	NOUN
fcis-31433	35	11	update	update	NOUN
fcis-31433	35	12	rule	rule	NOUN
fcis-31433	35	13	during	during	ADP
fcis-31433	35	14	path	path	NOUN
fcis-31433	35	15	construction	construction	NOUN
fcis-31433	35	16	.	.	PUNCT
fcis-31433	36	1	3	3	X
fcis-31433	36	2	.	.	X
fcis-31433	36	3	improvement	improvement	NOUN
fcis-31433	36	4	of	of	ADP
fcis-31433	36	5	adaptive	adaptive	ADJ
fcis-31433	36	6	heterogeneous	heterogeneous	ADJ
fcis-31433	36	7	ant	ant	ADJ
fcis-31433	36	8	colony	colony	NOUN
fcis-31433	36	9	system	system	NOUN
fcis-31433	36	10	compared	compare	VERB
fcis-31433	36	11	with	with	ADP
fcis-31433	36	12	aco	aco	PROPN
fcis-31433	36	13	,	,	PUNCT
fcis-31433	36	14	although	although	SCONJ
fcis-31433	36	15	the	the	DET
fcis-31433	36	16	acs	acs	PROPN
fcis-31433	36	17	algorithm	algorithm	NOUN
fcis-31433	36	18	enhances	enhance	VERB
fcis-31433	36	19	exploration	exploration	NOUN
fcis-31433	36	20	efficiency	efficiency	NOUN
fcis-31433	36	21	and	and	CCONJ
fcis-31433	36	22	accelerates	accelerate	VERB
fcis-31433	36	23	convergence	convergence	NOUN
fcis-31433	36	24	speed	speed	NOUN
fcis-31433	36	25	,	,	PUNCT
fcis-31433	36	26	it	it	PRON
fcis-31433	36	27	still	still	ADV
fcis-31433	36	28	suffers	suffer	VERB
fcis-31433	36	29	from	from	ADP
fcis-31433	36	30	drawbacks	drawback	NOUN
fcis-31433	36	31	such	such	ADJ
fcis-31433	36	32	as	as	ADP
fcis-31433	36	33	susceptibility	susceptibility	NOUN
fcis-31433	36	34	to	to	ADP
fcis-31433	36	35	local	local	ADJ
fcis-31433	36	36	optima	optima	NOUN
fcis-31433	36	37	and	and	CCONJ
fcis-31433	36	38	low	low	ADJ
fcis-31433	36	39	exploration	exploration	NOUN
fcis-31433	36	40	efficiency	efficiency	NOUN
fcis-31433	36	41	in	in	ADP
fcis-31433	36	42	the	the	DET
fcis-31433	36	43	early	early	ADJ
fcis-31433	36	44	stages	stage	NOUN
fcis-31433	36	45	.	.	PUNCT
fcis-31433	37	1	this	this	DET
fcis-31433	37	2	paper	paper	NOUN
fcis-31433	37	3	addresses	address	VERB
fcis-31433	37	4	these	these	DET
fcis-31433	37	5	issues	issue	NOUN
fcis-31433	37	6	by	by	ADP
fcis-31433	37	7	employing	employ	VERB
fcis-31433	37	8	an	an	DET
fcis-31433	37	9	uneven	uneven	ADJ
fcis-31433	37	10	pheromone	pheromone	NOUN
fcis-31433	37	11	initialization	initialization	NOUN
fcis-31433	37	12	method	method	NOUN
fcis-31433	37	13	,	,	PUNCT
fcis-31433	37	14	a	a	DET
fcis-31433	37	15	heterogeneous	heterogeneous	ADJ
fcis-31433	37	16	ant	ant	ADJ
fcis-31433	37	17	colony	colony	NOUN
fcis-31433	37	18	system	system	NOUN
fcis-31433	37	19	,	,	PUNCT
fcis-31433	37	20	adaptive	adaptive	ADJ
fcis-31433	37	21	strategy	strategy	NOUN
fcis-31433	37	22	adjustments	adjustment	NOUN
fcis-31433	37	23	for	for	ADP
fcis-31433	37	24	algorithm	algorithm	NOUN
fcis-31433	37	25	parameters	parameter	NOUN
fcis-31433	37	26	,	,	PUNCT
fcis-31433	37	27	and	and	CCONJ
fcis-31433	37	28	the	the	DET
fcis-31433	37	29	introduction	introduction	NOUN
fcis-31433	37	30	of	of	ADP
fcis-31433	37	31	a	a	DET
fcis-31433	37	32	pheromone	pheromone	NOUN
fcis-31433	37	33	diffusion	diffusion	NOUN
fcis-31433	37	34	mechanism	mechanism	NOUN
fcis-31433	37	35	to	to	PART
fcis-31433	37	36	improve	improve	VERB
fcis-31433	37	37	the	the	DET
fcis-31433	37	38	acs	acs	PROPN
fcis-31433	37	39	algorithm	algorithm	NOUN
fcis-31433	37	40	.	.	PUNCT
fcis-31433	38	1	3.1	3.1	NUM
fcis-31433	38	2	.	.	PUNCT
fcis-31433	38	3	pheromone	pheromone	NOUN
fcis-31433	38	4	diffusion	diffusion	NOUN
fcis-31433	38	5	model	model	NOUN
fcis-31433	38	6	to	to	PART
fcis-31433	38	7	prevent	prevent	VERB
fcis-31433	38	8	the	the	DET
fcis-31433	38	9	ant	ant	ADJ
fcis-31433	38	10	colony	colony	NOUN
fcis-31433	38	11	algorithm	algorithm	NOUN
fcis-31433	38	12	from	from	ADP
fcis-31433	38	13	accumulating	accumulate	VERB
fcis-31433	38	14	pheromones	pheromone	NOUN
fcis-31433	38	15	solely	solely	ADV
fcis-31433	38	16	on	on	ADP
fcis-31433	38	17	a	a	DET
fcis-31433	38	18	single	single	ADJ
fcis-31433	38	19	path	path	NOUN
fcis-31433	39	1	[	[	X
fcis-31433	39	2	9	9	NUM
fcis-31433	39	3	]	]	PUNCT
fcis-31433	39	4	and	and	CCONJ
fcis-31433	39	5	to	to	PART
fcis-31433	39	6	enhance	enhance	VERB
fcis-31433	39	7	its	its	PRON
fcis-31433	39	8	exploration	exploration	NOUN
fcis-31433	39	9	and	and	CCONJ
fcis-31433	39	10	local	local	ADJ
fcis-31433	39	11	optima	optima	NOUN
fcis-31433	39	12	escape	escape	NOUN
fcis-31433	39	13	capabilities	capability	NOUN
fcis-31433	39	14	,	,	PUNCT
fcis-31433	39	15	this	this	DET
fcis-31433	39	16	paper	paper	NOUN
fcis-31433	39	17	proposes	propose	VERB
fcis-31433	39	18	a	a	DET
fcis-31433	39	19	pheromone	pheromone	NOUN
fcis-31433	39	20	diffusion	diffusion	NOUN
fcis-31433	39	21	model	model	NOUN
fcis-31433	39	22	.	.	PUNCT
fcis-31433	40	1	when	when	SCONJ
fcis-31433	40	2	using	use	VERB
fcis-31433	40	3	a	a	DET
fcis-31433	40	4	grid	grid	NOUN
fcis-31433	40	5	map	map	NOUN
fcis-31433	40	6	for	for	ADP
fcis-31433	40	7	path	path	NOUN
fcis-31433	40	8	planning	planning	NOUN
fcis-31433	40	9	,	,	PUNCT
fcis-31433	40	10	the	the	DET
fcis-31433	40	11	pheromone	pheromone	NOUN
fcis-31433	40	12	is	be	AUX
fcis-31433	40	13	diffused	diffuse	VERB
fcis-31433	40	14	to	to	ADP
fcis-31433	40	15	the	the	DET
fcis-31433	40	16	eight	eight	NUM
fcis-31433	40	17	surrounding	surround	VERB
fcis-31433	40	18	grid	grid	NOUN
fcis-31433	40	19	cells	cell	NOUN
fcis-31433	40	20	for	for	ADP
fcis-31433	40	21	computational	computational	ADJ
fcis-31433	40	22	simplicity	simplicity	NOUN
fcis-31433	40	23	.	.	PUNCT
fcis-31433	41	1	different	different	ADJ
fcis-31433	41	2	diffusion	diffusion	NOUN
fcis-31433	41	3	coefficients	coefficient	NOUN
fcis-31433	41	4	are	be	AUX
fcis-31433	41	5	assigned	assign	VERB
fcis-31433	41	6	based	base	VERB
fcis-31433	41	7	on	on	ADP
fcis-31433	41	8	distance	distance	NOUN
fcis-31433	41	9	.	.	PUNCT
fcis-31433	42	1	assuming	assume	VERB
fcis-31433	42	2	the	the	DET
fcis-31433	42	3	central	central	ADJ
fcis-31433	42	4	pheromone	pheromone	NOUN
fcis-31433	42	5	concentration	concentration	NOUN
fcis-31433	42	6	is	be	AUX
fcis-31433	42	7	5	5	NUM
fcis-31433	42	8	,	,	PUNCT
fcis-31433	42	9	the	the	DET
fcis-31433	42	10	pheromone	pheromone	NOUN
fcis-31433	42	11	diffusion	diffusion	NOUN
fcis-31433	42	12	model	model	NOUN
fcis-31433	42	13	is	be	AUX
fcis-31433	42	14	illustrated	illustrate	VERB
fcis-31433	42	15	as	as	ADP
fcis-31433	42	16	fig	fig	NOUN
fcis-31433	42	17	1	1	NUM
fcis-31433	42	18	:	:	SYM
fcis-31433	42	19	5	5	NUM
fcis-31433	42	20	1	1	NUM
fcis-31433	42	21	3	3	NUM
fcis-31433	42	22	1	1	NUM
fcis-31433	42	23	3	3	NUM
fcis-31433	42	24	1	1	NUM
fcis-31433	42	25	3	3	NUM
fcis-31433	42	26	3	3	NUM
fcis-31433	42	27	1	1	NUM
fcis-31433	42	28	figure	figure	NOUN
fcis-31433	42	29	1	1	NUM
fcis-31433	42	30	.	.	PUNCT
fcis-31433	42	31	pheromone	pheromone	NOUN
fcis-31433	42	32	diffusion	diffusion	NOUN
fcis-31433	42	33	model	model	NOUN
fcis-31433	42	34	in	in	ADP
fcis-31433	42	35	grid	grid	NOUN
fcis-31433	42	36	map	map	NOUN
fcis-31433	42	37	3.2	3.2	NUM
fcis-31433	42	38	.	.	PUNCT
fcis-31433	43	1	pheromone	pheromone	NOUN
fcis-31433	43	2	initialization	initialization	NOUN
fcis-31433	43	3	to	to	PART
fcis-31433	43	4	enhance	enhance	VERB
fcis-31433	43	5	the	the	DET
fcis-31433	43	6	algorithm	algorithm	NOUN
fcis-31433	43	7	’s	’s	PART
fcis-31433	43	8	search	search	NOUN
fcis-31433	43	9	efficiency	efficiency	NOUN
fcis-31433	43	10	in	in	ADP
fcis-31433	43	11	the	the	DET
fcis-31433	43	12	early	early	ADJ
fcis-31433	43	13	stages	stage	NOUN
fcis-31433	43	14	,	,	PUNCT
fcis-31433	43	15	this	this	DET
fcis-31433	43	16	paper	paper	NOUN
fcis-31433	43	17	employs	employ	VERB
fcis-31433	43	18	a	a	DET
fcis-31433	43	19	non	non	ADJ
fcis-31433	43	20	-	-	ADJ
fcis-31433	43	21	uniform	uniform	ADJ
fcis-31433	43	22	pheromone	pheromone	NOUN
fcis-31433	43	23	initialization	initialization	NOUN
fcis-31433	43	24	method[10	method[10	PRON
fcis-31433	43	25	]	]	PUNCT
fcis-31433	43	26	.	.	PUNCT
fcis-31433	44	1	considering	consider	VERB
fcis-31433	44	2	that	that	SCONJ
fcis-31433	44	3	the	the	DET
fcis-31433	44	4	generated	generate	VERB
fcis-31433	44	5	path	path	NOUN
fcis-31433	44	6	must	must	AUX
fcis-31433	44	7	traverse	traverse	VERB
fcis-31433	44	8	each	each	DET
fcis-31433	44	9	row	row	NOUN
fcis-31433	44	10	between	between	ADP
fcis-31433	44	11	the	the	DET
fcis-31433	44	12	start	start	NOUN
fcis-31433	44	13	and	and	CCONJ
fcis-31433	44	14	end	end	VERB
fcis-31433	44	15	points	point	NOUN
fcis-31433	44	16	,	,	PUNCT
fcis-31433	44	17	several	several	ADJ
fcis-31433	44	18	random	random	ADJ
fcis-31433	44	19	nodes	node	NOUN
fcis-31433	44	20	are	be	AUX
fcis-31433	44	21	selected	select	VERB
fcis-31433	44	22	in	in	ADP
fcis-31433	44	23	each	each	DET
fcis-31433	44	24	row	row	NOUN
fcis-31433	44	25	of	of	ADP
fcis-31433	44	26	the	the	DET
fcis-31433	44	27	map	map	NOUN
fcis-31433	44	28	.	.	PUNCT
fcis-31433	45	1	the	the	DET
fcis-31433	45	2	selection	selection	NOUN
fcis-31433	45	3	of	of	ADP
fcis-31433	45	4	these	these	DET
fcis-31433	45	5	random	random	ADJ
fcis-31433	45	6	nodes	node	NOUN
fcis-31433	45	7	follows	follow	VERB
fcis-31433	45	8	the	the	DET
fcis-31433	45	9	formula	formula	NOUN
fcis-31433	45	10	below	below	ADP
fcis-31433	45	11	:	:	PUNCT
fcis-31433	46	1	0	0	NUM
fcis-31433	46	2	sg	sg	ADP
fcis-31433	46	3	sj	sj	PROPN
fcis-31433	46	4	jgi	jgi	PROPN
fcis-31433	47	1	d	d	PROPN
fcis-31433	48	1	a	a	DET
fcis-31433	48	2	i	i	PRON
fcis-31433	48	3	feasible	feasible	ADJ
fcis-31433	48	4	grid	grid	NOUN
fcis-31433	49	1	d	d	NOUN
fcis-31433	49	2	dp	dp	NOUN
fcis-31433	49	3	others	other	NOUN
fcis-31433	49	4			ADP
fcis-31433	49	5			PROPN
fcis-31433	49	6			NOUN
fcis-31433	49	7			NOUN
fcis-31433	49	8			ADJ
fcis-31433	49	9			NUM
fcis-31433	49	10			NOUN
fcis-31433	49	11	(	(	PUNCT
fcis-31433	49	12	1	1	NUM
fcis-31433	49	13	)	)	PUNCT
fcis-31433	49	14	here	here	ADV
fcis-31433	49	15	,	,	PUNCT
fcis-31433	49	16	ip	ip	NOUN
fcis-31433	49	17	represents	represent	VERB
fcis-31433	49	18	the	the	DET
fcis-31433	49	19	probability	probability	NOUN
fcis-31433	49	20	of	of	ADP
fcis-31433	49	21	selecting	select	VERB
fcis-31433	49	22	a	a	DET
fcis-31433	49	23	random	random	ADJ
fcis-31433	49	24	node	node	NOUN
fcis-31433	49	25	j	j	PROPN
fcis-31433	49	26	,	,	PUNCT
fcis-31433	49	27	sgd	sgd	PROPN
fcis-31433	49	28	denotes	denote	VERB
fcis-31433	49	29	the	the	DET
fcis-31433	49	30	euclidean	euclidean	ADJ
fcis-31433	49	31	distance	distance	NOUN
fcis-31433	49	32	between	between	ADP
fcis-31433	49	33	the	the	DET
fcis-31433	49	34	start	start	NOUN
fcis-31433	49	35	point	point	NOUN
fcis-31433	49	36	s	s	PRON
fcis-31433	49	37	and	and	CCONJ
fcis-31433	49	38	the	the	DET
fcis-31433	49	39	goal	goal	NOUN
fcis-31433	49	40	g	g	NOUN
fcis-31433	49	41	,	,	PUNCT
fcis-31433	49	42	while	while	SCONJ
fcis-31433	49	43	sjd	sjd	NOUN
fcis-31433	49	44	and	and	CCONJ
fcis-31433	49	45	jgd	jgd	PROPN
fcis-31433	49	46	represent	represent	VERB
fcis-31433	49	47	the	the	DET
fcis-31433	49	48	euclidean	euclidean	ADJ
fcis-31433	49	49	distances	distance	NOUN
fcis-31433	49	50	from	from	ADP
fcis-31433	49	51	the	the	DET
fcis-31433	49	52	random	random	ADJ
fcis-31433	49	53	node	node	NOUN
fcis-31433	49	54	j	j	PROPN
fcis-31433	49	55	to	to	ADP
fcis-31433	49	56	s	s	PROPN
fcis-31433	49	57	and	and	CCONJ
fcis-31433	49	58	g	g	NOUN
fcis-31433	49	59	,	,	PUNCT
fcis-31433	49	60	respectively	respectively	ADV
fcis-31433	49	61	.	.	PUNCT
fcis-31433	50	1	a	a	PRON
fcis-31433	50	2	is	be	AUX
fcis-31433	50	3	the	the	DET
fcis-31433	50	4	probability	probability	NOUN
fcis-31433	50	5	coefficient	coefficient	NOUN
fcis-31433	50	6	,	,	PUNCT
fcis-31433	50	7	set	set	VERB
fcis-31433	50	8	to	to	ADP
fcis-31433	50	9	0.7	0.7	NUM
fcis-31433	50	10	here	here	ADV
fcis-31433	50	11	.	.	PUNCT
fcis-31433	51	1	the	the	DET
fcis-31433	51	2	aforementioned	aforementioned	ADJ
fcis-31433	51	3	random	random	ADJ
fcis-31433	51	4	nodes	node	NOUN
fcis-31433	51	5	are	be	AUX
fcis-31433	51	6	connected	connect	VERB
fcis-31433	51	7	to	to	PART
fcis-31433	51	8	form	form	VERB
fcis-31433	51	9	a	a	DET
fcis-31433	51	10	continuous	continuous	ADJ
fcis-31433	51	11	path	path	NOUN
fcis-31433	51	12	.	.	PUNCT
fcis-31433	52	1	if	if	SCONJ
fcis-31433	52	2	the	the	DET
fcis-31433	52	3	path	path	NOUN
fcis-31433	52	4	passes	pass	VERB
fcis-31433	52	5	through	through	ADP
fcis-31433	52	6	obstacle	obstacle	NOUN
fcis-31433	52	7	grid	grid	NOUN
fcis-31433	52	8	cells	cell	NOUN
fcis-31433	52	9	during	during	ADP
fcis-31433	52	10	node	node	ADJ
fcis-31433	52	11	connection	connection	NOUN
fcis-31433	52	12	,	,	PUNCT
fcis-31433	52	13	new	new	ADJ
fcis-31433	52	14	nodes	node	NOUN
fcis-31433	52	15	are	be	AUX
fcis-31433	52	16	inserted	insert	VERB
fcis-31433	52	17	between	between	ADP
fcis-31433	52	18	the	the	DET
fcis-31433	52	19	original	original	ADJ
fcis-31433	52	20	nodes	node	NOUN
fcis-31433	52	21	to	to	PART
fcis-31433	52	22	ensure	ensure	VERB
fcis-31433	52	23	the	the	DET
fcis-31433	52	24	newly	newly	ADV
fcis-31433	52	25	generated	generate	VERB
fcis-31433	52	26	path	path	NOUN
fcis-31433	52	27	complies	complie	NOUN
fcis-31433	52	28	with	with	ADP
fcis-31433	52	29	navigational	navigational	ADJ
fcis-31433	52	30	constraints	constraint	NOUN
fcis-31433	52	31	.	.	PUNCT
fcis-31433	53	1	figure	figure	NOUN
fcis-31433	53	2	2	2	NUM
fcis-31433	53	3	.	.	PUNCT
fcis-31433	53	4	schematic	schematic	ADJ
fcis-31433	53	5	diagram	diagram	NOUN
fcis-31433	53	6	of	of	ADP
fcis-31433	53	7	path	path	NOUN
fcis-31433	53	8	generation	generation	NOUN
fcis-31433	53	9	as	as	SCONJ
fcis-31433	53	10	shown	show	VERB
fcis-31433	53	11	in	in	ADP
fcis-31433	53	12	fig	fig	NOUN
fcis-31433	53	13	2	2	NUM
fcis-31433	53	14	,	,	PUNCT
fcis-31433	53	15	if	if	SCONJ
fcis-31433	53	16	the	the	DET
fcis-31433	53	17	path	path	NOUN
fcis-31433	53	18	between	between	ADP
fcis-31433	53	19	node	node	PROPN
fcis-31433	53	20	1	1	NUM
fcis-31433	53	21	and	and	CCONJ
fcis-31433	53	22	node	node	PROPN
fcis-31433	53	23	2	2	NUM
fcis-31433	53	24	passes	pass	VERB
fcis-31433	53	25	through	through	ADP
fcis-31433	53	26	an	an	DET
fcis-31433	53	27	obstacle	obstacle	NOUN
fcis-31433	53	28	,	,	PUNCT
fcis-31433	53	29	nodes	nod	VERB
fcis-31433	53	30	3	3	NUM
fcis-31433	53	31	and	and	CCONJ
fcis-31433	53	32	4	4	NUM
fcis-31433	53	33	are	be	AUX
fcis-31433	53	34	inserted	insert	VERB
fcis-31433	53	35	to	to	PART
fcis-31433	53	36	form	form	VERB
fcis-31433	53	37	the	the	DET
fcis-31433	53	38	dashed	dash	VERB
fcis-31433	53	39	-	-	PUNCT
fcis-31433	53	40	line	line	NOUN
fcis-31433	53	41	path	path	NOUN
fcis-31433	53	42	illustrated	illustrate	VERB
fcis-31433	53	43	in	in	ADP
fcis-31433	53	44	fig	fig	NOUN
fcis-31433	53	45	2	2	NUM
fcis-31433	53	46	.	.	PUNCT
fcis-31433	54	1	the	the	DET
fcis-31433	54	2	initial	initial	ADJ
fcis-31433	54	3	pheromone	pheromone	NOUN
fcis-31433	54	4	concentration	concentration	NOUN
fcis-31433	54	5	on	on	ADP
fcis-31433	54	6	these	these	DET
fcis-31433	54	7	paths	path	NOUN
fcis-31433	54	8	is	be	AUX
fcis-31433	54	9	calculated	calculate	VERB
fcis-31433	54	10	using	use	VERB
fcis-31433	54	11	the	the	DET
fcis-31433	54	12	formula	formula	NOUN
fcis-31433	54	13	:	:	PUNCT
fcis-31433	54	14	0	0	PUNCT
fcis-31433	55	1	i	i	PRON
fcis-31433	55	2	c	c	NOUN
fcis-31433	55	3	l	l	NOUN
fcis-31433	55	4			NOUN
fcis-31433	55	5			NUM
fcis-31433	55	6	(	(	PUNCT
fcis-31433	55	7	2	2	NUM
fcis-31433	55	8	)	)	PUNCT
fcis-31433	55	9	where	where	SCONJ
fcis-31433	55	10	0	0	NUM
fcis-31433	55	11	is	be	AUX
fcis-31433	55	12	the	the	DET
fcis-31433	55	13	pheromone	pheromone	NOUN
fcis-31433	55	14	concentration	concentration	NOUN
fcis-31433	55	15	,	,	PUNCT
fcis-31433	55	16	c	c	PROPN
fcis-31433	55	17	denotes	denote	VERB
fcis-31433	55	18	the	the	DET
fcis-31433	55	19	initial	initial	ADJ
fcis-31433	55	20	pheromone	pheromone	NOUN
fcis-31433	55	21	value	value	NOUN
fcis-31433	55	22	,	,	PUNCT
fcis-31433	55	23	and	and	CCONJ
fcis-31433	55	24	il	il	PROPN
fcis-31433	55	25	represents	represent	VERB
fcis-31433	55	26	the	the	DET
fcis-31433	55	27	length	length	NOUN
fcis-31433	55	28	of	of	ADP
fcis-31433	55	29	the	the	DET
fcis-31433	55	30	i	i	PROPN
fcis-31433	55	31	-	-	PUNCT
fcis-31433	55	32	th	th	X
fcis-31433	55	33	path	path	NOUN
fcis-31433	55	34	.	.	PUNCT
fcis-31433	56	1	3.3	3.3	NUM
fcis-31433	56	2	.	.	PUNCT
fcis-31433	56	3	heterogeneous	heterogeneous	ADJ
fcis-31433	56	4	ant	ant	ADJ
fcis-31433	56	5	colony	colony	NOUN
fcis-31433	56	6	system	system	NOUN
fcis-31433	56	7	in	in	ADP
fcis-31433	56	8	the	the	DET
fcis-31433	56	9	classical	classical	ADJ
fcis-31433	56	10	ant	ant	ADJ
fcis-31433	56	11	colony	colony	NOUN
fcis-31433	56	12	optimization	optimization	NOUN
fcis-31433	56	13	(	(	PUNCT
fcis-31433	56	14	aco	aco	PROPN
fcis-31433	56	15	)	)	PUNCT
fcis-31433	56	16	algorithm	algorithm	PROPN
fcis-31433	56	17	,	,	PUNCT
fcis-31433	56	18	the	the	DET
fcis-31433	56	19	state	state	NOUN
fcis-31433	56	20	transition	transition	NOUN
fcis-31433	56	21	rule	rule	NOUN
fcis-31433	56	22	for	for	ADP
fcis-31433	56	23	ants	ant	NOUN
fcis-31433	56	24	is	be	AUX
fcis-31433	56	25	defined	define	VERB
fcis-31433	56	26	by	by	ADP
fcis-31433	56	27	the	the	DET
fcis-31433	56	28	formula	formula	NOUN
fcis-31433	56	29	as	as	SCONJ
fcis-31433	56	30	follows	follow	VERB
fcis-31433	56	31	:	:	PUNCT
fcis-31433	56	32	[	[	PUNCT
fcis-31433	56	33	(	(	PUNCT
fcis-31433	56	34	)	)	PUNCT
fcis-31433	56	35	]	]	PUNCT
fcis-31433	57	1	[	[	PUNCT
fcis-31433	57	2	(	(	PUNCT
fcis-31433	57	3	)	)	PUNCT
fcis-31433	57	4	]	]	PUNCT
fcis-31433	57	5	,	,	PUNCT
fcis-31433	57	6	[	[	PUNCT
fcis-31433	57	7	(	(	PUNCT
fcis-31433	57	8	)	)	PUNCT
fcis-31433	57	9	0	0	NUM
fcis-31433	57	10	]	]	PUNCT
fcis-31433	58	1	[	[	X
fcis-31433	58	2	(	(	PUNCT
fcis-31433	58	3	]	]	X
fcis-31433	58	4	)	)	PUNCT
fcis-31433	58	5	(	(	PUNCT
fcis-31433	58	6	)	)	PUNCT
fcis-31433	58	7	k	k	X
fcis-31433	58	8	ij	ij	INTJ
fcis-31433	59	1	ij	ij	INTJ
fcis-31433	59	2	k	k	PROPN
fcis-31433	59	3	is	be	AUX
fcis-31433	59	4	is	be	AUX
fcis-31433	59	5	sj	sj	PRON
fcis-31433	59	6	allowed	allow	VERB
fcis-31433	59	7	k	k	PROPN
fcis-31433	59	8	ip	ip	VERB
fcis-31433	59	9	l	l	NOUN
fcis-31433	60	1	o	o	NOUN
fcis-31433	60	2	t	t	X
fcis-31433	60	3	t	t	X
fcis-31433	60	4	j	j	PROPN
fcis-31433	60	5	a	a	DET
fcis-31433	60	6	lowed	low	VERB
fcis-31433	60	7	tt	tt	PROPN
fcis-31433	60	8	therwise	therwise	ADJ
fcis-31433	60	9	t	t	PROPN
fcis-31433	60	10			X
fcis-31433	60	11			PROPN
fcis-31433	60	12			NOUN
fcis-31433	60	13			PROPN
fcis-31433	60	14			NOUN
fcis-31433	60	15			AUX
fcis-31433	60	16			PROPN
fcis-31433	60	17			PUNCT
fcis-31433	60	18			NOUN
fcis-31433	60	19			ADP
fcis-31433	60	20			NUM
fcis-31433	60	21			NUM
fcis-31433	60	22			NUM
fcis-31433	60	23			NOUN
fcis-31433	60	24			INTJ
fcis-31433	60	25			PROPN
fcis-31433	60	26			ADP
fcis-31433	60	27			PROPN
fcis-31433	60	28			NOUN
fcis-31433	60	29			PROPN
fcis-31433	60	30			PROPN
fcis-31433	60	31			X
fcis-31433	60	32	(	(	PUNCT
fcis-31433	60	33	3	3	X
fcis-31433	60	34	)	)	PUNCT
fcis-31433	60	35	all	all	DET
fcis-31433	60	36	ants	ant	NOUN
fcis-31433	60	37	utilize	utilize	VERB
fcis-31433	60	38	identical	identical	ADJ
fcis-31433	60	39	parameter	parameter	NOUN
fcis-31433	60	40	values	value	NOUN
fcis-31433	60	41			X
fcis-31433	60	42	and	and	CCONJ
fcis-31433	60	43			PROPN
fcis-31433	60	44	,	,	PUNCT
fcis-31433	60	45	resulting	result	VERB
fcis-31433	60	46	in	in	ADP
fcis-31433	60	47	homogeneous	homogeneous	ADJ
fcis-31433	60	48	characteristics	characteristic	NOUN
fcis-31433	60	49	within	within	ADP
fcis-31433	60	50	the	the	DET
fcis-31433	60	51	entire	entire	ADJ
fcis-31433	60	52	ant	ant	ADJ
fcis-31433	60	53	colony	colony	NOUN
fcis-31433	60	54	.	.	PUNCT
fcis-31433	61	1	when	when	SCONJ
fcis-31433	61	2	the	the	DET
fcis-31433	61	3	algorithm	algorithm	NOUN
fcis-31433	61	4	becomes	become	VERB
fcis-31433	61	5	trapped	trap	VERB
fcis-31433	61	6	in	in	ADP
fcis-31433	61	7	local	local	ADJ
fcis-31433	61	8	optima	optima	NOUN
fcis-31433	61	9	,	,	PUNCT
fcis-31433	61	10	this	this	DET
fcis-31433	61	11	homogeneity	homogeneity	NOUN
fcis-31433	61	12	causes	cause	VERB
fcis-31433	61	13	the	the	DET
fcis-31433	61	14	algorithm	algorithm	NOUN
fcis-31433	61	15	to	to	PART
fcis-31433	61	16	fail	fail	VERB
fcis-31433	61	17	in	in	ADP
fcis-31433	61	18	exploring	explore	VERB
fcis-31433	61	19	broader	broad	ADJ
fcis-31433	61	20	problem	problem	NOUN
fcis-31433	61	21	spaces	space	VERB
fcis-31433	61	22	.	.	PUNCT
fcis-31433	62	1	to	to	PART
fcis-31433	62	2	address	address	VERB
fcis-31433	62	3	this	this	DET
fcis-31433	62	4	issue	issue	NOUN
fcis-31433	62	5	,	,	PUNCT
fcis-31433	62	6	this	this	DET
fcis-31433	62	7	paper	paper	NOUN
fcis-31433	62	8	proposes	propose	VERB
fcis-31433	62	9	a	a	DET
fcis-31433	62	10	heterogeneous	heterogeneous	ADJ
fcis-31433	62	11	ant	ant	ADJ
fcis-31433	62	12	colony	colony	NOUN
fcis-31433	62	13	algorithm[11	algorithm[11	ADP
fcis-31433	62	14	]	]	PUNCT
fcis-31433	62	15	.	.	PUNCT
fcis-31433	63	1	the	the	DET
fcis-31433	63	2	modified	modify	VERB
fcis-31433	63	3	calculation	calculation	NOUN
fcis-31433	63	4	method	method	NOUN
fcis-31433	63	5	for	for	ADP
fcis-31433	63	6	the	the	DET
fcis-31433	63	7	state	state	NOUN
fcis-31433	63	8	transition	transition	NOUN
fcis-31433	63	9	rule	rule	NOUN
fcis-31433	63	10	is	be	AUX
fcis-31433	63	11	defined	define	VERB
fcis-31433	63	12	as	as	SCONJ
fcis-31433	63	13	shown	show	VERB
fcis-31433	63	14	in	in	ADP
fcis-31433	63	15	the	the	DET
fcis-31433	63	16	following	follow	VERB
fcis-31433	63	17	equation	equation	NOUN
fcis-31433	63	18	:	:	PUNCT
fcis-31433	63	19	(	(	PUNCT
fcis-31433	63	20	)	)	PUNCT
fcis-31433	63	21	(	(	PUNCT
fcis-31433	63	22	)	)	PUNCT
fcis-31433	63	23	(	(	PUNCT
fcis-31433	63	24	)	)	PUNCT
fcis-31433	63	25	(	(	PUNCT
fcis-31433	63	26	)	)	PUNCT
fcis-31433	63	27	[	[	PUNCT
fcis-31433	63	28	(	(	PUNCT
fcis-31433	63	29	)	)	PUNCT
fcis-31433	63	30	]	]	PUNCT
fcis-31433	64	1	[	[	PUNCT
fcis-31433	64	2	(	(	PUNCT
fcis-31433	64	3	)	)	PUNCT
fcis-31433	64	4	]	]	PUNCT
fcis-31433	64	5	,	,	PUNCT
fcis-31433	64	6	[	[	PUNCT
fcis-31433	64	7	(	(	PUNCT
fcis-31433	64	8	)	)	PUNCT
fcis-31433	64	9	]	]	PUNCT
fcis-31433	64	10	[	[	PUNCT
fcis-31433	64	11	(	(	PUNCT
fcis-31433	64	12	)	)	PUNCT
fcis-31433	64	13	]	]	PUNCT
fcis-31433	64	14	(	(	PUNCT
fcis-31433	64	15	)	)	PUNCT
fcis-31433	64	16	0	0	PUNCT
fcis-31433	65	1	k	k	X
fcis-31433	65	2	k	k	PROPN
fcis-31433	65	3	k	k	PROPN
fcis-31433	66	1	ij	ij	INTJ
fcis-31433	66	2	ij	ij	INTJ
fcis-31433	66	3	kk	kk	INTJ
fcis-31433	66	4	kk	kk	PROPN
fcis-31433	66	5	is	be	AUX
fcis-31433	66	6	isij	isij	PROPN
fcis-31433	66	7	s	s	AUX
fcis-31433	66	8	allowed	allow	VERB
fcis-31433	66	9	t	t	PROPN
fcis-31433	66	10	t	t	PROPN
fcis-31433	66	11	j	j	PROPN
fcis-31433	66	12	allowed	allow	VERB
fcis-31433	66	13	t	t	PROPN
fcis-31433	66	14	tp	tp	PROPN
fcis-31433	66	15	t	t	PROPN
fcis-31433	66	16	otherwise	otherwise	ADV
fcis-31433	66	17			X
fcis-31433	66	18			PROPN
fcis-31433	66	19			NUM
fcis-31433	66	20			PROPN
fcis-31433	66	21			NOUN
fcis-31433	66	22			AUX
fcis-31433	66	23			PROPN
fcis-31433	66	24			NUM
fcis-31433	66	25			NOUN
fcis-31433	66	26			ADP
fcis-31433	66	27			PRON
fcis-31433	67	1			NOUN
fcis-31433	67	2			NUM
fcis-31433	67	3			NUM
fcis-31433	67	4			PROPN
fcis-31433	67	5			PROPN
fcis-31433	67	6	(	(	PUNCT
fcis-31433	67	7	4	4	NUM
fcis-31433	67	8	)	)	PUNCT
fcis-31433	67	9	as	as	ADP
fcis-31433	67	10	evident	evident	ADJ
fcis-31433	67	11	from	from	ADP
fcis-31433	67	12	the	the	DET
fcis-31433	67	13	equation	equation	NOUN
fcis-31433	67	14	above	above	ADV
fcis-31433	67	15	,	,	PUNCT
fcis-31433	67	16	each	each	DET
fcis-31433	67	17	ant	ant	NOUN
fcis-31433	67	18	possesses	possess	VERB
fcis-31433	67	19	its	its	PRON
fcis-31433	67	20	63	63	NUM
fcis-31433	67	21	own	own	ADJ
fcis-31433	67	22	independent	independent	ADJ
fcis-31433	67	23	control	control	NOUN
fcis-31433	67	24	parameters	parameter	NOUN
fcis-31433	67	25	(	(	PUNCT
fcis-31433	67	26	)	)	PUNCT
fcis-31433	67	27	k	k	PROPN
fcis-31433	67	28	and	and	CCONJ
fcis-31433	67	29	(	(	PUNCT
fcis-31433	67	30	)	)	PUNCT
fcis-31433	67	31	k	k	PROPN
fcis-31433	67	32	,	,	PUNCT
fcis-31433	67	33	thereby	thereby	ADV
fcis-31433	67	34	enabling	enable	VERB
fcis-31433	67	35	distinct	distinct	ADJ
fcis-31433	67	36	behavioral	behavioral	ADJ
fcis-31433	67	37	characteristics	characteristic	NOUN
fcis-31433	67	38	across	across	ADP
fcis-31433	67	39	the	the	DET
fcis-31433	67	40	ant	ant	ADJ
fcis-31433	67	41	population	population	NOUN
fcis-31433	67	42	.	.	PUNCT
fcis-31433	68	1	the	the	DET
fcis-31433	68	2	parameter	parameter	NOUN
fcis-31433	68	3	construction	construction	NOUN
fcis-31433	68	4	formula	formula	NOUN
fcis-31433	68	5	for	for	ADP
fcis-31433	68	6	the	the	DET
fcis-31433	68	7	heterogeneous	heterogeneous	ADJ
fcis-31433	68	8	population	population	NOUN
fcis-31433	68	9	is	be	AUX
fcis-31433	68	10	defined	define	VERB
fcis-31433	68	11	as	as	SCONJ
fcis-31433	68	12	follows	follow	VERB
fcis-31433	68	13	:	:	PUNCT
fcis-31433	68	14	0	0	NUM
fcis-31433	68	15	(	(	PUNCT
fcis-31433	68	16	)	)	PUNCT
fcis-31433	68	17	(	(	PUNCT
fcis-31433	68	18	0	0	NUM
fcis-31433	68	19	,	,	PUNCT
fcis-31433	68	20	)	)	PUNCT
fcis-31433	68	21	k	k	PROPN
fcis-31433	68	22	m	m	PROPN
fcis-31433	68	23			PROPN
fcis-31433	68	24			PROPN
fcis-31433	68	25			X
fcis-31433	68	26	(	(	PUNCT
fcis-31433	68	27	5	5	NUM
fcis-31433	68	28	)	)	PUNCT
fcis-31433	68	29	0	0	NUM
fcis-31433	68	30	(	(	PUNCT
fcis-31433	68	31	)	)	PUNCT
fcis-31433	68	32	(	(	PUNCT
fcis-31433	68	33	0	0	NUM
fcis-31433	68	34	,	,	PUNCT
fcis-31433	68	35	)	)	PUNCT
fcis-31433	68	36	k	k	PROPN
fcis-31433	68	37	m	m	PROPN
fcis-31433	68	38			PROPN
fcis-31433	68	39			PROPN
fcis-31433	68	40			PRON
fcis-31433	68	41	(	(	PUNCT
fcis-31433	68	42	6	6	NUM
fcis-31433	68	43	)	)	PUNCT
fcis-31433	68	44	where	where	SCONJ
fcis-31433	68	45	(	(	PUNCT
fcis-31433	68	46	)	)	PUNCT
fcis-31433	68	47	k	k	PROPN
fcis-31433	68	48	and	and	CCONJ
fcis-31433	68	49	(	(	PUNCT
fcis-31433	68	50	)	)	PUNCT
fcis-31433	68	51	k	k	PROPN
fcis-31433	68	52	are	be	AUX
fcis-31433	68	53	the	the	DET
fcis-31433	68	54	parameters	parameter	NOUN
fcis-31433	68	55	of	of	ADP
fcis-31433	68	56	the	the	DET
fcis-31433	68	57	k	k	PROPN
fcis-31433	68	58	-	-	PUNCT
fcis-31433	68	59	th	th	X
fcis-31433	68	60	ant	ant	NOUN
fcis-31433	68	61	,	,	PUNCT
fcis-31433	68	62	0	0	PROPN
fcis-31433	68	63	and	and	CCONJ
fcis-31433	68	64	0	0	NOUN
fcis-31433	68	65	are	be	AUX
fcis-31433	68	66	predefined	predefine	VERB
fcis-31433	68	67	initial	initial	ADJ
fcis-31433	68	68	values	value	NOUN
fcis-31433	68	69	,	,	PUNCT
fcis-31433	68	70	and	and	CCONJ
fcis-31433	68	71	(	(	PUNCT
fcis-31433	68	72	0	0	NUM
fcis-31433	68	73	,	,	PUNCT
fcis-31433	68	74	)	)	PUNCT
fcis-31433	68	75	m	m	PRON
fcis-31433	68	76			PROPN
fcis-31433	68	77	denotes	denote	VERB
fcis-31433	68	78	a	a	DET
fcis-31433	68	79	gaussian	gaussian	ADJ
fcis-31433	68	80	mutation	mutation	NOUN
fcis-31433	68	81	function	function	NOUN
fcis-31433	68	82	with	with	ADP
fcis-31433	68	83	a	a	DET
fcis-31433	68	84	mean	mean	NOUN
fcis-31433	68	85	of	of	ADP
fcis-31433	68	86	0	0	NUM
fcis-31433	68	87	and	and	CCONJ
fcis-31433	68	88	standard	standard	ADJ
fcis-31433	68	89	deviation	deviation	NOUN
fcis-31433	68	90	.	.	PUNCT
fcis-31433	69	1	to	to	PART
fcis-31433	69	2	prevent	prevent	VERB
fcis-31433	69	3	excessive	excessive	ADJ
fcis-31433	69	4	mutations	mutation	NOUN
fcis-31433	69	5	that	that	PRON
fcis-31433	69	6	could	could	AUX
fcis-31433	69	7	degrade	degrade	VERB
fcis-31433	69	8	the	the	DET
fcis-31433	69	9	overall	overall	ADJ
fcis-31433	69	10	quality	quality	NOUN
fcis-31433	69	11	of	of	ADP
fcis-31433	69	12	the	the	DET
fcis-31433	69	13	ant	ant	ADJ
fcis-31433	69	14	colony	colony	NOUN
fcis-31433	69	15	,	,	PUNCT
fcis-31433	69	16			PROPN
fcis-31433	69	17	is	be	AUX
fcis-31433	69	18	set	set	VERB
fcis-31433	69	19	to	to	ADP
fcis-31433	69	20	0.05	0.05	NUM
fcis-31433	69	21	,	,	PUNCT
fcis-31433	69	22	allowing	allow	VERB
fcis-31433	69	23	only	only	ADJ
fcis-31433	69	24	small	small	ADJ
fcis-31433	69	25	-	-	PUNCT
fcis-31433	69	26	scale	scale	NOUN
fcis-31433	69	27	mutations	mutation	NOUN
fcis-31433	69	28	.	.	PUNCT
fcis-31433	70	1	3.4	3.4	NUM
fcis-31433	70	2	.	.	PUNCT
fcis-31433	70	3	self	self	NOUN
fcis-31433	70	4	-	-	PUNCT
fcis-31433	70	5	adaptive	adaptive	ADJ
fcis-31433	70	6	ant	ant	ADJ
fcis-31433	70	7	colony	colony	NOUN
fcis-31433	70	8	system	system	NOUN
fcis-31433	70	9	in	in	ADP
fcis-31433	70	10	the	the	DET
fcis-31433	70	11	ant	ant	ADJ
fcis-31433	70	12	colony	colony	NOUN
fcis-31433	70	13	system	system	NOUN
fcis-31433	70	14	,	,	PUNCT
fcis-31433	70	15	the	the	DET
fcis-31433	70	16	selection	selection	NOUN
fcis-31433	70	17	mechanism	mechanism	NOUN
fcis-31433	70	18	for	for	ADP
fcis-31433	70	19	ants	ant	NOUN
fcis-31433	70	20	relies	rely	VERB
fcis-31433	70	21	on	on	ADP
fcis-31433	70	22	the	the	DET
fcis-31433	70	23	parameter	parameter	NOUN
fcis-31433	70	24	0q	0q	VERB
fcis-31433	70	25	to	to	PART
fcis-31433	70	26	balance	balance	VERB
fcis-31433	70	27	probabilistic	probabilistic	ADJ
fcis-31433	70	28	exploration	exploration	NOUN
fcis-31433	70	29	versus	versus	ADP
fcis-31433	70	30	deterministic	deterministic	ADJ
fcis-31433	70	31	exploitation	exploitation	NOUN
fcis-31433	70	32	,	,	PUNCT
fcis-31433	70	33	as	as	SCONJ
fcis-31433	70	34	mathematically	mathematically	ADV
fcis-31433	70	35	formulated	formulate	VERB
fcis-31433	70	36	in	in	ADP
fcis-31433	70	37	the	the	DET
fcis-31433	70	38	following	follow	VERB
fcis-31433	70	39	equation	equation	NOUN
fcis-31433	70	40	:	:	PUNCT
fcis-31433	70	41	ij	ij	INTJ
fcis-31433	70	42	ij	ij	INTJ
fcis-31433	70	43	0(t	0(t	NUM
fcis-31433	70	44	)	)	PUNCT
fcis-31433	70	45	]	]	PUNCT
fcis-31433	71	1	[	[	PUNCT
fcis-31433	71	2	(	(	PUNCT
fcis-31433	71	3	t)arg	t)arg	NOUN
fcis-31433	71	4	x	x	SYM
fcis-31433	71	5	]	]	X
fcis-31433	71	6	[	[	PUNCT
fcis-31433	71	7	,	,	PUNCT
fcis-31433	71	8	kj	kj	PROPN
fcis-31433	71	9	allowed	allow	VERB
fcis-31433	71	10	if	if	SCONJ
fcis-31433	71	11	q	q	PRON
fcis-31433	71	12	q	q	X
fcis-31433	71	13	s	s	PART
fcis-31433	71	14	other	other	ADJ
fcis-31433	71	15	e	e	PROPN
fcis-31433	71	16	ma	ma	PROPN
fcis-31433	71	17	wis	wis	PROPN
fcis-31433	71	18			X
fcis-31433	71	19			NOUN
fcis-31433	71	20			PUNCT
fcis-31433	71	21			PROPN
fcis-31433	71	22			ADP
fcis-31433	71	23			ADJ
fcis-31433	71	24			VERB
fcis-31433	71	25			NUM
fcis-31433	71	26			ADP
fcis-31433	71	27			NOUN
fcis-31433	71	28	s	s	PART
fcis-31433	71	29	≦	≦	X
fcis-31433	71	30	(	(	PUNCT
fcis-31433	71	31	7	7	NUM
fcis-31433	71	32	)	)	PUNCT
fcis-31433	71	33	where	where	SCONJ
fcis-31433	71	34	s	s	NOUN
fcis-31433	71	35	denotes	denote	VERB
fcis-31433	71	36	the	the	DET
fcis-31433	71	37	next	next	ADJ
fcis-31433	71	38	selected	select	VERB
fcis-31433	71	39	node	node	NOUN
fcis-31433	71	40	,	,	PUNCT
fcis-31433	71	41	s	s	X
fcis-31433	71	42	represents	represent	VERB
fcis-31433	71	43	the	the	DET
fcis-31433	71	44	solution	solution	NOUN
fcis-31433	71	45	constructed	construct	VERB
fcis-31433	71	46	according	accord	VERB
fcis-31433	71	47	to	to	ADP
fcis-31433	71	48	equation	equation	NOUN
fcis-31433	71	49	(	(	PUNCT
fcis-31433	71	50	4	4	NUM
fcis-31433	71	51	)	)	PUNCT
fcis-31433	71	52	,	,	PUNCT
fcis-31433	71	53	and	and	CCONJ
fcis-31433	71	54	q	q	NOUN
fcis-31433	71	55	is	be	AUX
fcis-31433	71	56	a	a	DET
fcis-31433	71	57	random	random	ADJ
fcis-31433	71	58	number	number	NOUN
fcis-31433	71	59	within	within	ADP
fcis-31433	71	60	the	the	DET
fcis-31433	71	61	interval	interval	NOUN
fcis-31433	71	62	[	[	X
fcis-31433	71	63	0,1].the	0,1].the	DET
fcis-31433	71	64	parameter	parameter	NOUN
fcis-31433	71	65	0q	0q	VERB
fcis-31433	71	66	determines	determine	VERB
fcis-31433	71	67	the	the	DET
fcis-31433	71	68	algorithm	algorithm	NOUN
fcis-31433	71	69	's	's	PART
fcis-31433	71	70	exploration	exploration	NOUN
fcis-31433	71	71	capability	capability	NOUN
fcis-31433	71	72	.	.	PUNCT
fcis-31433	72	1	a	a	DET
fcis-31433	72	2	smaller	small	ADJ
fcis-31433	72	3	0q	0q	NOUN
fcis-31433	72	4	value	value	NOUN
fcis-31433	72	5	causes	cause	VERB
fcis-31433	72	6	the	the	DET
fcis-31433	72	7	algorithm	algorithm	NOUN
fcis-31433	72	8	to	to	PART
fcis-31433	72	9	favor	favor	VERB
fcis-31433	72	10	constructing	construct	VERB
fcis-31433	72	11	candidate	candidate	NOUN
fcis-31433	72	12	solutions	solution	NOUN
fcis-31433	72	13	based	base	VERB
fcis-31433	72	14	on	on	ADP
fcis-31433	72	15	equation	equation	NOUN
fcis-31433	72	16	(	(	PUNCT
fcis-31433	72	17	4	4	NUM
fcis-31433	72	18	)	)	PUNCT
fcis-31433	72	19	,	,	PUNCT
fcis-31433	72	20	resulting	result	VERB
fcis-31433	72	21	in	in	ADP
fcis-31433	72	22	better	well	ADJ
fcis-31433	72	23	population	population	NOUN
fcis-31433	72	24	diversity	diversity	NOUN
fcis-31433	72	25	in	in	ADP
fcis-31433	72	26	the	the	DET
fcis-31433	72	27	ant	ant	ADJ
fcis-31433	72	28	colony	colony	NOUN
fcis-31433	72	29	system	system	NOUN
fcis-31433	72	30	.	.	PUNCT
fcis-31433	73	1	this	this	PRON
fcis-31433	73	2	increases	increase	VERB
fcis-31433	73	3	the	the	DET
fcis-31433	73	4	probability	probability	NOUN
fcis-31433	73	5	of	of	ADP
fcis-31433	73	6	finding	find	VERB
fcis-31433	73	7	the	the	DET
fcis-31433	73	8	global	global	ADJ
fcis-31433	73	9	optimal	optimal	ADJ
fcis-31433	73	10	solution	solution	NOUN
fcis-31433	73	11	,	,	PUNCT
fcis-31433	73	12	but	but	CCONJ
fcis-31433	73	13	it	it	PRON
fcis-31433	73	14	expands	expand	VERB
fcis-31433	73	15	the	the	DET
fcis-31433	73	16	search	search	NOUN
fcis-31433	73	17	space	space	NOUN
fcis-31433	73	18	and	and	CCONJ
fcis-31433	73	19	requires	require	VERB
fcis-31433	73	20	longer	long	ADJ
fcis-31433	73	21	optimization	optimization	NOUN
fcis-31433	73	22	time	time	NOUN
fcis-31433	73	23	.	.	PUNCT
fcis-31433	74	1	conversely	conversely	ADV
fcis-31433	74	2	,	,	PUNCT
fcis-31433	74	3	a	a	DET
fcis-31433	74	4	larger	large	ADJ
fcis-31433	74	5	0q	0q	NOUN
fcis-31433	74	6	drives	drive	VERB
fcis-31433	74	7	the	the	DET
fcis-31433	74	8	algorithm	algorithm	NOUN
fcis-31433	74	9	to	to	PART
fcis-31433	74	10	prioritize	prioritize	AUX
fcis-31433	74	11	selecting	select	VERB
fcis-31433	74	12	the	the	DET
fcis-31433	74	13	current	current	ADJ
fcis-31433	74	14	best	good	ADJ
fcis-31433	74	15	solution	solution	NOUN
fcis-31433	74	16	,	,	PUNCT
fcis-31433	74	17	which	which	PRON
fcis-31433	74	18	accelerates	accelerate	VERB
fcis-31433	74	19	convergence	convergence	NOUN
fcis-31433	74	20	speed	speed	NOUN
fcis-31433	74	21	but	but	CCONJ
fcis-31433	74	22	reduces	reduce	VERB
fcis-31433	74	23	population	population	NOUN
fcis-31433	74	24	diversity	diversity	NOUN
fcis-31433	74	25	.	.	PUNCT
fcis-31433	75	1	this	this	DET
fcis-31433	75	2	trade	trade	NOUN
fcis-31433	75	3	-	-	PUNCT
fcis-31433	75	4	off	off	NOUN
fcis-31433	75	5	may	may	AUX
fcis-31433	75	6	lead	lead	VERB
fcis-31433	75	7	to	to	ADP
fcis-31433	75	8	premature	premature	ADJ
fcis-31433	75	9	concentration	concentration	NOUN
fcis-31433	75	10	on	on	ADP
fcis-31433	75	11	local	local	ADJ
fcis-31433	75	12	optima	optima	NOUN
fcis-31433	75	13	,	,	PUNCT
fcis-31433	75	14	highlighting	highlight	VERB
fcis-31433	75	15	the	the	DET
fcis-31433	75	16	critical	critical	ADJ
fcis-31433	75	17	role	role	NOUN
fcis-31433	75	18	of	of	ADP
fcis-31433	75	19	0q	0q	NOUN
fcis-31433	75	20	in	in	ADP
fcis-31433	75	21	balancing	balance	VERB
fcis-31433	75	22	explorationexploitation	explorationexploitation	NOUN
fcis-31433	75	23	dynamics	dynamic	NOUN
fcis-31433	75	24	during	during	ADP
fcis-31433	75	25	optimization	optimization	NOUN
fcis-31433	75	26	.	.	PUNCT
fcis-31433	76	1	3.4.1	3.4.1	X
fcis-31433	76	2	.	.	X
fcis-31433	76	3	population	population	NOUN
fcis-31433	76	4	information	information	PROPN
fcis-31433	76	5	entropy	entropy	PROPN
fcis-31433	76	6	shannon	shannon	PROPN
fcis-31433	76	7	introduced	introduce	VERB
fcis-31433	76	8	the	the	DET
fcis-31433	76	9	concept	concept	NOUN
fcis-31433	76	10	of	of	ADP
fcis-31433	76	11	information	information	NOUN
fcis-31433	76	12	entropy	entropy	PROPN
fcis-31433	76	13	,	,	PUNCT
fcis-31433	76	14	which	which	PRON
fcis-31433	76	15	quantifies	quantify	VERB
fcis-31433	76	16	the	the	DET
fcis-31433	76	17	information	information	NOUN
fcis-31433	76	18	content	content	NOUN
fcis-31433	76	19	of	of	ADP
fcis-31433	76	20	a	a	DET
fcis-31433	76	21	system	system	NOUN
fcis-31433	76	22	or	or	CCONJ
fcis-31433	76	23	describes	describe	VERB
fcis-31433	76	24	its	its	PRON
fcis-31433	76	25	degree	degree	NOUN
fcis-31433	76	26	of	of	ADP
fcis-31433	76	27	disorder	disorder	NOUN
fcis-31433	76	28	.	.	PUNCT
fcis-31433	77	1	in	in	ADP
fcis-31433	77	2	information	information	NOUN
fcis-31433	77	3	theory	theory	NOUN
fcis-31433	77	4	,	,	PUNCT
fcis-31433	77	5	entropy	entropy	PROPN
fcis-31433	77	6	is	be	AUX
fcis-31433	77	7	commonly	commonly	ADV
fcis-31433	77	8	used	use	VERB
fcis-31433	77	9	to	to	PART
fcis-31433	77	10	represent	represent	VERB
fcis-31433	77	11	the	the	DET
fcis-31433	77	12	uncertainty	uncertainty	NOUN
fcis-31433	77	13	associated	associate	VERB
fcis-31433	77	14	with	with	ADP
fcis-31433	77	15	each	each	DET
fcis-31433	77	16	possible	possible	ADJ
fcis-31433	77	17	state	state	NOUN
fcis-31433	77	18	of	of	ADP
fcis-31433	77	19	a	a	DET
fcis-31433	77	20	random	random	ADJ
fcis-31433	77	21	variable	variable	NOUN
fcis-31433	77	22	.	.	PUNCT
fcis-31433	78	1	a	a	DET
fcis-31433	78	2	higher	high	ADJ
fcis-31433	78	3	entropy	entropy	NOUN
fcis-31433	78	4	value	value	NOUN
fcis-31433	78	5	indicates	indicate	VERB
fcis-31433	78	6	that	that	SCONJ
fcis-31433	78	7	each	each	DET
fcis-31433	78	8	state	state	NOUN
fcis-31433	78	9	has	have	VERB
fcis-31433	78	10	an	an	DET
fcis-31433	78	11	equal	equal	ADJ
fcis-31433	78	12	probability	probability	NOUN
fcis-31433	78	13	of	of	ADP
fcis-31433	78	14	occurrence	occurrence	NOUN
fcis-31433	78	15	,	,	PUNCT
fcis-31433	78	16	suggesting	suggest	VERB
fcis-31433	78	17	greater	great	ADJ
fcis-31433	78	18	system	system	NOUN
fcis-31433	78	19	randomness	randomness	NOUN
fcis-31433	78	20	.	.	PUNCT
fcis-31433	79	1	conversely	conversely	ADV
fcis-31433	79	2	,	,	PUNCT
fcis-31433	79	3	a	a	DET
fcis-31433	79	4	lower	low	ADJ
fcis-31433	79	5	entropy	entropy	NOUN
fcis-31433	79	6	value	value	NOUN
fcis-31433	79	7	implies	imply	VERB
fcis-31433	79	8	that	that	SCONJ
fcis-31433	79	9	only	only	ADV
fcis-31433	79	10	a	a	DET
fcis-31433	79	11	few	few	ADJ
fcis-31433	79	12	states	state	NOUN
fcis-31433	79	13	are	be	AUX
fcis-31433	79	14	likely	likely	ADJ
fcis-31433	79	15	to	to	PART
fcis-31433	79	16	occur	occur	VERB
fcis-31433	79	17	,	,	PUNCT
fcis-31433	79	18	reflecting	reflect	VERB
fcis-31433	79	19	higher	high	ADJ
fcis-31433	79	20	system	system	NOUN
fcis-31433	79	21	stability	stability	NOUN
fcis-31433	79	22	.	.	PUNCT
fcis-31433	80	1	for	for	ADP
fcis-31433	80	2	a	a	DET
fcis-31433	80	3	random	random	ADJ
fcis-31433	80	4	variable	variable	NOUN
fcis-31433	80	5	x	x	PUNCT
fcis-31433	80	6	with	with	ADP
fcis-31433	80	7	n	n	CCONJ
fcis-31433	80	8	possible	possible	ADJ
fcis-31433	80	9	states	state	NOUN
fcis-31433	80	10	1	1	NUM
fcis-31433	80	11	2	2	NUM
fcis-31433	80	12	,	,	PUNCT
fcis-31433	80	13	,	,	PUNCT
fcis-31433	80	14	nx	nx	X
fcis-31433	80	15	x	x	X
fcis-31433	80	16	x	x	PROPN
fcis-31433	80	17	.	.	PUNCT
fcis-31433	81	1	its	its	PRON
fcis-31433	81	2	information	information	NOUN
fcis-31433	81	3	entropy	entropy	NOUN
fcis-31433	81	4	can	can	AUX
fcis-31433	81	5	be	be	AUX
fcis-31433	81	6	calculated	calculate	VERB
fcis-31433	81	7	using	use	VERB
fcis-31433	81	8	the	the	DET
fcis-31433	81	9	formula	formula	NOUN
fcis-31433	81	10	shown	show	VERB
fcis-31433	81	11	in	in	ADP
fcis-31433	81	12	equation	equation	NOUN
fcis-31433	81	13	(	(	PUNCT
fcis-31433	81	14	8)	8)	NUM
fcis-31433	81	15	:	:	SYM
fcis-31433	81	16	1	1	NUM
fcis-31433	81	17	(	(	PUNCT
fcis-31433	81	18	)	)	PUNCT
fcis-31433	81	19	(	(	PUNCT
fcis-31433	81	20	)	)	PUNCT
fcis-31433	81	21	ln	ln	INTJ
fcis-31433	81	22	(	(	PUNCT
fcis-31433	81	23	)	)	PUNCT
fcis-31433	81	24	n	n	CCONJ
fcis-31433	82	1	i	i	PRON
fcis-31433	83	1	i	i	PRON
fcis-31433	84	1	i	i	PRON
fcis-31433	84	2	h	h	VERB
fcis-31433	85	1	t	t	X
fcis-31433	85	2	p	p	X
fcis-31433	86	1	x	x	X
fcis-31433	86	2	p	p	X
fcis-31433	86	3	x	x	X
fcis-31433	86	4			NUM
fcis-31433	86	5			NUM
fcis-31433	87	1			X
fcis-31433	87	2	(	(	PUNCT
fcis-31433	87	3	8)	8)	NUM
fcis-31433	87	4	where	where	SCONJ
fcis-31433	87	5	ix	ix	ADV
fcis-31433	87	6	represents	represent	VERB
fcis-31433	87	7	the	the	DET
fcis-31433	87	8	i	i	PROPN
fcis-31433	87	9	-	-	PUNCT
fcis-31433	87	10	th	th	X
fcis-31433	87	11	state	state	NOUN
fcis-31433	87	12	of	of	ADP
fcis-31433	87	13	a	a	DET
fcis-31433	87	14	random	random	ADJ
fcis-31433	87	15	system	system	NOUN
fcis-31433	87	16	,	,	PUNCT
fcis-31433	87	17	and	and	CCONJ
fcis-31433	87	18	(	(	PUNCT
fcis-31433	87	19	)	)	PUNCT
fcis-31433	87	20	ip	ip	NOUN
fcis-31433	87	21	x	x	VERB
fcis-31433	87	22	denotes	denote	VERB
fcis-31433	87	23	the	the	DET
fcis-31433	87	24	probability	probability	NOUN
fcis-31433	87	25	of	of	ADP
fcis-31433	87	26	state	state	NOUN
fcis-31433	87	27	ix	ix	ADP
fcis-31433	87	28	occurring	occur	VERB
fcis-31433	87	29	.	.	PUNCT
fcis-31433	88	1	the	the	DET
fcis-31433	88	2	information	information	NOUN
fcis-31433	88	3	entropy	entropy	NOUN
fcis-31433	88	4	increases	increase	VERB
fcis-31433	88	5	when	when	SCONJ
fcis-31433	88	6	the	the	DET
fcis-31433	88	7	probabilities	probability	NOUN
fcis-31433	88	8	of	of	ADP
fcis-31433	88	9	all	all	DET
fcis-31433	88	10	states	state	NOUN
fcis-31433	88	11	are	be	AUX
fcis-31433	88	12	more	more	ADV
fcis-31433	88	13	uniformly	uniformly	ADV
fcis-31433	88	14	distributed	distribute	VERB
fcis-31433	88	15	,	,	PUNCT
fcis-31433	88	16	and	and	CCONJ
fcis-31433	88	17	decreases	decrease	VERB
fcis-31433	88	18	when	when	SCONJ
fcis-31433	88	19	the	the	DET
fcis-31433	88	20	probabilities	probability	NOUN
fcis-31433	88	21	become	become	VERB
fcis-31433	88	22	more	more	ADV
fcis-31433	88	23	concentrated	concentrated	ADJ
fcis-31433	88	24	.	.	PUNCT
fcis-31433	89	1	information	information	NOUN
fcis-31433	89	2	entropy	entropy	PROPN
fcis-31433	89	3	quantifies	quantify	VERB
fcis-31433	89	4	the	the	DET
fcis-31433	89	5	proportional	proportional	ADJ
fcis-31433	89	6	distribution	distribution	NOUN
fcis-31433	89	7	of	of	ADP
fcis-31433	89	8	various	various	ADJ
fcis-31433	89	9	states	state	NOUN
fcis-31433	89	10	within	within	ADP
fcis-31433	89	11	a	a	DET
fcis-31433	89	12	system	system	NOUN
fcis-31433	89	13	.	.	PUNCT
fcis-31433	90	1	as	as	ADP
fcis-31433	90	2	a	a	DET
fcis-31433	90	3	probabilistic	probabilistic	ADJ
fcis-31433	90	4	optimization	optimization	NOUN
fcis-31433	90	5	algorithm	algorithm	NOUN
fcis-31433	90	6	,	,	PUNCT
fcis-31433	90	7	the	the	DET
fcis-31433	90	8	ant	ant	ADJ
fcis-31433	90	9	colony	colony	NOUN
fcis-31433	90	10	algorithm	algorithm	NOUN
fcis-31433	90	11	generates	generate	VERB
fcis-31433	90	12	candidate	candidate	NOUN
fcis-31433	90	13	solutions	solution	NOUN
fcis-31433	90	14	through	through	ADP
fcis-31433	90	15	stochastic	stochastic	ADJ
fcis-31433	90	16	events	event	NOUN
fcis-31433	90	17	,	,	PUNCT
fcis-31433	90	18	making	make	VERB
fcis-31433	90	19	it	it	PRON
fcis-31433	90	20	inherently	inherently	ADV
fcis-31433	90	21	suitable	suitable	ADJ
fcis-31433	90	22	for	for	ADP
fcis-31433	90	23	characterizing	characterize	VERB
fcis-31433	90	24	the	the	DET
fcis-31433	90	25	diversity	diversity	NOUN
fcis-31433	90	26	features	feature	NOUN
fcis-31433	90	27	of	of	ADP
fcis-31433	90	28	its	its	PRON
fcis-31433	90	29	evolutionary	evolutionary	ADJ
fcis-31433	90	30	process	process	NOUN
fcis-31433	90	31	using	use	VERB
fcis-31433	90	32	information	information	NOUN
fcis-31433	90	33	entropy	entropy	NOUN
fcis-31433	90	34	.	.	PUNCT
fcis-31433	91	1	3.4.2	3.4.2	X
fcis-31433	91	2	.	.	PUNCT
fcis-31433	92	1	population	population	NOUN
fcis-31433	92	2	information	information	NOUN
fcis-31433	92	3	entropy	entropy	PROPN
fcis-31433	92	4	-	-	PUNCT
fcis-31433	92	5	based	base	VERB
fcis-31433	92	6	adaptive	adaptive	ADJ
fcis-31433	92	7	parameter	parameter	NOUN
fcis-31433	92	8	tuning	tune	VERB
fcis-31433	92	9	strategy	strategy	NOUN
fcis-31433	92	10	the	the	DET
fcis-31433	92	11	parameter	parameter	NOUN
fcis-31433	92	12	0q	0q	VERB
fcis-31433	92	13	in	in	ADP
fcis-31433	92	14	the	the	DET
fcis-31433	92	15	ant	ant	ADJ
fcis-31433	92	16	colony	colony	NOUN
fcis-31433	92	17	system	system	NOUN
fcis-31433	92	18	(	(	PUNCT
fcis-31433	92	19	acs	acs	PROPN
fcis-31433	92	20	)	)	PUNCT
fcis-31433	92	21	directly	directly	ADV
fcis-31433	92	22	influences	influence	VERB
fcis-31433	92	23	the	the	DET
fcis-31433	92	24	candidate	candidate	NOUN
fcis-31433	92	25	solution	solution	NOUN
fcis-31433	92	26	construction	construction	NOUN
fcis-31433	92	27	process	process	NOUN
fcis-31433	92	28	and	and	CCONJ
fcis-31433	92	29	is	be	AUX
fcis-31433	92	30	closely	closely	ADV
fcis-31433	92	31	related	relate	VERB
fcis-31433	92	32	to	to	ADP
fcis-31433	92	33	the	the	DET
fcis-31433	92	34	algorithm	algorithm	NOUN
fcis-31433	92	35	's	's	PART
fcis-31433	92	36	convergence	convergence	NOUN
fcis-31433	92	37	speed	speed	NOUN
fcis-31433	92	38	and	and	CCONJ
fcis-31433	92	39	search	search	NOUN
fcis-31433	92	40	capability	capability	NOUN
fcis-31433	92	41	.	.	PUNCT
fcis-31433	93	1	therefore	therefore	ADV
fcis-31433	93	2	,	,	PUNCT
fcis-31433	93	3	during	during	ADP
fcis-31433	93	4	the	the	DET
fcis-31433	93	5	optimization	optimization	NOUN
fcis-31433	93	6	process	process	NOUN
fcis-31433	93	7	,	,	PUNCT
fcis-31433	93	8	we	we	PRON
fcis-31433	93	9	propose	propose	AUX
fcis-31433	93	10	automatically	automatically	ADV
fcis-31433	93	11	adjusting	adjust	VERB
fcis-31433	93	12	the	the	DET
fcis-31433	93	13	value	value	NOUN
fcis-31433	93	14	of	of	ADP
fcis-31433	93	15	parameter	parameter	NOUN
fcis-31433	93	16	0q	0q	PROPN
fcis-31433	93	17	based	base	VERB
fcis-31433	93	18	on	on	ADP
fcis-31433	93	19	changes	change	NOUN
fcis-31433	93	20	in	in	ADP
fcis-31433	93	21	information	information	NOUN
fcis-31433	93	22	entropy	entropy	NOUN
fcis-31433	93	23	.	.	PUNCT
fcis-31433	94	1	this	this	DET
fcis-31433	94	2	adaptive	adaptive	ADJ
fcis-31433	94	3	adjustment	adjustment	NOUN
fcis-31433	94	4	mechanism	mechanism	NOUN
fcis-31433	94	5	regulates	regulate	VERB
fcis-31433	94	6	the	the	DET
fcis-31433	94	7	proportion	proportion	NOUN
fcis-31433	94	8	of	of	ADP
fcis-31433	94	9	random	random	ADJ
fcis-31433	94	10	candidate	candidate	NOUN
fcis-31433	94	11	solution	solution	NOUN
fcis-31433	94	12	construction	construction	NOUN
fcis-31433	94	13	in	in	ADP
fcis-31433	94	14	subsequent	subsequent	ADJ
fcis-31433	94	15	iterations	iteration	NOUN
fcis-31433	94	16	,	,	PUNCT
fcis-31433	94	17	enabling	enable	VERB
fcis-31433	94	18	dynamic	dynamic	ADJ
fcis-31433	94	19	modification	modification	NOUN
fcis-31433	94	20	of	of	ADP
fcis-31433	94	21	solution	solution	NOUN
fcis-31433	94	22	-	-	PUNCT
fcis-31433	94	23	building	building	NOUN
fcis-31433	94	24	rules	rule	NOUN
fcis-31433	94	25	according	accord	VERB
fcis-31433	94	26	to	to	ADP
fcis-31433	94	27	population	population	NOUN
fcis-31433	94	28	diversity	diversity	NOUN
fcis-31433	94	29	variations	variation	NOUN
fcis-31433	94	30	during	during	ADP
fcis-31433	94	31	optimization	optimization	NOUN
fcis-31433	94	32	.	.	PUNCT
fcis-31433	95	1	this	this	DET
fcis-31433	95	2	approach	approach	NOUN
fcis-31433	95	3	effectively	effectively	ADV
fcis-31433	95	4	mitigates	mitigate	VERB
fcis-31433	95	5	the	the	DET
fcis-31433	95	6	local	local	ADJ
fcis-31433	95	7	optima	optima	PROPN
fcis-31433	95	8	problem	problem	NOUN
fcis-31433	95	9	caused	cause	VERB
fcis-31433	95	10	by	by	ADP
fcis-31433	95	11	rapid	rapid	ADJ
fcis-31433	95	12	decline	decline	NOUN
fcis-31433	95	13	in	in	ADP
fcis-31433	95	14	algorithm	algorithm	NOUN
fcis-31433	95	15	diversity	diversity	NOUN
fcis-31433	95	16	while	while	SCONJ
fcis-31433	95	17	accelerating	accelerate	VERB
fcis-31433	95	18	convergence	convergence	NOUN
fcis-31433	95	19	and	and	CCONJ
fcis-31433	95	20	maintaining	maintain	VERB
fcis-31433	95	21	exploration	exploration	NOUN
fcis-31433	95	22	capability	capability	NOUN
fcis-31433	95	23	.	.	PUNCT
fcis-31433	96	1	the	the	DET
fcis-31433	96	2	adaptive	adaptive	ADJ
fcis-31433	96	3	adjustment	adjustment	NOUN
fcis-31433	96	4	rule	rule	NOUN
fcis-31433	96	5	for	for	ADP
fcis-31433	96	6	parameter	parameter	NOUN
fcis-31433	96	7	0q	0q	PROPN
fcis-31433	96	8	is	be	AUX
fcis-31433	96	9	formulated	formulate	VERB
fcis-31433	96	10	as	as	SCONJ
fcis-31433	96	11	shown	show	VERB
fcis-31433	96	12	in	in	ADP
fcis-31433	96	13	equation	equation	NOUN
fcis-31433	96	14	(	(	PUNCT
fcis-31433	96	15	9	9	NUM
fcis-31433	96	16	):	):	PUNCT
fcis-31433	96	17	0	0	NUM
fcis-31433	96	18	0	0	NUM
fcis-31433	96	19	0	0	NUM
fcis-31433	96	20	0	0	NUM
fcis-31433	96	21	h	h	NOUN
fcis-31433	96	22	(	(	PUNCT
fcis-31433	96	23	)	)	PUNCT
fcis-31433	96	24	(	(	PUNCT
fcis-31433	96	25	)	)	PUNCT
fcis-31433	96	26	sin	sin	NOUN
fcis-31433	96	27	(	(	PUNCT
fcis-31433	96	28	)	)	PUNCT
fcis-31433	96	29	2	2	NUM
fcis-31433	96	30	lnmin	lnmin	PROPN
fcis-31433	96	31	max	max	PROPN
fcis-31433	96	32	min	min	PROPN
fcis-31433	96	33	t	t	PROPN
fcis-31433	96	34	q	q	PROPN
fcis-31433	96	35	q	q	X
fcis-31433	96	36	q	q	X
fcis-31433	96	37	q	q	NOUN
fcis-31433	96	38	n	n	PROPN
fcis-31433	96	39			PROPN
fcis-31433	97	1			PROPN
fcis-31433	98	1			ADJ
fcis-31433	98	2			PROPN
fcis-31433	98	3			PROPN
fcis-31433	98	4			PROPN
fcis-31433	98	5	(	(	PUNCT
fcis-31433	98	6	9	9	NUM
fcis-31433	98	7	)	)	PUNCT
fcis-31433	98	8	where	where	SCONJ
fcis-31433	98	9	0minq	0minq	NUM
fcis-31433	98	10	and	and	CCONJ
fcis-31433	98	11	0maxq	0maxq	NUM
fcis-31433	98	12	are	be	AUX
fcis-31433	98	13	the	the	DET
fcis-31433	98	14	lower	low	ADJ
fcis-31433	98	15	and	and	CCONJ
fcis-31433	98	16	upper	upper	ADJ
fcis-31433	98	17	bounds	bound	NOUN
fcis-31433	98	18	of	of	ADP
fcis-31433	98	19	the	the	DET
fcis-31433	98	20	parameter𝑞	parameter𝑞	NOUN
fcis-31433	98	21	,	,	PUNCT
fcis-31433	98	22	respectively	respectively	ADV
fcis-31433	98	23	,	,	PUNCT
fcis-31433	98	24	n	n	X
fcis-31433	98	25	is	be	AUX
fcis-31433	98	26	the	the	DET
fcis-31433	98	27	number	number	NOUN
fcis-31433	98	28	of	of	ADP
fcis-31433	98	29	candidate	candidate	NOUN
fcis-31433	98	30	solutions	solution	NOUN
fcis-31433	98	31	.	.	PUNCT
fcis-31433	99	1	the	the	DET
fcis-31433	99	2	value	value	NOUN
fcis-31433	99	3	of	of	ADP
fcis-31433	99	4	h	h	NOUN
fcis-31433	99	5	𝑡	𝑡	PROPN
fcis-31433	99	6	is	be	AUX
fcis-31433	99	7	calculated	calculate	VERB
fcis-31433	99	8	according	accord	VERB
fcis-31433	99	9	to	to	ADP
fcis-31433	99	10	equation	equation	NOUN
fcis-31433	99	11	(	(	PUNCT
fcis-31433	99	12	8)	8)	NUM
fcis-31433	99	13	.	.	PUNCT
fcis-31433	99	14	figure	figure	NOUN
fcis-31433	99	15	3	3	NUM
fcis-31433	99	16	.	.	PUNCT
fcis-31433	100	1	the	the	DET
fcis-31433	100	2	varying	vary	VERB
fcis-31433	100	3	curve	curve	NOUN
fcis-31433	100	4	of	of	ADP
fcis-31433	100	5	parameter	parameter	NOUN
fcis-31433	100	6	0q	0q	PROPN
fcis-31433	100	7	as	as	SCONJ
fcis-31433	100	8	shown	show	VERB
fcis-31433	100	9	in	in	ADP
fcis-31433	100	10	fig	fig	NOUN
fcis-31433	100	11	3	3	NUM
fcis-31433	100	12	,	,	PUNCT
fcis-31433	100	13	a	a	DET
fcis-31433	100	14	smaller	small	ADJ
fcis-31433	100	15	population	population	NOUN
fcis-31433	100	16	information	information	NOUN
fcis-31433	100	17	entropy	entropy	PROPN
fcis-31433	100	18	indicates	indicate	VERB
fcis-31433	100	19	reduced	reduced	ADJ
fcis-31433	100	20	diversity	diversity	NOUN
fcis-31433	100	21	within	within	ADP
fcis-31433	100	22	the	the	DET
fcis-31433	100	23	population	population	NOUN
fcis-31433	100	24	,	,	PUNCT
fcis-31433	100	25	where	where	SCONJ
fcis-31433	100	26	individuals	individual	NOUN
fcis-31433	100	27	cluster	cluster	VERB
fcis-31433	100	28	densely	densely	ADV
fcis-31433	100	29	in	in	ADP
fcis-31433	100	30	the	the	DET
fcis-31433	100	31	problem	problem	NOUN
fcis-31433	100	32	space	space	NOUN
fcis-31433	100	33	.	.	PUNCT
fcis-31433	101	1	to	to	PART
fcis-31433	101	2	maintain	maintain	VERB
fcis-31433	101	3	optimization	optimization	NOUN
fcis-31433	101	4	quality	quality	NOUN
fcis-31433	101	5	,	,	PUNCT
fcis-31433	101	6	a	a	DET
fcis-31433	101	7	smaller	small	ADJ
fcis-31433	101	8	0q	0q	NOUN
fcis-31433	101	9	should	should	AUX
fcis-31433	101	10	be	be	AUX
fcis-31433	101	11	employed	employ	VERB
fcis-31433	101	12	to	to	PART
fcis-31433	101	13	increase	increase	VERB
fcis-31433	101	14	the	the	DET
fcis-31433	101	15	proportion	proportion	NOUN
fcis-31433	101	16	of	of	ADP
fcis-31433	101	17	stochastic	stochastic	ADJ
fcis-31433	101	18	candidate	candidate	NOUN
fcis-31433	101	19	solution	solution	NOUN
fcis-31433	101	20	construction	construction	NOUN
fcis-31433	101	21	,	,	PUNCT
fcis-31433	101	22	thereby	thereby	ADV
fcis-31433	101	23	enhancing	enhance	VERB
fcis-31433	101	24	the	the	DET
fcis-31433	101	25	algorithm	algorithm	NOUN
fcis-31433	101	26	's	's	PART
fcis-31433	101	27	64	64	NUM
fcis-31433	101	28	exploration	exploration	NOUN
fcis-31433	101	29	capability	capability	NOUN
fcis-31433	101	30	.	.	PUNCT
fcis-31433	102	1	conversely	conversely	ADV
fcis-31433	102	2	,	,	PUNCT
fcis-31433	102	3	a	a	DET
fcis-31433	102	4	larger	large	ADJ
fcis-31433	102	5	population	population	NOUN
fcis-31433	102	6	entropy	entropy	NOUN
fcis-31433	102	7	reflects	reflect	VERB
fcis-31433	102	8	higher	high	ADJ
fcis-31433	102	9	diversity	diversity	NOUN
fcis-31433	102	10	,	,	PUNCT
fcis-31433	102	11	with	with	ADP
fcis-31433	102	12	individuals	individual	NOUN
fcis-31433	102	13	distributed	distribute	VERB
fcis-31433	102	14	broadly	broadly	ADV
fcis-31433	102	15	across	across	ADP
fcis-31433	102	16	the	the	DET
fcis-31433	102	17	solution	solution	NOUN
fcis-31433	102	18	domain	domain	NOUN
fcis-31433	102	19	.	.	PUNCT
fcis-31433	103	1	in	in	ADP
fcis-31433	103	2	this	this	DET
fcis-31433	103	3	scenario	scenario	NOUN
fcis-31433	103	4	,	,	PUNCT
fcis-31433	103	5	a	a	DET
fcis-31433	103	6	larger	large	ADJ
fcis-31433	103	7	0q	0q	NOUN
fcis-31433	103	8	is	be	AUX
fcis-31433	103	9	adopted	adopt	VERB
fcis-31433	103	10	to	to	PART
fcis-31433	103	11	prioritize	prioritize	VERB
fcis-31433	103	12	the	the	DET
fcis-31433	103	13	exploitation	exploitation	NOUN
fcis-31433	103	14	of	of	ADP
fcis-31433	103	15	optimal	optimal	ADJ
fcis-31433	103	16	solutions	solution	NOUN
fcis-31433	103	17	,	,	PUNCT
fcis-31433	103	18	accelerating	accelerate	VERB
fcis-31433	103	19	convergence	convergence	NOUN
fcis-31433	103	20	speed	speed	NOUN
fcis-31433	103	21	.	.	PUNCT
fcis-31433	104	1	to	to	PART
fcis-31433	104	2	balance	balance	VERB
fcis-31433	104	3	exploration	exploration	NOUN
fcis-31433	104	4	and	and	CCONJ
fcis-31433	104	5	exploitation	exploitation	NOUN
fcis-31433	104	6	,	,	PUNCT
fcis-31433	104	7	the	the	DET
fcis-31433	104	8	0q	0q	NOUN
fcis-31433	104	9	is	be	AUX
fcis-31433	104	10	constrained	constrain	VERB
fcis-31433	104	11	within	within	ADP
fcis-31433	104	12	bounds	bound	NOUN
fcis-31433	104	13	:	:	PUNCT
fcis-31433	104	14	the	the	DET
fcis-31433	104	15	lower	lower	ADV
fcis-31433	104	16	bound	bind	VERB
fcis-31433	104	17	is	be	AUX
fcis-31433	104	18	set	set	VERB
fcis-31433	104	19	to	to	ADP
fcis-31433	104	20	0.4	0.4	NUM
fcis-31433	104	21	to	to	PART
fcis-31433	104	22	prevent	prevent	VERB
fcis-31433	104	23	excessive	excessive	ADJ
fcis-31433	104	24	exploitation	exploitation	NOUN
fcis-31433	104	25	,	,	PUNCT
fcis-31433	104	26	while	while	SCONJ
fcis-31433	104	27	the	the	DET
fcis-31433	104	28	upper	upper	ADJ
fcis-31433	104	29	bound	bind	VERB
fcis-31433	104	30	is	be	AUX
fcis-31433	104	31	fixed	fix	VERB
fcis-31433	104	32	at	at	ADP
fcis-31433	104	33	0.9	0.9	NUM
fcis-31433	104	34	to	to	PART
fcis-31433	104	35	avoid	avoid	VERB
fcis-31433	104	36	unguided	unguided	ADJ
fcis-31433	104	37	exploration	exploration	NOUN
fcis-31433	104	38	,	,	PUNCT
fcis-31433	104	39	as	as	SCONJ
fcis-31433	104	40	implemented	implement	VERB
fcis-31433	104	41	in	in	ADP
fcis-31433	104	42	this	this	DET
fcis-31433	104	43	study	study	NOUN
fcis-31433	104	44	.	.	PUNCT
fcis-31433	105	1	4	4	X
fcis-31433	105	2	.	.	X
fcis-31433	105	3	simulation	simulation	NOUN
fcis-31433	105	4	experiments	experiment	NOUN
fcis-31433	105	5	to	to	PART
fcis-31433	105	6	validate	validate	VERB
fcis-31433	105	7	the	the	DET
fcis-31433	105	8	feasibility	feasibility	NOUN
fcis-31433	105	9	of	of	ADP
fcis-31433	105	10	the	the	DET
fcis-31433	105	11	proposed	propose	VERB
fcis-31433	105	12	algorithm	algorithm	NOUN
fcis-31433	105	13	,	,	PUNCT
fcis-31433	105	14	simulations	simulation	NOUN
fcis-31433	105	15	were	be	AUX
fcis-31433	105	16	conducted	conduct	VERB
fcis-31433	105	17	on	on	ADP
fcis-31433	105	18	the	the	DET
fcis-31433	105	19	matlab	matlab	PROPN
fcis-31433	105	20	r2023b	r2023b	PROPN
fcis-31433	105	21	platform	platform	NOUN
fcis-31433	105	22	in	in	ADP
fcis-31433	105	23	a	a	DET
fcis-31433	105	24	2d	2d	NUM
fcis-31433	105	25	grid	grid	NOUN
fcis-31433	105	26	environment	environment	NOUN
fcis-31433	105	27	.	.	PUNCT
fcis-31433	106	1	to	to	PART
fcis-31433	106	2	verify	verify	VERB
fcis-31433	106	3	the	the	DET
fcis-31433	106	4	effectiveness	effectiveness	NOUN
fcis-31433	106	5	and	and	CCONJ
fcis-31433	106	6	adaptability	adaptability	NOUN
fcis-31433	106	7	of	of	ADP
fcis-31433	106	8	the	the	DET
fcis-31433	106	9	proposed	propose	VERB
fcis-31433	106	10	adaptive	adaptive	ADJ
fcis-31433	106	11	heterogeneous	heterogeneous	ADJ
fcis-31433	106	12	ant	ant	ADJ
fcis-31433	106	13	colony	colony	NOUN
fcis-31433	106	14	algorithm	algorithm	NOUN
fcis-31433	106	15	(	(	PUNCT
fcis-31433	106	16	sa	sa	NOUN
fcis-31433	106	17	-	-	PUNCT
fcis-31433	106	18	haco	haco	NOUN
fcis-31433	106	19	)	)	PUNCT
fcis-31433	106	20	in	in	ADP
fcis-31433	106	21	path	path	NOUN
fcis-31433	106	22	planning	planning	NOUN
fcis-31433	106	23	,	,	PUNCT
fcis-31433	106	24	comparative	comparative	ADJ
fcis-31433	106	25	experiments	experiment	NOUN
fcis-31433	106	26	were	be	AUX
fcis-31433	106	27	performed	perform	VERB
fcis-31433	106	28	against	against	ADP
fcis-31433	106	29	baseline	baseline	ADJ
fcis-31433	106	30	algorithms	algorithm	NOUN
fcis-31433	106	31	,	,	PUNCT
fcis-31433	106	32	including	include	VERB
fcis-31433	106	33	aco	aco	PROPN
fcis-31433	106	34	,	,	PUNCT
fcis-31433	106	35	jop	jop	PROPN
fcis-31433	106	36	-	-	PUNCT
fcis-31433	106	37	aco[13	aco[13	PROPN
fcis-31433	106	38	]	]	PUNCT
fcis-31433	106	39	,	,	PUNCT
fcis-31433	106	40	and	and	CCONJ
fcis-31433	106	41	ps	ps	PROPN
fcis-31433	106	42	-	-	PUNCT
fcis-31433	106	43	aco[14	aco[14	PROPN
fcis-31433	106	44	]	]	X
fcis-31433	106	45	,	,	PUNCT
fcis-31433	106	46	in	in	ADP
fcis-31433	106	47	two	two	NUM
fcis-31433	106	48	grid	grid	NOUN
fcis-31433	106	49	environments	environment	NOUN
fcis-31433	106	50	with	with	ADP
fcis-31433	106	51	varying	vary	VERB
fcis-31433	106	52	sizes	size	NOUN
fcis-31433	106	53	and	and	CCONJ
fcis-31433	106	54	obstacle	obstacle	NOUN
fcis-31433	106	55	configurations	configuration	NOUN
fcis-31433	106	56	(	(	PUNCT
fcis-31433	106	57	map	map	VERB
fcis-31433	106	58	dimensions	dimension	NOUN
fcis-31433	106	59	:	:	PUNCT
fcis-31433	106	60	30×30	30×30	NUM
fcis-31433	106	61	and	and	CCONJ
fcis-31433	106	62	50×50	50×50	NUM
fcis-31433	106	63	)	)	PUNCT
fcis-31433	106	64	.	.	PUNCT
fcis-31433	107	1	the	the	DET
fcis-31433	107	2	start	start	NOUN
fcis-31433	107	3	point	point	NOUN
fcis-31433	107	4	was	be	AUX
fcis-31433	107	5	set	set	VERB
fcis-31433	107	6	at	at	ADP
fcis-31433	107	7	the	the	DET
fcis-31433	107	8	top	top	ADV
fcis-31433	107	9	-	-	PUNCT
fcis-31433	107	10	left	left	ADJ
fcis-31433	107	11	corner	corner	NOUN
fcis-31433	107	12	,	,	PUNCT
fcis-31433	107	13	and	and	CCONJ
fcis-31433	107	14	the	the	DET
fcis-31433	107	15	goal	goal	NOUN
fcis-31433	107	16	at	at	ADP
fcis-31433	107	17	the	the	DET
fcis-31433	107	18	bottom	bottom	ADJ
fcis-31433	107	19	-	-	PUNCT
fcis-31433	107	20	right	right	NOUN
fcis-31433	107	21	corner	corner	NOUN
fcis-31433	107	22	.	.	PUNCT
fcis-31433	108	1	to	to	PART
fcis-31433	108	2	mitigate	mitigate	VERB
fcis-31433	108	3	randomness	randomness	NOUN
fcis-31433	108	4	effects	effect	NOUN
fcis-31433	108	5	,	,	PUNCT
fcis-31433	108	6	all	all	DET
fcis-31433	108	7	experimental	experimental	ADJ
fcis-31433	108	8	results	result	NOUN
fcis-31433	108	9	were	be	AUX
fcis-31433	108	10	averaged	average	VERB
fcis-31433	108	11	over	over	ADP
fcis-31433	108	12	20	20	NUM
fcis-31433	108	13	independent	independent	ADJ
fcis-31433	108	14	trials	trial	NOUN
fcis-31433	108	15	.	.	PUNCT
fcis-31433	109	1	4.1	4.1	NUM
fcis-31433	109	2	.	.	PUNCT
fcis-31433	109	3	parameter	parameter	NOUN
fcis-31433	109	4	settings	setting	VERB
fcis-31433	109	5	the	the	DET
fcis-31433	109	6	ant	ant	ADJ
fcis-31433	109	7	colony	colony	NOUN
fcis-31433	109	8	algorithm	algorithm	NOUN
fcis-31433	109	9	involves	involve	VERB
fcis-31433	109	10	multiple	multiple	ADJ
fcis-31433	109	11	parameters	parameter	NOUN
fcis-31433	109	12	that	that	PRON
fcis-31433	109	13	require	require	VERB
fcis-31433	109	14	predefined	predefine	VERB
fcis-31433	109	15	configurations	configuration	NOUN
fcis-31433	109	16	,	,	PUNCT
fcis-31433	109	17	such	such	ADJ
fcis-31433	109	18	as	as	ADP
fcis-31433	109	19	the	the	DET
fcis-31433	109	20	number	number	NOUN
fcis-31433	109	21	of	of	ADP
fcis-31433	109	22	ants	ant	NOUN
fcis-31433	109	23	m	m	PROPN
fcis-31433	109	24	,	,	PUNCT
fcis-31433	109	25	global	global	ADJ
fcis-31433	109	26	pheromone	pheromone	NOUN
fcis-31433	109	27	evaporation	evaporation	NOUN
fcis-31433	109	28	rate	rate	NOUN
fcis-31433	109	29			NOUN
fcis-31433	109	30	,	,	PUNCT
fcis-31433	109	31	pheromone	pheromone	NOUN
fcis-31433	109	32	quantity	quantity	NOUN
fcis-31433	109	33	q	q	NOUN
fcis-31433	109	34	,	,	PUNCT
fcis-31433	109	35	pheromone	pheromone	NOUN
fcis-31433	109	36	heuristic	heuristic	ADJ
fcis-31433	109	37	control	control	NOUN
fcis-31433	109	38	parameter	parameter	NOUN
fcis-31433	109	39			PROPN
fcis-31433	109	40	,	,	PUNCT
fcis-31433	109	41	heuristic	heuristic	ADJ
fcis-31433	109	42	information	information	NOUN
fcis-31433	109	43	parameter	parameter	PROPN
fcis-31433	109	44	,	,	PUNCT
fcis-31433	109	45	and	and	CCONJ
fcis-31433	109	46	maximum	maximum	ADJ
fcis-31433	109	47	iteration	iteration	NOUN
fcis-31433	109	48	count	count	NOUN
fcis-31433	109	49	maxi	maxi	NOUN
fcis-31433	109	50	.	.	PUNCT
fcis-31433	110	1	in	in	ADP
fcis-31433	110	2	the	the	DET
fcis-31433	110	3	ps	ps	PROPN
fcis-31433	110	4	-	-	PUNCT
fcis-31433	110	5	aco	aco	PROPN
fcis-31433	110	6	algorithm	algorithm	PROPN
fcis-31433	110	7	,	,	PUNCT
fcis-31433	110	8	parameters	parameter	NOUN
fcis-31433	110	9	c1	c1	PROPN
fcis-31433	110	10	and	and	CCONJ
fcis-31433	110	11	c2	c2	PROPN
fcis-31433	110	12	are	be	AUX
fcis-31433	110	13	both	both	PRON
fcis-31433	110	14	set	set	VERB
fcis-31433	110	15	to	to	ADP
fcis-31433	110	16	2	2	NUM
fcis-31433	110	17	,	,	PUNCT
fcis-31433	110	18	while	while	SCONJ
fcis-31433	110	19	the	the	DET
fcis-31433	110	20	jop	jop	PROPN
fcis-31433	110	21	-	-	PUNCT
fcis-31433	110	22	aco	aco	PROPN
fcis-31433	110	23	algorithm	algorithm	PROPN
fcis-31433	110	24	adopts	adopt	VERB
fcis-31433	110	25	parameters	parameter	NOUN
fcis-31433	110	26	provided	provide	VERB
fcis-31433	110	27	in	in	ADP
fcis-31433	110	28	reference[13	reference[13	NOUN
fcis-31433	110	29	]	]	PUNCT
fcis-31433	110	30	.	.	PUNCT
fcis-31433	111	1	the	the	DET
fcis-31433	111	2	parameter	parameter	NOUN
fcis-31433	111	3	settings	setting	NOUN
fcis-31433	111	4	for	for	ADP
fcis-31433	111	5	other	other	ADJ
fcis-31433	111	6	algorithms	algorithm	NOUN
fcis-31433	111	7	are	be	AUX
fcis-31433	111	8	listed	list	VERB
fcis-31433	111	9	in	in	ADP
fcis-31433	111	10	table	table	NOUN
fcis-31433	111	11	1	1	NUM
fcis-31433	111	12	:	:	PUNCT
fcis-31433	111	13	table	table	NOUN
fcis-31433	111	14	1	1	NUM
fcis-31433	111	15	.	.	PUNCT
fcis-31433	112	1	the	the	DET
fcis-31433	112	2	parameter	parameter	NOUN
fcis-31433	112	3	settings	setting	NOUN
fcis-31433	112	4	of	of	ADP
fcis-31433	112	5	algorithms	algorithms	NOUN
fcis-31433	112	6	algorithms	algorithms	PROPN
fcis-31433	112	7	m	m	VERB
fcis-31433	112	8			ADP
fcis-31433	112	9	q	q	ADJ
fcis-31433	112	10			NUM
fcis-31433	112	11			PROPN
fcis-31433	112	12	maxi	maxi	ADJ
fcis-31433	112	13	aco	aco	PROPN
fcis-31433	112	14	50	50	NUM
fcis-31433	112	15	0.2	0.2	NUM
fcis-31433	112	16	1	1	NUM
fcis-31433	112	17	1	1	NUM
fcis-31433	112	18	7	7	NUM
fcis-31433	112	19	100	100	NUM
fcis-31433	112	20	ps	ps	PROPN
fcis-31433	112	21	-	-	PUNCT
fcis-31433	112	22	aco	aco	PROPN
fcis-31433	113	1	50	50	NUM
fcis-31433	113	2	0.15	0.15	NUM
fcis-31433	113	3	10	10	NUM
fcis-31433	113	4	1	1	NUM
fcis-31433	113	5	7	7	NUM
fcis-31433	113	6	100	100	NUM
fcis-31433	113	7	jopaco	jopaco	NOUN
fcis-31433	113	8	50	50	NUM
fcis-31433	113	9	0.3	0.3	NUM
fcis-31433	113	10	1	1	NUM
fcis-31433	113	11	1	1	NUM
fcis-31433	113	12	7	7	NUM
fcis-31433	113	13	100	100	NUM
fcis-31433	113	14	sahaco	sahaco	NOUN
fcis-31433	113	15	50	50	NUM
fcis-31433	113	16	0.3	0.3	NUM
fcis-31433	113	17	1	1	NUM
fcis-31433	113	18	5	5	NUM
fcis-31433	113	19	7	7	NUM
fcis-31433	113	20	100	100	NUM
fcis-31433	113	21	4.2	4.2	NUM
fcis-31433	113	22	.	.	PUNCT
fcis-31433	114	1	experimental	experimental	ADJ
fcis-31433	114	2	results	result	NOUN
fcis-31433	114	3	and	and	CCONJ
fcis-31433	114	4	analysis	analysis	NOUN
fcis-31433	114	5	fig	fig	NOUN
fcis-31433	114	6	4	4	NUM
fcis-31433	114	7	illustrates	illustrate	VERB
fcis-31433	114	8	the	the	DET
fcis-31433	114	9	path	path	NOUN
fcis-31433	114	10	simulation	simulation	NOUN
fcis-31433	114	11	results	result	VERB
fcis-31433	114	12	in	in	ADP
fcis-31433	114	13	a	a	DET
fcis-31433	114	14	30×30	30×30	NUM
fcis-31433	114	15	grid	grid	NOUN
fcis-31433	114	16	map	map	NOUN
fcis-31433	114	17	(	(	PUNCT
fcis-31433	114	18	map1	map1	PROPN
fcis-31433	114	19	)	)	PUNCT
fcis-31433	114	20	.	.	PUNCT
fcis-31433	115	1	the	the	DET
fcis-31433	115	2	conventional	conventional	ADJ
fcis-31433	115	3	aco	aco	PROPN
fcis-31433	115	4	algorithm	algorithm	NOUN
fcis-31433	115	5	(	(	PUNCT
fcis-31433	115	6	a	a	PRON
fcis-31433	115	7	)	)	PUNCT
fcis-31433	115	8	generates	generate	VERB
fcis-31433	115	9	a	a	DET
fcis-31433	115	10	longer	long	ADJ
fcis-31433	115	11	path	path	NOUN
fcis-31433	115	12	with	with	ADP
fcis-31433	115	13	excessive	excessive	ADJ
fcis-31433	115	14	turns	turn	NOUN
fcis-31433	115	15	and	and	CCONJ
fcis-31433	115	16	multiple	multiple	ADJ
fcis-31433	115	17	instances	instance	NOUN
fcis-31433	115	18	of	of	ADP
fcis-31433	115	19	local	local	ADJ
fcis-31433	115	20	optima	optima	PROPN
fcis-31433	115	21	entrapment	entrapment	NOUN
fcis-31433	115	22	,	,	PUNCT
fcis-31433	115	23	demonstrating	demonstrate	VERB
fcis-31433	115	24	poor	poor	ADJ
fcis-31433	115	25	overall	overall	ADJ
fcis-31433	115	26	quality	quality	NOUN
fcis-31433	115	27	.	.	PUNCT
fcis-31433	116	1	in	in	ADP
fcis-31433	116	2	comparison	comparison	NOUN
fcis-31433	116	3	,	,	PUNCT
fcis-31433	116	4	the	the	DET
fcis-31433	116	5	ps	ps	PROPN
fcis-31433	116	6	-	-	PUNCT
fcis-31433	116	7	aco	aco	PROPN
fcis-31433	116	8	algorithm	algorithm	NOUN
fcis-31433	116	9	(	(	PUNCT
fcis-31433	116	10	c	c	NOUN
fcis-31433	116	11	)	)	PUNCT
fcis-31433	116	12	and	and	CCONJ
fcis-31433	116	13	jop	jop	PROPN
fcis-31433	116	14	-	-	PUNCT
fcis-31433	116	15	aco	aco	PROPN
fcis-31433	116	16	algorithms(d	algorithms(d	PROPN
fcis-31433	116	17	)	)	PUNCT
fcis-31433	116	18	produce	produce	VERB
fcis-31433	116	19	shorter	short	ADJ
fcis-31433	116	20	paths	path	NOUN
fcis-31433	116	21	with	with	ADP
fcis-31433	116	22	fewer	few	ADJ
fcis-31433	116	23	turns	turn	NOUN
fcis-31433	116	24	,	,	PUNCT
fcis-31433	116	25	showing	show	VERB
fcis-31433	116	26	reduced	reduce	VERB
fcis-31433	116	27	average	average	ADJ
fcis-31433	116	28	turning	turning	NOUN
fcis-31433	116	29	curvature	curvature	NOUN
fcis-31433	116	30	and	and	CCONJ
fcis-31433	116	31	curvature	curvature	NOUN
fcis-31433	116	32	variation	variation	NOUN
fcis-31433	116	33	,	,	PUNCT
fcis-31433	116	34	thus	thus	ADV
fcis-31433	116	35	achieving	achieve	VERB
fcis-31433	116	36	moderate	moderate	ADJ
fcis-31433	116	37	quality	quality	NOUN
fcis-31433	116	38	improvement	improvement	NOUN
fcis-31433	116	39	.	.	PUNCT
fcis-31433	117	1	notably	notably	ADV
fcis-31433	117	2	,	,	PUNCT
fcis-31433	117	3	the	the	DET
fcis-31433	117	4	sa	sa	PROPN
fcis-31433	117	5	-	-	PUNCT
fcis-31433	117	6	haco	haco	NOUN
fcis-31433	117	7	algorithm(b	algorithm(b	NOUN
fcis-31433	117	8	)	)	PUNCT
fcis-31433	117	9	significantly	significantly	ADV
fcis-31433	117	10	enhances	enhance	VERB
fcis-31433	117	11	path	path	NOUN
fcis-31433	117	12	quality	quality	NOUN
fcis-31433	117	13	through	through	ADP
fcis-31433	117	14	pheromone	pheromone	NOUN
fcis-31433	117	15	diffusion	diffusion	NOUN
fcis-31433	117	16	and	and	CCONJ
fcis-31433	117	17	adaptive	adaptive	ADJ
fcis-31433	117	18	strategies	strategy	NOUN
fcis-31433	117	19	,	,	PUNCT
fcis-31433	117	20	generating	generate	VERB
fcis-31433	117	21	a	a	DET
fcis-31433	117	22	shorter	short	ADJ
fcis-31433	117	23	path	path	NOUN
fcis-31433	117	24	with	with	ADP
fcis-31433	117	25	minimal	minimal	ADJ
fcis-31433	117	26	turns	turn	NOUN
fcis-31433	117	27	.	.	PUNCT
fcis-31433	118	1	although	although	SCONJ
fcis-31433	118	2	its	its	PRON
fcis-31433	118	3	total	total	ADJ
fcis-31433	118	4	path	path	NOUN
fcis-31433	118	5	length	length	NOUN
fcis-31433	118	6	approximates	approximate	VERB
fcis-31433	118	7	that	that	PRON
fcis-31433	118	8	of	of	ADP
fcis-31433	118	9	jop	jop	PROPN
fcis-31433	118	10	-	-	PUNCT
fcis-31433	118	11	aco	aco	PROPN
fcis-31433	118	12	,	,	PUNCT
fcis-31433	118	13	sa	sa	PROPN
fcis-31433	118	14	-	-	PUNCT
fcis-31433	118	15	haco	haco	NOUN
fcis-31433	118	16	achieves	achieve	VERB
fcis-31433	118	17	smoother	smooth	ADJ
fcis-31433	118	18	trajectories	trajectory	NOUN
fcis-31433	118	19	with	with	ADP
fcis-31433	118	20	smaller	small	ADJ
fcis-31433	118	21	average	average	ADJ
fcis-31433	118	22	variation	variation	NOUN
fcis-31433	118	23	in	in	ADP
fcis-31433	118	24	turning	turn	VERB
fcis-31433	118	25	angles	angle	NOUN
fcis-31433	118	26	.	.	PUNCT
fcis-31433	119	1	these	these	DET
fcis-31433	119	2	results	result	NOUN
fcis-31433	119	3	demonstrate	demonstrate	VERB
fcis-31433	119	4	that	that	SCONJ
fcis-31433	119	5	the	the	DET
fcis-31433	119	6	sa	sa	PROPN
fcis-31433	119	7	-	-	PUNCT
fcis-31433	119	8	haco	haco	NOUN
fcis-31433	119	9	algorithm	algorithm	NOUN
fcis-31433	119	10	achieves	achieve	VERB
fcis-31433	119	11	the	the	DET
fcis-31433	119	12	highest	high	ADJ
fcis-31433	119	13	-	-	PUNCT
fcis-31433	119	14	quality	quality	NOUN
fcis-31433	119	15	path	path	NOUN
fcis-31433	119	16	planning	planning	NOUN
fcis-31433	119	17	.	.	PUNCT
fcis-31433	120	1	(	(	PUNCT
fcis-31433	120	2	a)aco	a)aco	PROPN
fcis-31433	120	3	(	(	PUNCT
fcis-31433	120	4	b)sa	b)sa	PROPN
fcis-31433	120	5	-	-	PUNCT
fcis-31433	120	6	haco	haco	NOUN
fcis-31433	120	7	(	(	PUNCT
fcis-31433	120	8	c)ps	c)ps	PROPN
fcis-31433	120	9	-	-	PUNCT
fcis-31433	120	10	aco	aco	PROPN
fcis-31433	120	11	(	(	PUNCT
fcis-31433	120	12	d)jop	d)jop	PROPN
fcis-31433	120	13	-	-	PUNCT
fcis-31433	120	14	aco	aco	NOUN
fcis-31433	120	15	figure	figure	NOUN
fcis-31433	120	16	4	4	NUM
fcis-31433	120	17	.	.	PUNCT
fcis-31433	120	18	schematic	schematic	ADJ
fcis-31433	120	19	diagram	diagram	NOUN
fcis-31433	120	20	of	of	ADP
fcis-31433	120	21	the	the	DET
fcis-31433	120	22	path	path	NOUN
fcis-31433	120	23	in	in	ADP
fcis-31433	120	24	a	a	DET
fcis-31433	120	25	30×30	30×30	NUM
fcis-31433	120	26	grid	grid	NOUN
fcis-31433	120	27	map	map	NOUN
fcis-31433	120	28	65	65	NUM
fcis-31433	120	29	(	(	PUNCT
fcis-31433	120	30	a)aco	a)aco	PROPN
fcis-31433	120	31	(	(	PUNCT
fcis-31433	120	32	b)sa	b)sa	PROPN
fcis-31433	120	33	-	-	PUNCT
fcis-31433	120	34	haco	haco	NOUN
fcis-31433	120	35	(	(	PUNCT
fcis-31433	120	36	c)ps	c)ps	PROPN
fcis-31433	120	37	-	-	PUNCT
fcis-31433	120	38	aco	aco	PROPN
fcis-31433	120	39	(	(	PUNCT
fcis-31433	120	40	d)jop	d)jop	PROPN
fcis-31433	120	41	-	-	PUNCT
fcis-31433	120	42	aco	aco	NOUN
fcis-31433	120	43	figure	figure	NOUN
fcis-31433	120	44	5	5	NUM
fcis-31433	120	45	.	.	PUNCT
fcis-31433	120	46	schematic	schematic	ADJ
fcis-31433	120	47	diagram	diagram	NOUN
fcis-31433	120	48	of	of	ADP
fcis-31433	120	49	the	the	DET
fcis-31433	120	50	path	path	NOUN
fcis-31433	120	51	in	in	ADP
fcis-31433	120	52	a	a	DET
fcis-31433	120	53	50×50	50×50	NUM
fcis-31433	120	54	grid	grid	NOUN
fcis-31433	120	55	map	map	NOUN
fcis-31433	120	56	fig	fig	NOUN
fcis-31433	120	57	5	5	NUM
fcis-31433	120	58	illustrates	illustrate	VERB
fcis-31433	120	59	the	the	DET
fcis-31433	120	60	simulated	simulated	ADJ
fcis-31433	120	61	path	path	NOUN
fcis-31433	120	62	results	result	NOUN
fcis-31433	120	63	in	in	ADP
fcis-31433	120	64	a	a	DET
fcis-31433	120	65	50×50	50×50	NUM
fcis-31433	120	66	grid	grid	NOUN
fcis-31433	120	67	map	map	NOUN
fcis-31433	120	68	(	(	PUNCT
fcis-31433	120	69	map2	map2	PROPN
fcis-31433	120	70	)	)	PUNCT
fcis-31433	120	71	.	.	PUNCT
fcis-31433	121	1	the	the	DET
fcis-31433	121	2	sa	sa	PROPN
fcis-31433	121	3	-	-	PUNCT
fcis-31433	121	4	haco	haco	NOUN
fcis-31433	121	5	algorithm	algorithm	NOUN
fcis-31433	121	6	achieves	achieve	VERB
fcis-31433	121	7	the	the	DET
fcis-31433	121	8	shortest	short	ADJ
fcis-31433	121	9	path	path	NOUN
fcis-31433	121	10	length	length	NOUN
fcis-31433	121	11	in	in	ADP
fcis-31433	121	12	all	all	DET
fcis-31433	121	13	tested	test	VERB
fcis-31433	121	14	environments	environment	NOUN
fcis-31433	121	15	,	,	PUNCT
fcis-31433	121	16	demonstrating	demonstrate	VERB
fcis-31433	121	17	remarkable	remarkable	ADJ
fcis-31433	121	18	optimization	optimization	NOUN
fcis-31433	121	19	superiority	superiority	NOUN
fcis-31433	121	20	.	.	PUNCT
fcis-31433	122	1	experimental	experimental	ADJ
fcis-31433	122	2	findings	finding	NOUN
fcis-31433	122	3	reveal	reveal	VERB
fcis-31433	122	4	that	that	SCONJ
fcis-31433	122	5	while	while	SCONJ
fcis-31433	122	6	all	all	DET
fcis-31433	122	7	algorithms	algorithm	NOUN
fcis-31433	122	8	perform	perform	VERB
fcis-31433	122	9	well	well	ADV
fcis-31433	122	10	in	in	ADP
fcis-31433	122	11	smaller	small	ADJ
fcis-31433	122	12	maps	map	NOUN
fcis-31433	122	13	,	,	PUNCT
fcis-31433	122	14	traditional	traditional	ADJ
fcis-31433	122	15	algorithms	algorithm	NOUN
fcis-31433	122	16	exhibit	exhibit	VERB
fcis-31433	122	17	significant	significant	ADJ
fcis-31433	122	18	performance	performance	NOUN
fcis-31433	122	19	degradation	degradation	NOUN
fcis-31433	122	20	as	as	ADP
fcis-31433	122	21	map	map	NOUN
fcis-31433	122	22	complexity	complexity	NOUN
fcis-31433	122	23	increases	increase	NOUN
fcis-31433	122	24	.	.	PUNCT
fcis-31433	123	1	sa	sa	NOUN
fcis-31433	123	2	-	-	PUNCT
fcis-31433	123	3	haco	haco	NOUN
fcis-31433	123	4	outperforms	outperform	VERB
fcis-31433	123	5	others	other	NOUN
fcis-31433	123	6	across	across	ADP
fcis-31433	123	7	all	all	DET
fcis-31433	123	8	metrics	metric	NOUN
fcis-31433	123	9	except	except	SCONJ
fcis-31433	123	10	convergence	convergence	NOUN
fcis-31433	123	11	speed	speed	NOUN
fcis-31433	123	12	.	.	PUNCT
fcis-31433	124	1	notably	notably	ADV
fcis-31433	124	2	,	,	PUNCT
fcis-31433	124	3	when	when	SCONJ
fcis-31433	124	4	confronted	confront	VERB
fcis-31433	124	5	with	with	ADP
fcis-31433	124	6	complex	complex	ADJ
fcis-31433	124	7	environments	environment	NOUN
fcis-31433	124	8	characterized	characterize	VERB
fcis-31433	124	9	by	by	ADP
fcis-31433	124	10	irregular	irregular	ADJ
fcis-31433	124	11	obstacles	obstacle	NOUN
fcis-31433	124	12	and	and	CCONJ
fcis-31433	124	13	overlapping	overlap	VERB
fcis-31433	124	14	local	local	ADJ
fcis-31433	124	15	optima	optima	NOUN
fcis-31433	124	16	,	,	PUNCT
fcis-31433	124	17	sa	sa	NOUN
fcis-31433	124	18	-	-	PUNCT
fcis-31433	124	19	haco	haco	NOUN
fcis-31433	124	20	stands	stand	VERB
fcis-31433	124	21	out	out	ADP
fcis-31433	124	22	as	as	ADP
fcis-31433	124	23	the	the	DET
fcis-31433	124	24	sole	sole	ADJ
fcis-31433	124	25	algorithm	algorithm	NOUN
fcis-31433	124	26	capable	capable	ADJ
fcis-31433	124	27	of	of	ADP
fcis-31433	124	28	consistently	consistently	ADV
fcis-31433	124	29	obtaining	obtain	VERB
fcis-31433	124	30	the	the	DET
fcis-31433	124	31	shortest	short	ADJ
fcis-31433	124	32	path	path	NOUN
fcis-31433	124	33	.	.	PUNCT
fcis-31433	125	1	its	its	PRON
fcis-31433	125	2	average	average	ADJ
fcis-31433	125	3	path	path	NOUN
fcis-31433	125	4	length	length	NOUN
fcis-31433	125	5	also	also	ADV
fcis-31433	125	6	maintains	maintain	VERB
fcis-31433	125	7	a	a	DET
fcis-31433	125	8	clear	clear	ADJ
fcis-31433	125	9	advantage	advantage	NOUN
fcis-31433	125	10	,	,	PUNCT
fcis-31433	125	11	further	far	ADV
fcis-31433	125	12	validating	validate	VERB
fcis-31433	125	13	the	the	DET
fcis-31433	125	14	algorithm	algorithm	NOUN
fcis-31433	125	15	’s	’s	PART
fcis-31433	125	16	stability	stability	NOUN
fcis-31433	125	17	and	and	CCONJ
fcis-31433	125	18	adaptability	adaptability	NOUN
fcis-31433	125	19	to	to	ADP
fcis-31433	125	20	complex	complex	ADJ
fcis-31433	125	21	environments	environment	NOUN
fcis-31433	125	22	.	.	PUNCT
fcis-31433	126	1	these	these	DET
fcis-31433	126	2	results	result	NOUN
fcis-31433	126	3	underscore	underscore	VERB
fcis-31433	126	4	sa	sa	NOUN
fcis-31433	126	5	-	-	PUNCT
fcis-31433	126	6	haco	haco	NOUN
fcis-31433	126	7	’s	’s	PART
fcis-31433	126	8	robustness	robustness	NOUN
fcis-31433	126	9	in	in	ADP
fcis-31433	126	10	balancing	balance	VERB
fcis-31433	126	11	optimization	optimization	NOUN
fcis-31433	126	12	quality	quality	NOUN
fcis-31433	126	13	and	and	CCONJ
fcis-31433	126	14	environmental	environmental	ADJ
fcis-31433	126	15	challenges	challenge	NOUN
fcis-31433	126	16	.	.	PUNCT
fcis-31433	127	1	overall	overall	ADV
fcis-31433	127	2	,	,	PUNCT
fcis-31433	127	3	compared	compare	VERB
fcis-31433	127	4	to	to	ADP
fcis-31433	127	5	other	other	ADJ
fcis-31433	127	6	algorithms	algorithm	NOUN
fcis-31433	127	7	,	,	PUNCT
fcis-31433	127	8	the	the	DET
fcis-31433	127	9	sa	sa	PROPN
fcis-31433	127	10	-	-	PUNCT
fcis-31433	127	11	haco	haco	NOUN
fcis-31433	127	12	method	method	NOUN
fcis-31433	127	13	consistently	consistently	ADV
fcis-31433	127	14	identifies	identify	VERB
fcis-31433	127	15	optimal	optimal	ADJ
fcis-31433	127	16	paths	path	NOUN
fcis-31433	127	17	in	in	ADP
fcis-31433	127	18	all	all	DET
fcis-31433	127	19	tested	test	VERB
fcis-31433	127	20	environments	environment	NOUN
fcis-31433	127	21	and	and	CCONJ
fcis-31433	127	22	demonstrates	demonstrate	VERB
fcis-31433	127	23	significant	significant	ADJ
fcis-31433	127	24	advantages	advantage	NOUN
fcis-31433	127	25	in	in	ADP
fcis-31433	127	26	other	other	ADJ
fcis-31433	127	27	performance	performance	NOUN
fcis-31433	127	28	metrics	metric	NOUN
fcis-31433	127	29	.	.	PUNCT
fcis-31433	128	1	to	to	PART
fcis-31433	128	2	further	far	ADV
fcis-31433	128	3	analyze	analyze	VERB
fcis-31433	128	4	the	the	DET
fcis-31433	128	5	superior	superior	ADJ
fcis-31433	128	6	optimization	optimization	NOUN
fcis-31433	128	7	performance	performance	NOUN
fcis-31433	128	8	of	of	ADP
fcis-31433	128	9	the	the	DET
fcis-31433	128	10	sa	sa	PROPN
fcis-31433	128	11	-	-	PUNCT
fcis-31433	128	12	haco	haco	NOUN
fcis-31433	128	13	algorithm	algorithm	NOUN
fcis-31433	128	14	,	,	PUNCT
fcis-31433	128	15	fig	fig	NOUN
fcis-31433	128	16	6	6	NUM
fcis-31433	128	17	presents	present	VERB
fcis-31433	128	18	the	the	DET
fcis-31433	128	19	convergence	convergence	NOUN
fcis-31433	128	20	curves	curve	NOUN
fcis-31433	128	21	of	of	ADP
fcis-31433	128	22	various	various	ADJ
fcis-31433	128	23	algorithms	algorithm	NOUN
fcis-31433	128	24	under	under	ADP
fcis-31433	128	25	different	different	ADJ
fcis-31433	128	26	maps	map	NOUN
fcis-31433	128	27	.	.	PUNCT
fcis-31433	129	1	(	(	PUNCT
fcis-31433	129	2	a)map1	a)map1	PROPN
fcis-31433	129	3	(	(	PUNCT
fcis-31433	129	4	b)map2	b)map2	PROPN
fcis-31433	129	5	figure	figure	NOUN
fcis-31433	129	6	6	6	NUM
fcis-31433	129	7	.	.	PUNCT
fcis-31433	130	1	algorithm	algorithm	NOUN
fcis-31433	130	2	convergence	convergence	NOUN
fcis-31433	130	3	curves	curve	NOUN
fcis-31433	130	4	in	in	ADP
fcis-31433	130	5	different	different	ADJ
fcis-31433	130	6	environments	environment	NOUN
fcis-31433	130	7	experimental	experimental	ADJ
fcis-31433	130	8	results	result	NOUN
fcis-31433	130	9	demonstrate	demonstrate	VERB
fcis-31433	130	10	that	that	SCONJ
fcis-31433	130	11	the	the	DET
fcis-31433	130	12	sa	sa	PROPN
fcis-31433	130	13	-	-	PUNCT
fcis-31433	130	14	haco	haco	NOUN
fcis-31433	130	15	algorithm	algorithm	NOUN
fcis-31433	130	16	consistently	consistently	ADV
fcis-31433	130	17	converges	converge	VERB
fcis-31433	130	18	to	to	ADP
fcis-31433	130	19	optimal	optimal	ADJ
fcis-31433	130	20	solutions	solution	NOUN
fcis-31433	130	21	across	across	ADP
fcis-31433	130	22	all	all	DET
fcis-31433	130	23	tested	test	VERB
fcis-31433	130	24	scenarios	scenario	NOUN
fcis-31433	130	25	.	.	PUNCT
fcis-31433	131	1	in	in	ADP
fcis-31433	131	2	map1	map1	PROPN
fcis-31433	131	3	,	,	PUNCT
fcis-31433	131	4	although	although	SCONJ
fcis-31433	131	5	ps	ps	PROPN
fcis-31433	131	6	-	-	PUNCT
fcis-31433	131	7	aco	aco	PROPN
fcis-31433	131	8	and	and	CCONJ
fcis-31433	131	9	jopaco	jopaco	PROPN
fcis-31433	131	10	also	also	ADV
fcis-31433	131	11	exhibit	exhibit	VERB
fcis-31433	131	12	the	the	DET
fcis-31433	131	13	ability	ability	NOUN
fcis-31433	131	14	to	to	PART
fcis-31433	131	15	find	find	VERB
fcis-31433	131	16	relatively	relatively	ADV
fcis-31433	131	17	good	good	ADJ
fcis-31433	131	18	paths	path	NOUN
fcis-31433	131	19	,	,	PUNCT
fcis-31433	131	20	their	their	PRON
fcis-31433	131	21	convergence	convergence	NOUN
fcis-31433	131	22	efficiency	efficiency	NOUN
fcis-31433	131	23	differs	differ	NOUN
fcis-31433	131	24	.	.	PUNCT
fcis-31433	132	1	specifically	specifically	ADV
fcis-31433	132	2	,	,	PUNCT
fcis-31433	132	3	ps	ps	PROPN
fcis-31433	132	4	-	-	PUNCT
fcis-31433	132	5	aco	aco	PROPN
fcis-31433	132	6	and	and	CCONJ
fcis-31433	132	7	jop	jop	PROPN
fcis-31433	132	8	-	-	PUNCT
fcis-31433	132	9	aco	aco	PROPN
fcis-31433	132	10	converge	converge	NOUN
fcis-31433	132	11	to	to	ADP
fcis-31433	132	12	suboptimal	suboptimal	ADJ
fcis-31433	132	13	solutions	solution	NOUN
fcis-31433	132	14	by	by	ADP
fcis-31433	132	15	the	the	DET
fcis-31433	132	16	30th	30th	ADJ
fcis-31433	132	17	and	and	CCONJ
fcis-31433	132	18	22nd	22nd	NOUN
fcis-31433	132	19	iterations	iteration	NOUN
fcis-31433	132	20	,	,	PUNCT
fcis-31433	132	21	respectively	respectively	ADV
fcis-31433	132	22	,	,	PUNCT
fcis-31433	132	23	while	while	SCONJ
fcis-31433	132	24	sa	sa	NOUN
fcis-31433	132	25	-	-	PUNCT
fcis-31433	132	26	haco	haco	NOUN
fcis-31433	132	27	discovers	discover	VERB
fcis-31433	132	28	a	a	DET
fcis-31433	132	29	superior	superior	ADJ
fcis-31433	132	30	path	path	NOUN
fcis-31433	132	31	at	at	ADP
fcis-31433	132	32	the	the	DET
fcis-31433	132	33	48th	48th	ADJ
fcis-31433	132	34	iteration	iteration	NOUN
fcis-31433	132	35	.	.	PUNCT
fcis-31433	133	1	when	when	SCONJ
fcis-31433	133	2	the	the	DET
fcis-31433	133	3	test	test	NOUN
fcis-31433	133	4	environment	environment	NOUN
fcis-31433	133	5	complexity	complexity	NOUN
fcis-31433	133	6	increases	increase	NOUN
fcis-31433	133	7	in	in	ADP
fcis-31433	133	8	map2	map2	PROPN
fcis-31433	133	9	,	,	PUNCT
fcis-31433	133	10	sa	sa	NOUN
fcis-31433	133	11	-	-	PUNCT
fcis-31433	133	12	haco	haco	NOUN
fcis-31433	133	13	demonstrates	demonstrate	VERB
fcis-31433	133	14	even	even	ADV
fcis-31433	133	15	more	more	ADV
fcis-31433	133	16	pronounced	pronounce	VERB
fcis-31433	133	17	advantages	advantage	NOUN
fcis-31433	133	18	.	.	PUNCT
fcis-31433	134	1	it	it	PRON
fcis-31433	134	2	66	66	NUM
fcis-31433	134	3	achieves	achieve	VERB
fcis-31433	134	4	faster	fast	ADJ
fcis-31433	134	5	convergence	convergence	NOUN
fcis-31433	134	6	speed	speed	NOUN
fcis-31433	134	7	and	and	CCONJ
fcis-31433	134	8	identifies	identify	VERB
fcis-31433	134	9	paths	path	NOUN
fcis-31433	134	10	with	with	ADP
fcis-31433	134	11	shorter	short	ADJ
fcis-31433	134	12	lengths	length	NOUN
fcis-31433	134	13	compared	compare	VERB
fcis-31433	134	14	to	to	ADP
fcis-31433	134	15	other	other	ADJ
fcis-31433	134	16	algorithms	algorithm	NOUN
fcis-31433	134	17	.	.	PUNCT
fcis-31433	135	1	this	this	PRON
fcis-31433	135	2	indicates	indicate	VERB
fcis-31433	135	3	that	that	SCONJ
fcis-31433	135	4	,	,	PUNCT
fcis-31433	135	5	even	even	ADV
fcis-31433	135	6	when	when	SCONJ
fcis-31433	135	7	other	other	ADJ
fcis-31433	135	8	algorithms	algorithm	NOUN
fcis-31433	135	9	stagnate	stagnate	VERB
fcis-31433	135	10	at	at	ADP
fcis-31433	135	11	local	local	ADJ
fcis-31433	135	12	optimal	optimal	ADJ
fcis-31433	135	13	paths	path	NOUN
fcis-31433	135	14	in	in	ADP
fcis-31433	135	15	complex	complex	ADJ
fcis-31433	135	16	obstacle	obstacle	NOUN
fcis-31433	135	17	-	-	PUNCT
fcis-31433	135	18	rich	rich	ADJ
fcis-31433	135	19	environments	environment	NOUN
fcis-31433	135	20	,	,	PUNCT
fcis-31433	135	21	sahaco	sahaco	PROPN
fcis-31433	135	22	retains	retain	VERB
fcis-31433	135	23	strong	strong	ADJ
fcis-31433	135	24	optimization	optimization	NOUN
fcis-31433	135	25	capabilities	capability	NOUN
fcis-31433	135	26	.	.	PUNCT
fcis-31433	136	1	these	these	DET
fcis-31433	136	2	findings	finding	NOUN
fcis-31433	136	3	validate	validate	VERB
fcis-31433	136	4	the	the	DET
fcis-31433	136	5	feasibility	feasibility	NOUN
fcis-31433	136	6	and	and	CCONJ
fcis-31433	136	7	effectiveness	effectiveness	NOUN
fcis-31433	136	8	of	of	ADP
fcis-31433	136	9	the	the	DET
fcis-31433	136	10	proposed	propose	VERB
fcis-31433	136	11	improvements	improvement	NOUN
fcis-31433	136	12	,	,	PUNCT
fcis-31433	136	13	which	which	PRON
fcis-31433	136	14	not	not	PART
fcis-31433	136	15	only	only	ADV
fcis-31433	136	16	enhance	enhance	VERB
fcis-31433	136	17	the	the	DET
fcis-31433	136	18	algorithm	algorithm	NOUN
fcis-31433	136	19	’s	’s	PART
fcis-31433	136	20	optimization	optimization	NOUN
fcis-31433	136	21	performance	performance	NOUN
fcis-31433	136	22	but	but	CCONJ
fcis-31433	136	23	also	also	ADV
fcis-31433	136	24	improve	improve	VERB
fcis-31433	136	25	its	its	PRON
fcis-31433	136	26	convergence	convergence	NOUN
fcis-31433	136	27	speed	speed	NOUN
fcis-31433	136	28	.	.	PUNCT
fcis-31433	137	1	5	5	X
fcis-31433	137	2	.	.	X
fcis-31433	137	3	conclusion	conclusion	NOUN
fcis-31433	137	4	to	to	PART
fcis-31433	137	5	address	address	VERB
fcis-31433	137	6	the	the	DET
fcis-31433	137	7	challenges	challenge	NOUN
fcis-31433	137	8	of	of	ADP
fcis-31433	137	9	low	low	ADJ
fcis-31433	137	10	convergence	convergence	NOUN
fcis-31433	137	11	efficiency	efficiency	NOUN
fcis-31433	137	12	,	,	PUNCT
fcis-31433	137	13	poor	poor	ADJ
fcis-31433	137	14	environmental	environmental	ADJ
fcis-31433	137	15	adaptability	adaptability	NOUN
fcis-31433	137	16	,	,	PUNCT
fcis-31433	137	17	and	and	CCONJ
fcis-31433	137	18	the	the	DET
fcis-31433	137	19	inherent	inherent	ADJ
fcis-31433	137	20	trade	trade	NOUN
fcis-31433	137	21	-	-	PUNCT
fcis-31433	137	22	off	off	NOUN
fcis-31433	137	23	between	between	ADP
fcis-31433	137	24	population	population	NOUN
fcis-31433	137	25	diversity	diversity	NOUN
fcis-31433	137	26	and	and	CCONJ
fcis-31433	137	27	convergence	convergence	NOUN
fcis-31433	137	28	efficiency	efficiency	NOUN
fcis-31433	137	29	in	in	ADP
fcis-31433	137	30	traditional	traditional	ADJ
fcis-31433	137	31	ant	ant	ADJ
fcis-31433	137	32	colony	colony	NOUN
fcis-31433	137	33	optimization	optimization	NOUN
fcis-31433	137	34	(	(	PUNCT
fcis-31433	137	35	aco	aco	PROPN
fcis-31433	137	36	)	)	PUNCT
fcis-31433	137	37	for	for	ADP
fcis-31433	137	38	static	static	ADJ
fcis-31433	137	39	environment	environment	NOUN
fcis-31433	137	40	path	path	NOUN
fcis-31433	137	41	planning	planning	NOUN
fcis-31433	137	42	,	,	PUNCT
fcis-31433	137	43	this	this	DET
fcis-31433	137	44	study	study	NOUN
fcis-31433	137	45	implements	implement	VERB
fcis-31433	137	46	optimizations	optimization	NOUN
fcis-31433	137	47	from	from	ADP
fcis-31433	137	48	two	two	NUM
fcis-31433	137	49	dimensions	dimension	NOUN
fcis-31433	137	50	:	:	PUNCT
fcis-31433	137	51	algorithm	algorithm	NOUN
fcis-31433	137	52	framework	framework	NOUN
fcis-31433	137	53	and	and	CCONJ
fcis-31433	137	54	parameter	parameter	NOUN
fcis-31433	137	55	system	system	NOUN
fcis-31433	137	56	.	.	PUNCT
fcis-31433	138	1	by	by	ADP
fcis-31433	138	2	developing	develop	VERB
fcis-31433	138	3	novel	novel	ADJ
fcis-31433	138	4	algorithmic	algorithmic	ADJ
fcis-31433	138	5	mechanisms	mechanism	NOUN
fcis-31433	138	6	and	and	CCONJ
fcis-31433	138	7	parameter	parameter	NOUN
fcis-31433	138	8	regulation	regulation	NOUN
fcis-31433	138	9	strategies	strategy	NOUN
fcis-31433	138	10	,	,	PUNCT
fcis-31433	138	11	the	the	DET
fcis-31433	138	12	performance	performance	NOUN
fcis-31433	138	13	of	of	ADP
fcis-31433	138	14	the	the	DET
fcis-31433	138	15	algorithm	algorithm	NOUN
fcis-31433	138	16	is	be	AUX
fcis-31433	138	17	significantly	significantly	ADV
fcis-31433	138	18	enhanced	enhance	VERB
fcis-31433	138	19	,	,	PUNCT
fcis-31433	138	20	achieving	achieve	VERB
fcis-31433	138	21	accelerated	accelerate	VERB
fcis-31433	138	22	convergence	convergence	NOUN
fcis-31433	138	23	while	while	SCONJ
fcis-31433	138	24	improving	improve	VERB
fcis-31433	138	25	environmental	environmental	ADJ
fcis-31433	138	26	adaptability	adaptability	NOUN
fcis-31433	138	27	.	.	PUNCT
fcis-31433	139	1	first	first	ADV
fcis-31433	139	2	,	,	PUNCT
fcis-31433	139	3	an	an	DET
fcis-31433	139	4	adaptive	adaptive	ADJ
fcis-31433	139	5	optimization	optimization	NOUN
fcis-31433	139	6	model	model	NOUN
fcis-31433	139	7	based	base	VERB
fcis-31433	139	8	on	on	ADP
fcis-31433	139	9	population	population	NOUN
fcis-31433	139	10	information	information	NOUN
fcis-31433	139	11	entropy	entropy	PROPN
fcis-31433	139	12	theory	theory	NOUN
fcis-31433	139	13	is	be	AUX
fcis-31433	139	14	established	establish	VERB
fcis-31433	139	15	.	.	PUNCT
fcis-31433	140	1	by	by	ADP
fcis-31433	140	2	introducing	introduce	VERB
fcis-31433	140	3	a	a	DET
fcis-31433	140	4	population	population	NOUN
fcis-31433	140	5	information	information	NOUN
fcis-31433	140	6	entropy	entropy	VERB
fcis-31433	140	7	metric	metric	ADJ
fcis-31433	140	8	to	to	PART
fcis-31433	140	9	monitor	monitor	VERB
fcis-31433	140	10	diversity	diversity	NOUN
fcis-31433	140	11	dynamics	dynamic	NOUN
fcis-31433	140	12	during	during	ADP
fcis-31433	140	13	optimization	optimization	NOUN
fcis-31433	140	14	,	,	PUNCT
fcis-31433	140	15	a	a	DET
fcis-31433	140	16	parameter	parameter	NOUN
fcis-31433	140	17	self	self	NOUN
fcis-31433	140	18	-	-	PUNCT
fcis-31433	140	19	adaptation	adaptation	NOUN
fcis-31433	140	20	mechanism	mechanism	NOUN
fcis-31433	140	21	is	be	AUX
fcis-31433	140	22	constructed	construct	VERB
fcis-31433	140	23	,	,	PUNCT
fcis-31433	140	24	overcoming	overcome	VERB
fcis-31433	140	25	the	the	DET
fcis-31433	140	26	limitations	limitation	NOUN
fcis-31433	140	27	of	of	ADP
fcis-31433	140	28	traditional	traditional	ADJ
fcis-31433	140	29	empirical	empirical	ADJ
fcis-31433	140	30	parameter	parameter	NOUN
fcis-31433	140	31	settings	setting	NOUN
fcis-31433	140	32	.	.	PUNCT
fcis-31433	141	1	this	this	PRON
fcis-31433	141	2	ensures	ensure	VERB
fcis-31433	141	3	global	global	ADJ
fcis-31433	141	4	exploration	exploration	NOUN
fcis-31433	141	5	capability	capability	NOUN
fcis-31433	141	6	while	while	SCONJ
fcis-31433	141	7	maintaining	maintain	VERB
fcis-31433	141	8	search	search	NOUN
fcis-31433	141	9	efficiency	efficiency	NOUN
fcis-31433	141	10	.	.	PUNCT
fcis-31433	142	1	additionally	additionally	ADV
fcis-31433	142	2	,	,	PUNCT
fcis-31433	142	3	a	a	DET
fcis-31433	142	4	dynamic	dynamic	ADJ
fcis-31433	142	5	pheromone	pheromone	NOUN
fcis-31433	142	6	adjustment	adjustment	NOUN
fcis-31433	142	7	system	system	NOUN
fcis-31433	142	8	is	be	AUX
fcis-31433	142	9	designed	design	VERB
fcis-31433	142	10	:	:	PUNCT
fcis-31433	142	11	a	a	DET
fcis-31433	142	12	non	non	ADJ
fcis-31433	142	13	-	-	ADJ
fcis-31433	142	14	uniform	uniform	ADJ
fcis-31433	142	15	initialization	initialization	NOUN
fcis-31433	142	16	scheme	scheme	NOUN
fcis-31433	142	17	effectively	effectively	ADV
fcis-31433	142	18	reduces	reduce	VERB
fcis-31433	142	19	early	early	ADJ
fcis-31433	142	20	-	-	PUNCT
fcis-31433	142	21	stage	stage	NOUN
fcis-31433	142	22	random	random	ADJ
fcis-31433	142	23	search	search	NOUN
fcis-31433	142	24	probability	probability	NOUN
fcis-31433	142	25	,	,	PUNCT
fcis-31433	142	26	while	while	SCONJ
fcis-31433	142	27	a	a	DET
fcis-31433	142	28	diffusion	diffusion	NOUN
fcis-31433	142	29	-	-	PUNCT
fcis-31433	142	30	based	base	VERB
fcis-31433	142	31	pheromone	pheromone	NOUN
fcis-31433	142	32	update	update	NOUN
fcis-31433	142	33	model	model	NOUN
fcis-31433	142	34	strengthens	strengthen	VERB
fcis-31433	142	35	synergistic	synergistic	ADJ
fcis-31433	142	36	effects	effect	NOUN
fcis-31433	142	37	among	among	ADP
fcis-31433	142	38	individuals	individual	NOUN
fcis-31433	142	39	,	,	PUNCT
fcis-31433	142	40	mitigating	mitigate	VERB
fcis-31433	142	41	the	the	DET
fcis-31433	142	42	inherent	inherent	ADJ
fcis-31433	142	43	conflict	conflict	NOUN
fcis-31433	142	44	between	between	ADP
fcis-31433	142	45	convergence	convergence	NOUN
fcis-31433	142	46	speed	speed	NOUN
fcis-31433	142	47	and	and	CCONJ
fcis-31433	142	48	diversity	diversity	NOUN
fcis-31433	142	49	preservation	preservation	NOUN
fcis-31433	142	50	.	.	PUNCT
fcis-31433	143	1	to	to	PART
fcis-31433	143	2	resolve	resolve	VERB
fcis-31433	143	3	the	the	DET
fcis-31433	143	4	local	local	ADJ
fcis-31433	143	5	optima	optima	NOUN
fcis-31433	143	6	issue	issue	NOUN
fcis-31433	143	7	,	,	PUNCT
fcis-31433	143	8	a	a	DET
fcis-31433	143	9	singlepopulation	singlepopulation	NOUN
fcis-31433	143	10	heterogeneous	heterogeneous	ADJ
fcis-31433	143	11	adaptive	adaptive	ADJ
fcis-31433	143	12	algorithm	algorithm	NOUN
fcis-31433	143	13	is	be	AUX
fcis-31433	143	14	proposed	propose	VERB
fcis-31433	143	15	.	.	PUNCT
fcis-31433	144	1	this	this	DET
fcis-31433	144	2	approach	approach	NOUN
fcis-31433	144	3	achieves	achieve	VERB
fcis-31433	144	4	behavioral	behavioral	ADJ
fcis-31433	144	5	diversity	diversity	NOUN
fcis-31433	144	6	through	through	ADP
fcis-31433	144	7	differentiated	differentiated	ADJ
fcis-31433	144	8	parameter	parameter	NOUN
fcis-31433	144	9	configurations	configuration	NOUN
fcis-31433	144	10	,	,	PUNCT
fcis-31433	144	11	expanding	expand	VERB
fcis-31433	144	12	the	the	DET
fcis-31433	144	13	exploration	exploration	NOUN
fcis-31433	144	14	scope	scope	NOUN
fcis-31433	144	15	of	of	ADP
fcis-31433	144	16	the	the	DET
fcis-31433	144	17	solution	solution	NOUN
fcis-31433	144	18	space	space	NOUN
fcis-31433	144	19	.	.	PUNCT
fcis-31433	145	1	multiple	multiple	ADJ
fcis-31433	145	2	comparative	comparative	ADJ
fcis-31433	145	3	experiments	experiment	NOUN
fcis-31433	145	4	conducted	conduct	VERB
fcis-31433	145	5	in	in	ADP
fcis-31433	145	6	2d	2d	NUM
fcis-31433	145	7	grid	grid	NOUN
fcis-31433	145	8	simulation	simulation	NOUN
fcis-31433	145	9	environments	environment	NOUN
fcis-31433	145	10	demonstrate	demonstrate	VERB
fcis-31433	145	11	significant	significant	ADJ
fcis-31433	145	12	improvements	improvement	NOUN
fcis-31433	145	13	in	in	ADP
fcis-31433	145	14	convergence	convergence	NOUN
fcis-31433	145	15	speed	speed	NOUN
fcis-31433	145	16	and	and	CCONJ
fcis-31433	145	17	stability	stability	NOUN
fcis-31433	145	18	.	.	PUNCT
fcis-31433	146	1	experimental	experimental	ADJ
fcis-31433	146	2	data	datum	NOUN
fcis-31433	146	3	confirm	confirm	VERB
fcis-31433	146	4	that	that	SCONJ
fcis-31433	146	5	the	the	DET
fcis-31433	146	6	optimized	optimize	VERB
fcis-31433	146	7	strategy	strategy	NOUN
fcis-31433	146	8	effectively	effectively	ADV
fcis-31433	146	9	balances	balance	VERB
fcis-31433	146	10	global	global	ADJ
fcis-31433	146	11	exploration	exploration	NOUN
fcis-31433	146	12	and	and	CCONJ
fcis-31433	146	13	local	local	ADJ
fcis-31433	146	14	exploitation	exploitation	NOUN
fcis-31433	146	15	,	,	PUNCT
fcis-31433	146	16	with	with	ADP
fcis-31433	146	17	statistical	statistical	ADJ
fcis-31433	146	18	significance	significance	NOUN
fcis-31433	146	19	tests	test	NOUN
fcis-31433	146	20	validating	validate	VERB
fcis-31433	146	21	the	the	DET
fcis-31433	146	22	efficacy	efficacy	NOUN
fcis-31433	146	23	of	of	ADP
fcis-31433	146	24	the	the	DET
fcis-31433	146	25	algorithmic	algorithmic	ADJ
fcis-31433	146	26	enhancements	enhancement	NOUN
fcis-31433	146	27	.	.	PUNCT
fcis-31433	147	1	path	path	NOUN
fcis-31433	147	2	planning	planning	NOUN
fcis-31433	147	3	case	case	NOUN
fcis-31433	147	4	studies	study	NOUN
fcis-31433	147	5	further	far	ADV
fcis-31433	147	6	illustrate	illustrate	VERB
fcis-31433	147	7	the	the	DET
fcis-31433	147	8	robust	robust	ADJ
fcis-31433	147	9	adaptability	adaptability	NOUN
fcis-31433	147	10	of	of	ADP
fcis-31433	147	11	the	the	DET
fcis-31433	147	12	improved	improve	VERB
fcis-31433	147	13	algorithm	algorithm	NOUN
fcis-31433	147	14	across	across	ADP
fcis-31433	147	15	diverse	diverse	ADJ
fcis-31433	147	16	scenarios	scenario	NOUN
fcis-31433	147	17	,	,	PUNCT
fcis-31433	147	18	offering	offer	VERB
fcis-31433	147	19	a	a	DET
fcis-31433	147	20	novel	novel	ADJ
fcis-31433	147	21	technical	technical	ADJ
fcis-31433	147	22	pathway	pathway	NOUN
fcis-31433	147	23	to	to	PART
fcis-31433	147	24	overcome	overcome	VERB
fcis-31433	147	25	the	the	DET
fcis-31433	147	26	inherent	inherent	ADJ
fcis-31433	147	27	limitations	limitation	NOUN
fcis-31433	147	28	of	of	ADP
fcis-31433	147	29	traditional	traditional	ADJ
fcis-31433	147	30	aco	aco	PROPN
fcis-31433	147	31	.	.	PUNCT
fcis-31433	148	1	acknowledgments	acknowledgment	NOUN
fcis-31433	148	2	fund	fund	PROPN
fcis-31433	148	3	project	project	NOUN
fcis-31433	148	4	:	:	PUNCT
fcis-31433	148	5	science	science	NOUN
fcis-31433	148	6	and	and	CCONJ
fcis-31433	148	7	technology	technology	NOUN
fcis-31433	148	8	development	development	NOUN
fcis-31433	148	9	project	project	NOUN
fcis-31433	148	10	of	of	ADP
fcis-31433	148	11	jilin	jilin	PROPN
fcis-31433	148	12	province	province	PROPN
fcis-31433	148	13	(	(	PUNCT
fcis-31433	148	14	ydzj202201zyts555	ydzj202201zyts555	NOUN
fcis-31433	148	15	)	)	PUNCT
fcis-31433	148	16	.	.	PUNCT
fcis-31433	149	1	references	reference	NOUN
fcis-31433	149	2	[	[	X
fcis-31433	149	3	1	1	NUM
fcis-31433	149	4	]	]	PUNCT
fcis-31433	149	5	cui	cui	PROPN
fcis-31433	149	6	wei	wei	PROPN
fcis-31433	149	7	,	,	PUNCT
fcis-31433	149	8	and	and	CCONJ
fcis-31433	149	9	zhu	zhu	PROPN
fcis-31433	149	10	fazheng	fazheng	PROPN
fcis-31433	149	11	.	.	PUNCT
fcis-31433	149	12	2023	2023	NUM
fcis-31433	149	13	.	.	PUNCT
fcis-31433	150	1	"	"	PUNCT
fcis-31433	150	2	a	a	DET
fcis-31433	150	3	review	review	NOUN
fcis-31433	150	4	of	of	ADP
fcis-31433	150	5	path	path	NOUN
fcis-31433	150	6	planning	planning	NOUN
fcis-31433	150	7	algorithms	algorithm	NOUN
fcis-31433	150	8	for	for	ADP
fcis-31433	150	9	robot	robot	NOUN
fcis-31433	150	10	navigation	navigation	NOUN
fcis-31433	150	11	.	.	PUNCT
fcis-31433	150	12	"	"	PUNCT
fcis-31433	150	13	computer	computer	NOUN
fcis-31433	150	14	engineering	engineering	NOUN
fcis-31433	150	15	and	and	CCONJ
fcis-31433	150	16	applications	application	NOUN
fcis-31433	150	17	59	59	NUM
fcis-31433	150	18	,	,	PUNCT
fcis-31433	150	19	no	no	INTJ
fcis-31433	150	20	.	.	NOUN
fcis-31433	150	21	19	19	NUM
fcis-31433	150	22	:	:	SYM
fcis-31433	150	23	10	10	NUM
fcis-31433	150	24	-	-	SYM
fcis-31433	150	25	20	20	NUM
fcis-31433	150	26	.	.	PUNCT
fcis-31433	151	1	[	[	X
fcis-31433	151	2	2	2	X
fcis-31433	151	3	]	]	PUNCT
fcis-31433	151	4	hart	hart	PROPN
fcis-31433	151	5	p.	p.	PROPN
fcis-31433	151	6	e	e	PROPN
fcis-31433	151	7	,	,	PUNCT
fcis-31433	151	8	n.	n.	PROPN
fcis-31433	151	9	j.	j.	PROPN
fcis-31433	151	10	nilsson	nilsson	PROPN
fcis-31433	151	11	,	,	PUNCT
fcis-31433	151	12	and	and	CCONJ
fcis-31433	151	13	b.	b.	PROPN
fcis-31433	151	14	raphael	raphael	PROPN
fcis-31433	151	15	.	.	PUNCT
fcis-31433	152	1	"	"	PUNCT
fcis-31433	152	2	a	a	DET
fcis-31433	152	3	formal	formal	ADJ
fcis-31433	152	4	basis	basis	NOUN
fcis-31433	152	5	for	for	ADP
fcis-31433	152	6	the	the	DET
fcis-31433	152	7	heuristic	heuristic	ADJ
fcis-31433	152	8	determination	determination	NOUN
fcis-31433	152	9	of	of	ADP
fcis-31433	152	10	minimum	minimum	ADJ
fcis-31433	152	11	cost	cost	NOUN
fcis-31433	152	12	paths	path	NOUN
fcis-31433	152	13	.	.	PUNCT
fcis-31433	152	14	"	"	PUNCT
fcis-31433	153	1	ieee	ieee	NOUN
fcis-31433	153	2	transactions	transaction	NOUN
fcis-31433	153	3	on	on	ADP
fcis-31433	153	4	systems	system	NOUN
fcis-31433	153	5	science	science	NOUN
fcis-31433	153	6	and	and	CCONJ
fcis-31433	153	7	cybernetics	cybernetic	NOUN
fcis-31433	153	8	4	4	NUM
fcis-31433	153	9	,	,	PUNCT
fcis-31433	153	10	no	no	INTJ
fcis-31433	153	11	.	.	NOUN
fcis-31433	153	12	2	2	NUM
fcis-31433	153	13	(	(	PUNCT
fcis-31433	153	14	1968	1968	NUM
fcis-31433	153	15	):	):	PUNCT
fcis-31433	153	16	100–107	100–107	NUM
fcis-31433	153	17	.	.	PUNCT
fcis-31433	154	1	[	[	X
fcis-31433	154	2	3	3	NUM
fcis-31433	154	3	]	]	X
fcis-31433	154	4	chen	chen	PROPN
fcis-31433	154	5	,	,	PUNCT
fcis-31433	154	6	xu	xu	PROPN
fcis-31433	154	7	.	.	PUNCT
fcis-31433	154	8	2023	2023	NUM
fcis-31433	154	9	.	.	PUNCT
fcis-31433	155	1	"	"	PUNCT
fcis-31433	155	2	a	a	DET
fcis-31433	155	3	review	review	NOUN
fcis-31433	155	4	of	of	ADP
fcis-31433	155	5	path	path	NOUN
fcis-31433	155	6	planning	planning	NOUN
fcis-31433	155	7	research	research	NOUN
fcis-31433	155	8	for	for	ADP
fcis-31433	155	9	mobile	mobile	ADJ
fcis-31433	155	10	robots	robot	NOUN
fcis-31433	155	11	based	base	VERB
fcis-31433	155	12	on	on	ADP
fcis-31433	155	13	genetic	genetic	ADJ
fcis-31433	155	14	algorithms	algorithm	NOUN
fcis-31433	155	15	.	.	PUNCT
fcis-31433	155	16	"	"	PUNCT
fcis-31433	155	17	science	science	NOUN
fcis-31433	155	18	technology	technology	NOUN
fcis-31433	155	19	and	and	CCONJ
fcis-31433	155	20	industry	industry	NOUN
fcis-31433	155	21	23	23	NUM
fcis-31433	155	22	,	,	PUNCT
fcis-31433	155	23	no	no	INTJ
fcis-31433	155	24	.	.	NOUN
fcis-31433	155	25	8	8	NUM
fcis-31433	155	26	:	:	PUNCT
fcis-31433	155	27	274–78	274–78	NOUN
fcis-31433	155	28	.	.	PUNCT
fcis-31433	156	1	[	[	X
fcis-31433	156	2	4	4	NUM
fcis-31433	156	3	]	]	X
fcis-31433	156	4	dorigo	dorigo	PROPN
fcis-31433	156	5	,	,	PUNCT
fcis-31433	156	6	marco	marco	PROPN
fcis-31433	156	7	,	,	PUNCT
fcis-31433	156	8	vittorio	vittorio	PROPN
fcis-31433	156	9	maniezzo	maniezzo	PROPN
fcis-31433	156	10	,	,	PUNCT
fcis-31433	156	11	and	and	CCONJ
fcis-31433	156	12	alberto	alberto	PROPN
fcis-31433	156	13	colorni	colorni	PROPN
fcis-31433	156	14	.	.	PUNCT
fcis-31433	156	15	1999	1999	NUM
fcis-31433	156	16	.	.	PUNCT
fcis-31433	157	1	"	"	PUNCT
fcis-31433	157	2	ant	ant	ADJ
fcis-31433	157	3	system	system	NOUN
fcis-31433	157	4	:	:	PUNCT
fcis-31433	157	5	an	an	DET
fcis-31433	157	6	autocatalytic	autocatalytic	ADJ
fcis-31433	157	7	optimizing	optimizing	NOUN
fcis-31433	157	8	process	process	NOUN
fcis-31433	157	9	.	.	PUNCT
fcis-31433	157	10	"	"	PUNCT
fcis-31433	158	1	technical	technical	ADJ
fcis-31433	158	2	report	report	NOUN
fcis-31433	158	3	91	91	NUM
fcis-31433	158	4	-	-	SYM
fcis-31433	158	5	016	016	NUM
fcis-31433	158	6	.	.	PUNCT
fcis-31433	159	1	[	[	X
fcis-31433	159	2	5	5	X
fcis-31433	159	3	]	]	PUNCT
fcis-31433	159	4	wang	wang	PROPN
fcis-31433	159	5	xiaohan	xiaohan	PROPN
fcis-31433	159	6	and	and	CCONJ
fcis-31433	159	7	miao	miao	NOUN
fcis-31433	159	8	yanzi	yanzi	NOUN
fcis-31433	159	9	.	.	PUNCT
fcis-31433	160	1	2025	2025	NUM
fcis-31433	160	2	.	.	PUNCT
fcis-31433	161	1	"	"	PUNCT
fcis-31433	161	2	application	application	NOUN
fcis-31433	161	3	of	of	ADP
fcis-31433	161	4	psoaco	psoaco	ADJ
fcis-31433	161	5	algorithm	algorithm	NOUN
fcis-31433	161	6	in	in	ADP
fcis-31433	161	7	path	path	NOUN
fcis-31433	161	8	planning	planning	NOUN
fcis-31433	161	9	of	of	ADP
fcis-31433	161	10	intelligent	intelligent	ADJ
fcis-31433	161	11	robots	robot	NOUN
fcis-31433	161	12	.	.	PUNCT
fcis-31433	161	13	"	"	PUNCT
fcis-31433	161	14	mechatronic	mechatronic	ADJ
fcis-31433	161	15	systems	system	NOUN
fcis-31433	161	16	and	and	CCONJ
fcis-31433	161	17	control	control	NOUN
fcis-31433	161	18	53	53	NUM
fcis-31433	161	19	,	,	PUNCT
fcis-31433	161	20	no	no	INTJ
fcis-31433	161	21	.	.	NOUN
fcis-31433	161	22	1	1	NUM
fcis-31433	161	23	:	:	SYM
fcis-31433	161	24	42	42	NUM
fcis-31433	161	25	-	-	SYM
fcis-31433	161	26	53	53	NUM
fcis-31433	161	27	.	.	PUNCT
fcis-31433	162	1	[	[	X
fcis-31433	162	2	6	6	NUM
fcis-31433	162	3	]	]	PUNCT
fcis-31433	162	4	s.	s.	PROPN
fcis-31433	162	5	xu	xu	PROPN
fcis-31433	162	6	,	,	PUNCT
fcis-31433	162	7	e.s.l	e.s.l	NOUN
fcis-31433	162	8	.	.	PUNCT
fcis-31433	163	1	ho	ho	PROPN
fcis-31433	163	2	,	,	PUNCT
fcis-31433	163	3	and	and	CCONJ
fcis-31433	163	4	h.p.h	h.p.h	NOUN
fcis-31433	163	5	.	.	PUNCT
fcis-31433	163	6	shum.2025."a	shum.2025."a	VERB
fcis-31433	163	7	hybrid	hybrid	ADJ
fcis-31433	163	8	metaheuristic	metaheuristic	ADJ
fcis-31433	163	9	navigation	navigation	NOUN
fcis-31433	163	10	algorithm	algorithm	NOUN
fcis-31433	163	11	for	for	ADP
fcis-31433	163	12	robot	robot	NOUN
fcis-31433	163	13	path	path	PROPN
fcis-31433	163	14	rolling	rolling	ADJ
fcis-31433	163	15	planning	planning	NOUN
fcis-31433	163	16	in	in	ADP
fcis-31433	163	17	an	an	DET
fcis-31433	163	18	unknown	unknown	ADJ
fcis-31433	163	19	environment	environment	NOUN
fcis-31433	163	20	.	.	PUNCT
fcis-31433	164	1	"	"	PUNCT
fcis-31433	164	2	mechatronic	mechatronic	ADJ
fcis-31433	164	3	systems	system	NOUN
fcis-31433	164	4	and	and	CCONJ
fcis-31433	164	5	control	control	NOUN
fcis-31433	164	6	47,2019	47,2019	NUM
fcis-31433	164	7	,	,	PUNCT
fcis-31433	164	8	46072	46072	NUM
fcis-31433	164	9	.	.	PUNCT
fcis-31433	165	1	[	[	X
fcis-31433	165	2	7	7	X
fcis-31433	165	3	]	]	X
fcis-31433	165	4	du	du	PROPN
fcis-31433	165	5	zhenxin	zhenxin	PROPN
fcis-31433	165	6	,	,	PUNCT
fcis-31433	165	7	wang	wang	PROPN
fcis-31433	165	8	zhaoqing	zhaoqing	PROPN
fcis-31433	165	9	,	,	PUNCT
fcis-31433	165	10	wang	wang	PROPN
fcis-31433	165	11	zhinan	zhinan	PROPN
fcis-31433	165	12	,	,	PUNCT
fcis-31433	165	13	et	et	PROPN
fcis-31433	165	14	al	al	PROPN
fcis-31433	165	15	.	.	PUNCT
fcis-31433	166	1	"	"	PUNCT
fcis-31433	166	2	improved	improve	VERB
fcis-31433	166	3	polymorphic	polymorphic	ADJ
fcis-31433	166	4	ant	ant	ADJ
fcis-31433	166	5	colony	colony	NOUN
fcis-31433	166	6	algorithm	algorithm	NOUN
fcis-31433	166	7	with	with	ADP
fcis-31433	166	8	double	double	ADJ
fcis-31433	166	9	simulated	simulated	ADJ
fcis-31433	166	10	annealing	annealing	NOUN
fcis-31433	166	11	.	.	PUNCT
fcis-31433	166	12	"	"	PUNCT
fcis-31433	167	1	journal	journal	NOUN
fcis-31433	167	2	of	of	ADP
fcis-31433	167	3	central	central	PROPN
fcis-31433	167	4	south	south	PROPN
fcis-31433	167	5	university	university	PROPN
fcis-31433	167	6	(	(	PUNCT
fcis-31433	167	7	science	science	NOUN
fcis-31433	167	8	and	and	CCONJ
fcis-31433	167	9	technology	technology	NOUN
fcis-31433	167	10	)	)	PUNCT
fcis-31433	167	11	42	42	NUM
fcis-31433	167	12	,	,	PUNCT
fcis-31433	167	13	no	no	INTJ
fcis-31433	167	14	.	.	NOUN
fcis-31433	167	15	10	10	NUM
fcis-31433	167	16	(	(	PUNCT
fcis-31433	167	17	2011	2011	NUM
fcis-31433	167	18	):	):	PUNCT
fcis-31433	167	19	3112–17	3112–17	NUM
fcis-31433	167	20	.	.	PUNCT
fcis-31433	168	1	[	[	X
fcis-31433	168	2	8	8	NUM
fcis-31433	168	3	]	]	X
fcis-31433	168	4	dorigo	dorigo	PROPN
fcis-31433	168	5	,	,	PUNCT
fcis-31433	168	6	m.	m.	NOUN
fcis-31433	168	7	,	,	PUNCT
fcis-31433	168	8	and	and	CCONJ
fcis-31433	168	9	l.	l.	PROPN
fcis-31433	168	10	m.	m.	PROPN
fcis-31433	168	11	gambardella	gambardella	PROPN
fcis-31433	168	12	.	.	PUNCT
fcis-31433	169	1	1997	1997	NUM
fcis-31433	169	2	.	.	PUNCT
fcis-31433	170	1	"	"	PUNCT
fcis-31433	170	2	ant	ant	ADJ
fcis-31433	170	3	colony	colony	NOUN
fcis-31433	170	4	system	system	NOUN
fcis-31433	170	5	:	:	PUNCT
fcis-31433	170	6	a	a	DET
fcis-31433	170	7	cooperative	cooperative	ADJ
fcis-31433	170	8	learning	learning	NOUN
fcis-31433	170	9	approach	approach	NOUN
fcis-31433	170	10	to	to	ADP
fcis-31433	170	11	the	the	DET
fcis-31433	170	12	traveling	travel	VERB
fcis-31433	170	13	salesman	salesman	ADJ
fcis-31433	170	14	problem	problem	NOUN
fcis-31433	170	15	.	.	PUNCT
fcis-31433	170	16	"	"	PUNCT
fcis-31433	171	1	ieee	ieee	NOUN
fcis-31433	171	2	transactions	transaction	NOUN
fcis-31433	171	3	on	on	ADP
fcis-31433	171	4	evolutionary	evolutionary	ADJ
fcis-31433	171	5	computation	computation	NOUN
fcis-31433	171	6	1	1	NUM
fcis-31433	171	7	:	:	SYM
fcis-31433	171	8	53–66	53–66	NUM
fcis-31433	171	9	.	.	PUNCT
fcis-31433	172	1	[	[	X
fcis-31433	172	2	9	9	NUM
fcis-31433	172	3	]	]	X
fcis-31433	172	4	yang	yang	PROPN
fcis-31433	172	5	yu	yu	PROPN
fcis-31433	172	6	,	,	PUNCT
fcis-31433	172	7	jiang	jiang	PROPN
fcis-31433	172	8	xiaowei	xiaowei	PROPN
fcis-31433	172	9	,	,	PUNCT
fcis-31433	172	10	chen	chen	PROPN
fcis-31433	172	11	ruotong	ruotong	PROPN
fcis-31433	172	12	,	,	PUNCT
fcis-31433	172	13	et	et	PROPN
fcis-31433	172	14	al	al	PROPN
fcis-31433	172	15	.	.	PUNCT
fcis-31433	173	1	"	"	PUNCT
fcis-31433	173	2	ship	ship	NOUN
fcis-31433	173	3	path	path	NOUN
fcis-31433	173	4	planning	planning	NOUN
fcis-31433	173	5	based	base	VERB
fcis-31433	173	6	on	on	ADP
fcis-31433	173	7	penalty	penalty	NOUN
fcis-31433	173	8	pheromone	pheromone	NOUN
fcis-31433	173	9	ant	ant	ADJ
fcis-31433	173	10	colony	colony	NOUN
fcis-31433	173	11	algorithm	algorithm	NOUN
fcis-31433	173	12	.	.	PUNCT
fcis-31433	173	13	"	"	PUNCT
fcis-31433	174	1	science	science	NOUN
fcis-31433	174	2	technology	technology	NOUN
fcis-31433	174	3	and	and	CCONJ
fcis-31433	174	4	engineering	engineering	NOUN
fcis-31433	174	5	25	25	NUM
fcis-31433	174	6	,	,	PUNCT
fcis-31433	174	7	no	no	INTJ
fcis-31433	174	8	.	.	NOUN
fcis-31433	174	9	10	10	NUM
fcis-31433	174	10	(	(	PUNCT
fcis-31433	174	11	2025	2025	NUM
fcis-31433	174	12	):	):	PUNCT
fcis-31433	174	13	4246–55	4246–55	NOUN
fcis-31433	174	14	.	.	PUNCT
fcis-31433	175	1	[	[	X
fcis-31433	175	2	10	10	NUM
fcis-31433	175	3	]	]	PUNCT
fcis-31433	175	4	xie	xie	PROPN
fcis-31433	175	5	guobing	guobe	VERB
fcis-31433	175	6	,	,	PUNCT
fcis-31433	175	7	he	he	PROPN
fcis-31433	175	8	wei	wei	PROPN
fcis-31433	175	9	,	,	PUNCT
fcis-31433	175	10	hu	hu	PROPN
fcis-31433	175	11	wangwen	wangwen	PROPN
fcis-31433	175	12	,	,	PUNCT
fcis-31433	175	13	et	et	PROPN
fcis-31433	175	14	al	al	PROPN
fcis-31433	175	15	.	.	PUNCT
fcis-31433	176	1	"	"	PUNCT
fcis-31433	176	2	improved	improve	VERB
fcis-31433	176	3	ant	ant	ADJ
fcis-31433	176	4	colony	colony	NOUN
fcis-31433	176	5	algorithm	algorithm	NOUN
fcis-31433	176	6	based	base	VERB
fcis-31433	176	7	on	on	ADP
fcis-31433	176	8	uneven	uneven	ADJ
fcis-31433	176	9	pheromone	pheromone	NOUN
fcis-31433	176	10	distribution	distribution	NOUN
fcis-31433	176	11	and	and	CCONJ
fcis-31433	176	12	multi	multi	ADJ
fcis-31433	176	13	-	-	ADJ
fcis-31433	176	14	objective	objective	ADJ
fcis-31433	176	15	optimization	optimization	NOUN
fcis-31433	176	16	for	for	ADP
fcis-31433	176	17	unmanned	unmanned	ADJ
fcis-31433	176	18	ship	ship	NOUN
fcis-31433	176	19	path	path	NOUN
fcis-31433	176	20	planning	planning	NOUN
fcis-31433	176	21	application	application	NOUN
fcis-31433	176	22	.	.	PUNCT
fcis-31433	176	23	"	"	PUNCT
fcis-31433	177	1	chinese	chinese	ADJ
fcis-31433	177	2	journal	journal	NOUN
fcis-31433	177	3	of	of	ADP
fcis-31433	177	4	ship	ship	NOUN
fcis-31433	177	5	research	research	NOUN
fcis-31433	177	6	20	20	NUM
fcis-31433	177	7	,	,	PUNCT
fcis-31433	177	8	no	no	INTJ
fcis-31433	177	9	.	.	NOUN
fcis-31433	177	10	1	1	NUM
fcis-31433	177	11	(	(	PUNCT
fcis-31433	177	12	2025	2025	NUM
fcis-31433	177	13	):	):	PUNCT
fcis-31433	177	14	115–24	115–24	X
fcis-31433	177	15	.	.	PUNCT
fcis-31433	178	1	[	[	X
fcis-31433	178	2	11	11	NUM
fcis-31433	178	3	]	]	X
fcis-31433	178	4	sreeja	sreeja	PROPN
fcis-31433	178	5	,	,	PUNCT
fcis-31433	178	6	n.	n.	PROPN
fcis-31433	178	7	k.	k.	PROPN
fcis-31433	179	1	"	"	PUNCT
fcis-31433	179	2	a	a	DET
fcis-31433	179	3	hierarchical	hierarchical	ADJ
fcis-31433	179	4	heterogeneous	heterogeneous	ADJ
fcis-31433	179	5	ant	ant	ADJ
fcis-31433	179	6	colony	colony	NOUN
fcis-31433	179	7	optimization	optimization	NOUN
fcis-31433	179	8	based	base	VERB
fcis-31433	179	9	fingerprint	fingerprint	NOUN
fcis-31433	179	10	recognition	recognition	NOUN
fcis-31433	179	11	system	system	NOUN
fcis-31433	179	12	.	.	PUNCT
fcis-31433	179	13	"	"	PUNCT
fcis-31433	180	1	intelligent	intelligent	ADJ
fcis-31433	180	2	systems	system	NOUN
fcis-31433	180	3	with	with	ADP
fcis-31433	180	4	applications	application	NOUN
fcis-31433	180	5	17	17	NUM
fcis-31433	180	6	(	(	PUNCT
fcis-31433	180	7	2023	2023	NUM
fcis-31433	180	8	):	):	PUNCT
fcis-31433	180	9	200180	200180	NUM
fcis-31433	180	10	.	.	PUNCT
fcis-31433	181	1	[	[	X
fcis-31433	181	2	12	12	NUM
fcis-31433	181	3	]	]	X
fcis-31433	181	4	shi	shi	PROPN
fcis-31433	181	5	,	,	PUNCT
fcis-31433	181	6	m.	m.	NOUN
fcis-31433	181	7	,	,	PUNCT
fcis-31433	181	8	s.	s.	PROPN
fcis-31433	181	9	xiao	xiao	PROPN
fcis-31433	181	10	,	,	PUNCT
fcis-31433	181	11	and	and	CCONJ
fcis-31433	181	12	x.	x.	NOUN
fcis-31433	181	13	feng	feng	PROPN
fcis-31433	181	14	.	.	PUNCT
fcis-31433	182	1	"	"	PUNCT
fcis-31433	182	2	an	an	DET
fcis-31433	182	3	adaptive	adaptive	ADJ
fcis-31433	182	4	ant	ant	ADJ
fcis-31433	182	5	colony	colony	NOUN
fcis-31433	182	6	algorithm	algorithm	NOUN
fcis-31433	182	7	based	base	VERB
fcis-31433	182	8	on	on	ADP
fcis-31433	182	9	local	local	ADJ
fcis-31433	182	10	information	information	NOUN
fcis-31433	182	11	entropy	entropy	NOUN
fcis-31433	182	12	to	to	PART
fcis-31433	182	13	solve	solve	VERB
fcis-31433	182	14	distributed	distribute	VERB
fcis-31433	182	15	constraint	constraint	NOUN
fcis-31433	182	16	optimization	optimization	NOUN
fcis-31433	182	17	problems	problem	NOUN
fcis-31433	182	18	.	.	PUNCT
fcis-31433	182	19	"	"	PUNCT
fcis-31433	183	1	international	international	ADJ
fcis-31433	183	2	journal	journal	NOUN
fcis-31433	183	3	of	of	ADP
fcis-31433	183	4	pattern	pattern	NOUN
fcis-31433	183	5	recognition	recognition	NOUN
fcis-31433	183	6	and	and	CCONJ
fcis-31433	183	7	artificial	artificial	ADJ
fcis-31433	183	8	intelligence	intelligence	NOUN
fcis-31433	183	9	37	37	NUM
fcis-31433	183	10	,	,	PUNCT
fcis-31433	183	11	no	no	INTJ
fcis-31433	183	12	.	.	NOUN
fcis-31433	183	13	9	9	NUM
fcis-31433	183	14	(	(	PUNCT
fcis-31433	183	15	2023	2023	NUM
fcis-31433	183	16	):	):	PUNCT
fcis-31433	183	17	2359013	2359013	NUM
fcis-31433	183	18	.	.	PUNCT
fcis-31433	184	1	[	[	X
fcis-31433	184	2	13	13	NUM
fcis-31433	184	3	]	]	X
fcis-31433	184	4	liu	liu	PROPN
fcis-31433	184	5	tianhu	tianhu	PROPN
fcis-31433	184	6	,	,	PUNCT
fcis-31433	184	7	lai	lai	PROPN
fcis-31433	184	8	jiashang	jiashang	PROPN
fcis-31433	184	9	,	,	PUNCT
fcis-31433	184	10	sun	sun	PROPN
fcis-31433	184	11	weilong	weilong	PROPN
fcis-31433	184	12	,	,	PUNCT
fcis-31433	184	13	et	et	PROPN
fcis-31433	184	14	al	al	PROPN
fcis-31433	184	15	.	.	PUNCT
fcis-31433	185	1	"	"	PUNCT
fcis-31433	185	2	pineapple	pineapple	NOUN
fcis-31433	185	3	field	field	NOUN
fcis-31433	185	4	navigation	navigation	NOUN
fcis-31433	185	5	path	path	NOUN
fcis-31433	185	6	planning	planning	NOUN
fcis-31433	185	7	based	base	VERB
fcis-31433	185	8	on	on	ADP
fcis-31433	185	9	jump	jump	NOUN
fcis-31433	185	10	point	point	NOUN
fcis-31433	185	11	optimized	optimize	VERB
fcis-31433	185	12	ant	ant	ADJ
fcis-31433	185	13	colony	colony	NOUN
fcis-31433	185	14	algorithm	algorithm	NOUN
fcis-31433	185	15	.	.	PUNCT
fcis-31433	185	16	"	"	PUNCT
fcis-31433	186	1	transactions	transaction	NOUN
fcis-31433	186	2	of	of	ADP
fcis-31433	186	3	the	the	DET
fcis-31433	186	4	chinese	chinese	ADJ
fcis-31433	186	5	society	society	NOUN
fcis-31433	186	6	for	for	ADP
fcis-31433	186	7	agricultural	agricultural	ADJ
fcis-31433	186	8	machinery	machinery	NOUN
fcis-31433	186	9	56	56	NUM
fcis-31433	186	10	,	,	PUNCT
fcis-31433	186	11	no	no	INTJ
fcis-31433	186	12	.	.	NOUN
fcis-31433	186	13	4	4	NUM
fcis-31433	186	14	(	(	PUNCT
fcis-31433	186	15	2025	2025	NUM
fcis-31433	186	16	):	):	PUNCT
fcis-31433	186	17	387–96	387–96	NUM
fcis-31433	186	18	.	.	PUNCT
fcis-31433	187	1	[	[	X
fcis-31433	187	2	14	14	NUM
fcis-31433	187	3	]	]	X
fcis-31433	187	4	shuang	shuang	PROPN
fcis-31433	187	5	b	b	PROPN
fcis-31433	187	6	,	,	PUNCT
fcis-31433	187	7	j	j	PROPN
fcis-31433	187	8	chen	chen	PROPN
fcis-31433	187	9	and	and	CCONJ
fcis-31433	187	10	z	z	PROPN
fcis-31433	187	11	li	li	PROPN
fcis-31433	187	12	.	.	PUNCT
fcis-31433	188	1	"	"	PUNCT
fcis-31433	188	2	study	study	NOUN
fcis-31433	188	3	on	on	ADP
fcis-31433	188	4	hybrid	hybrid	ADJ
fcis-31433	188	5	ps	ps	PROPN
fcis-31433	188	6	-	-	PUNCT
fcis-31433	188	7	aco	aco	PROPN
fcis-31433	188	8	algorithm	algorithm	NOUN
fcis-31433	188	9	.	.	PUNCT
fcis-31433	188	10	"	"	PUNCT
fcis-31433	189	1	applied	apply	VERB
fcis-31433	189	2	intelligence	intelligence	NOUN
fcis-31433	189	3	34	34	NUM
fcis-31433	189	4	,	,	PUNCT
fcis-31433	189	5	no	no	INTJ
fcis-31433	189	6	.	.	NOUN
fcis-31433	189	7	1	1	NUM
fcis-31433	189	8	(	(	PUNCT
fcis-31433	189	9	2011	2011	NUM
fcis-31433	189	10	):	):	PUNCT
fcis-31433	189	11	64–73	64–73	NUM
fcis-31433	189	12	.	.	PUNCT