id	sid	tid	token	lemma	pos
fcis-32123	1	1	frontiers	frontier	NOUN
fcis-32123	1	2	in	in	ADP
fcis-32123	1	3	computing	computing	NOUN
fcis-32123	1	4	and	and	CCONJ
fcis-32123	1	5	intelligent	intelligent	ADJ
fcis-32123	1	6	systems	system	NOUN
fcis-32123	1	7	issn	issn	VERB
fcis-32123	1	8	:	:	PUNCT
fcis-32123	1	9	2832	2832	NUM
fcis-32123	1	10	-	-	SYM
fcis-32123	1	11	6024	6024	NUM
fcis-32123	1	12	|	|	NOUN
fcis-32123	1	13	vol	vol	NOUN
fcis-32123	1	14	.	.	PUNCT
fcis-32123	2	1	14	14	NUM
fcis-32123	2	2	,	,	PUNCT
fcis-32123	2	3	no	no	INTJ
fcis-32123	2	4	.	.	NOUN
fcis-32123	2	5	1	1	NUM
fcis-32123	2	6	,	,	PUNCT
fcis-32123	2	7	2025	2025	NUM
fcis-32123	2	8	30	30	NUM
fcis-32123	2	9	application	application	NOUN
fcis-32123	2	10	of	of	ADP
fcis-32123	2	11	reinforcement	reinforcement	NOUN
fcis-32123	2	12	learning	learning	NOUN
fcis-32123	2	13	to	to	ADP
fcis-32123	2	14	uav	uav	PROPN
fcis-32123	2	15	decision	decision	NOUN
fcis-32123	2	16	making	making	NOUN
fcis-32123	2	17	and	and	CCONJ
fcis-32123	2	18	path	path	NOUN
fcis-32123	2	19	planning	planning	NOUN
fcis-32123	2	20	chuqiao	chuqiao	VERB
fcis-32123	2	21	cheng	cheng	PROPN
fcis-32123	2	22	*	*	PROPN
fcis-32123	2	23	queen	queen	PROPN
fcis-32123	2	24	mary	mary	PROPN
fcis-32123	2	25	school	school	PROPN
fcis-32123	2	26	hainan	hainan	PROPN
fcis-32123	2	27	,	,	PUNCT
fcis-32123	2	28	beijing	beijing	PROPN
fcis-32123	2	29	university	university	PROPN
fcis-32123	2	30	of	of	ADP
fcis-32123	2	31	posts	post	NOUN
fcis-32123	2	32	and	and	CCONJ
fcis-32123	2	33	telecommunications	telecommunication	NOUN
fcis-32123	2	34	,	,	PUNCT
fcis-32123	2	35	lingshui	lingshui	PROPN
fcis-32123	2	36	li	li	PROPN
fcis-32123	2	37	autonomous	autonomous	PROPN
fcis-32123	2	38	county	county	PROPN
fcis-32123	2	39	,	,	PUNCT
fcis-32123	2	40	hainan	hainan	PROPN
fcis-32123	2	41	province	province	PROPN
fcis-32123	2	42	,	,	PUNCT
fcis-32123	2	43	china	china	PROPN
fcis-32123	2	44	*	*	PUNCT
fcis-32123	2	45	corresponding	correspond	VERB
fcis-32123	2	46	author	author	NOUN
fcis-32123	2	47	email	email	NOUN
fcis-32123	2	48	:	:	PUNCT
fcis-32123	2	49	chengchuqiao@bupt.edu.cn	chengchuqiao@bupt.edu.cn	NOUN
fcis-32123	2	50	abstract	abstract	NOUN
fcis-32123	2	51	:	:	PUNCT
fcis-32123	2	52	the	the	DET
fcis-32123	2	53	aim	aim	NOUN
fcis-32123	2	54	of	of	ADP
fcis-32123	2	55	this	this	DET
fcis-32123	2	56	study	study	NOUN
fcis-32123	2	57	is	be	AUX
fcis-32123	2	58	to	to	PART
fcis-32123	2	59	systematically	systematically	ADV
fcis-32123	2	60	explore	explore	VERB
fcis-32123	2	61	the	the	DET
fcis-32123	2	62	framework	framework	NOUN
fcis-32123	2	63	and	and	CCONJ
fcis-32123	2	64	potential	potential	NOUN
fcis-32123	2	65	of	of	ADP
fcis-32123	2	66	reinforcement	reinforcement	NOUN
fcis-32123	2	67	learning	learning	NOUN
fcis-32123	2	68	for	for	ADP
fcis-32123	2	69	uav	uav	PROPN
fcis-32123	2	70	decision	decision	NOUN
fcis-32123	2	71	-	-	PUNCT
fcis-32123	2	72	making	making	NOUN
fcis-32123	2	73	and	and	CCONJ
fcis-32123	2	74	path	path	NOUN
fcis-32123	2	75	planning	planning	NOUN
fcis-32123	2	76	.	.	PUNCT
fcis-32123	3	1	the	the	DET
fcis-32123	3	2	article	article	NOUN
fcis-32123	3	3	firstly	firstly	ADV
fcis-32123	3	4	analyses	analyse	VERB
fcis-32123	3	5	the	the	DET
fcis-32123	3	6	core	core	NOUN
fcis-32123	3	7	advantages	advantage	NOUN
fcis-32123	3	8	of	of	ADP
fcis-32123	3	9	reinforcement	reinforcement	NOUN
fcis-32123	3	10	learning	learning	NOUN
fcis-32123	3	11	over	over	ADP
fcis-32123	3	12	traditional	traditional	ADJ
fcis-32123	3	13	planning	planning	NOUN
fcis-32123	3	14	methods	method	NOUN
fcis-32123	3	15	.	.	PUNCT
fcis-32123	4	1	its	its	PRON
fcis-32123	4	2	ability	ability	NOUN
fcis-32123	4	3	to	to	PART
fcis-32123	4	4	cope	cope	VERB
fcis-32123	4	5	with	with	ADP
fcis-32123	4	6	environmental	environmental	ADJ
fcis-32123	4	7	uncertainty	uncertainty	NOUN
fcis-32123	4	8	,	,	PUNCT
fcis-32123	4	9	achieve	achieve	VERB
fcis-32123	4	10	multi	multi	ADJ
fcis-32123	4	11	-	-	ADJ
fcis-32123	4	12	objective	objective	ADJ
fcis-32123	4	13	optimisation	optimisation	NOUN
fcis-32123	4	14	,	,	PUNCT
fcis-32123	4	15	and	and	CCONJ
fcis-32123	4	16	complete	complete	ADJ
fcis-32123	4	17	endto	endto	NOUN
fcis-32123	4	18	-	-	PUNCT
fcis-32123	4	19	end	end	NOUN
fcis-32123	4	20	decision	decision	NOUN
fcis-32123	4	21	-	-	PUNCT
fcis-32123	4	22	making	making	NOUN
fcis-32123	4	23	.	.	PUNCT
fcis-32123	5	1	then	then	ADV
fcis-32123	5	2	,	,	PUNCT
fcis-32123	5	3	by	by	ADP
fcis-32123	5	4	focusing	focus	VERB
fcis-32123	5	5	on	on	ADP
fcis-32123	5	6	three	three	NUM
fcis-32123	5	7	typical	typical	ADJ
fcis-32123	5	8	application	application	NOUN
fcis-32123	5	9	scenarios	scenario	NOUN
fcis-32123	5	10	,	,	PUNCT
fcis-32123	5	11	namely	namely	ADV
fcis-32123	5	12	autonomous	autonomous	ADJ
fcis-32123	5	13	navigation	navigation	NOUN
fcis-32123	5	14	and	and	CCONJ
fcis-32123	5	15	obstacle	obstacle	NOUN
fcis-32123	5	16	avoidance	avoidance	NOUN
fcis-32123	5	17	,	,	PUNCT
fcis-32123	5	18	multi	multi	ADJ
fcis-32123	5	19	-	-	ADJ
fcis-32123	5	20	uav	uav	ADJ
fcis-32123	5	21	collaboration	collaboration	NOUN
fcis-32123	5	22	,	,	PUNCT
fcis-32123	5	23	and	and	CCONJ
fcis-32123	5	24	resource	resource	NOUN
fcis-32123	5	25	-	-	PUNCT
fcis-32123	5	26	constrained	constrain	VERB
fcis-32123	5	27	planning	planning	NOUN
fcis-32123	5	28	,	,	PUNCT
fcis-32123	5	29	the	the	DET
fcis-32123	5	30	paper	paper	NOUN
fcis-32123	5	31	analyses	analyse	VERB
fcis-32123	5	32	the	the	DET
fcis-32123	5	33	technical	technical	ADJ
fcis-32123	5	34	path	path	NOUN
fcis-32123	5	35	and	and	CCONJ
fcis-32123	5	36	effectiveness	effectiveness	NOUN
fcis-32123	5	37	of	of	ADP
fcis-32123	5	38	reinforcement	reinforcement	NOUN
fcis-32123	5	39	learning	learning	NOUN
fcis-32123	5	40	in	in	ADP
fcis-32123	5	41	solving	solve	VERB
fcis-32123	5	42	key	key	ADJ
fcis-32123	5	43	problems	problem	NOUN
fcis-32123	5	44	in	in	ADP
fcis-32123	5	45	specific	specific	ADJ
fcis-32123	5	46	domains	domain	NOUN
fcis-32123	5	47	.	.	PUNCT
fcis-32123	6	1	despite	despite	SCONJ
fcis-32123	6	2	the	the	DET
fcis-32123	6	3	challenges	challenge	NOUN
fcis-32123	6	4	of	of	ADP
fcis-32123	6	5	sample	sample	NOUN
fcis-32123	6	6	efficiency	efficiency	NOUN
fcis-32123	6	7	,	,	PUNCT
fcis-32123	6	8	security	security	NOUN
fcis-32123	6	9	,	,	PUNCT
fcis-32123	6	10	and	and	CCONJ
fcis-32123	6	11	interpretability	interpretability	NOUN
fcis-32123	6	12	,	,	PUNCT
fcis-32123	6	13	cutting	cut	VERB
fcis-32123	6	14	-	-	PUNCT
fcis-32123	6	15	edge	edge	NOUN
fcis-32123	6	16	developments	development	NOUN
fcis-32123	6	17	such	such	ADJ
fcis-32123	6	18	as	as	ADP
fcis-32123	6	19	simulation	simulation	NOUN
fcis-32123	6	20	-	-	PUNCT
fcis-32123	6	21	to	to	ADP
fcis-32123	6	22	-	-	PUNCT
fcis-32123	6	23	reality	reality	NOUN
fcis-32123	6	24	migration	migration	NOUN
fcis-32123	6	25	and	and	CCONJ
fcis-32123	6	26	constrained	constrain	VERB
fcis-32123	6	27	reinforcement	reinforcement	NOUN
fcis-32123	6	28	learning	learning	NOUN
fcis-32123	6	29	are	be	AUX
fcis-32123	6	30	continuing	continue	VERB
fcis-32123	6	31	to	to	PART
fcis-32123	6	32	drive	drive	VERB
fcis-32123	6	33	the	the	DET
fcis-32123	6	34	technology	technology	NOUN
fcis-32123	6	35	towards	towards	ADP
fcis-32123	6	36	practicality	practicality	NOUN
fcis-32123	6	37	.	.	PUNCT
fcis-32123	7	1	the	the	DET
fcis-32123	7	2	systematic	systematic	ADJ
fcis-32123	7	3	discussion	discussion	NOUN
fcis-32123	7	4	in	in	ADP
fcis-32123	7	5	this	this	DET
fcis-32123	7	6	study	study	NOUN
fcis-32123	7	7	aims	aim	VERB
fcis-32123	7	8	to	to	PART
fcis-32123	7	9	provide	provide	VERB
fcis-32123	7	10	theoretical	theoretical	ADJ
fcis-32123	7	11	references	reference	NOUN
fcis-32123	7	12	for	for	ADP
fcis-32123	7	13	cross	cross	ADJ
fcis-32123	7	14	-	-	ADJ
fcis-32123	7	15	disciplinary	disciplinary	ADJ
fcis-32123	7	16	research	research	NOUN
fcis-32123	7	17	on	on	ADP
fcis-32123	7	18	reinforcement	reinforcement	NOUN
fcis-32123	7	19	learning	learning	NOUN
fcis-32123	7	20	and	and	CCONJ
fcis-32123	7	21	robotics	robotic	NOUN
fcis-32123	7	22	,	,	PUNCT
fcis-32123	7	23	and	and	CCONJ
fcis-32123	7	24	to	to	PART
fcis-32123	7	25	lay	lay	VERB
fcis-32123	7	26	an	an	DET
fcis-32123	7	27	important	important	ADJ
fcis-32123	7	28	technical	technical	ADJ
fcis-32123	7	29	foundation	foundation	NOUN
fcis-32123	7	30	for	for	ADP
fcis-32123	7	31	building	build	VERB
fcis-32123	7	32	the	the	DET
fcis-32123	7	33	next	next	ADJ
fcis-32123	7	34	-	-	PUNCT
fcis-32123	7	35	generation	generation	NOUN
fcis-32123	7	36	intelligent	intelligent	ADJ
fcis-32123	7	37	,	,	PUNCT
fcis-32123	7	38	robust	robust	ADJ
fcis-32123	7	39	and	and	CCONJ
fcis-32123	7	40	adaptive	adaptive	ADJ
fcis-32123	7	41	unmanned	unmanned	ADJ
fcis-32123	7	42	aerial	aerial	ADJ
fcis-32123	7	43	systems	system	NOUN
fcis-32123	7	44	.	.	PUNCT
fcis-32123	8	1	keywords	keyword	NOUN
fcis-32123	8	2	:	:	PUNCT
fcis-32123	8	3	reinforcement	reinforcement	NOUN
fcis-32123	8	4	learning	learning	NOUN
fcis-32123	8	5	;	;	PUNCT
fcis-32123	8	6	drones	drone	NOUN
fcis-32123	8	7	;	;	PUNCT
fcis-32123	8	8	path	path	NOUN
fcis-32123	8	9	planning	planning	NOUN
fcis-32123	8	10	.	.	PUNCT
fcis-32123	9	1	1	1	X
fcis-32123	9	2	.	.	X
fcis-32123	9	3	introduction	introduction	NOUN
fcis-32123	9	4	the	the	DET
fcis-32123	9	5	rapid	rapid	ADJ
fcis-32123	9	6	development	development	NOUN
fcis-32123	9	7	of	of	ADP
fcis-32123	9	8	the	the	DET
fcis-32123	9	9	uav	uav	PROPN
fcis-32123	9	10	industry	industry	NOUN
fcis-32123	9	11	has	have	AUX
fcis-32123	9	12	promoted	promote	VERB
fcis-32123	9	13	its	its	PRON
fcis-32123	9	14	large	large	ADJ
fcis-32123	9	15	-	-	PUNCT
fcis-32123	9	16	scale	scale	NOUN
fcis-32123	9	17	application	application	NOUN
fcis-32123	9	18	in	in	ADP
fcis-32123	9	19	logistics	logistic	NOUN
fcis-32123	9	20	and	and	CCONJ
fcis-32123	9	21	transport	transport	NOUN
fcis-32123	9	22	,	,	PUNCT
fcis-32123	9	23	geographic	geographic	ADJ
fcis-32123	9	24	mapping	mapping	NOUN
fcis-32123	9	25	,	,	PUNCT
fcis-32123	9	26	agricultural	agricultural	ADJ
fcis-32123	9	27	monitoring	monitoring	NOUN
fcis-32123	9	28	,	,	PUNCT
fcis-32123	9	29	emergency	emergency	NOUN
fcis-32123	9	30	rescue	rescue	NOUN
fcis-32123	9	31	and	and	CCONJ
fcis-32123	9	32	security	security	NOUN
fcis-32123	9	33	defence	defence	NOUN
fcis-32123	9	34	.	.	PUNCT
fcis-32123	10	1	with	with	ADP
fcis-32123	10	2	the	the	DET
fcis-32123	10	3	continuous	continuous	ADJ
fcis-32123	10	4	expansion	expansion	NOUN
fcis-32123	10	5	of	of	ADP
fcis-32123	10	6	application	application	NOUN
fcis-32123	10	7	scenarios	scenario	NOUN
fcis-32123	10	8	,	,	PUNCT
fcis-32123	10	9	uavs	uavs	PROPN
fcis-32123	10	10	are	be	AUX
fcis-32123	10	11	facing	face	VERB
fcis-32123	10	12	increasingly	increasingly	ADV
fcis-32123	10	13	complex	complex	ADJ
fcis-32123	10	14	operating	operating	NOUN
fcis-32123	10	15	environments	environment	NOUN
fcis-32123	10	16	,	,	PUNCT
fcis-32123	10	17	especially	especially	ADV
fcis-32123	10	18	in	in	ADP
fcis-32123	10	19	urban	urban	ADJ
fcis-32123	10	20	canyons	canyon	NOUN
fcis-32123	10	21	,	,	PUNCT
fcis-32123	10	22	indoor	indoor	ADJ
fcis-32123	10	23	spaces	space	NOUN
fcis-32123	10	24	,	,	PUNCT
fcis-32123	10	25	and	and	CCONJ
fcis-32123	10	26	unstructured	unstructured	ADJ
fcis-32123	10	27	environments	environment	NOUN
fcis-32123	10	28	with	with	ADP
fcis-32123	10	29	dynamic	dynamic	ADJ
fcis-32123	10	30	obstacles	obstacle	NOUN
fcis-32123	10	31	,	,	PUNCT
fcis-32123	10	32	where	where	SCONJ
fcis-32123	10	33	traditional	traditional	ADJ
fcis-32123	10	34	decision	decision	NOUN
fcis-32123	10	35	-	-	PUNCT
fcis-32123	10	36	making	make	VERB
fcis-32123	10	37	and	and	CCONJ
fcis-32123	10	38	planning	planning	NOUN
fcis-32123	10	39	methods	method	NOUN
fcis-32123	10	40	based	base	VERB
fcis-32123	10	41	on	on	ADP
fcis-32123	10	42	a	a	DET
fcis-32123	10	43	priori	priori	ADJ
fcis-32123	10	44	information	information	NOUN
fcis-32123	10	45	about	about	ADP
fcis-32123	10	46	the	the	DET
fcis-32123	10	47	environment	environment	NOUN
fcis-32123	10	48	face	face	VERB
fcis-32123	10	49	significant	significant	ADJ
fcis-32123	10	50	challenges	challenge	NOUN
fcis-32123	10	51	.	.	PUNCT
fcis-32123	11	1	these	these	DET
fcis-32123	11	2	complex	complex	ADJ
fcis-32123	11	3	environments	environment	NOUN
fcis-32123	11	4	put	put	VERB
fcis-32123	11	5	forward	forward	ADV
fcis-32123	11	6	higher	high	ADJ
fcis-32123	11	7	requirements	requirement	NOUN
fcis-32123	11	8	on	on	ADP
fcis-32123	11	9	the	the	DET
fcis-32123	11	10	autonomous	autonomous	ADJ
fcis-32123	11	11	decisionmaking	decisionmake	VERB
fcis-32123	11	12	capability	capability	NOUN
fcis-32123	11	13	of	of	ADP
fcis-32123	11	14	the	the	DET
fcis-32123	11	15	vehicle	vehicle	NOUN
fcis-32123	11	16	,	,	PUNCT
fcis-32123	11	17	and	and	CCONJ
fcis-32123	11	18	there	there	PRON
fcis-32123	11	19	is	be	VERB
fcis-32123	11	20	an	an	DET
fcis-32123	11	21	urgent	urgent	ADJ
fcis-32123	11	22	need	need	NOUN
fcis-32123	11	23	to	to	PART
fcis-32123	11	24	develop	develop	VERB
fcis-32123	11	25	new	new	ADJ
fcis-32123	11	26	intelligent	intelligent	ADJ
fcis-32123	11	27	decision	decision	NOUN
fcis-32123	11	28	-	-	PUNCT
fcis-32123	11	29	making	make	VERB
fcis-32123	11	30	methods	method	NOUN
fcis-32123	11	31	.	.	PUNCT
fcis-32123	12	1	in	in	ADP
fcis-32123	12	2	recent	recent	ADJ
fcis-32123	12	3	years	year	NOUN
fcis-32123	12	4	,	,	PUNCT
fcis-32123	12	5	the	the	DET
fcis-32123	12	6	research	research	NOUN
fcis-32123	12	7	on	on	ADP
fcis-32123	12	8	the	the	DET
fcis-32123	12	9	application	application	NOUN
fcis-32123	12	10	of	of	ADP
fcis-32123	12	11	reinforcement	reinforcement	NOUN
fcis-32123	12	12	learning	learning	NOUN
fcis-32123	12	13	in	in	ADP
fcis-32123	12	14	uav	uav	PROPN
fcis-32123	12	15	decision	decision	NOUN
fcis-32123	12	16	-	-	PUNCT
fcis-32123	12	17	making	make	VERB
fcis-32123	12	18	and	and	CCONJ
fcis-32123	12	19	path	path	NOUN
fcis-32123	12	20	planning	planning	NOUN
fcis-32123	12	21	has	have	AUX
fcis-32123	12	22	made	make	VERB
fcis-32123	12	23	significant	significant	ADJ
fcis-32123	12	24	progress	progress	NOUN
fcis-32123	12	25	,	,	PUNCT
fcis-32123	12	26	and	and	CCONJ
fcis-32123	12	27	its	its	PRON
fcis-32123	12	28	application	application	NOUN
fcis-32123	12	29	scope	scope	NOUN
fcis-32123	12	30	has	have	AUX
fcis-32123	12	31	been	be	AUX
fcis-32123	12	32	extended	extend	VERB
fcis-32123	12	33	from	from	ADP
fcis-32123	12	34	single	single	ADJ
fcis-32123	12	35	-	-	PUNCT
fcis-32123	12	36	aircraft	aircraft	NOUN
fcis-32123	12	37	obstacle	obstacle	NOUN
fcis-32123	12	38	avoidance	avoidance	NOUN
fcis-32123	12	39	to	to	ADP
fcis-32123	12	40	complex	complex	ADJ
fcis-32123	12	41	scenarios	scenario	NOUN
fcis-32123	12	42	such	such	ADJ
fcis-32123	12	43	as	as	ADP
fcis-32123	12	44	multi	multi	ADJ
fcis-32123	12	45	-	-	ADJ
fcis-32123	12	46	aircraft	aircraft	ADJ
fcis-32123	12	47	collaboration	collaboration	NOUN
fcis-32123	12	48	.	.	PUNCT
fcis-32123	13	1	first	first	ADV
fcis-32123	13	2	,	,	PUNCT
fcis-32123	13	3	in	in	ADP
fcis-32123	13	4	terms	term	NOUN
fcis-32123	13	5	of	of	ADP
fcis-32123	13	6	single	single	ADJ
fcis-32123	13	7	-	-	PUNCT
fcis-32123	13	8	aircraft	aircraft	NOUN
fcis-32123	13	9	navigation	navigation	NOUN
fcis-32123	13	10	in	in	ADP
fcis-32123	13	11	complex	complex	ADJ
fcis-32123	13	12	environments	environment	NOUN
fcis-32123	13	13	,	,	PUNCT
fcis-32123	13	14	researchers	researcher	NOUN
fcis-32123	13	15	have	have	AUX
fcis-32123	13	16	used	use	VERB
fcis-32123	13	17	deep	deep	ADJ
fcis-32123	13	18	reinforcement	reinforcement	NOUN
fcis-32123	13	19	learning	learning	NOUN
fcis-32123	13	20	(	(	PUNCT
fcis-32123	13	21	drl	drl	PROPN
fcis-32123	13	22	)	)	PUNCT
fcis-32123	13	23	algorithms	algorithm	NOUN
fcis-32123	13	24	to	to	PART
fcis-32123	13	25	train	train	VERB
fcis-32123	13	26	uavs	uavs	NOUN
fcis-32123	13	27	to	to	PART
fcis-32123	13	28	achieve	achieve	VERB
fcis-32123	13	29	end	end	NOUN
fcis-32123	13	30	-	-	PUNCT
fcis-32123	13	31	to	to	ADP
fcis-32123	13	32	-	-	PUNCT
fcis-32123	13	33	end	end	NOUN
fcis-32123	13	34	autonomous	autonomous	ADJ
fcis-32123	13	35	flight	flight	NOUN
fcis-32123	13	36	and	and	CCONJ
fcis-32123	13	37	dynamic	dynamic	ADJ
fcis-32123	13	38	obstacle	obstacle	NOUN
fcis-32123	13	39	avoidance	avoidance	NOUN
fcis-32123	13	40	by	by	ADP
fcis-32123	13	41	relying	rely	VERB
fcis-32123	13	42	only	only	ADV
fcis-32123	13	43	on	on	ADP
fcis-32123	13	44	on	on	ADP
fcis-32123	13	45	-	-	PUNCT
fcis-32123	13	46	board	board	NOUN
fcis-32123	13	47	visual	visual	ADJ
fcis-32123	13	48	sensors	sensor	NOUN
fcis-32123	13	49	,	,	PUNCT
fcis-32123	13	50	which	which	PRON
fcis-32123	13	51	significantly	significantly	ADV
fcis-32123	13	52	improves	improve	VERB
fcis-32123	13	53	the	the	DET
fcis-32123	13	54	survivability	survivability	NOUN
fcis-32123	13	55	in	in	ADP
fcis-32123	13	56	unknown	unknown	ADJ
fcis-32123	13	57	gps	gps	NOUN
fcis-32123	13	58	denial	denial	NOUN
fcis-32123	13	59	environments	environment	NOUN
fcis-32123	13	60	[	[	X
fcis-32123	13	61	1	1	NUM
fcis-32123	13	62	]	]	PUNCT
fcis-32123	13	63	.	.	PUNCT
fcis-32123	14	1	second	second	ADJ
fcis-32123	14	2	,	,	PUNCT
fcis-32123	14	3	in	in	ADP
fcis-32123	14	4	the	the	DET
fcis-32123	14	5	field	field	NOUN
fcis-32123	14	6	of	of	ADP
fcis-32123	14	7	multi	multi	ADJ
fcis-32123	14	8	-	-	ADJ
fcis-32123	14	9	uav	uav	ADJ
fcis-32123	14	10	cooperative	cooperative	ADJ
fcis-32123	14	11	control	control	NOUN
fcis-32123	14	12	,	,	PUNCT
fcis-32123	14	13	the	the	DET
fcis-32123	14	14	multi	multi	ADJ
fcis-32123	14	15	-	-	ADJ
fcis-32123	14	16	intelligence	intelligence	ADJ
fcis-32123	14	17	reinforcement	reinforcement	NOUN
fcis-32123	14	18	learning	learning	NOUN
fcis-32123	14	19	(	(	PUNCT
fcis-32123	14	20	marl	marl	NOUN
fcis-32123	14	21	)	)	PUNCT
fcis-32123	14	22	method	method	NOUN
fcis-32123	14	23	based	base	VERB
fcis-32123	14	24	on	on	ADP
fcis-32123	14	25	a	a	DET
fcis-32123	14	26	centralised	centralised	ADJ
fcis-32123	14	27	trainingdistributed	trainingdistribute	VERB
fcis-32123	14	28	execution	execution	NOUN
fcis-32123	14	29	framework	framework	NOUN
fcis-32123	14	30	is	be	AUX
fcis-32123	14	31	successfully	successfully	ADV
fcis-32123	14	32	applied	apply	VERB
fcis-32123	14	33	to	to	PART
fcis-32123	14	34	solve	solve	VERB
fcis-32123	14	35	the	the	DET
fcis-32123	14	36	cooperative	cooperative	ADJ
fcis-32123	14	37	search	search	NOUN
fcis-32123	14	38	and	and	CCONJ
fcis-32123	14	39	target	target	NOUN
fcis-32123	14	40	rounding	rounding	NOUN
fcis-32123	14	41	problem	problem	NOUN
fcis-32123	14	42	of	of	ADP
fcis-32123	14	43	uav	uav	PROPN
fcis-32123	14	44	swarms	swarm	NOUN
fcis-32123	14	45	under	under	ADP
fcis-32123	14	46	communication	communication	NOUN
fcis-32123	14	47	-	-	PUNCT
fcis-32123	14	48	constrained	constrain	VERB
fcis-32123	14	49	conditions	condition	NOUN
fcis-32123	14	50	,	,	PUNCT
fcis-32123	14	51	demonstrating	demonstrate	VERB
fcis-32123	14	52	excellent	excellent	ADJ
fcis-32123	14	53	group	group	NOUN
fcis-32123	14	54	intelligence	intelligence	NOUN
fcis-32123	15	1	[	[	X
fcis-32123	15	2	2	2	NUM
fcis-32123	15	3	]	]	PUNCT
fcis-32123	15	4	.	.	PUNCT
fcis-32123	16	1	finally	finally	ADV
fcis-32123	16	2	,	,	PUNCT
fcis-32123	16	3	in	in	ADP
fcis-32123	16	4	terms	term	NOUN
fcis-32123	16	5	of	of	ADP
fcis-32123	16	6	persistent	persistent	ADJ
fcis-32123	16	7	operation	operation	NOUN
fcis-32123	16	8	under	under	ADP
fcis-32123	16	9	resource	resource	NOUN
fcis-32123	16	10	constraints	constraint	NOUN
fcis-32123	16	11	,	,	PUNCT
fcis-32123	16	12	the	the	DET
fcis-32123	16	13	study	study	NOUN
fcis-32123	16	14	enables	enable	VERB
fcis-32123	16	15	uavs	uavs	NOUN
fcis-32123	16	16	to	to	PART
fcis-32123	16	17	autonomously	autonomously	ADV
fcis-32123	16	18	learn	learn	VERB
fcis-32123	16	19	the	the	DET
fcis-32123	16	20	optimal	optimal	ADJ
fcis-32123	16	21	path	path	NOUN
fcis-32123	16	22	that	that	PRON
fcis-32123	16	23	takes	take	VERB
fcis-32123	16	24	into	into	ADP
fcis-32123	16	25	account	account	NOUN
fcis-32123	16	26	both	both	PRON
fcis-32123	16	27	task	task	NOUN
fcis-32123	16	28	completion	completion	NOUN
fcis-32123	16	29	and	and	CCONJ
fcis-32123	16	30	energy	energy	NOUN
fcis-32123	16	31	efficiency	efficiency	NOUN
fcis-32123	16	32	by	by	ADP
fcis-32123	16	33	integrating	integrate	VERB
fcis-32123	16	34	constraints	constraint	NOUN
fcis-32123	16	35	such	such	ADJ
fcis-32123	16	36	as	as	ADP
fcis-32123	16	37	energy	energy	NOUN
fcis-32123	16	38	consumption	consumption	NOUN
fcis-32123	16	39	and	and	CCONJ
fcis-32123	16	40	flight	flight	NOUN
fcis-32123	16	41	time	time	NOUN
fcis-32123	16	42	into	into	ADP
fcis-32123	16	43	the	the	DET
fcis-32123	16	44	reward	reward	NOUN
fcis-32123	16	45	function	function	NOUN
fcis-32123	16	46	,	,	PUNCT
fcis-32123	16	47	effectively	effectively	ADV
fcis-32123	16	48	extending	extend	VERB
fcis-32123	16	49	their	their	PRON
fcis-32123	16	50	operational	operational	ADJ
fcis-32123	16	51	flight	flight	NOUN
fcis-32123	16	52	time	time	NOUN
fcis-32123	16	53	in	in	ADP
fcis-32123	16	54	inspection	inspection	NOUN
fcis-32123	16	55	,	,	PUNCT
fcis-32123	16	56	mapping	mapping	NOUN
fcis-32123	16	57	and	and	CCONJ
fcis-32123	16	58	other	other	ADJ
fcis-32123	16	59	tasks	task	NOUN
fcis-32123	16	60	[	[	X
fcis-32123	16	61	3	3	NUM
fcis-32123	16	62	]	]	PUNCT
fcis-32123	16	63	.	.	PUNCT
fcis-32123	17	1	together	together	ADV
fcis-32123	17	2	,	,	PUNCT
fcis-32123	17	3	these	these	DET
fcis-32123	17	4	research	research	NOUN
fcis-32123	17	5	results	result	NOUN
fcis-32123	17	6	demonstrate	demonstrate	VERB
fcis-32123	17	7	the	the	DET
fcis-32123	17	8	effectiveness	effectiveness	NOUN
fcis-32123	17	9	and	and	CCONJ
fcis-32123	17	10	great	great	ADJ
fcis-32123	17	11	potential	potential	NOUN
fcis-32123	17	12	of	of	ADP
fcis-32123	17	13	reinforcement	reinforcement	NOUN
fcis-32123	17	14	learning	learning	NOUN
fcis-32123	17	15	in	in	ADP
fcis-32123	17	16	solving	solve	VERB
fcis-32123	17	17	complex	complex	ADJ
fcis-32123	17	18	realworld	realworld	NOUN
fcis-32123	17	19	problems	problem	NOUN
fcis-32123	17	20	of	of	ADP
fcis-32123	17	21	uavs	uavs	PROPN
fcis-32123	17	22	.	.	PUNCT
fcis-32123	18	1	this	this	DET
fcis-32123	18	2	study	study	NOUN
fcis-32123	18	3	systematically	systematically	ADV
fcis-32123	18	4	explores	explore	VERB
fcis-32123	18	5	the	the	DET
fcis-32123	18	6	application	application	NOUN
fcis-32123	18	7	of	of	ADP
fcis-32123	18	8	reinforcement	reinforcement	NOUN
fcis-32123	18	9	learning	learning	NOUN
fcis-32123	18	10	in	in	ADP
fcis-32123	18	11	uav	uav	PROPN
fcis-32123	18	12	decision	decision	NOUN
fcis-32123	18	13	-	-	PUNCT
fcis-32123	18	14	making	making	NOUN
fcis-32123	18	15	and	and	CCONJ
fcis-32123	18	16	path	path	NOUN
fcis-32123	18	17	planning	planning	NOUN
fcis-32123	18	18	.	.	PUNCT
fcis-32123	19	1	firstly	firstly	ADV
fcis-32123	19	2	,	,	PUNCT
fcis-32123	19	3	it	it	PRON
fcis-32123	19	4	analyses	analyse	VERB
fcis-32123	19	5	the	the	DET
fcis-32123	19	6	advantages	advantage	NOUN
fcis-32123	19	7	of	of	ADP
fcis-32123	19	8	reinforcement	reinforcement	NOUN
fcis-32123	19	9	learning	learning	NOUN
fcis-32123	19	10	over	over	ADP
fcis-32123	19	11	traditional	traditional	ADJ
fcis-32123	19	12	methods	method	NOUN
fcis-32123	19	13	in	in	ADP
fcis-32123	19	14	terms	term	NOUN
fcis-32123	19	15	of	of	ADP
fcis-32123	19	16	environment	environment	NOUN
fcis-32123	19	17	adaptability	adaptability	NOUN
fcis-32123	19	18	,	,	PUNCT
fcis-32123	19	19	multi	multi	ADJ
fcis-32123	19	20	-	-	ADJ
fcis-32123	19	21	objective	objective	ADJ
fcis-32123	19	22	optimization	optimization	NOUN
fcis-32123	19	23	and	and	CCONJ
fcis-32123	19	24	end	end	NOUN
fcis-32123	19	25	-	-	PUNCT
fcis-32123	19	26	to	to	ADP
fcis-32123	19	27	-	-	PUNCT
fcis-32123	19	28	end	end	NOUN
fcis-32123	19	29	decision	decision	NOUN
fcis-32123	19	30	-	-	PUNCT
fcis-32123	19	31	making	making	NOUN
fcis-32123	19	32	;	;	PUNCT
fcis-32123	19	33	secondly	secondly	ADV
fcis-32123	19	34	,	,	PUNCT
fcis-32123	19	35	it	it	PRON
fcis-32123	19	36	focuses	focus	VERB
fcis-32123	19	37	on	on	ADP
fcis-32123	19	38	the	the	DET
fcis-32123	19	39	solutions	solution	NOUN
fcis-32123	19	40	and	and	CCONJ
fcis-32123	19	41	effectiveness	effectiveness	NOUN
fcis-32123	19	42	in	in	ADP
fcis-32123	19	43	three	three	NUM
fcis-32123	19	44	major	major	ADJ
fcis-32123	19	45	scenarios	scenario	NOUN
fcis-32123	19	46	,	,	PUNCT
fcis-32123	19	47	namely	namely	ADV
fcis-32123	19	48	,	,	PUNCT
fcis-32123	19	49	autonomous	autonomous	ADJ
fcis-32123	19	50	navigation	navigation	NOUN
fcis-32123	19	51	and	and	CCONJ
fcis-32123	19	52	obstacle	obstacle	NOUN
fcis-32123	19	53	avoidance	avoidance	NOUN
fcis-32123	19	54	,	,	PUNCT
fcis-32123	19	55	multi	multi	ADJ
fcis-32123	19	56	-	-	ADJ
fcis-32123	19	57	machine	machine	ADJ
fcis-32123	19	58	collaborative	collaborative	ADJ
fcis-32123	19	59	control	control	NOUN
fcis-32123	19	60	,	,	PUNCT
fcis-32123	19	61	and	and	CCONJ
fcis-32123	19	62	resource	resource	NOUN
fcis-32123	19	63	-	-	PUNCT
fcis-32123	19	64	constrained	constrain	VERB
fcis-32123	19	65	planning	planning	NOUN
fcis-32123	19	66	;	;	PUNCT
fcis-32123	19	67	and	and	CCONJ
fcis-32123	19	68	lastly	lastly	ADV
fcis-32123	19	69	,	,	PUNCT
fcis-32123	19	70	in	in	ADP
fcis-32123	19	71	view	view	NOUN
fcis-32123	19	72	of	of	ADP
fcis-32123	19	73	the	the	DET
fcis-32123	19	74	challenges	challenge	NOUN
fcis-32123	19	75	of	of	ADP
fcis-32123	19	76	sample	sample	NOUN
fcis-32123	19	77	efficiency	efficiency	NOUN
fcis-32123	19	78	and	and	CCONJ
fcis-32123	19	79	safety	safety	NOUN
fcis-32123	19	80	,	,	PUNCT
fcis-32123	19	81	it	it	PRON
fcis-32123	19	82	explores	explore	VERB
fcis-32123	19	83	the	the	DET
fcis-32123	19	84	key	key	ADJ
fcis-32123	19	85	directions	direction	NOUN
fcis-32123	19	86	of	of	ADP
fcis-32123	19	87	development	development	NOUN
fcis-32123	19	88	,	,	PUNCT
fcis-32123	19	89	such	such	ADJ
fcis-32123	19	90	as	as	ADP
fcis-32123	19	91	simulation	simulation	NOUN
fcis-32123	19	92	migration	migration	NOUN
fcis-32123	19	93	and	and	CCONJ
fcis-32123	19	94	constraint	constraint	NOUN
fcis-32123	19	95	optimization	optimization	NOUN
fcis-32123	19	96	,	,	PUNCT
fcis-32123	19	97	which	which	PRON
fcis-32123	19	98	provides	provide	VERB
fcis-32123	19	99	theoretical	theoretical	ADJ
fcis-32123	19	100	references	reference	NOUN
fcis-32123	19	101	to	to	ADP
fcis-32123	19	102	the	the	DET
fcis-32123	19	103	research	research	NOUN
fcis-32123	19	104	and	and	CCONJ
fcis-32123	19	105	development	development	NOUN
fcis-32123	19	106	of	of	ADP
fcis-32123	19	107	intelligent	intelligent	ADJ
fcis-32123	19	108	uav	uav	PROPN
fcis-32123	19	109	systems	system	NOUN
fcis-32123	19	110	.	.	PUNCT
fcis-32123	20	1	theoretical	theoretical	ADJ
fcis-32123	20	2	references	reference	NOUN
fcis-32123	20	3	are	be	AUX
fcis-32123	20	4	provided	provide	VERB
fcis-32123	20	5	.	.	PUNCT
fcis-32123	21	1	2	2	X
fcis-32123	21	2	.	.	NUM
fcis-32123	21	3	advantages	advantage	NOUN
fcis-32123	21	4	of	of	ADP
fcis-32123	21	5	reinforcement	reinforcement	NOUN
fcis-32123	21	6	learning	learning	NOUN
fcis-32123	21	7	over	over	ADP
fcis-32123	21	8	traditional	traditional	ADJ
fcis-32123	21	9	methods	method	NOUN
fcis-32123	21	10	traditional	traditional	ADJ
fcis-32123	21	11	methods	method	NOUN
fcis-32123	21	12	rely	rely	VERB
fcis-32123	21	13	heavily	heavily	ADV
fcis-32123	21	14	on	on	ADP
fcis-32123	21	15	accurate	accurate	ADJ
fcis-32123	21	16	environment	environment	NOUN
fcis-32123	21	17	models	model	NOUN
fcis-32123	21	18	and	and	CCONJ
fcis-32123	21	19	face	face	VERB
fcis-32123	21	20	the	the	DET
fcis-32123	21	21	bottleneck	bottleneck	NOUN
fcis-32123	21	22	of	of	ADP
fcis-32123	21	23	inefficient	inefficient	ADJ
fcis-32123	21	24	replanning	replanning	NOUN
fcis-32123	21	25	and	and	CCONJ
fcis-32123	21	26	a	a	DET
fcis-32123	21	27	lack	lack	NOUN
fcis-32123	21	28	of	of	ADP
fcis-32123	21	29	adaptability	adaptability	NOUN
fcis-32123	21	30	in	in	ADP
fcis-32123	21	31	dynamic	dynamic	ADJ
fcis-32123	21	32	and	and	CCONJ
fcis-32123	21	33	uncertain	uncertain	ADJ
fcis-32123	21	34	environments	environment	NOUN
fcis-32123	21	35	.	.	PUNCT
fcis-32123	22	1	in	in	ADP
fcis-32123	22	2	contrast	contrast	NOUN
fcis-32123	22	3	,	,	PUNCT
fcis-32123	22	4	rl	rl	X
fcis-32123	22	5	autonomously	autonomously	ADV
fcis-32123	22	6	learns	learn	VERB
fcis-32123	22	7	the	the	DET
fcis-32123	22	8	optimal	optimal	ADJ
fcis-32123	22	9	policy	policy	NOUN
fcis-32123	22	10	by	by	ADP
fcis-32123	22	11	interacting	interact	VERB
fcis-32123	22	12	with	with	ADP
fcis-32123	22	13	the	the	DET
fcis-32123	22	14	environment	environment	NOUN
fcis-32123	22	15	,	,	PUNCT
fcis-32123	22	16	which	which	PRON
fcis-32123	22	17	has	have	VERB
fcis-32123	22	18	many	many	ADJ
fcis-32123	22	19	advantages	advantage	NOUN
fcis-32123	22	20	,	,	PUNCT
fcis-32123	22	21	as	as	SCONJ
fcis-32123	22	22	shown	show	VERB
fcis-32123	22	23	in	in	ADP
fcis-32123	22	24	table	table	NOUN
fcis-32123	22	25	1	1	NUM
fcis-32123	22	26	.	.	PUNCT
fcis-32123	23	1	firstly	firstly	ADV
fcis-32123	23	2	,	,	PUNCT
fcis-32123	23	3	it	it	PRON
fcis-32123	23	4	has	have	VERB
fcis-32123	23	5	excellent	excellent	ADJ
fcis-32123	23	6	environment	environment	NOUN
fcis-32123	23	7	generalisation	generalisation	NOUN
fcis-32123	23	8	and	and	CCONJ
fcis-32123	23	9	dynamic	dynamic	ADJ
fcis-32123	23	10	adaptation	adaptation	NOUN
fcis-32123	23	11	capabilities	capability	NOUN
fcis-32123	23	12	,	,	PUNCT
fcis-32123	23	13	and	and	CCONJ
fcis-32123	23	14	the	the	DET
fcis-32123	23	15	trained	train	VERB
fcis-32123	23	16	strategies	strategy	NOUN
fcis-32123	23	17	can	can	AUX
fcis-32123	23	18	make	make	VERB
fcis-32123	23	19	real	real	ADJ
fcis-32123	23	20	-	-	PUNCT
fcis-32123	23	21	time	time	NOUN
fcis-32123	23	22	and	and	CCONJ
fcis-32123	23	23	robust	robust	ADJ
fcis-32123	23	24	obstacle	obstacle	NOUN
fcis-32123	23	25	avoidance	avoidance	NOUN
fcis-32123	23	26	decisions	decision	NOUN
fcis-32123	23	27	for	for	ADP
fcis-32123	23	28	dynamic	dynamic	ADJ
fcis-32123	23	29	obstacles	obstacle	NOUN
fcis-32123	23	30	directly	directly	ADV
fcis-32123	23	31	based	base	VERB
fcis-32123	23	32	on	on	ADP
fcis-32123	23	33	local	local	ADJ
fcis-32123	23	34	observations	observation	NOUN
fcis-32123	23	35	,	,	PUNCT
fcis-32123	23	36	without	without	ADP
fcis-32123	23	37	the	the	DET
fcis-32123	23	38	need	need	NOUN
fcis-32123	23	39	for	for	ADP
fcis-32123	23	40	explicit	explicit	ADJ
fcis-32123	23	41	global	global	ADJ
fcis-32123	23	42	maps	map	NOUN
fcis-32123	23	43	and	and	CCONJ
fcis-32123	23	44	frequent	frequent	ADJ
fcis-32123	23	45	replanning	replanning	NOUN
fcis-32123	23	46	.	.	PUNCT
fcis-32123	24	1	secondly	secondly	ADV
fcis-32123	24	2	,	,	PUNCT
fcis-32123	24	3	rl	rl	PROPN
fcis-32123	24	4	achieves	achieve	VERB
fcis-32123	24	5	comprehensive	comprehensive	ADJ
fcis-32123	24	6	optimality	optimality	NOUN
fcis-32123	24	7	under	under	ADP
fcis-32123	24	8	multi	multi	ADJ
fcis-32123	24	9	-	-	ADJ
fcis-32123	24	10	objective	objective	ADJ
fcis-32123	24	11	,	,	PUNCT
fcis-32123	24	12	and	and	CCONJ
fcis-32123	24	13	its	its	PRON
fcis-32123	24	14	31	31	NUM
fcis-32123	24	15	reward	reward	NOUN
fcis-32123	24	16	function	function	NOUN
fcis-32123	24	17	mechanism	mechanism	NOUN
fcis-32123	24	18	can	can	AUX
fcis-32123	24	19	co	co	VERB
fcis-32123	24	20	-	-	VERB
fcis-32123	24	21	optimise	optimise	ADJ
fcis-32123	24	22	multiple	multiple	ADJ
fcis-32123	24	23	constraints	constraint	NOUN
fcis-32123	24	24	,	,	PUNCT
fcis-32123	24	25	such	such	ADJ
fcis-32123	24	26	as	as	ADP
fcis-32123	24	27	path	path	NOUN
fcis-32123	24	28	length	length	NOUN
fcis-32123	24	29	,	,	PUNCT
fcis-32123	24	30	energy	energy	NOUN
fcis-32123	24	31	consumption	consumption	NOUN
fcis-32123	24	32	,	,	PUNCT
fcis-32123	24	33	task	task	NOUN
fcis-32123	24	34	time	time	NOUN
fcis-32123	24	35	and	and	CCONJ
fcis-32123	24	36	safety	safety	NOUN
fcis-32123	24	37	,	,	PUNCT
fcis-32123	24	38	so	so	SCONJ
fcis-32123	24	39	as	as	SCONJ
fcis-32123	24	40	to	to	PART
fcis-32123	24	41	plan	plan	VERB
fcis-32123	24	42	a	a	DET
fcis-32123	24	43	path	path	NOUN
fcis-32123	24	44	that	that	PRON
fcis-32123	24	45	is	be	AUX
fcis-32123	24	46	not	not	PART
fcis-32123	24	47	the	the	DET
fcis-32123	24	48	shortest	short	ADJ
fcis-32123	24	49	but	but	CCONJ
fcis-32123	24	50	the	the	DET
fcis-32123	24	51	most	most	ADV
fcis-32123	24	52	globally	globally	ADV
fcis-32123	24	53	efficient	efficient	ADJ
fcis-32123	24	54	one	one	NUM
fcis-32123	24	55	,	,	PUNCT
fcis-32123	24	56	which	which	PRON
fcis-32123	24	57	is	be	AUX
fcis-32123	24	58	especially	especially	ADV
fcis-32123	24	59	suitable	suitable	ADJ
fcis-32123	24	60	for	for	ADP
fcis-32123	24	61	resource	resource	NOUN
fcis-32123	24	62	-	-	PUNCT
fcis-32123	24	63	sensitive	sensitive	ADJ
fcis-32123	24	64	tasks	task	NOUN
fcis-32123	24	65	such	such	ADJ
fcis-32123	24	66	as	as	ADP
fcis-32123	24	67	long	long	ADJ
fcis-32123	24	68	flight	flight	NOUN
fcis-32123	24	69	time	time	NOUN
fcis-32123	24	70	.	.	PUNCT
fcis-32123	25	1	finally	finally	ADV
fcis-32123	25	2	,	,	PUNCT
fcis-32123	25	3	it	it	PRON
fcis-32123	25	4	provides	provide	VERB
fcis-32123	25	5	a	a	DET
fcis-32123	25	6	unified	unified	ADJ
fcis-32123	25	7	framework	framework	NOUN
fcis-32123	25	8	for	for	ADP
fcis-32123	25	9	complex	complex	ADJ
fcis-32123	25	10	collaborative	collaborative	ADJ
fcis-32123	25	11	decision	decision	NOUN
fcis-32123	25	12	-	-	PUNCT
fcis-32123	25	13	making	making	NOUN
fcis-32123	25	14	.	.	PUNCT
fcis-32123	26	1	based	base	VERB
fcis-32123	26	2	on	on	ADP
fcis-32123	26	3	architectures	architecture	NOUN
fcis-32123	26	4	such	such	ADJ
fcis-32123	26	5	as	as	ADP
fcis-32123	26	6	centralised	centralised	ADJ
fcis-32123	26	7	training	training	NOUN
fcis-32123	26	8	-	-	PUNCT
fcis-32123	26	9	distributed	distribute	VERB
fcis-32123	26	10	execution	execution	NOUN
fcis-32123	26	11	,	,	PUNCT
fcis-32123	26	12	multi	multi	ADJ
fcis-32123	26	13	-	-	ADJ
fcis-32123	26	14	uas	uas	NOUN
fcis-32123	26	15	can	can	AUX
fcis-32123	26	16	emerge	emerge	VERB
fcis-32123	26	17	efficient	efficient	ADJ
fcis-32123	26	18	group	group	NOUN
fcis-32123	26	19	intelligence	intelligence	NOUN
fcis-32123	26	20	based	base	VERB
fcis-32123	26	21	on	on	ADP
fcis-32123	26	22	local	local	ADJ
fcis-32123	26	23	information	information	NOUN
fcis-32123	26	24	alone	alone	ADV
fcis-32123	26	25	under	under	ADP
fcis-32123	26	26	communication	communication	NOUN
fcis-32123	26	27	constraints	constraint	NOUN
fcis-32123	26	28	,	,	PUNCT
fcis-32123	26	29	solving	solve	VERB
fcis-32123	26	30	the	the	DET
fcis-32123	26	31	distributed	distribute	VERB
fcis-32123	26	32	collaboration	collaboration	NOUN
fcis-32123	26	33	problem	problem	NOUN
fcis-32123	26	34	that	that	PRON
fcis-32123	26	35	is	be	AUX
fcis-32123	26	36	difficult	difficult	ADJ
fcis-32123	26	37	to	to	PART
fcis-32123	26	38	handle	handle	VERB
fcis-32123	26	39	by	by	ADP
fcis-32123	26	40	traditional	traditional	ADJ
fcis-32123	26	41	methods	method	NOUN
fcis-32123	26	42	.	.	PUNCT
fcis-32123	27	1	as	as	ADP
fcis-32123	27	2	a	a	DET
fcis-32123	27	3	result	result	NOUN
fcis-32123	27	4	,	,	PUNCT
fcis-32123	27	5	rl	rl	PROPN
fcis-32123	27	6	elevates	elevate	VERB
fcis-32123	27	7	uavs	uavs	NOUN
fcis-32123	27	8	from	from	ADP
fcis-32123	27	9	tools	tool	NOUN
fcis-32123	27	10	that	that	PRON
fcis-32123	27	11	execute	execute	VERB
fcis-32123	27	12	predefined	predefine	VERB
fcis-32123	27	13	procedures	procedure	NOUN
fcis-32123	27	14	to	to	ADP
fcis-32123	27	15	intelligences	intelligence	NOUN
fcis-32123	27	16	that	that	PRON
fcis-32123	27	17	can	can	AUX
fcis-32123	27	18	autonomously	autonomously	ADV
fcis-32123	27	19	perceive	perceive	VERB
fcis-32123	27	20	,	,	PUNCT
fcis-32123	27	21	decide	decide	VERB
fcis-32123	27	22	and	and	CCONJ
fcis-32123	27	23	learn	learn	VERB
fcis-32123	27	24	in	in	ADP
fcis-32123	27	25	uncertain	uncertain	ADJ
fcis-32123	27	26	environments	environment	NOUN
fcis-32123	27	27	.	.	PUNCT
fcis-32123	28	1	table	table	NOUN
fcis-32123	28	2	1	1	NUM
fcis-32123	28	3	.	.	PUNCT
fcis-32123	28	4	comparison	comparison	NOUN
fcis-32123	28	5	between	between	ADP
fcis-32123	28	6	traditional	traditional	ADJ
fcis-32123	28	7	methods	method	NOUN
fcis-32123	28	8	and	and	CCONJ
fcis-32123	28	9	reinforcement	reinforcement	NOUN
fcis-32123	28	10	learning	learning	NOUN
fcis-32123	28	11	for	for	ADP
fcis-32123	28	12	uav	uav	PROPN
fcis-32123	28	13	path	path	PROPN
fcis-32123	28	14	planning	planning	PROPN
fcis-32123	28	15	characteristic	characteristic	ADJ
fcis-32123	28	16	traditional	traditional	ADJ
fcis-32123	28	17	methods	method	NOUN
fcis-32123	28	18	reinforcement	reinforcement	NOUN
fcis-32123	28	19	learning	learn	VERB
fcis-32123	28	20	approach	approach	NOUN
fcis-32123	28	21	environmental	environmental	ADJ
fcis-32123	28	22	model	model	NOUN
fcis-32123	28	23	requires	require	VERB
fcis-32123	28	24	a	a	DET
fcis-32123	28	25	precise	precise	ADJ
fcis-32123	28	26	global	global	ADJ
fcis-32123	28	27	map	map	NOUN
fcis-32123	28	28	/	/	SYM
fcis-32123	28	29	model	model	NOUN
fcis-32123	28	30	.	.	PUNCT
fcis-32123	29	1	does	do	AUX
fcis-32123	29	2	not	not	PART
fcis-32123	29	3	require	require	VERB
fcis-32123	29	4	an	an	DET
fcis-32123	29	5	environmental	environmental	ADJ
fcis-32123	29	6	model	model	NOUN
fcis-32123	29	7	;	;	PUNCT
fcis-32123	29	8	learns	learn	VERB
fcis-32123	29	9	through	through	ADP
fcis-32123	29	10	interaction	interaction	NOUN
fcis-32123	29	11	based	base	VERB
fcis-32123	29	12	on	on	ADP
fcis-32123	29	13	partial	partial	ADJ
fcis-32123	29	14	perception	perception	NOUN
fcis-32123	29	15	.	.	PUNCT
fcis-32123	30	1	dynamic	dynamic	ADJ
fcis-32123	30	2	handling	handle	VERB
fcis-32123	30	3	poor	poor	ADJ
fcis-32123	30	4	handling	handling	NOUN
fcis-32123	30	5	of	of	ADP
fcis-32123	30	6	dynamic	dynamic	ADJ
fcis-32123	30	7	obstacles	obstacle	NOUN
fcis-32123	30	8	;	;	PUNCT
fcis-32123	30	9	requires	require	VERB
fcis-32123	30	10	frequent	frequent	ADJ
fcis-32123	30	11	replanning	replanning	NOUN
fcis-32123	30	12	.	.	PUNCT
fcis-32123	31	1	inherently	inherently	ADV
fcis-32123	31	2	suitable	suitable	ADJ
fcis-32123	31	3	for	for	ADP
fcis-32123	31	4	dynamic	dynamic	ADJ
fcis-32123	31	5	environments	environment	NOUN
fcis-32123	31	6	,	,	PUNCT
fcis-32123	31	7	the	the	DET
fcis-32123	31	8	learned	learn	VERB
fcis-32123	31	9	policy	policy	NOUN
fcis-32123	31	10	can	can	AUX
fcis-32123	31	11	adapt	adapt	VERB
fcis-32123	31	12	to	to	ADP
fcis-32123	31	13	changes	change	NOUN
fcis-32123	31	14	.	.	PUNCT
fcis-32123	32	1	uncertainty	uncertainty	NOUN
fcis-32123	32	2	robustness	robustness	NOUN
fcis-32123	32	3	sensitive	sensitive	ADJ
fcis-32123	32	4	to	to	ADP
fcis-32123	32	5	sensor	sensor	NOUN
fcis-32123	32	6	noise	noise	NOUN
fcis-32123	32	7	and	and	CCONJ
fcis-32123	32	8	model	model	NOUN
fcis-32123	32	9	inaccuracies	inaccuracy	NOUN
fcis-32123	32	10	.	.	PUNCT
fcis-32123	33	1	can	can	AUX
fcis-32123	33	2	learn	learn	VERB
fcis-32123	33	3	robust	robust	ADJ
fcis-32123	33	4	policies	policy	NOUN
fcis-32123	33	5	against	against	ADP
fcis-32123	33	6	uncertainties	uncertainty	NOUN
fcis-32123	33	7	through	through	ADP
fcis-32123	33	8	extensive	extensive	ADJ
fcis-32123	33	9	training	training	NOUN
fcis-32123	33	10	.	.	PUNCT
fcis-32123	34	1	decision	decision	NOUN
fcis-32123	34	2	dimension	dimension	NOUN
fcis-32123	34	3	typically	typically	ADV
fcis-32123	34	4	limited	limit	VERB
fcis-32123	34	5	to	to	PART
fcis-32123	34	6	lowlevel	lowlevel	VERB
fcis-32123	34	7	path	path	NOUN
fcis-32123	34	8	planning	planning	NOUN
fcis-32123	34	9	.	.	PUNCT
fcis-32123	35	1	enables	enable	VERB
fcis-32123	35	2	hierarchical	hierarchical	ADJ
fcis-32123	35	3	decision	decision	NOUN
fcis-32123	35	4	-	-	PUNCT
fcis-32123	35	5	making	making	NOUN
fcis-32123	35	6	,	,	PUNCT
fcis-32123	35	7	integrating	integrate	VERB
fcis-32123	35	8	high	high	ADJ
fcis-32123	35	9	-	-	PUNCT
fcis-32123	35	10	level	level	NOUN
fcis-32123	35	11	and	and	CCONJ
fcis-32123	35	12	low	low	ADJ
fcis-32123	35	13	-	-	PUNCT
fcis-32123	35	14	level	level	NOUN
fcis-32123	35	15	control	control	NOUN
fcis-32123	35	16	.	.	PUNCT
fcis-32123	36	1	optimality	optimality	NOUN
fcis-32123	36	2	finds	find	VERB
fcis-32123	36	3	analytically	analytically	ADV
fcis-32123	36	4	or	or	CCONJ
fcis-32123	36	5	asymptotically	asymptotically	ADV
fcis-32123	36	6	optimal	optimal	ADJ
fcis-32123	36	7	paths	path	NOUN
fcis-32123	36	8	in	in	ADP
fcis-32123	36	9	static	static	ADJ
fcis-32123	36	10	environments	environment	NOUN
fcis-32123	36	11	.	.	PUNCT
fcis-32123	37	1	seeks	seek	VERB
fcis-32123	37	2	the	the	DET
fcis-32123	37	3	solution	solution	NOUN
fcis-32123	37	4	with	with	ADP
fcis-32123	37	5	maximum	maximum	ADJ
fcis-32123	37	6	expected	expected	ADJ
fcis-32123	37	7	return	return	NOUN
fcis-32123	37	8	in	in	ADP
fcis-32123	37	9	uncertain	uncertain	ADJ
fcis-32123	37	10	environments	environment	NOUN
fcis-32123	37	11	,	,	PUNCT
fcis-32123	37	12	often	often	ADV
fcis-32123	37	13	yielding	yield	VERB
fcis-32123	37	14	the	the	DET
fcis-32123	37	15	most	most	ADV
fcis-32123	37	16	robust	robust	ADJ
fcis-32123	37	17	and	and	CCONJ
fcis-32123	37	18	safe	safe	ADJ
fcis-32123	37	19	,	,	PUNCT
fcis-32123	37	20	rather	rather	ADV
fcis-32123	37	21	than	than	ADP
fcis-32123	37	22	the	the	DET
fcis-32123	37	23	shortest	short	ADJ
fcis-32123	37	24	,	,	PUNCT
fcis-32123	37	25	path	path	NOUN
fcis-32123	37	26	.	.	PUNCT
fcis-32123	38	1	3	3	X
fcis-32123	38	2	.	.	X
fcis-32123	38	3	application	application	NOUN
fcis-32123	38	4	scenarios	scenario	NOUN
fcis-32123	38	5	of	of	ADP
fcis-32123	38	6	reinforcement	reinforcement	NOUN
fcis-32123	38	7	learning	learning	NOUN
fcis-32123	38	8	in	in	ADP
fcis-32123	38	9	uav	uav	PROPN
fcis-32123	38	10	decision	decision	NOUN
fcis-32123	38	11	planning	plan	VERB
fcis-32123	38	12	3.1	3.1	NUM
fcis-32123	38	13	.	.	PUNCT
fcis-32123	39	1	autonomous	autonomous	ADJ
fcis-32123	39	2	navigation	navigation	NOUN
fcis-32123	39	3	and	and	CCONJ
fcis-32123	39	4	obstacle	obstacle	NOUN
fcis-32123	39	5	avoidance	avoidance	NOUN
fcis-32123	39	6	compared	compare	VERB
fcis-32123	39	7	with	with	ADP
fcis-32123	39	8	the	the	DET
fcis-32123	39	9	traditional	traditional	ADJ
fcis-32123	39	10	path	path	NOUN
fcis-32123	39	11	planning	planning	NOUN
fcis-32123	39	12	algorithms	algorithm	NOUN
fcis-32123	39	13	,	,	PUNCT
fcis-32123	39	14	reinforcement	reinforcement	NOUN
fcis-32123	39	15	learning	learning	NOUN
fcis-32123	39	16	gives	give	VERB
fcis-32123	39	17	a	a	DET
fcis-32123	39	18	higher	high	ADJ
fcis-32123	39	19	level	level	NOUN
fcis-32123	39	20	of	of	ADP
fcis-32123	39	21	intelligence	intelligence	NOUN
fcis-32123	39	22	to	to	ADP
fcis-32123	39	23	autonomous	autonomous	ADJ
fcis-32123	39	24	navigation	navigation	NOUN
fcis-32123	39	25	and	and	CCONJ
fcis-32123	39	26	obstacle	obstacle	NOUN
fcis-32123	39	27	avoidance	avoidance	NOUN
fcis-32123	39	28	of	of	ADP
fcis-32123	39	29	uavs	uavs	PROPN
fcis-32123	39	30	.	.	PUNCT
fcis-32123	40	1	traditional	traditional	ADJ
fcis-32123	40	2	methods	method	NOUN
fcis-32123	40	3	usually	usually	ADV
fcis-32123	40	4	decompose	decompose	VERB
fcis-32123	40	5	navigation	navigation	NOUN
fcis-32123	40	6	into	into	ADP
fcis-32123	40	7	multiple	multiple	ADJ
fcis-32123	40	8	independent	independent	ADJ
fcis-32123	40	9	modules	module	NOUN
fcis-32123	40	10	,	,	PUNCT
fcis-32123	40	11	such	such	ADJ
fcis-32123	40	12	as	as	ADP
fcis-32123	40	13	‘	'	PUNCT
fcis-32123	40	14	perception	perception	NOUN
fcis-32123	40	15	-	-	PUNCT
fcis-32123	40	16	map	map	NOUN
fcis-32123	40	17	construction	construction	NOUN
fcis-32123	40	18	-	-	PUNCT
fcis-32123	40	19	planning	planning	NOUN
fcis-32123	40	20	-	-	PUNCT
fcis-32123	40	21	control	control	NOUN
fcis-32123	40	22	’	'	PUNCT
fcis-32123	40	23	,	,	PUNCT
fcis-32123	40	24	and	and	CCONJ
fcis-32123	40	25	the	the	DET
fcis-32123	40	26	error	error	NOUN
fcis-32123	40	27	of	of	ADP
fcis-32123	40	28	each	each	DET
fcis-32123	40	29	module	module	NOUN
fcis-32123	40	30	will	will	AUX
fcis-32123	40	31	be	be	AUX
fcis-32123	40	32	transmitted	transmit	VERB
fcis-32123	40	33	step	step	NOUN
fcis-32123	40	34	by	by	ADP
fcis-32123	40	35	step	step	NOUN
fcis-32123	40	36	.	.	PUNCT
fcis-32123	41	1	reinforcement	reinforcement	NOUN
fcis-32123	41	2	learning	learning	NOUN
fcis-32123	41	3	enables	enable	VERB
fcis-32123	41	4	‘	'	PUNCT
fcis-32123	41	5	end	end	VERB
fcis-32123	41	6	-	-	PUNCT
fcis-32123	41	7	to	to	ADP
fcis-32123	41	8	-	-	PUNCT
fcis-32123	41	9	end	end	NOUN
fcis-32123	41	10	’	'	PUNCT
fcis-32123	41	11	or	or	CCONJ
fcis-32123	41	12	‘	'	PUNCT
fcis-32123	41	13	sense	sense	NOUN
fcis-32123	41	14	-	-	PUNCT
fcis-32123	41	15	action	action	NOUN
fcis-32123	41	16	’	'	PUNCT
fcis-32123	41	17	mapping	mapping	NOUN
fcis-32123	41	18	.	.	PUNCT
fcis-32123	42	1	superior	superior	ADJ
fcis-32123	42	2	adaptability	adaptability	NOUN
fcis-32123	42	3	to	to	ADP
fcis-32123	42	4	dynamic	dynamic	ADJ
fcis-32123	42	5	and	and	CCONJ
fcis-32123	42	6	unknown	unknown	ADJ
fcis-32123	42	7	environments	environment	NOUN
fcis-32123	42	8	is	be	AUX
fcis-32123	42	9	one	one	NUM
fcis-32123	42	10	of	of	ADP
fcis-32123	42	11	the	the	DET
fcis-32123	42	12	most	most	ADV
fcis-32123	42	13	significant	significant	ADJ
fcis-32123	42	14	advantages	advantage	NOUN
fcis-32123	42	15	of	of	ADP
fcis-32123	42	16	rl	rl	NOUN
fcis-32123	42	17	.	.	PUNCT
fcis-32123	43	1	in	in	ADP
fcis-32123	43	2	an	an	DET
fcis-32123	43	3	indoor	indoor	ADJ
fcis-32123	43	4	/	/	SYM
fcis-32123	43	5	forest	forest	NOUN
fcis-32123	43	6	scenario	scenario	NOUN
fcis-32123	43	7	with	with	ADP
fcis-32123	43	8	gps	gps	PROPN
fcis-32123	43	9	denial	denial	NOUN
fcis-32123	43	10	,	,	PUNCT
fcis-32123	43	11	zhang	zhang	PROPN
fcis-32123	43	12	yuntao	yuntao	PROPN
fcis-32123	43	13	uses	use	VERB
fcis-32123	43	14	the	the	DET
fcis-32123	43	15	end	end	NOUN
fcis-32123	43	16	-	-	PUNCT
fcis-32123	43	17	to	to	ADP
fcis-32123	43	18	-	-	PUNCT
fcis-32123	43	19	end	end	NOUN
fcis-32123	43	20	framework	framework	NOUN
fcis-32123	43	21	of	of	ADP
fcis-32123	43	22	deep	deep	ADJ
fcis-32123	43	23	reinforcement	reinforcement	NOUN
fcis-32123	43	24	learning	learning	NOUN
fcis-32123	43	25	(	(	PUNCT
fcis-32123	43	26	drl	drl	PROPN
fcis-32123	43	27	)	)	PUNCT
fcis-32123	43	28	to	to	PART
fcis-32123	43	29	directly	directly	ADV
fcis-32123	43	30	map	map	VERB
fcis-32123	43	31	visual	visual	ADJ
fcis-32123	43	32	images	image	NOUN
fcis-32123	43	33	into	into	ADP
fcis-32123	43	34	continuous	continuous	ADJ
fcis-32123	43	35	obstacle	obstacle	NOUN
fcis-32123	43	36	avoidance	avoidance	NOUN
fcis-32123	43	37	actions	action	NOUN
fcis-32123	43	38	,	,	PUNCT
fcis-32123	43	39	which	which	PRON
fcis-32123	43	40	solves	solve	VERB
fcis-32123	43	41	the	the	DET
fcis-32123	43	42	problem	problem	NOUN
fcis-32123	43	43	of	of	ADP
fcis-32123	43	44	the	the	DET
fcis-32123	43	45	traditional	traditional	ADJ
fcis-32123	43	46	visual	visual	ADJ
fcis-32123	43	47	-	-	PUNCT
fcis-32123	43	48	slam	slam	NOUN
fcis-32123	43	49	method	method	NOUN
fcis-32123	43	50	that	that	PRON
fcis-32123	43	51	requires	require	VERB
fcis-32123	43	52	pre	pre	ADJ
fcis-32123	43	53	-	-	ADJ
fcis-32123	43	54	built	build	VERB
fcis-32123	43	55	maps	map	NOUN
fcis-32123	43	56	and	and	CCONJ
fcis-32123	43	57	is	be	AUX
fcis-32123	43	58	difficult	difficult	ADJ
fcis-32123	43	59	to	to	PART
fcis-32123	43	60	adapt	adapt	VERB
fcis-32123	43	61	to	to	ADP
fcis-32123	43	62	unknown	unknown	ADJ
fcis-32123	43	63	environments	environment	NOUN
fcis-32123	43	64	;	;	PUNCT
fcis-32123	43	65	the	the	DET
fcis-32123	43	66	method	method	NOUN
fcis-32123	43	67	trains	train	VERB
fcis-32123	43	68	the	the	DET
fcis-32123	43	69	intelligences	intelligence	NOUN
fcis-32123	43	70	with	with	ADP
fcis-32123	43	71	ddpg	ddpg	ADJ
fcis-32123	43	72	,	,	PUNCT
fcis-32123	43	73	which	which	PRON
fcis-32123	43	74	eliminates	eliminate	VERB
fcis-32123	43	75	the	the	DET
fcis-32123	43	76	need	need	NOUN
fcis-32123	43	77	for	for	ADP
fcis-32123	43	78	manual	manual	ADJ
fcis-32123	43	79	feature	feature	NOUN
fcis-32123	43	80	engineering	engineering	NOUN
fcis-32123	43	81	,	,	PUNCT
fcis-32123	43	82	and	and	CCONJ
fcis-32123	43	83	has	have	VERB
fcis-32123	43	84	the	the	DET
fcis-32123	43	85	advantages	advantage	NOUN
fcis-32123	43	86	of	of	ADP
fcis-32123	43	87	‘	'	PUNCT
fcis-32123	43	88	zero	zero	NUM
fcis-32123	43	89	map	map	NOUN
fcis-32123	43	90	initiation	initiation	NOUN
fcis-32123	43	91	and	and	CCONJ
fcis-32123	43	92	real	real	ADJ
fcis-32123	43	93	-	-	PUNCT
fcis-32123	43	94	time	time	NOUN
fcis-32123	43	95	replanning	replanning	NOUN
fcis-32123	43	96	’	'	PUNCT
fcis-32123	43	97	.	.	PUNCT
fcis-32123	44	1	the	the	DET
fcis-32123	44	2	method	method	NOUN
fcis-32123	44	3	uses	use	VERB
fcis-32123	44	4	ddpg	ddpg	ADJ
fcis-32123	44	5	to	to	PART
fcis-32123	44	6	train	train	VERB
fcis-32123	44	7	the	the	DET
fcis-32123	44	8	intelligent	intelligent	ADJ
fcis-32123	44	9	body	body	NOUN
fcis-32123	44	10	,	,	PUNCT
fcis-32123	44	11	eliminating	eliminate	VERB
fcis-32123	44	12	manual	manual	ADJ
fcis-32123	44	13	feature	feature	NOUN
fcis-32123	44	14	engineering	engineering	NOUN
fcis-32123	44	15	,	,	PUNCT
fcis-32123	44	16	with	with	ADP
fcis-32123	44	17	the	the	DET
fcis-32123	44	18	benefits	benefit	NOUN
fcis-32123	44	19	of	of	ADP
fcis-32123	44	20	‘	'	PUNCT
fcis-32123	44	21	zero	zero	NUM
fcis-32123	44	22	map	map	NOUN
fcis-32123	44	23	startup	startup	NOUN
fcis-32123	44	24	,	,	PUNCT
fcis-32123	44	25	real	real	ADJ
fcis-32123	44	26	-	-	PUNCT
fcis-32123	44	27	time	time	NOUN
fcis-32123	44	28	replanning	replanning	NOUN
fcis-32123	44	29	’	'	PUNCT
fcis-32123	44	30	,	,	PUNCT
fcis-32123	44	31	and	and	CCONJ
fcis-32123	44	32	improving	improve	VERB
fcis-32123	44	33	the	the	DET
fcis-32123	44	34	task	task	NOUN
fcis-32123	44	35	completion	completion	NOUN
fcis-32123	44	36	rate	rate	NOUN
fcis-32123	44	37	by	by	ADP
fcis-32123	44	38	19.98	19.98	NUM
fcis-32123	44	39	%	%	NOUN
fcis-32123	44	40	[	[	X
fcis-32123	44	41	4	4	NUM
fcis-32123	44	42	]	]	PUNCT
fcis-32123	44	43	.	.	PUNCT
fcis-32123	45	1	for	for	ADP
fcis-32123	45	2	the	the	DET
fcis-32123	45	3	gps	gps	NOUN
fcis-32123	45	4	-	-	PUNCT
fcis-32123	45	5	deficient	deficient	ADJ
fcis-32123	45	6	environments	environment	NOUN
fcis-32123	45	7	such	such	ADJ
fcis-32123	45	8	as	as	ADP
fcis-32123	45	9	urban	urban	ADJ
fcis-32123	45	10	canyons	canyon	NOUN
fcis-32123	45	11	and	and	CCONJ
fcis-32123	45	12	warehouses	warehouse	NOUN
fcis-32123	45	13	,	,	PUNCT
fcis-32123	45	14	li	li	PROPN
fcis-32123	45	15	yang	yang	PROPN
fcis-32123	45	16	et	et	PROPN
fcis-32123	45	17	al	al	PROPN
fcis-32123	45	18	.	.	PROPN
fcis-32123	45	19	proposed	propose	VERB
fcis-32123	45	20	an	an	DET
fcis-32123	45	21	end	end	NOUN
fcis-32123	45	22	-	-	PUNCT
fcis-32123	45	23	to	to	ADP
fcis-32123	45	24	-	-	PUNCT
fcis-32123	45	25	end	end	NOUN
fcis-32123	45	26	obstacle	obstacle	NOUN
fcis-32123	45	27	avoidance	avoidance	NOUN
fcis-32123	45	28	decision	decision	NOUN
fcis-32123	45	29	-	-	PUNCT
fcis-32123	45	30	making	make	VERB
fcis-32123	45	31	model	model	NOUN
fcis-32123	45	32	based	base	VERB
fcis-32123	45	33	on	on	ADP
fcis-32123	45	34	ddpg	ddpg	ADJ
fcis-32123	45	35	,	,	PUNCT
fcis-32123	45	36	which	which	PRON
fcis-32123	45	37	inputs	input	VERB
fcis-32123	45	38	lidar	lidar	NOUN
fcis-32123	45	39	point	point	NOUN
fcis-32123	45	40	clouds	cloud	NOUN
fcis-32123	45	41	or	or	CCONJ
fcis-32123	45	42	depth	depth	NOUN
fcis-32123	45	43	maps	map	NOUN
fcis-32123	45	44	,	,	PUNCT
fcis-32123	45	45	and	and	CCONJ
fcis-32123	45	46	outputs	output	VERB
fcis-32123	45	47	continuous	continuous	ADJ
fcis-32123	45	48	speed	speed	NOUN
fcis-32123	45	49	/	/	SYM
fcis-32123	45	50	attitude	attitude	NOUN
fcis-32123	45	51	commands	command	NOUN
fcis-32123	45	52	,	,	PUNCT
fcis-32123	45	53	solving	solve	VERB
fcis-32123	45	54	the	the	DET
fcis-32123	45	55	problems	problem	NOUN
fcis-32123	45	56	of	of	ADP
fcis-32123	45	57	discontinuous	discontinuous	ADJ
fcis-32123	45	58	control	control	NOUN
fcis-32123	45	59	and	and	CCONJ
fcis-32123	45	60	restricted	restricted	ADJ
fcis-32123	45	61	direction	direction	NOUN
fcis-32123	45	62	of	of	ADP
fcis-32123	45	63	3d	3d	NOUN
fcis-32123	45	64	-	-	PUNCT
fcis-32123	45	65	vfh	vfh	ADV
fcis-32123	45	66	;	;	PUNCT
fcis-32123	45	67	experiments	experiment	NOUN
fcis-32123	45	68	show	show	VERB
fcis-32123	45	69	that	that	SCONJ
fcis-32123	45	70	ddpg	ddpg	ADJ
fcis-32123	45	71	trajectories	trajectory	NOUN
fcis-32123	45	72	are	be	AUX
fcis-32123	45	73	smoother	smooth	ADJ
fcis-32123	45	74	and	and	CCONJ
fcis-32123	45	75	the	the	DET
fcis-32123	45	76	collision	collision	NOUN
fcis-32123	45	77	rate	rate	NOUN
fcis-32123	45	78	is	be	AUX
fcis-32123	45	79	reduced	reduce	VERB
fcis-32123	45	80	by	by	ADP
fcis-32123	45	81	more	more	ADJ
fcis-32123	45	82	than	than	ADP
fcis-32123	45	83	35	35	NUM
fcis-32123	45	84	%	%	NOUN
fcis-32123	46	1	[	[	X
fcis-32123	46	2	5	5	NUM
fcis-32123	46	3	]	]	PUNCT
fcis-32123	46	4	.	.	PUNCT
fcis-32123	47	1	3.2	3.2	NUM
fcis-32123	47	2	.	.	PUNCT
fcis-32123	48	1	multi	multi	ADJ
fcis-32123	48	2	-	-	PROPN
fcis-32123	48	3	uav	uav	ADJ
fcis-32123	48	4	collaboration	collaboration	NOUN
fcis-32123	48	5	reinforcement	reinforcement	NOUN
fcis-32123	48	6	learning	learning	NOUN
fcis-32123	48	7	empowers	empower	VERB
fcis-32123	48	8	multi	multi	ADJ
fcis-32123	48	9	-	-	PROPN
fcis-32123	48	10	uav	uav	ADJ
fcis-32123	48	11	collaborative	collaborative	ADJ
fcis-32123	48	12	systems	system	NOUN
fcis-32123	48	13	with	with	ADP
fcis-32123	48	14	distributed	distribute	VERB
fcis-32123	48	15	intelligence	intelligence	NOUN
fcis-32123	48	16	beyond	beyond	ADP
fcis-32123	48	17	traditional	traditional	ADJ
fcis-32123	48	18	centralised	centralised	ADJ
fcis-32123	48	19	or	or	CCONJ
fcis-32123	48	20	regularised	regularise	VERB
fcis-32123	48	21	approaches	approach	NOUN
fcis-32123	48	22	.	.	PUNCT
fcis-32123	49	1	its	its	PRON
fcis-32123	49	2	core	core	NOUN
fcis-32123	49	3	advantage	advantage	NOUN
fcis-32123	49	4	lies	lie	VERB
fcis-32123	49	5	in	in	ADP
fcis-32123	49	6	the	the	DET
fcis-32123	49	7	fact	fact	NOUN
fcis-32123	49	8	that	that	SCONJ
fcis-32123	49	9	,	,	PUNCT
fcis-32123	49	10	through	through	ADP
fcis-32123	49	11	a	a	DET
fcis-32123	49	12	framework	framework	NOUN
fcis-32123	49	13	such	such	ADJ
fcis-32123	49	14	as	as	ADP
fcis-32123	49	15	centralised	centralised	ADJ
fcis-32123	49	16	training	training	NOUN
fcis-32123	49	17	-	-	PUNCT
fcis-32123	49	18	distributed	distribute	VERB
fcis-32123	49	19	execution	execution	NOUN
fcis-32123	49	20	,	,	PUNCT
fcis-32123	49	21	each	each	DET
fcis-32123	49	22	uav	uav	PROPN
fcis-32123	49	23	can	can	AUX
fcis-32123	49	24	make	make	VERB
fcis-32123	49	25	decisions	decision	NOUN
fcis-32123	49	26	relying	rely	VERB
fcis-32123	49	27	only	only	ADV
fcis-32123	49	28	on	on	ADP
fcis-32123	49	29	local	local	ADJ
fcis-32123	49	30	observations	observation	NOUN
fcis-32123	49	31	,	,	PUNCT
fcis-32123	49	32	thus	thus	ADV
fcis-32123	49	33	achieving	achieve	VERB
fcis-32123	49	34	efficient	efficient	ADJ
fcis-32123	49	35	collaboration	collaboration	NOUN
fcis-32123	49	36	in	in	ADP
fcis-32123	49	37	complex	complex	ADJ
fcis-32123	49	38	environments	environment	NOUN
fcis-32123	49	39	such	such	ADJ
fcis-32123	49	40	as	as	ADP
fcis-32123	49	41	communication	communication	NOUN
fcis-32123	49	42	constraints	constraint	NOUN
fcis-32123	49	43	.	.	PUNCT
fcis-32123	50	1	as	as	SCONJ
fcis-32123	50	2	shown	show	VERB
fcis-32123	50	3	in	in	ADP
fcis-32123	50	4	the	the	DET
fcis-32123	50	5	collaborative	collaborative	ADJ
fcis-32123	50	6	search	search	NOUN
fcis-32123	50	7	task	task	NOUN
fcis-32123	50	8	,	,	PUNCT
fcis-32123	50	9	the	the	DET
fcis-32123	50	10	method	method	NOUN
fcis-32123	50	11	can	can	AUX
fcis-32123	50	12	significantly	significantly	ADV
fcis-32123	50	13	improve	improve	VERB
fcis-32123	50	14	area	area	NOUN
fcis-32123	50	15	coverage	coverage	NOUN
fcis-32123	50	16	and	and	CCONJ
fcis-32123	50	17	reduce	reduce	VERB
fcis-32123	50	18	repeated	repeat	VERB
fcis-32123	50	19	search	search	NOUN
fcis-32123	50	20	and	and	CCONJ
fcis-32123	50	21	energy	energy	NOUN
fcis-32123	50	22	consumption	consumption	NOUN
fcis-32123	50	23	;	;	PUNCT
fcis-32123	50	24	while	while	SCONJ
fcis-32123	50	25	in	in	ADP
fcis-32123	50	26	collaborative	collaborative	ADJ
fcis-32123	50	27	localisation	localisation	NOUN
fcis-32123	50	28	and	and	CCONJ
fcis-32123	50	29	formation	formation	NOUN
fcis-32123	50	30	maintenance	maintenance	NOUN
fcis-32123	50	31	,	,	PUNCT
fcis-32123	50	32	rl	rl	PROPN
fcis-32123	50	33	can	can	AUX
fcis-32123	50	34	actively	actively	ADV
fcis-32123	50	35	dispatch	dispatch	VERB
fcis-32123	50	36	uavs	uavs	NOUN
fcis-32123	50	37	to	to	PART
fcis-32123	50	38	estimate	estimate	VERB
fcis-32123	50	39	the	the	DET
fcis-32123	50	40	status	status	NOUN
fcis-32123	50	41	of	of	ADP
fcis-32123	50	42	out	out	ADV
fcis-32123	50	43	-	-	PUNCT
fcis-32123	50	44	of	of	ADP
fcis-32123	50	45	-	-	PUNCT
fcis-32123	50	46	place	place	NOUN
fcis-32123	50	47	members	member	NOUN
fcis-32123	50	48	through	through	ADP
fcis-32123	50	49	collaborative	collaborative	ADJ
fcis-32123	50	50	observation	observation	NOUN
fcis-32123	50	51	,	,	PUNCT
fcis-32123	50	52	so	so	SCONJ
fcis-32123	50	53	as	as	SCONJ
fcis-32123	50	54	to	to	PART
fcis-32123	50	55	quickly	quickly	ADV
fcis-32123	50	56	recover	recover	VERB
fcis-32123	50	57	the	the	DET
fcis-32123	50	58	formation	formation	NOUN
fcis-32123	50	59	without	without	ADP
fcis-32123	50	60	external	external	ADJ
fcis-32123	50	61	assistance	assistance	NOUN
fcis-32123	50	62	.	.	PUNCT
fcis-32123	51	1	tailin	tailin	PROPN
fcis-32123	51	2	zhou	zhou	PROPN
fcis-32123	51	3	uses	use	VERB
fcis-32123	51	4	the	the	DET
fcis-32123	51	5	multi	multi	ADJ
fcis-32123	51	6	-	-	ADJ
fcis-32123	51	7	intelligent	intelligent	ADJ
fcis-32123	51	8	proximal	proximal	ADJ
fcis-32123	51	9	policy	policy	NOUN
fcis-32123	51	10	optimisation	optimisation	NOUN
fcis-32123	51	11	(	(	PUNCT
fcis-32123	51	12	mappo	mappo	NOUN
fcis-32123	51	13	)	)	PUNCT
fcis-32123	51	14	algorithm	algorithm	NOUN
fcis-32123	51	15	to	to	PART
fcis-32123	51	16	learn	learn	VERB
fcis-32123	51	17	a	a	DET
fcis-32123	51	18	‘	'	PUNCT
fcis-32123	51	19	who	who	PRON
fcis-32123	51	20	-	-	PUNCT
fcis-32123	51	21	goeswhere	goeswhere	ADV
fcis-32123	51	22	’	'	PUNCT
fcis-32123	51	23	distributed	distribute	VERB
fcis-32123	51	24	search	search	NOUN
fcis-32123	51	25	strategy	strategy	NOUN
fcis-32123	51	26	for	for	ADP
fcis-32123	51	27	swarm	swarm	NOUN
fcis-32123	51	28	uavs	uavs	NOUN
fcis-32123	51	29	,	,	PUNCT
fcis-32123	51	30	which	which	PRON
fcis-32123	51	31	solves	solve	VERB
fcis-32123	51	32	the	the	DET
fcis-32123	51	33	problem	problem	NOUN
fcis-32123	51	34	of	of	ADP
fcis-32123	51	35	high	high	ADJ
fcis-32123	51	36	repeat	repeat	NOUN
fcis-32123	51	37	coverage	coverage	NOUN
fcis-32123	51	38	and	and	CCONJ
fcis-32123	51	39	low	low	ADJ
fcis-32123	51	40	target	target	NOUN
fcis-32123	51	41	discovery	discovery	NOUN
fcis-32123	51	42	rate	rate	NOUN
fcis-32123	51	43	of	of	ADP
fcis-32123	51	44	traditional	traditional	ADJ
fcis-32123	51	45	parallel	parallel	ADJ
fcis-32123	51	46	line	line	NOUN
fcis-32123	51	47	/	/	SYM
fcis-32123	51	48	sector	sector	NOUN
fcis-32123	51	49	search	search	NOUN
fcis-32123	51	50	in	in	ADP
fcis-32123	51	51	dynamic	dynamic	ADJ
fcis-32123	51	52	obstacle	obstacle	NOUN
fcis-32123	51	53	and	and	CCONJ
fcis-32123	51	54	communication	communication	NOUN
fcis-32123	51	55	-	-	PUNCT
fcis-32123	51	56	constrained	constrain	VERB
fcis-32123	51	57	environments	environment	NOUN
fcis-32123	51	58	.	.	PUNCT
fcis-32123	52	1	uavs	uavs	PROPN
fcis-32123	52	2	to	to	PART
fcis-32123	52	3	maintain	maintain	VERB
fcis-32123	52	4	synergy	synergy	NOUN
fcis-32123	52	5	by	by	ADP
fcis-32123	52	6	relying	rely	VERB
fcis-32123	52	7	only	only	ADV
fcis-32123	52	8	on	on	ADP
fcis-32123	52	9	local	local	ADJ
fcis-32123	52	10	observations	observation	NOUN
fcis-32123	52	11	,	,	PUNCT
fcis-32123	52	12	with	with	ADP
fcis-32123	52	13	the	the	DET
fcis-32123	52	14	benefits	benefit	NOUN
fcis-32123	52	15	of	of	ADP
fcis-32123	52	16	increasing	increase	VERB
fcis-32123	52	17	area	area	NOUN
fcis-32123	52	18	coverage	coverage	NOUN
fcis-32123	52	19	from	from	ADP
fcis-32123	52	20	65	65	NUM
fcis-32123	52	21	%	%	NOUN
fcis-32123	52	22	to	to	PART
fcis-32123	52	23	85	85	NUM
fcis-32123	52	24	%	%	NOUN
fcis-32123	52	25	for	for	ADP
fcis-32123	52	26	independent	independent	ADJ
fcis-32123	52	27	flights	flight	NOUN
fcis-32123	52	28	and	and	CCONJ
fcis-32123	52	29	reducing	reduce	VERB
fcis-32123	52	30	the	the	DET
fcis-32123	52	31	average	average	ADJ
fcis-32123	52	32	flight	flight	NOUN
fcis-32123	52	33	distance	distance	NOUN
fcis-32123	52	34	by	by	ADP
fcis-32123	52	35	20	20	NUM
fcis-32123	52	36	%	%	NOUN
fcis-32123	52	37	,	,	PUNCT
fcis-32123	52	38	which	which	PRON
fcis-32123	52	39	significantly	significantly	ADV
fcis-32123	52	40	saves	save	VERB
fcis-32123	52	41	energy	energy	NOUN
fcis-32123	52	42	and	and	CCONJ
fcis-32123	52	43	shortens	shorten	VERB
fcis-32123	52	44	the	the	DET
fcis-32123	52	45	golden	golden	ADJ
fcis-32123	52	46	time	time	NOUN
fcis-32123	52	47	for	for	ADP
fcis-32123	52	48	search	search	NOUN
fcis-32123	52	49	and	and	CCONJ
fcis-32123	52	50	rescue	rescue	NOUN
fcis-32123	53	1	[	[	X
fcis-32123	53	2	6	6	NUM
fcis-32123	53	3	]	]	PUNCT
fcis-32123	53	4	.	.	PUNCT
fcis-32123	54	1	wan	wan	PROPN
fcis-32123	54	2	et	et	PROPN
fcis-32123	54	3	al	al	PROPN
fcis-32123	54	4	.	.	PROPN
fcis-32123	54	5	used	use	VERB
fcis-32123	54	6	a	a	DET
fcis-32123	54	7	deep	deep	ADJ
fcis-32123	54	8	q	q	NOUN
fcis-32123	54	9	-	-	PUNCT
fcis-32123	54	10	network	network	NOUN
fcis-32123	54	11	(	(	PUNCT
fcis-32123	54	12	dqn	dqn	PROPN
fcis-32123	54	13	)	)	PUNCT
fcis-32123	54	14	to	to	PART
fcis-32123	54	15	establish	establish	VERB
fcis-32123	54	16	a	a	DET
fcis-32123	54	17	‘	'	PUNCT
fcis-32123	54	18	cooperative	cooperative	ADJ
fcis-32123	54	19	positioning	positioning	NOUN
fcis-32123	54	20	scheduling	scheduling	NOUN
fcis-32123	54	21	’	'	PUNCT
fcis-32123	54	22	pomdp	pomdp	NOUN
fcis-32123	54	23	model	model	NOUN
fcis-32123	54	24	for	for	ADP
fcis-32123	54	25	gps	gps	PROPN
fcis-32123	54	26	denial	denial	NOUN
fcis-32123	54	27	environments	environment	NOUN
fcis-32123	54	28	,	,	PUNCT
fcis-32123	54	29	which	which	PRON
fcis-32123	54	30	solves	solve	VERB
fcis-32123	54	31	the	the	DET
fcis-32123	54	32	problem	problem	NOUN
fcis-32123	54	33	of	of	ADP
fcis-32123	54	34	maintaining	maintain	VERB
fcis-32123	54	35	formation	formation	NOUN
fcis-32123	54	36	after	after	ADP
fcis-32123	54	37	some	some	DET
fcis-32123	54	38	uavs	uavs	NOUN
fcis-32123	54	39	in	in	ADP
fcis-32123	54	40	swarm	swarm	NOUN
fcis-32123	54	41	formation	formation	NOUN
fcis-32123	54	42	lose	lose	VERB
fcis-32123	54	43	their	their	PRON
fcis-32123	54	44	positioning	positioning	NOUN
fcis-32123	54	45	;	;	PUNCT
fcis-32123	54	46	updating	update	VERB
fcis-32123	54	47	the	the	DET
fcis-32123	54	48	belief	belief	NOUN
fcis-32123	54	49	state	state	NOUN
fcis-32123	54	50	by	by	ADP
fcis-32123	54	51	ekf	ekf	NOUN
fcis-32123	54	52	and	and	CCONJ
fcis-32123	54	53	outputting	output	VERB
fcis-32123	54	54	the	the	DET
fcis-32123	54	55	optimal	optimal	ADJ
fcis-32123	54	56	observation	observation	NOUN
fcis-32123	54	57	-	-	PUNCT
fcis-32123	54	58	manoeuvre	manoeuvre	NOUN
fcis-32123	54	59	strategy	strategy	NOUN
fcis-32123	54	60	by	by	ADP
fcis-32123	54	61	32	32	NUM
fcis-32123	54	62	dqn	dqn	NOUN
fcis-32123	54	63	,	,	PUNCT
fcis-32123	54	64	which	which	PRON
fcis-32123	54	65	has	have	VERB
fcis-32123	54	66	the	the	DET
fcis-32123	54	67	benefit	benefit	NOUN
fcis-32123	54	68	of	of	ADP
fcis-32123	54	69	enabling	enable	VERB
fcis-32123	54	70	three	three	NUM
fcis-32123	54	71	lost	lose	VERB
fcis-32123	54	72	uavs	uavs	NOUN
fcis-32123	54	73	to	to	PART
fcis-32123	54	74	re	re	VERB
fcis-32123	54	75	-	-	VERB
fcis-32123	54	76	locate	locate	ADJ
fcis-32123	54	77	within	within	ADP
fcis-32123	54	78	6	6	NUM
fcis-32123	54	79	s	s	NOUN
fcis-32123	54	80	[	[	X
fcis-32123	54	81	7	7	NUM
fcis-32123	54	82	]	]	X
fcis-32123	54	83	.	.	PUNCT
fcis-32123	55	1	positioning	position	VERB
fcis-32123	55	2	uavs	uavs	NOUN
fcis-32123	55	3	converge	converge	VERB
fcis-32123	55	4	back	back	ADV
fcis-32123	55	5	to	to	ADP
fcis-32123	55	6	a	a	DET
fcis-32123	55	7	triangular	triangular	NOUN
fcis-32123	55	8	formation	formation	NOUN
fcis-32123	55	9	with	with	ADP
fcis-32123	55	10	error	error	NOUN
fcis-32123	55	11	<	<	NOUN
fcis-32123	55	12	0.5	0.5	NUM
fcis-32123	55	13	m	m	NOUN
fcis-32123	55	14	within	within	ADP
fcis-32123	55	15	6s	6s	NUM
fcis-32123	55	16	,	,	PUNCT
fcis-32123	55	17	the	the	DET
fcis-32123	55	18	whole	whole	ADJ
fcis-32123	55	19	process	process	NOUN
fcis-32123	55	20	does	do	AUX
fcis-32123	55	21	not	not	PART
fcis-32123	55	22	require	require	VERB
fcis-32123	55	23	external	external	ADJ
fcis-32123	55	24	base	base	NOUN
fcis-32123	55	25	stations	station	NOUN
fcis-32123	55	26	or	or	CCONJ
fcis-32123	55	27	pre	pre	ADJ
fcis-32123	55	28	-	-	ADJ
fcis-32123	55	29	built	build	VERB
fcis-32123	55	30	maps	map	NOUN
fcis-32123	55	31	,	,	PUNCT
fcis-32123	55	32	which	which	PRON
fcis-32123	55	33	significantly	significantly	ADV
fcis-32123	55	34	improves	improve	VERB
fcis-32123	55	35	the	the	DET
fcis-32123	55	36	robustness	robustness	NOUN
fcis-32123	55	37	of	of	ADP
fcis-32123	55	38	the	the	DET
fcis-32123	55	39	swarm	swarm	NOUN
fcis-32123	55	40	under	under	ADP
fcis-32123	55	41	interference	interference	NOUN
fcis-32123	55	42	confrontation	confrontation	NOUN
fcis-32123	55	43	[	[	X
fcis-32123	55	44	7	7	NUM
fcis-32123	55	45	]	]	PUNCT
fcis-32123	55	46	.	.	PUNCT
fcis-32123	56	1	3.3	3.3	NUM
fcis-32123	56	2	.	.	PUNCT
fcis-32123	57	1	energy	energy	NOUN
fcis-32123	57	2	optimised	optimise	VERB
fcis-32123	57	3	path	path	NOUN
fcis-32123	57	4	planning	planning	NOUN
fcis-32123	57	5	reinforcement	reinforcement	NOUN
fcis-32123	57	6	learning	learning	NOUN
fcis-32123	57	7	is	be	AUX
fcis-32123	57	8	able	able	ADJ
fcis-32123	57	9	to	to	PART
fcis-32123	57	10	autonomously	autonomously	ADV
fcis-32123	57	11	learn	learn	VERB
fcis-32123	57	12	flight	flight	NOUN
fcis-32123	57	13	strategies	strategy	NOUN
fcis-32123	57	14	that	that	PRON
fcis-32123	57	15	take	take	VERB
fcis-32123	57	16	into	into	ADP
fcis-32123	57	17	account	account	NOUN
fcis-32123	57	18	aerodynamics	aerodynamic	NOUN
fcis-32123	57	19	,	,	PUNCT
fcis-32123	57	20	wind	wind	NOUN
fcis-32123	57	21	field	field	NOUN
fcis-32123	57	22	environment	environment	NOUN
fcis-32123	57	23	and	and	CCONJ
fcis-32123	57	24	its	its	PRON
fcis-32123	57	25	own	own	ADJ
fcis-32123	57	26	dynamics	dynamic	NOUN
fcis-32123	57	27	by	by	ADP
fcis-32123	57	28	integrating	integrate	VERB
fcis-32123	57	29	energy	energy	NOUN
fcis-32123	57	30	consumption	consumption	NOUN
fcis-32123	57	31	terms	term	NOUN
fcis-32123	57	32	in	in	ADP
fcis-32123	57	33	its	its	PRON
fcis-32123	57	34	reward	reward	NOUN
fcis-32123	57	35	function	function	NOUN
fcis-32123	57	36	.	.	PUNCT
fcis-32123	58	1	this	this	DET
fcis-32123	58	2	data	data	NOUN
fcis-32123	58	3	-	-	PUNCT
fcis-32123	58	4	driven	drive	VERB
fcis-32123	58	5	approach	approach	NOUN
fcis-32123	58	6	allows	allow	VERB
fcis-32123	58	7	the	the	DET
fcis-32123	58	8	uav	uav	PROPN
fcis-32123	58	9	to	to	AUX
fcis-32123	58	10	not	not	PART
fcis-32123	58	11	only	only	ADV
fcis-32123	58	12	complete	complete	VERB
fcis-32123	58	13	its	its	PRON
fcis-32123	58	14	mission	mission	NOUN
fcis-32123	58	15	,	,	PUNCT
fcis-32123	58	16	but	but	CCONJ
fcis-32123	58	17	to	to	PART
fcis-32123	58	18	perform	perform	VERB
fcis-32123	58	19	it	it	PRON
fcis-32123	58	20	in	in	ADP
fcis-32123	58	21	the	the	DET
fcis-32123	58	22	most	most	ADV
fcis-32123	58	23	globally	globally	ADV
fcis-32123	58	24	energy	energy	NOUN
fcis-32123	58	25	-	-	PUNCT
fcis-32123	58	26	efficient	efficient	ADJ
fcis-32123	58	27	manner	manner	NOUN
fcis-32123	58	28	.	.	PUNCT
fcis-32123	59	1	by	by	ADP
fcis-32123	59	2	interacting	interact	VERB
fcis-32123	59	3	with	with	ADP
fcis-32123	59	4	the	the	DET
fcis-32123	59	5	environment	environment	NOUN
fcis-32123	59	6	,	,	PUNCT
fcis-32123	59	7	the	the	DET
fcis-32123	59	8	intelligence	intelligence	NOUN
fcis-32123	59	9	learns	learn	VERB
fcis-32123	59	10	to	to	PART
fcis-32123	59	11	make	make	VERB
fcis-32123	59	12	fine	fine	ADJ
fcis-32123	59	13	trade	trade	NOUN
fcis-32123	59	14	-	-	PUNCT
fcis-32123	59	15	offs	off	NOUN
fcis-32123	59	16	between	between	ADP
fcis-32123	59	17	flight	flight	NOUN
fcis-32123	59	18	speed	speed	NOUN
fcis-32123	59	19	,	,	PUNCT
fcis-32123	59	20	acceleration	acceleration	NOUN
fcis-32123	59	21	,	,	PUNCT
fcis-32123	59	22	climb	climb	NOUN
fcis-32123	59	23	angle	angle	NOUN
fcis-32123	59	24	and	and	CCONJ
fcis-32123	59	25	energy	energy	NOUN
fcis-32123	59	26	consumption	consumption	NOUN
fcis-32123	59	27	,	,	PUNCT
fcis-32123	59	28	resulting	result	VERB
fcis-32123	59	29	in	in	ADP
fcis-32123	59	30	intelligent	intelligent	ADJ
fcis-32123	59	31	behaviours	behaviour	NOUN
fcis-32123	59	32	such	such	ADJ
fcis-32123	59	33	as	as	ADP
fcis-32123	59	34	using	use	VERB
fcis-32123	59	35	inertia	inertia	NOUN
fcis-32123	59	36	to	to	ADP
fcis-32123	59	37	glide	glide	NOUN
fcis-32123	59	38	,	,	PUNCT
fcis-32123	59	39	choosing	choose	VERB
fcis-32123	59	40	a	a	DET
fcis-32123	59	41	leeward	leeward	NOUN
fcis-32123	59	42	path	path	NOUN
fcis-32123	59	43	or	or	CCONJ
fcis-32123	59	44	maintaining	maintain	VERB
fcis-32123	59	45	the	the	DET
fcis-32123	59	46	most	most	ADV
fcis-32123	59	47	economical	economical	ADJ
fcis-32123	59	48	cruise	cruise	NOUN
fcis-32123	59	49	speed	speed	NOUN
fcis-32123	59	50	.	.	PUNCT
fcis-32123	60	1	this	this	PRON
fcis-32123	60	2	is	be	AUX
fcis-32123	60	3	of	of	ADP
fcis-32123	60	4	key	key	ADJ
fcis-32123	60	5	significance	significance	NOUN
fcis-32123	60	6	for	for	ADP
fcis-32123	60	7	improving	improve	VERB
fcis-32123	60	8	the	the	DET
fcis-32123	60	9	endurance	endurance	NOUN
fcis-32123	60	10	and	and	CCONJ
fcis-32123	60	11	mission	mission	NOUN
fcis-32123	60	12	reliability	reliability	NOUN
fcis-32123	60	13	of	of	ADP
fcis-32123	60	14	long	long	ADJ
fcis-32123	60	15	endurance	endurance	NOUN
fcis-32123	60	16	uavs	uavs	NOUN
fcis-32123	60	17	in	in	ADP
fcis-32123	60	18	mapping	mapping	NOUN
fcis-32123	60	19	and	and	CCONJ
fcis-32123	60	20	inspection	inspection	NOUN
fcis-32123	60	21	missions	mission	NOUN
fcis-32123	60	22	.	.	PUNCT
fcis-32123	61	1	zhou	zhou	PROPN
fcis-32123	61	2	et	et	PROPN
fcis-32123	61	3	al	al	PROPN
fcis-32123	61	4	.	.	PROPN
fcis-32123	62	1	use	use	VERB
fcis-32123	62	2	a	a	DET
fcis-32123	62	3	dual	dual	ADJ
fcis-32123	62	4	deep	deep	ADJ
fcis-32123	62	5	q	q	NOUN
fcis-32123	62	6	network	network	NOUN
fcis-32123	62	7	+	+	CCONJ
fcis-32123	62	8	prioritised	prioritise	VERB
fcis-32123	62	9	experience	experience	NOUN
fcis-32123	62	10	replay	replay	NOUN
fcis-32123	62	11	(	(	PUNCT
fcis-32123	62	12	ddqn	ddqn	NOUN
fcis-32123	62	13	-	-	PUNCT
fcis-32123	62	14	per	per	X
fcis-32123	62	15	)	)	PUNCT
fcis-32123	62	16	to	to	PART
fcis-32123	62	17	write	write	VERB
fcis-32123	62	18	real	real	ADJ
fcis-32123	62	19	-	-	PUNCT
fcis-32123	62	20	time	time	NOUN
fcis-32123	62	21	power	power	NOUN
fcis-32123	62	22	consumption	consumption	NOUN
fcis-32123	62	23	,	,	PUNCT
fcis-32123	62	24	link	link	VERB
fcis-32123	62	25	stability	stability	NOUN
fcis-32123	62	26	and	and	CCONJ
fcis-32123	62	27	data	datum	NOUN
fcis-32123	62	28	collection	collection	NOUN
fcis-32123	62	29	gain	gain	NOUN
fcis-32123	62	30	into	into	ADP
fcis-32123	62	31	a	a	DET
fcis-32123	62	32	reward	reward	NOUN
fcis-32123	62	33	function	function	NOUN
fcis-32123	62	34	,	,	PUNCT
fcis-32123	62	35	and	and	CCONJ
fcis-32123	62	36	learn	learn	VERB
fcis-32123	62	37	a	a	DET
fcis-32123	62	38	joint	joint	ADJ
fcis-32123	62	39	energy	energy	NOUN
fcis-32123	62	40	-	-	PUNCT
fcis-32123	62	41	savingcommunication	savingcommunication	NOUN
fcis-32123	62	42	strategy	strategy	NOUN
fcis-32123	62	43	for	for	ADP
fcis-32123	62	44	multiple	multiple	ADJ
fcis-32123	62	45	uavs	uavs	NOUN
fcis-32123	62	46	performing	perform	VERB
fcis-32123	62	47	mobile	mobile	ADJ
fcis-32123	62	48	edge	edge	NOUN
fcis-32123	62	49	computing	computing	NOUN
fcis-32123	62	50	,	,	PUNCT
fcis-32123	62	51	which	which	PRON
fcis-32123	62	52	solves	solve	VERB
fcis-32123	62	53	the	the	DET
fcis-32123	62	54	problem	problem	NOUN
fcis-32123	62	55	of	of	ADP
fcis-32123	62	56	‘	'	PUNCT
fcis-32123	62	57	speedheight	speedheight	ADJ
fcis-32123	62	58	-	-	PUNCT
fcis-32123	62	59	hover	hover	NOUN
fcis-32123	62	60	’	'	PUNCT
fcis-32123	62	61	in	in	ADP
fcis-32123	62	62	a	a	DET
fcis-32123	62	63	discrete	discrete	ADJ
fcis-32123	62	64	action	action	NOUN
fcis-32123	62	65	space	space	NOUN
fcis-32123	62	66	.	.	PUNCT
fcis-32123	63	1	the	the	DET
fcis-32123	63	2	per	per	ADJ
fcis-32123	63	3	mechanism	mechanism	NOUN
fcis-32123	63	4	ensures	ensure	VERB
fcis-32123	63	5	the	the	DET
fcis-32123	63	6	reuse	reuse	NOUN
fcis-32123	63	7	of	of	ADP
fcis-32123	63	8	important	important	ADJ
fcis-32123	63	9	experience	experience	NOUN
fcis-32123	63	10	,	,	PUNCT
fcis-32123	63	11	improves	improve	VERB
fcis-32123	63	12	the	the	DET
fcis-32123	63	13	convergence	convergence	NOUN
fcis-32123	63	14	speed	speed	NOUN
fcis-32123	63	15	by	by	ADP
fcis-32123	63	16	30	30	NUM
fcis-32123	63	17	%	%	NOUN
fcis-32123	63	18	,	,	PUNCT
fcis-32123	63	19	reduces	reduce	VERB
fcis-32123	63	20	the	the	DET
fcis-32123	63	21	total	total	ADJ
fcis-32123	63	22	energy	energy	NOUN
fcis-32123	63	23	consumption	consumption	NOUN
fcis-32123	63	24	by	by	ADP
fcis-32123	63	25	20.2	20.2	NUM
fcis-32123	63	26	%	%	NOUN
fcis-32123	63	27	compared	compare	VERB
fcis-32123	63	28	with	with	ADP
fcis-32123	63	29	the	the	DET
fcis-32123	63	30	shortest	short	ADJ
fcis-32123	63	31	path	path	NOUN
fcis-32123	63	32	method	method	NOUN
fcis-32123	63	33	in	in	ADP
fcis-32123	63	34	the	the	DET
fcis-32123	63	35	simulation	simulation	NOUN
fcis-32123	63	36	of	of	ADP
fcis-32123	63	37	a	a	DET
fcis-32123	63	38	200	200	NUM
fcis-32123	63	39	-	-	PUNCT
fcis-32123	63	40	node	node	ADJ
fcis-32123	63	41	iot	iot	NOUN
fcis-32123	63	42	region	region	NOUN
fcis-32123	63	43	,	,	PUNCT
fcis-32123	63	44	and	and	CCONJ
fcis-32123	63	45	improves	improve	VERB
fcis-32123	63	46	the	the	DET
fcis-32123	63	47	timeliness	timeliness	NOUN
fcis-32123	63	48	of	of	ADP
fcis-32123	63	49	data	datum	NOUN
fcis-32123	63	50	collection	collection	NOUN
fcis-32123	63	51	by	by	ADP
fcis-32123	63	52	14	14	NUM
fcis-32123	63	53	%	%	NOUN
fcis-32123	63	54	,	,	PUNCT
fcis-32123	63	55	which	which	PRON
fcis-32123	63	56	verifies	verify	VERB
fcis-32123	63	57	the	the	DET
fcis-32123	63	58	potential	potential	NOUN
fcis-32123	63	59	of	of	ADP
fcis-32123	63	60	reinforcement	reinforcement	NOUN
fcis-32123	63	61	learning	learning	NOUN
fcis-32123	63	62	for	for	ADP
fcis-32123	63	63	path	path	NOUN
fcis-32123	63	64	optimisation	optimisation	NOUN
fcis-32123	63	65	in	in	ADP
fcis-32123	63	66	energy	energy	NOUN
fcis-32123	63	67	-	-	PUNCT
fcis-32123	63	68	constrained	constrain	VERB
fcis-32123	63	69	scenarios	scenario	NOUN
fcis-32123	63	70	[	[	X
fcis-32123	63	71	8	8	NUM
fcis-32123	63	72	]	]	PUNCT
fcis-32123	63	73	.	.	PUNCT
fcis-32123	64	1	baierlein	baierlein	AUX
fcis-32123	64	2	et	et	PROPN
fcis-32123	64	3	al	al	PROPN
fcis-32123	64	4	.	.	PROPN
fcis-32123	64	5	proposed	propose	VERB
fcis-32123	64	6	the	the	DET
fcis-32123	64	7	multi	multi	PROPN
fcis-32123	64	8	-	-	ADJ
fcis-32123	64	9	uav	uav	ADJ
fcis-32123	64	10	deep	deep	ADJ
fcis-32123	64	11	deterministic	deterministic	ADJ
fcis-32123	64	12	policy	policy	NOUN
fcis-32123	64	13	gradient	gradient	NOUN
fcis-32123	64	14	(	(	PUNCT
fcis-32123	64	15	maddpg	maddpg	ADJ
fcis-32123	64	16	)	)	PUNCT
fcis-32123	64	17	data	data	NOUN
fcis-32123	64	18	harvesting	harvesting	NOUN
fcis-32123	64	19	framework	framework	NOUN
fcis-32123	64	20	,	,	PUNCT
fcis-32123	64	21	which	which	PRON
fcis-32123	64	22	takes	take	VERB
fcis-32123	64	23	the	the	DET
fcis-32123	64	24	‘	'	PUNCT
fcis-32123	64	25	number	number	NOUN
fcis-32123	64	26	of	of	ADP
fcis-32123	64	27	harvested	harvest	VERB
fcis-32123	64	28	bits	bit	NOUN
fcis-32123	64	29	propulsion	propulsion	NOUN
fcis-32123	64	30	energy	energy	NOUN
fcis-32123	64	31	collision	collision	NOUN
fcis-32123	64	32	penalty	penalty	NOUN
fcis-32123	64	33	’	'	PUNCT
fcis-32123	64	34	as	as	ADP
fcis-32123	64	35	a	a	DET
fcis-32123	64	36	whole	whole	NOUN
fcis-32123	64	37	as	as	ADP
fcis-32123	64	38	a	a	DET
fcis-32123	64	39	reward	reward	NOUN
fcis-32123	64	40	,	,	PUNCT
fcis-32123	64	41	and	and	CCONJ
fcis-32123	64	42	allows	allow	VERB
fcis-32123	64	43	the	the	DET
fcis-32123	64	44	swarm	swarm	NOUN
fcis-32123	64	45	to	to	PART
fcis-32123	64	46	learn	learn	VERB
fcis-32123	64	47	‘	'	PUNCT
fcis-32123	64	48	when	when	SCONJ
fcis-32123	64	49	to	to	PART
fcis-32123	64	50	hover	hover	VERB
fcis-32123	64	51	when	when	SCONJ
fcis-32123	64	52	to	to	PART
fcis-32123	64	53	collide	collide	VERB
fcis-32123	64	54	’	'	PUNCT
fcis-32123	64	55	in	in	ADP
fcis-32123	64	56	the	the	DET
fcis-32123	64	57	wind	wind	NOUN
fcis-32123	64	58	field	field	NOUN
fcis-32123	64	59	.	.	PUNCT
fcis-32123	65	1	"	"	PUNCT
fcis-32123	65	2	the	the	DET
fcis-32123	65	3	centralised	centralised	ADJ
fcis-32123	65	4	training	training	NOUN
fcis-32123	65	5	-	-	PUNCT
fcis-32123	65	6	distributed	distribute	VERB
fcis-32123	65	7	execution	execution	NOUN
fcis-32123	65	8	architecture	architecture	NOUN
fcis-32123	65	9	enables	enable	VERB
fcis-32123	65	10	zero	zero	NUM
fcis-32123	65	11	-	-	PUNCT
fcis-32123	65	12	shot	shot	NOUN
fcis-32123	65	13	migration	migration	NOUN
fcis-32123	65	14	of	of	ADP
fcis-32123	65	15	strategies	strategy	NOUN
fcis-32123	65	16	to	to	ADP
fcis-32123	65	17	different	different	ADJ
fcis-32123	65	18	wind	wind	NOUN
fcis-32123	65	19	speeds	speed	NOUN
fcis-32123	65	20	,	,	PUNCT
fcis-32123	65	21	and	and	CCONJ
fcis-32123	65	22	the	the	DET
fcis-32123	65	23	outdoor	outdoor	ADJ
fcis-32123	65	24	3	3	NUM
fcis-32123	65	25	-	-	PUNCT
fcis-32123	65	26	aircraft	aircraft	NOUN
fcis-32123	65	27	experiments	experiment	NOUN
fcis-32123	65	28	show	show	VERB
fcis-32123	65	29	that	that	SCONJ
fcis-32123	65	30	the	the	DET
fcis-32123	65	31	total	total	ADJ
fcis-32123	65	32	number	number	NOUN
fcis-32123	65	33	of	of	ADP
fcis-32123	65	34	harvested	harvest	VERB
fcis-32123	65	35	bits	bit	NOUN
fcis-32123	65	36	is	be	AUX
fcis-32123	65	37	increased	increase	VERB
fcis-32123	65	38	by	by	ADP
fcis-32123	65	39	37	37	NUM
fcis-32123	65	40	%	%	NOUN
fcis-32123	65	41	and	and	CCONJ
fcis-32123	65	42	the	the	DET
fcis-32123	65	43	flight	flight	NOUN
fcis-32123	65	44	time	time	NOUN
fcis-32123	65	45	is	be	AUX
fcis-32123	65	46	extended	extend	VERB
fcis-32123	65	47	by	by	ADP
fcis-32123	65	48	18	18	NUM
fcis-32123	65	49	%	%	NOUN
fcis-32123	65	50	under	under	ADP
fcis-32123	65	51	the	the	DET
fcis-32123	65	52	same	same	ADJ
fcis-32123	65	53	power	power	NOUN
fcis-32123	65	54	level	level	NOUN
fcis-32123	65	55	,	,	PUNCT
fcis-32123	65	56	which	which	PRON
fcis-32123	65	57	significantly	significantly	ADV
fcis-32123	65	58	improves	improve	VERB
fcis-32123	65	59	the	the	DET
fcis-32123	65	60	performance	performance	NOUN
fcis-32123	65	61	of	of	ADP
fcis-32123	65	62	long	long	ADJ
fcis-32123	65	63	endurance	endurance	NOUN
fcis-32123	65	64	uavs	uavs	NOUN
fcis-32123	65	65	in	in	ADP
fcis-32123	65	66	emergency	emergency	NOUN
fcis-32123	65	67	communication	communication	NOUN
fcis-32123	65	68	and	and	CCONJ
fcis-32123	65	69	disaster	disaster	NOUN
fcis-32123	65	70	area	area	NOUN
fcis-32123	65	71	inspection	inspection	NOUN
fcis-32123	65	72	missions	mission	NOUN
fcis-32123	65	73	.	.	PUNCT
fcis-32123	66	1	communication	communication	NOUN
fcis-32123	66	2	and	and	CCONJ
fcis-32123	66	3	disaster	disaster	NOUN
fcis-32123	66	4	area	area	NOUN
fcis-32123	66	5	inspection	inspection	NOUN
fcis-32123	66	6	tasks	task	NOUN
fcis-32123	67	1	[	[	X
fcis-32123	67	2	9	9	NUM
fcis-32123	67	3	]	]	SYM
fcis-32123	67	4	.	.	PUNCT
fcis-32123	68	1	4	4	X
fcis-32123	68	2	.	.	X
fcis-32123	68	3	challenges	challenge	NOUN
fcis-32123	68	4	and	and	CCONJ
fcis-32123	68	5	development	development	NOUN
fcis-32123	68	6	4.1	4.1	NUM
fcis-32123	68	7	.	.	PUNCT
fcis-32123	69	1	challenges	challenge	NOUN
fcis-32123	69	2	although	although	SCONJ
fcis-32123	69	3	reinforcement	reinforcement	NOUN
fcis-32123	69	4	learning	learning	NOUN
fcis-32123	69	5	empowers	empower	NOUN
fcis-32123	69	6	uavs	uavs	PROPN
fcis-32123	69	7	with	with	ADP
fcis-32123	69	8	powerful	powerful	ADJ
fcis-32123	69	9	environmental	environmental	ADJ
fcis-32123	69	10	adaptation	adaptation	NOUN
fcis-32123	69	11	and	and	CCONJ
fcis-32123	69	12	decision	decision	NOUN
fcis-32123	69	13	-	-	PUNCT
fcis-32123	69	14	making	make	VERB
fcis-32123	69	15	capabilities	capability	NOUN
fcis-32123	69	16	,	,	PUNCT
fcis-32123	69	17	it	it	PRON
fcis-32123	69	18	still	still	ADV
fcis-32123	69	19	faces	face	VERB
fcis-32123	69	20	a	a	DET
fcis-32123	69	21	number	number	NOUN
fcis-32123	69	22	of	of	ADP
fcis-32123	69	23	challenges	challenge	NOUN
fcis-32123	69	24	.	.	PUNCT
fcis-32123	70	1	the	the	DET
fcis-32123	70	2	first	first	ADJ
fcis-32123	70	3	challenge	challenge	NOUN
fcis-32123	70	4	is	be	AUX
fcis-32123	70	5	the	the	DET
fcis-32123	70	6	high	high	ADJ
fcis-32123	70	7	sample	sample	NOUN
fcis-32123	70	8	complexity	complexity	NOUN
fcis-32123	70	9	of	of	ADP
fcis-32123	70	10	the	the	DET
fcis-32123	70	11	algorithms	algorithm	NOUN
fcis-32123	70	12	.	.	PUNCT
fcis-32123	71	1	intelligent	intelligent	ADJ
fcis-32123	71	2	systems	system	NOUN
fcis-32123	71	3	usually	usually	ADV
fcis-32123	71	4	need	need	VERB
fcis-32123	71	5	to	to	PART
fcis-32123	71	6	undergo	undergo	VERB
fcis-32123	71	7	a	a	DET
fcis-32123	71	8	large	large	ADJ
fcis-32123	71	9	number	number	NOUN
fcis-32123	71	10	of	of	ADP
fcis-32123	71	11	interaction	interaction	NOUN
fcis-32123	71	12	trials	trial	NOUN
fcis-32123	71	13	before	before	ADP
fcis-32123	71	14	converging	converge	VERB
fcis-32123	71	15	to	to	ADP
fcis-32123	71	16	an	an	DET
fcis-32123	71	17	effective	effective	ADJ
fcis-32123	71	18	strategy	strategy	NOUN
fcis-32123	71	19	,	,	PUNCT
fcis-32123	71	20	which	which	PRON
fcis-32123	71	21	leads	lead	VERB
fcis-32123	71	22	to	to	ADP
fcis-32123	71	23	high	high	ADJ
fcis-32123	71	24	time	time	NOUN
fcis-32123	71	25	and	and	CCONJ
fcis-32123	71	26	economic	economic	ADJ
fcis-32123	71	27	costs	cost	NOUN
fcis-32123	71	28	and	and	CCONJ
fcis-32123	71	29	unacceptable	unacceptable	ADJ
fcis-32123	71	30	operational	operational	ADJ
fcis-32123	71	31	risks	risk	NOUN
fcis-32123	71	32	associated	associate	VERB
fcis-32123	71	33	with	with	ADP
fcis-32123	71	34	direct	direct	ADJ
fcis-32123	71	35	training	training	NOUN
fcis-32123	71	36	on	on	ADP
fcis-32123	71	37	physical	physical	PROPN
fcis-32123	71	38	uav	uav	PROPN
fcis-32123	71	39	platforms	platform	NOUN
fcis-32123	71	40	.	.	PUNCT
fcis-32123	72	1	second	second	ADJ
fcis-32123	72	2	,	,	PUNCT
fcis-32123	72	3	the	the	DET
fcis-32123	72	4	safety	safety	NOUN
fcis-32123	72	5	of	of	ADP
fcis-32123	72	6	the	the	DET
fcis-32123	72	7	training	training	NOUN
fcis-32123	72	8	process	process	NOUN
fcis-32123	72	9	can	can	AUX
fcis-32123	72	10	not	not	PART
fcis-32123	72	11	be	be	AUX
fcis-32123	72	12	ignored	ignore	VERB
fcis-32123	72	13	.	.	PUNCT
fcis-32123	73	1	the	the	DET
fcis-32123	73	2	inherent	inherent	ADJ
fcis-32123	73	3	randomness	randomness	NOUN
fcis-32123	73	4	of	of	ADP
fcis-32123	73	5	the	the	DET
fcis-32123	73	6	exploration	exploration	NOUN
fcis-32123	73	7	phase	phase	NOUN
fcis-32123	73	8	is	be	AUX
fcis-32123	73	9	prone	prone	ADJ
fcis-32123	73	10	to	to	PART
fcis-32123	73	11	induce	induce	VERB
fcis-32123	73	12	catastrophic	catastrophic	ADJ
fcis-32123	73	13	failures	failure	NOUN
fcis-32123	73	14	(	(	PUNCT
fcis-32123	73	15	e.g.	e.g.	ADV
fcis-32123	73	16	,	,	PUNCT
fcis-32123	73	17	crashes	crash	NOUN
fcis-32123	73	18	)	)	PUNCT
fcis-32123	73	19	,	,	PUNCT
fcis-32123	73	20	which	which	PRON
fcis-32123	73	21	severely	severely	ADV
fcis-32123	73	22	constrain	constrain	VERB
fcis-32123	73	23	online	online	ADJ
fcis-32123	73	24	learning	learning	NOUN
fcis-32123	73	25	in	in	ADP
fcis-32123	73	26	the	the	DET
fcis-32123	73	27	physical	physical	ADJ
fcis-32123	73	28	world	world	NOUN
fcis-32123	73	29	.	.	PUNCT
fcis-32123	74	1	finally	finally	ADV
fcis-32123	74	2	,	,	PUNCT
fcis-32123	74	3	the	the	DET
fcis-32123	74	4	lack	lack	NOUN
fcis-32123	74	5	of	of	ADP
fcis-32123	74	6	interpretability	interpretability	NOUN
fcis-32123	74	7	and	and	CCONJ
fcis-32123	74	8	verifiability	verifiability	NOUN
fcis-32123	74	9	of	of	ADP
fcis-32123	74	10	policy	policy	NOUN
fcis-32123	74	11	models	model	NOUN
fcis-32123	74	12	constitutes	constitute	VERB
fcis-32123	74	13	a	a	DET
fcis-32123	74	14	central	central	ADJ
fcis-32123	74	15	obstacle	obstacle	NOUN
fcis-32123	74	16	to	to	ADP
fcis-32123	74	17	their	their	PRON
fcis-32123	74	18	deployment	deployment	NOUN
fcis-32123	74	19	in	in	ADP
fcis-32123	74	20	safety	safety	NOUN
fcis-32123	74	21	-	-	PUNCT
fcis-32123	74	22	critical	critical	ADJ
fcis-32123	74	23	scenarios	scenario	NOUN
fcis-32123	74	24	.	.	PUNCT
fcis-32123	75	1	the	the	DET
fcis-32123	75	2	black	black	NOUN
fcis-32123	75	3	-	-	PUNCT
fcis-32123	75	4	box	box	NOUN
fcis-32123	75	5	nature	nature	NOUN
fcis-32123	75	6	of	of	ADP
fcis-32123	75	7	deep	deep	ADJ
fcis-32123	75	8	neural	neural	ADJ
fcis-32123	75	9	networks	network	NOUN
fcis-32123	75	10	makes	make	VERB
fcis-32123	75	11	it	it	PRON
fcis-32123	75	12	difficult	difficult	ADJ
fcis-32123	75	13	to	to	PART
fcis-32123	75	14	trace	trace	VERB
fcis-32123	75	15	and	and	CCONJ
fcis-32123	75	16	diagnose	diagnose	VERB
fcis-32123	75	17	their	their	PRON
fcis-32123	75	18	decision	decision	NOUN
fcis-32123	75	19	logic	logic	NOUN
fcis-32123	75	20	,	,	PUNCT
fcis-32123	75	21	which	which	PRON
fcis-32123	75	22	in	in	ADP
fcis-32123	75	23	turn	turn	NOUN
fcis-32123	75	24	makes	make	VERB
fcis-32123	75	25	it	it	PRON
fcis-32123	75	26	difficult	difficult	ADJ
fcis-32123	75	27	to	to	PART
fcis-32123	75	28	adequately	adequately	ADV
fcis-32123	75	29	ensure	ensure	VERB
fcis-32123	75	30	the	the	DET
fcis-32123	75	31	robustness	robustness	NOUN
fcis-32123	75	32	of	of	ADP
fcis-32123	75	33	the	the	DET
fcis-32123	75	34	policies	policy	NOUN
fcis-32123	75	35	under	under	ADP
fcis-32123	75	36	extreme	extreme	ADJ
fcis-32123	75	37	or	or	CCONJ
fcis-32123	75	38	adversarial	adversarial	ADJ
fcis-32123	75	39	conditions	condition	NOUN
fcis-32123	75	40	,	,	PUNCT
fcis-32123	75	41	and	and	CCONJ
fcis-32123	75	42	creates	create	VERB
fcis-32123	75	43	fundamental	fundamental	ADJ
fcis-32123	75	44	difficulties	difficulty	NOUN
fcis-32123	75	45	in	in	ADP
fcis-32123	75	46	the	the	DET
fcis-32123	75	47	assessment	assessment	NOUN
fcis-32123	75	48	and	and	CCONJ
fcis-32123	75	49	certification	certification	NOUN
fcis-32123	75	50	of	of	ADP
fcis-32123	75	51	system	system	NOUN
fcis-32123	75	52	reliability	reliability	NOUN
fcis-32123	75	53	.	.	PUNCT
fcis-32123	76	1	4.2	4.2	NUM
fcis-32123	76	2	.	.	PUNCT
fcis-32123	77	1	future	future	ADJ
fcis-32123	77	2	developments	development	NOUN
fcis-32123	77	3	to	to	PART
fcis-32123	77	4	address	address	VERB
fcis-32123	77	5	the	the	DET
fcis-32123	77	6	above	above	ADJ
fcis-32123	77	7	challenges	challenge	NOUN
fcis-32123	77	8	,	,	PUNCT
fcis-32123	77	9	research	research	NOUN
fcis-32123	77	10	in	in	ADP
fcis-32123	77	11	this	this	DET
fcis-32123	77	12	area	area	NOUN
fcis-32123	77	13	is	be	AUX
fcis-32123	77	14	focusing	focus	VERB
fcis-32123	77	15	on	on	ADP
fcis-32123	77	16	improving	improve	VERB
fcis-32123	77	17	the	the	DET
fcis-32123	77	18	practicality	practicality	NOUN
fcis-32123	77	19	,	,	PUNCT
fcis-32123	77	20	security	security	NOUN
fcis-32123	77	21	and	and	CCONJ
fcis-32123	77	22	reliability	reliability	NOUN
fcis-32123	77	23	of	of	ADP
fcis-32123	77	24	algorithms	algorithm	NOUN
fcis-32123	77	25	,	,	PUNCT
fcis-32123	77	26	and	and	CCONJ
fcis-32123	77	27	several	several	ADJ
fcis-32123	77	28	clear	clear	ADJ
fcis-32123	77	29	technology	technology	NOUN
fcis-32123	77	30	trends	trend	NOUN
fcis-32123	77	31	have	have	AUX
fcis-32123	77	32	been	be	AUX
fcis-32123	77	33	formed	form	VERB
fcis-32123	77	34	.	.	PUNCT
fcis-32123	78	1	to	to	PART
fcis-32123	78	2	address	address	VERB
fcis-32123	78	3	the	the	DET
fcis-32123	78	4	bottleneck	bottleneck	NOUN
fcis-32123	78	5	of	of	ADP
fcis-32123	78	6	sample	sample	NOUN
fcis-32123	78	7	efficiency	efficiency	NOUN
fcis-32123	78	8	and	and	CCONJ
fcis-32123	78	9	security	security	NOUN
fcis-32123	78	10	,	,	PUNCT
fcis-32123	78	11	simulation	simulation	NOUN
fcis-32123	78	12	-	-	PUNCT
fcis-32123	78	13	to	to	ADP
fcis-32123	78	14	-	-	PUNCT
fcis-32123	78	15	reality	reality	NOUN
fcis-32123	78	16	transfer	transfer	NOUN
fcis-32123	78	17	learning	learning	NOUN
fcis-32123	78	18	has	have	AUX
fcis-32123	78	19	become	become	VERB
fcis-32123	78	20	a	a	DET
fcis-32123	78	21	mainstream	mainstream	NOUN
fcis-32123	78	22	research	research	NOUN
fcis-32123	78	23	paradigm	paradigm	NOUN
fcis-32123	78	24	.	.	PUNCT
fcis-32123	79	1	this	this	DET
fcis-32123	79	2	approach	approach	NOUN
fcis-32123	79	3	effectively	effectively	ADV
fcis-32123	79	4	bridges	bridge	VERB
fcis-32123	79	5	the	the	DET
fcis-32123	79	6	‘	'	PUNCT
fcis-32123	79	7	simulation	simulation	NOUN
fcis-32123	79	8	-	-	PUNCT
fcis-32123	79	9	reality	reality	NOUN
fcis-32123	79	10	’	'	PUNCT
fcis-32123	79	11	gap	gap	NOUN
fcis-32123	79	12	by	by	ADP
fcis-32123	79	13	pre	pre	VERB
fcis-32123	79	14	-	-	NOUN
fcis-32123	79	15	training	training	NOUN
fcis-32123	79	16	in	in	ADP
fcis-32123	79	17	highquality	highquality	NOUN
fcis-32123	79	18	simulation	simulation	NOUN
fcis-32123	79	19	environments	environment	NOUN
fcis-32123	79	20	and	and	CCONJ
fcis-32123	79	21	adopting	adopt	VERB
fcis-32123	79	22	domain	domain	NOUN
fcis-32123	79	23	randomisation	randomisation	NOUN
fcis-32123	79	24	techniques	technique	NOUN
fcis-32123	79	25	to	to	PART
fcis-32123	79	26	enhance	enhance	VERB
fcis-32123	79	27	the	the	DET
fcis-32123	79	28	generalisation	generalisation	NOUN
fcis-32123	79	29	of	of	ADP
fcis-32123	79	30	the	the	DET
fcis-32123	79	31	model	model	NOUN
fcis-32123	79	32	to	to	ADP
fcis-32123	79	33	the	the	DET
fcis-32123	79	34	uncertainty	uncertainty	NOUN
fcis-32123	79	35	of	of	ADP
fcis-32123	79	36	reality	reality	NOUN
fcis-32123	79	37	.	.	PUNCT
fcis-32123	80	1	meanwhile	meanwhile	ADV
fcis-32123	80	2	,	,	PUNCT
fcis-32123	80	3	constrained	constrained	ADJ
fcis-32123	80	4	reinforcement	reinforcement	NOUN
fcis-32123	80	5	learning	learning	NOUN
fcis-32123	80	6	(	(	PUNCT
fcis-32123	80	7	crel	crel	NOUN
fcis-32123	80	8	)	)	PUNCT
fcis-32123	80	9	and	and	CCONJ
fcis-32123	80	10	imitation	imitation	NOUN
fcis-32123	80	11	learning	learning	NOUN
fcis-32123	80	12	(	(	PUNCT
fcis-32123	80	13	il	il	PROPN
fcis-32123	80	14	)	)	PUNCT
fcis-32123	80	15	provide	provide	VERB
fcis-32123	80	16	critical	critical	ADJ
fcis-32123	80	17	safety	safety	NOUN
fcis-32123	80	18	guarantees	guarantee	NOUN
fcis-32123	80	19	for	for	ADP
fcis-32123	80	20	the	the	DET
fcis-32123	80	21	training	training	NOUN
fcis-32123	80	22	process	process	NOUN
fcis-32123	80	23	:	:	PUNCT
fcis-32123	80	24	crel	crel	NOUN
fcis-32123	80	25	translates	translate	VERB
fcis-32123	80	26	safety	safety	NOUN
fcis-32123	80	27	requirements	requirement	NOUN
fcis-32123	80	28	into	into	ADP
fcis-32123	80	29	hard	hard	ADJ
fcis-32123	80	30	constraints	constraint	NOUN
fcis-32123	80	31	in	in	ADP
fcis-32123	80	32	the	the	DET
fcis-32123	80	33	optimisation	optimisation	NOUN
fcis-32123	80	34	problem	problem	NOUN
fcis-32123	80	35	,	,	PUNCT
fcis-32123	80	36	while	while	SCONJ
fcis-32123	80	37	il	il	PROPN
fcis-32123	80	38	derives	derive	VERB
fcis-32123	80	39	a	a	DET
fcis-32123	80	40	priori	priori	ADJ
fcis-32123	80	41	strategies	strategy	NOUN
fcis-32123	80	42	from	from	ADP
fcis-32123	80	43	expert	expert	ADJ
fcis-32123	80	44	data	datum	NOUN
fcis-32123	80	45	such	such	ADJ
fcis-32123	80	46	as	as	ADP
fcis-32123	80	47	traditional	traditional	ADJ
fcis-32123	80	48	planners	planner	NOUN
fcis-32123	80	49	,	,	PUNCT
fcis-32123	80	50	both	both	PRON
fcis-32123	80	51	of	of	ADP
fcis-32123	80	52	which	which	PRON
fcis-32123	80	53	significantly	significantly	ADV
fcis-32123	80	54	reduce	reduce	VERB
fcis-32123	80	55	the	the	DET
fcis-32123	80	56	physical	physical	ADJ
fcis-32123	80	57	risks	risk	NOUN
fcis-32123	80	58	associated	associate	VERB
fcis-32123	80	59	with	with	ADP
fcis-32123	80	60	direct	direct	ADJ
fcis-32123	80	61	exploration	exploration	NOUN
fcis-32123	80	62	.	.	PUNCT
fcis-32123	81	1	in	in	ADP
fcis-32123	81	2	terms	term	NOUN
fcis-32123	81	3	of	of	ADP
fcis-32123	81	4	reward	reward	NOUN
fcis-32123	81	5	design	design	NOUN
fcis-32123	81	6	,	,	PUNCT
fcis-32123	81	7	reverse	reverse	ADJ
fcis-32123	81	8	reinforcement	reinforcement	NOUN
fcis-32123	81	9	learning	learning	NOUN
fcis-32123	81	10	(	(	PUNCT
fcis-32123	81	11	rrl	rrl	PROPN
fcis-32123	81	12	)	)	PUNCT
fcis-32123	81	13	demonstrates	demonstrate	VERB
fcis-32123	81	14	the	the	DET
fcis-32123	81	15	value	value	NOUN
fcis-32123	81	16	of	of	ADP
fcis-32123	81	17	reducing	reduce	VERB
fcis-32123	81	18	the	the	DET
fcis-32123	81	19	reliance	reliance	NOUN
fcis-32123	81	20	on	on	ADP
fcis-32123	81	21	human	human	ADJ
fcis-32123	81	22	design	design	NOUN
fcis-32123	81	23	experience	experience	NOUN
fcis-32123	81	24	by	by	ADP
fcis-32123	81	25	deriving	derive	VERB
fcis-32123	81	26	reward	reward	NOUN
fcis-32123	81	27	functions	function	NOUN
fcis-32123	81	28	from	from	ADP
fcis-32123	81	29	expert	expert	NOUN
fcis-32123	81	30	tutorials	tutorial	NOUN
fcis-32123	81	31	.	.	PUNCT
fcis-32123	82	1	finally	finally	ADV
fcis-32123	82	2	,	,	PUNCT
fcis-32123	82	3	to	to	PART
fcis-32123	82	4	address	address	VERB
fcis-32123	82	5	the	the	DET
fcis-32123	82	6	issue	issue	NOUN
fcis-32123	82	7	of	of	ADP
fcis-32123	82	8	model	model	NOUN
fcis-32123	82	9	trustworthiness	trustworthiness	NOUN
fcis-32123	82	10	,	,	PUNCT
fcis-32123	82	11	the	the	DET
fcis-32123	82	12	fusion	fusion	NOUN
fcis-32123	82	13	of	of	ADP
fcis-32123	82	14	interpretable	interpretable	ADJ
fcis-32123	82	15	ai	ai	NOUN
fcis-32123	82	16	for	for	ADP
fcis-32123	82	17	decision	decision	NOUN
fcis-32123	82	18	traceability	traceability	NOUN
fcis-32123	82	19	and	and	CCONJ
fcis-32123	82	20	formal	formal	ADJ
fcis-32123	82	21	validation	validation	NOUN
fcis-32123	82	22	methods	method	NOUN
fcis-32123	82	23	to	to	PART
fcis-32123	82	24	rigorously	rigorously	ADV
fcis-32123	82	25	prove	prove	VERB
fcis-32123	82	26	the	the	DET
fcis-32123	82	27	robustness	robustness	NOUN
fcis-32123	82	28	of	of	ADP
fcis-32123	82	29	strategies	strategy	NOUN
fcis-32123	82	30	is	be	AUX
fcis-32123	82	31	becoming	become	VERB
fcis-32123	82	32	an	an	DET
fcis-32123	82	33	important	important	ADJ
fcis-32123	82	34	way	way	NOUN
fcis-32123	82	35	to	to	PART
fcis-32123	82	36	build	build	VERB
fcis-32123	82	37	reliable	reliable	ADJ
fcis-32123	82	38	uav	uav	PROPN
fcis-32123	82	39	intelligences	intelligence	NOUN
fcis-32123	82	40	.	.	PUNCT
fcis-32123	83	1	the	the	DET
fcis-32123	83	2	synergistic	synergistic	ADJ
fcis-32123	83	3	development	development	NOUN
fcis-32123	83	4	of	of	ADP
fcis-32123	83	5	these	these	DET
fcis-32123	83	6	techniques	technique	NOUN
fcis-32123	83	7	together	together	ADV
fcis-32123	83	8	drives	drive	VERB
fcis-32123	83	9	the	the	DET
fcis-32123	83	10	transformation	transformation	NOUN
fcis-32123	83	11	of	of	ADP
fcis-32123	83	12	reinforcement	reinforcement	NOUN
fcis-32123	83	13	learning	learning	NOUN
fcis-32123	83	14	from	from	ADP
fcis-32123	83	15	theoretical	theoretical	ADJ
fcis-32123	83	16	algorithms	algorithm	NOUN
fcis-32123	83	17	to	to	ADP
fcis-32123	83	18	practical	practical	ADJ
fcis-32123	83	19	engineering	engineering	NOUN
fcis-32123	83	20	solutions	solution	NOUN
fcis-32123	83	21	.	.	PUNCT
fcis-32123	84	1	5	5	X
fcis-32123	84	2	.	.	X
fcis-32123	84	3	conclusion	conclusion	NOUN
fcis-32123	84	4	this	this	DET
fcis-32123	84	5	study	study	NOUN
fcis-32123	84	6	systematically	systematically	ADV
fcis-32123	84	7	explores	explore	VERB
fcis-32123	84	8	the	the	DET
fcis-32123	84	9	application	application	NOUN
fcis-32123	84	10	value	value	NOUN
fcis-32123	84	11	and	and	CCONJ
fcis-32123	84	12	practical	practical	ADJ
fcis-32123	84	13	path	path	NOUN
fcis-32123	84	14	of	of	ADP
fcis-32123	84	15	reinforcement	reinforcement	NOUN
fcis-32123	84	16	learning	learning	NOUN
fcis-32123	84	17	in	in	ADP
fcis-32123	84	18	uav	uav	PROPN
fcis-32123	84	19	decisionmaking	decisionmaking	NOUN
fcis-32123	84	20	and	and	CCONJ
fcis-32123	84	21	path	path	NOUN
fcis-32123	84	22	planning	planning	NOUN
fcis-32123	84	23	.	.	PUNCT
fcis-32123	85	1	firstly	firstly	ADV
fcis-32123	85	2	,	,	PUNCT
fcis-32123	85	3	the	the	DET
fcis-32123	85	4	unique	unique	ADJ
fcis-32123	85	5	advantages	advantage	NOUN
fcis-32123	85	6	of	of	ADP
fcis-32123	85	7	reinforcement	reinforcement	NOUN
fcis-32123	85	8	learning	learning	NOUN
fcis-32123	85	9	in	in	ADP
fcis-32123	85	10	terms	term	NOUN
fcis-32123	85	11	of	of	ADP
fcis-32123	85	12	environment	environment	NOUN
fcis-32123	85	13	adaptability	adaptability	NOUN
fcis-32123	85	14	,	,	PUNCT
fcis-32123	85	15	multi	multi	ADJ
fcis-32123	85	16	-	-	ADJ
fcis-32123	85	17	objective	objective	ADJ
fcis-32123	85	18	optimisation	optimisation	NOUN
fcis-32123	85	19	and	and	CCONJ
fcis-32123	85	20	end	end	NOUN
fcis-32123	85	21	-	-	PUNCT
fcis-32123	85	22	to	to	ADP
fcis-32123	85	23	-	-	PUNCT
fcis-32123	85	24	end	end	NOUN
fcis-32123	85	25	decision	decision	NOUN
fcis-32123	85	26	-	-	PUNCT
fcis-32123	85	27	making	making	NOUN
fcis-32123	85	28	are	be	AUX
fcis-32123	85	29	explained	explain	VERB
fcis-32123	85	30	by	by	ADP
fcis-32123	85	31	comparing	compare	VERB
fcis-32123	85	32	with	with	ADP
fcis-32123	85	33	traditional	traditional	ADJ
fcis-32123	85	34	planning	planning	NOUN
fcis-32123	85	35	methods	method	NOUN
fcis-32123	85	36	.	.	PUNCT
fcis-32123	86	1	secondly	secondly	ADV
fcis-32123	86	2	,	,	PUNCT
fcis-32123	86	3	it	it	PRON
fcis-32123	86	4	focuses	focus	VERB
fcis-32123	86	5	on	on	ADP
fcis-32123	86	6	analysing	analyse	VERB
fcis-32123	86	7	its	its	PRON
fcis-32123	86	8	solutions	solution	NOUN
fcis-32123	86	9	and	and	CCONJ
fcis-32123	86	10	effectiveness	effectiveness	NOUN
fcis-32123	86	11	in	in	ADP
fcis-32123	86	12	three	three	NUM
fcis-32123	86	13	typical	typical	ADJ
fcis-32123	86	14	scenarios	scenario	NOUN
fcis-32123	86	15	:	:	PUNCT
fcis-32123	86	16	autonomous	autonomous	ADJ
fcis-32123	86	17	navigation	navigation	NOUN
fcis-32123	86	18	and	and	CCONJ
fcis-32123	86	19	obstacle	obstacle	NOUN
fcis-32123	86	20	avoidance	avoidance	NOUN
fcis-32123	86	21	,	,	PUNCT
fcis-32123	86	22	multi	multi	ADJ
fcis-32123	86	23	-	-	ADJ
fcis-32123	86	24	machine	machine	ADJ
fcis-32123	86	25	cooperative	cooperative	ADJ
fcis-32123	86	26	control	control	NOUN
fcis-32123	86	27	and	and	CCONJ
fcis-32123	86	28	resource	resource	NOUN
fcis-32123	86	29	constraint	constraint	NOUN
fcis-32123	86	30	planning	planning	NOUN
fcis-32123	86	31	.	.	PUNCT
fcis-32123	87	1	finally	finally	ADV
fcis-32123	87	2	,	,	PUNCT
fcis-32123	87	3	for	for	ADP
fcis-32123	87	4	the	the	DET
fcis-32123	87	5	existing	exist	VERB
fcis-32123	87	6	challenges	challenge	NOUN
fcis-32123	87	7	such	such	ADJ
fcis-32123	87	8	as	as	ADP
fcis-32123	87	9	sample	sample	NOUN
fcis-32123	87	10	efficiency	efficiency	NOUN
fcis-32123	87	11	and	and	CCONJ
fcis-32123	87	12	safety	safety	NOUN
fcis-32123	87	13	,	,	PUNCT
fcis-32123	87	14	key	key	ADJ
fcis-32123	87	15	development	development	NOUN
fcis-32123	87	16	directions	direction	NOUN
fcis-32123	87	17	such	such	ADJ
fcis-32123	87	18	as	as	ADP
fcis-32123	87	19	simulation	simulation	NOUN
fcis-32123	87	20	migration	migration	NOUN
fcis-32123	87	21	and	and	CCONJ
fcis-32123	87	22	constraint	constraint	NOUN
fcis-32123	87	23	optimisation	optimisation	NOUN
fcis-32123	87	24	are	be	AUX
fcis-32123	87	25	explored	explore	VERB
fcis-32123	87	26	,	,	PUNCT
fcis-32123	87	27	providing	provide	VERB
fcis-32123	87	28	theoretical	theoretical	ADJ
fcis-32123	87	29	references	reference	NOUN
fcis-32123	87	30	and	and	CCONJ
fcis-32123	87	31	technical	technical	ADJ
fcis-32123	87	32	paths	path	NOUN
fcis-32123	87	33	for	for	ADP
fcis-32123	87	34	building	build	VERB
fcis-32123	87	35	a	a	DET
fcis-32123	87	36	new	new	ADJ
fcis-32123	87	37	generation	generation	NOUN
fcis-32123	87	38	of	of	ADP
fcis-32123	87	39	intelligent	intelligent	ADJ
fcis-32123	87	40	uav	uav	PROPN
fcis-32123	87	41	systems	system	NOUN
fcis-32123	87	42	.	.	PUNCT
fcis-32123	88	1	references	reference	NOUN
fcis-32123	88	2	[	[	X
fcis-32123	88	3	1	1	NUM
fcis-32123	88	4	]	]	X
fcis-32123	88	5	kong	kong	PROPN
fcis-32123	88	6	x	x	X
fcis-32123	88	7	,	,	PUNCT
fcis-32123	88	8	zhang	zhang	PROPN
fcis-32123	88	9	r	r	PROPN
fcis-32123	88	10	,	,	PUNCT
fcis-32123	88	11	chen	chen	PROPN
fcis-32123	88	12	l	l	PROPN
fcis-32123	88	13	,	,	PUNCT
fcis-32123	88	14	et	et	PROPN
fcis-32123	88	15	al	al	PROPN
fcis-32123	88	16	.	.	PUNCT
fcis-32123	88	17	energy	energy	NOUN
fcis-32123	88	18	-	-	PUNCT
fcis-32123	88	19	aware	aware	ADJ
fcis-32123	88	20	path	path	NOUN
fcis-32123	88	21	planning	planning	NOUN
fcis-32123	88	22	for	for	ADP
fcis-32123	88	23	long	long	ADJ
fcis-32123	88	24	-	-	PUNCT
fcis-32123	88	25	endurance	endurance	NOUN
fcis-32123	88	26	uavs	uavs	NOUN
fcis-32123	88	27	using	use	VERB
fcis-32123	88	28	constrained	constrain	VERB
fcis-32123	88	29	deep	deep	ADJ
fcis-32123	88	30	reinforcement	reinforcement	NOUN
fcis-32123	88	31	learning	learning	NOUN
fcis-32123	88	32	.	.	PUNCT
fcis-32123	89	1	ieee	ieee	NOUN
fcis-32123	89	2	transactions	transaction	NOUN
fcis-32123	89	3	on	on	ADP
fcis-32123	89	4	vehicular	vehicular	ADJ
fcis-32123	89	5	technology	technology	NOUN
fcis-32123	89	6	,	,	PUNCT
fcis-32123	89	7	2023	2023	NUM
fcis-32123	89	8	,	,	PUNCT
fcis-32123	89	9	72(5	72(5	NOUN
fcis-32123	89	10	):	):	PUNCT
fcis-32123	89	11	5891	5891	NUM
fcis-32123	89	12	-	-	SYM
fcis-32123	89	13	5904	5904	NUM
fcis-32123	89	14	.	.	PUNCT
fcis-32123	90	1	33	33	NUM
fcis-32123	91	1	[	[	SYM
fcis-32123	91	2	2	2	NUM
fcis-32123	91	3	]	]	PUNCT
fcis-32123	91	4	loquercio	loquercio	NOUN
fcis-32123	91	5	a	a	PROPN
fcis-32123	91	6	,	,	PUNCT
fcis-32123	91	7	kaufmann	kaufmann	PROPN
fcis-32123	91	8	e	e	PROPN
fcis-32123	91	9	,	,	PUNCT
fcis-32123	91	10	ranftl	ranftl	NOUN
fcis-32123	91	11	r	r	NOUN
fcis-32123	91	12	,	,	PUNCT
fcis-32123	91	13	et	et	PROPN
fcis-32123	91	14	al	al	PROPN
fcis-32123	91	15	.	.	PUNCT
fcis-32123	92	1	learning	learn	VERB
fcis-32123	92	2	high	high	ADJ
fcis-32123	92	3	-	-	PUNCT
fcis-32123	92	4	speed	speed	NOUN
fcis-32123	92	5	flight	flight	NOUN
fcis-32123	92	6	in	in	ADP
fcis-32123	92	7	the	the	DET
fcis-32123	92	8	wild	wild	NOUN
fcis-32123	92	9	.	.	PUNCT
fcis-32123	93	1	science	science	NOUN
fcis-32123	93	2	robotics	robotic	NOUN
fcis-32123	93	3	,	,	PUNCT
fcis-32123	93	4	2020	2020	NUM
fcis-32123	93	5	,	,	PUNCT
fcis-32123	93	6	6(59	6(59	NUM
fcis-32123	93	7	):	):	PUNCT
fcis-32123	93	8	eabg5810	eabg5810	PROPN
fcis-32123	93	9	.	.	PUNCT
fcis-32123	94	1	[	[	X
fcis-32123	94	2	3	3	X
fcis-32123	94	3	]	]	X
fcis-32123	94	4	zhou	zhou	PROPN
fcis-32123	94	5	t	t	PROPN
fcis-32123	94	6	,	,	PUNCT
fcis-32123	94	7	wang	wang	PROPN
fcis-32123	94	8	l	l	PROPN
fcis-32123	94	9	,	,	PUNCT
fcis-32123	94	10	wang	wang	PROPN
fcis-32123	94	11	s.	s.	PROPN
fcis-32123	94	12	distributed	distribute	VERB
fcis-32123	94	13	multi	multi	ADJ
fcis-32123	94	14	-	-	ADJ
fcis-32123	94	15	uav	uav	ADJ
fcis-32123	94	16	cooperative	cooperative	ADJ
fcis-32123	94	17	search	search	NOUN
fcis-32123	94	18	and	and	CCONJ
fcis-32123	94	19	tracking	tracking	NOUN
fcis-32123	94	20	based	base	VERB
fcis-32123	94	21	on	on	ADP
fcis-32123	94	22	deep	deep	ADJ
fcis-32123	94	23	reinforcement	reinforcement	NOUN
fcis-32123	94	24	learning	learning	NOUN
fcis-32123	94	25	.	.	PUNCT
fcis-32123	95	1	aerospace	aerospace	NOUN
fcis-32123	95	2	science	science	NOUN
fcis-32123	95	3	and	and	CCONJ
fcis-32123	95	4	technology	technology	NOUN
fcis-32123	95	5	,	,	PUNCT
fcis-32123	95	6	2022	2022	NUM
fcis-32123	95	7	,	,	PUNCT
fcis-32123	95	8	131	131	NUM
fcis-32123	95	9	:	:	SYM
fcis-32123	95	10	107989	107989	NUM
fcis-32123	95	11	.	.	PUNCT
fcis-32123	96	1	[	[	X
fcis-32123	96	2	4	4	X
fcis-32123	96	3	]	]	X
fcis-32123	96	4	zhang	zhang	PROPN
fcis-32123	96	5	yuntai	yuntai	PROPN
fcis-32123	96	6	.	.	PUNCT
fcis-32123	97	1	research	research	NOUN
fcis-32123	97	2	on	on	ADP
fcis-32123	97	3	uav	uav	PROPN
fcis-32123	97	4	obstacle	obstacle	PROPN
fcis-32123	97	5	avoidance	avoidance	PROPN
fcis-32123	97	6	path	path	PROPN
fcis-32123	97	7	planning	planning	NOUN
fcis-32123	97	8	based	base	VERB
fcis-32123	97	9	on	on	ADP
fcis-32123	97	10	deep	deep	ADJ
fcis-32123	97	11	reinforcement	reinforcement	NOUN
fcis-32123	97	12	learning	learning	NOUN
fcis-32123	97	13	.	.	PUNCT
fcis-32123	98	1	master	master	NOUN
fcis-32123	98	2	's	's	PART
fcis-32123	98	3	thesis	thesis	NOUN
fcis-32123	98	4	,	,	PUNCT
fcis-32123	98	5	southeast	southeast	ADJ
fcis-32123	98	6	university	university	NOUN
fcis-32123	98	7	,	,	PUNCT
fcis-32123	98	8	2022	2022	NUM
fcis-32123	98	9	.	.	PUNCT
fcis-32123	99	1	[	[	X
fcis-32123	99	2	5	5	NUM
fcis-32123	99	3	]	]	SYM
fcis-32123	99	4	li	li	PROPN
fcis-32123	99	5	yang	yang	PROPN
fcis-32123	99	6	,	,	PUNCT
fcis-32123	99	7	wang	wang	PROPN
fcis-32123	99	8	chen	chen	PROPN
fcis-32123	99	9	,	,	PUNCT
fcis-32123	99	10	zhang	zhang	PROPN
fcis-32123	99	11	wei	wei	PROPN
fcis-32123	99	12	.	.	PUNCT
fcis-32123	99	13	research	research	NOUN
fcis-32123	99	14	on	on	ADP
fcis-32123	99	15	3d	3d	NUM
fcis-32123	99	16	obstacle	obstacle	NOUN
fcis-32123	99	17	avoidance	avoidance	NOUN
fcis-32123	99	18	algorithm	algorithm	NOUN
fcis-32123	99	19	for	for	ADP
fcis-32123	99	20	uav	uav	PROPN
fcis-32123	99	21	based	base	VERB
fcis-32123	99	22	on	on	ADP
fcis-32123	99	23	ddpg	ddpg	ADJ
fcis-32123	99	24	.	.	PUNCT
fcis-32123	100	1	journal	journal	PROPN
fcis-32123	100	2	of	of	ADP
fcis-32123	100	3	northwestern	northwestern	PROPN
fcis-32123	100	4	polytechnical	polytechnical	PROPN
fcis-32123	100	5	university	university	NOUN
fcis-32123	100	6	,	,	PUNCT
fcis-32123	100	7	2022	2022	NUM
fcis-32123	100	8	,	,	PUNCT
fcis-32123	100	9	40(5	40(5	NUM
fcis-32123	100	10	):	):	PUNCT
fcis-32123	100	11	901	901	NUM
fcis-32123	100	12	-	-	PUNCT
fcis-32123	100	13	908	908	NUM
fcis-32123	100	14	.	.	PUNCT
fcis-32123	101	1	[	[	X
fcis-32123	101	2	6	6	NUM
fcis-32123	101	3	]	]	X
fcis-32123	101	4	zhou	zhou	PROPN
fcis-32123	101	5	tailin	tailin	PROPN
fcis-32123	101	6	.	.	PUNCT
fcis-32123	102	1	research	research	NOUN
fcis-32123	102	2	on	on	ADP
fcis-32123	102	3	cooperative	cooperative	ADJ
fcis-32123	102	4	search	search	NOUN
fcis-32123	102	5	algorithm	algorithm	NOUN
fcis-32123	102	6	for	for	ADP
fcis-32123	102	7	uav	uav	PROPN
fcis-32123	102	8	swarm	swarm	NOUN
fcis-32123	102	9	based	base	VERB
fcis-32123	102	10	on	on	ADP
fcis-32123	102	11	multi	multi	ADJ
fcis-32123	102	12	-	-	ADJ
fcis-32123	102	13	agent	agent	ADJ
fcis-32123	102	14	reinforcement	reinforcement	NOUN
fcis-32123	102	15	learning	learning	NOUN
fcis-32123	102	16	.	.	PUNCT
fcis-32123	103	1	master	master	NOUN
fcis-32123	103	2	's	's	PART
fcis-32123	103	3	thesis	thesis	NOUN
fcis-32123	103	4	,	,	PUNCT
fcis-32123	103	5	zhejiang	zhejiang	PROPN
fcis-32123	103	6	normal	normal	ADJ
fcis-32123	103	7	university	university	NOUN
fcis-32123	103	8	,	,	PUNCT
fcis-32123	103	9	2025	2025	NUM
fcis-32123	103	10	.	.	PUNCT
fcis-32123	104	1	[	[	X
fcis-32123	104	2	7	7	X
fcis-32123	104	3	]	]	X
fcis-32123	104	4	wan	wan	PROPN
fcis-32123	104	5	kaifang	kaifang	PROPN
fcis-32123	104	6	,	,	PUNCT
fcis-32123	104	7	li	li	PROPN
fcis-32123	104	8	xiang	xiang	PROPN
fcis-32123	104	9	,	,	PUNCT
fcis-32123	104	10	wang	wang	PROPN
fcis-32123	104	11	zili	zili	PROPN
fcis-32123	104	12	.	.	PUNCT
fcis-32123	105	1	cooperative	cooperative	ADJ
fcis-32123	105	2	localization	localization	NOUN
fcis-32123	105	3	and	and	CCONJ
fcis-32123	105	4	formation	formation	NOUN
fcis-32123	105	5	control	control	NOUN
fcis-32123	105	6	of	of	ADP
fcis-32123	105	7	uavs	uavs	NOUN
fcis-32123	105	8	based	base	VERB
fcis-32123	105	9	on	on	ADP
fcis-32123	105	10	deep	deep	ADJ
fcis-32123	105	11	reinforcement	reinforcement	NOUN
fcis-32123	105	12	learning	learning	NOUN
fcis-32123	105	13	under	under	ADP
fcis-32123	105	14	gps	gps	PROPN
fcis-32123	105	15	-	-	PUNCT
fcis-32123	105	16	denied	deny	VERB
fcis-32123	105	17	environments	environment	NOUN
fcis-32123	105	18	.	.	PUNCT
fcis-32123	106	1	acta	acta	PROPN
fcis-32123	106	2	aeronautica	aeronautica	PROPN
fcis-32123	106	3	et	et	PROPN
fcis-32123	106	4	astronautica	astronautica	PROPN
fcis-32123	106	5	sinica	sinica	PROPN
fcis-32123	106	6	,	,	PUNCT
fcis-32123	106	7	2025	2025	NUM
fcis-32123	106	8	,	,	PUNCT
fcis-32123	106	9	46(2	46(2	NUM
fcis-32123	106	10	):	):	PUNCT
fcis-32123	106	11	1	1	NUM
fcis-32123	106	12	-	-	SYM
fcis-32123	106	13	10	10	NUM
fcis-32123	106	14	.	.	PUNCT
fcis-32123	107	1	[	[	X
fcis-32123	107	2	8	8	NUM
fcis-32123	107	3	]	]	X
fcis-32123	107	4	zhou	zhou	PROPN
fcis-32123	107	5	j	j	PROPN
fcis-32123	107	6	,	,	PUNCT
fcis-32123	107	7	liu	liu	PROPN
fcis-32123	107	8	m	m	PROPN
fcis-32123	107	9	l	l	NOUN
fcis-32123	107	10	,	,	PUNCT
fcis-32123	107	11	zhao	zhao	PROPN
fcis-32123	107	12	y	y	PROPN
fcis-32123	107	13	f	f	PROPN
fcis-32123	107	14	,	,	PUNCT
fcis-32123	107	15	et	et	PROPN
fcis-32123	107	16	al	al	PROPN
fcis-32123	107	17	.	.	PUNCT
fcis-32123	107	18	energy	energy	NOUN
fcis-32123	107	19	-	-	PUNCT
fcis-32123	107	20	efficient	efficient	ADJ
fcis-32123	107	21	uav	uav	PROPN
fcis-32123	107	22	path	path	PROPN
fcis-32123	107	23	planning	planning	NOUN
fcis-32123	107	24	based	base	VERB
fcis-32123	107	25	on	on	ADP
fcis-32123	107	26	double	double	ADJ
fcis-32123	107	27	deep	deep	ADJ
fcis-32123	107	28	q	q	NOUN
fcis-32123	107	29	-	-	NOUN
fcis-32123	107	30	network	network	NOUN
fcis-32123	107	31	for	for	ADP
fcis-32123	107	32	mobile	mobile	ADJ
fcis-32123	107	33	edge	edge	NOUN
fcis-32123	107	34	computing	computing	NOUN
fcis-32123	107	35	.	.	PUNCT
fcis-32123	108	1	computer	computer	NOUN
fcis-32123	108	2	applications	application	NOUN
fcis-32123	108	3	research	research	NOUN
fcis-32123	108	4	,	,	PUNCT
fcis-32123	108	5	2021	2021	NUM
fcis-32123	108	6	,	,	PUNCT
fcis-32123	108	7	38(6	38(6	NUM
fcis-32123	108	8	):	):	PUNCT
fcis-32123	108	9	1699	1699	NUM
fcis-32123	108	10	-	-	SYM
fcis-32123	108	11	1703	1703	NUM
fcis-32123	108	12	.	.	PUNCT
fcis-32123	109	1	[	[	X
fcis-32123	109	2	9	9	NUM
fcis-32123	109	3	]	]	SYM
fcis-32123	109	4	baierlein	baierlein	NOUN
fcis-32123	109	5	n	n	CCONJ
fcis-32123	109	6	,	,	PUNCT
fcis-32123	109	7	ayan	ayan	PROPN
fcis-32123	109	8	ö	ö	PROPN
fcis-32123	109	9	,	,	PUNCT
fcis-32123	109	10	göktepe	göktepe	NOUN
fcis-32123	109	11	e	e	NOUN
fcis-32123	109	12	,	,	PUNCT
fcis-32123	109	13	et	et	PROPN
fcis-32123	109	14	al	al	PROPN
fcis-32123	109	15	.	.	PUNCT
fcis-32123	110	1	multi	multi	ADJ
fcis-32123	110	2	-	-	ADJ
fcis-32123	110	3	agent	agent	ADJ
fcis-32123	110	4	deep	deep	ADJ
fcis-32123	110	5	reinforcement	reinforcement	NOUN
fcis-32123	110	6	learning	learning	NOUN
fcis-32123	110	7	for	for	ADP
fcis-32123	110	8	energy	energy	NOUN
fcis-32123	110	9	-	-	PUNCT
fcis-32123	110	10	efficient	efficient	ADJ
fcis-32123	110	11	data	datum	NOUN
fcis-32123	110	12	harvesting	harvesting	NOUN
fcis-32123	110	13	with	with	ADP
fcis-32123	110	14	uav	uav	PROPN
fcis-32123	110	15	swarms	swarm	NOUN
fcis-32123	110	16	.	.	PUNCT
fcis-32123	111	1	ieee	ieee	PROPN
fcis-32123	111	2	open	open	PROPN
fcis-32123	111	3	journal	journal	PROPN
fcis-32123	111	4	of	of	ADP
fcis-32123	111	5	the	the	DET
fcis-32123	111	6	communications	communication	NOUN
fcis-32123	111	7	society	society	NOUN
fcis-32123	111	8	,	,	PUNCT
fcis-32123	111	9	2021	2021	NUM
fcis-32123	111	10	,	,	PUNCT
fcis-32123	111	11	2	2	NUM
fcis-32123	111	12	:	:	SYM
fcis-32123	111	13	1171	1171	NUM
fcis-32123	111	14	-	-	SYM
fcis-32123	111	15	1187	1187	NUM
fcis-32123	111	16	.	.	PUNCT