id sid tid token lemma pos fcis-32177 1 1 frontiers frontier NOUN fcis-32177 1 2 in in ADP fcis-32177 1 3 computing computing NOUN fcis-32177 1 4 and and CCONJ fcis-32177 1 5 intelligent intelligent ADJ fcis-32177 1 6 systems system NOUN fcis-32177 1 7 issn issn VERB fcis-32177 1 8 : : PUNCT fcis-32177 1 9 2832 2832 NUM fcis-32177 1 10 - - SYM fcis-32177 1 11 6024 6024 NUM fcis-32177 1 12 | | NOUN fcis-32177 1 13 vol vol NOUN fcis-32177 1 14 . . PUNCT fcis-32177 2 1 14 14 NUM fcis-32177 2 2 , , PUNCT fcis-32177 2 3 no no INTJ fcis-32177 2 4 . . NOUN fcis-32177 2 5 1 1 NUM fcis-32177 2 6 , , PUNCT fcis-32177 2 7 2025 2025 NUM fcis-32177 2 8 73 73 NUM fcis-32177 2 9 path path NOUN fcis-32177 2 10 planning planning NOUN fcis-32177 2 11 for for ADP fcis-32177 2 12 agricultural agricultural ADJ fcis-32177 2 13 robots robot NOUN fcis-32177 2 14 based base VERB fcis-32177 2 15 on on ADP fcis-32177 2 16 the the DET fcis-32177 2 17 improved improved ADJ fcis-32177 2 18 dung dung NOUN fcis-32177 2 19 beetle beetle NOUN fcis-32177 2 20 optimization optimization NOUN fcis-32177 2 21 algorithm algorithm NOUN fcis-32177 2 22 tianjun tianjun NOUN fcis-32177 2 23 zhou zhou PROPN fcis-32177 2 24 1 1 NUM fcis-32177 2 25 , , PUNCT fcis-32177 2 26 zhesheng zhesheng PROPN fcis-32177 2 27 hou hou PROPN fcis-32177 2 28 2 2 NUM fcis-32177 2 29 1 1 NUM fcis-32177 2 30 school school NOUN fcis-32177 2 31 of of ADP fcis-32177 2 32 information information NOUN fcis-32177 2 33 and and CCONJ fcis-32177 2 34 control control PROPN fcis-32177 2 35 engineering engineering PROPN fcis-32177 2 36 , , PUNCT fcis-32177 2 37 jilin jilin PROPN fcis-32177 2 38 university university PROPN fcis-32177 2 39 of of ADP fcis-32177 2 40 chemical chemical PROPN fcis-32177 2 41 technology technology PROPN fcis-32177 2 42 , , PUNCT fcis-32177 2 43 guangzhou guangzhou PROPN fcis-32177 2 44 guangdong guangdong PROPN fcis-32177 2 45 , , PUNCT fcis-32177 2 46 132022 132022 NUM fcis-32177 2 47 , , PUNCT fcis-32177 2 48 china china PROPN fcis-32177 2 49 2 2 NUM fcis-32177 2 50 school school NOUN fcis-32177 2 51 of of ADP fcis-32177 2 52 mechanical mechanical ADJ fcis-32177 2 53 and and CCONJ fcis-32177 2 54 electrical electrical ADJ fcis-32177 2 55 engineering engineering NOUN fcis-32177 2 56 , , PUNCT fcis-32177 2 57 jilin jilin PROPN fcis-32177 2 58 university university PROPN fcis-32177 2 59 of of ADP fcis-32177 2 60 chemical chemical PROPN fcis-32177 2 61 technology technology PROPN fcis-32177 2 62 , , PUNCT fcis-32177 2 63 guangzhou guangzhou PROPN fcis-32177 2 64 guangdong guangdong PROPN fcis-32177 2 65 , , PUNCT fcis-32177 2 66 132022 132022 NUM fcis-32177 2 67 , , PUNCT fcis-32177 2 68 china china PROPN fcis-32177 2 69 abstract abstract PROPN fcis-32177 2 70 : : PUNCT fcis-32177 2 71 heuristic heuristic ADJ fcis-32177 2 72 algorithms algorithm NOUN fcis-32177 2 73 are be AUX fcis-32177 2 74 a a DET fcis-32177 2 75 commonly commonly ADV fcis-32177 2 76 used use VERB fcis-32177 2 77 type type NOUN fcis-32177 2 78 of of ADP fcis-32177 2 79 algorithm algorithm NOUN fcis-32177 2 80 in in ADP fcis-32177 2 81 the the DET fcis-32177 2 82 path path NOUN fcis-32177 2 83 planning planning NOUN fcis-32177 2 84 of of ADP fcis-32177 2 85 agricultural agricultural ADJ fcis-32177 2 86 robots robot NOUN fcis-32177 2 87 . . PUNCT fcis-32177 3 1 however however ADV fcis-32177 3 2 , , PUNCT fcis-32177 3 3 during during ADP fcis-32177 3 4 the the DET fcis-32177 3 5 iteration iteration NOUN fcis-32177 3 6 process process NOUN fcis-32177 3 7 , , PUNCT fcis-32177 3 8 there there PRON fcis-32177 3 9 may may AUX fcis-32177 3 10 be be AUX fcis-32177 3 11 situations situation NOUN fcis-32177 3 12 where where SCONJ fcis-32177 3 13 one one PRON fcis-32177 3 14 gets get VERB fcis-32177 3 15 stuck stick VERB fcis-32177 3 16 in in ADP fcis-32177 3 17 a a DET fcis-32177 3 18 local local ADJ fcis-32177 3 19 optimal optimal ADJ fcis-32177 3 20 solution solution NOUN fcis-32177 3 21 . . PUNCT fcis-32177 4 1 to to PART fcis-32177 4 2 solve solve VERB fcis-32177 4 3 the the DET fcis-32177 4 4 above above ADJ fcis-32177 4 5 problems problem NOUN fcis-32177 4 6 , , PUNCT fcis-32177 4 7 this this DET fcis-32177 4 8 paper paper NOUN fcis-32177 4 9 proposes propose VERB fcis-32177 4 10 a a DET fcis-32177 4 11 multi multi ADJ fcis-32177 4 12 - - ADJ fcis-32177 4 13 strategy strategy ADJ fcis-32177 4 14 improved improve VERB fcis-32177 4 15 dung dung NOUN fcis-32177 4 16 beetle beetle NOUN fcis-32177 4 17 optimization optimization NOUN fcis-32177 4 18 algorithm algorithm NOUN fcis-32177 4 19 . . PUNCT fcis-32177 5 1 a a DET fcis-32177 5 2 raster raster PROPN fcis-32177 5 3 map map NOUN fcis-32177 5 4 environment environment NOUN fcis-32177 5 5 model model NOUN fcis-32177 5 6 is be AUX fcis-32177 5 7 established establish VERB fcis-32177 5 8 to to PART fcis-32177 5 9 plan plan VERB fcis-32177 5 10 the the DET fcis-32177 5 11 path path NOUN fcis-32177 5 12 of of ADP fcis-32177 5 13 agricultural agricultural ADJ fcis-32177 5 14 robots robot NOUN fcis-32177 5 15 . . PUNCT fcis-32177 6 1 in in ADP fcis-32177 6 2 the the DET fcis-32177 6 3 dung dung NOUN fcis-32177 6 4 beetle beetle NOUN fcis-32177 6 5 algorithm algorithm NOUN fcis-32177 6 6 , , PUNCT fcis-32177 6 7 logistics logistic NOUN fcis-32177 6 8 chaotic chaotic ADJ fcis-32177 6 9 mapping mapping NOUN fcis-32177 6 10 is be AUX fcis-32177 6 11 first first ADV fcis-32177 6 12 adopted adopt VERB fcis-32177 6 13 to to PART fcis-32177 6 14 perform perform VERB fcis-32177 6 15 chaotic chaotic ADJ fcis-32177 6 16 initialization initialization NOUN fcis-32177 6 17 on on ADP fcis-32177 6 18 zhongchun zhongchun PROPN fcis-32177 6 19 , , PUNCT fcis-32177 6 20 making make VERB fcis-32177 6 21 the the DET fcis-32177 6 22 population population NOUN fcis-32177 6 23 distribution distribution NOUN fcis-32177 6 24 more more ADJ fcis-32177 6 25 uniform uniform NOUN fcis-32177 6 26 in in ADP fcis-32177 6 27 the the DET fcis-32177 6 28 search search NOUN fcis-32177 6 29 space space NOUN fcis-32177 6 30 and and CCONJ fcis-32177 6 31 improving improve VERB fcis-32177 6 32 the the DET fcis-32177 6 33 search search NOUN fcis-32177 6 34 quality quality NOUN fcis-32177 6 35 of of ADP fcis-32177 6 36 the the DET fcis-32177 6 37 population population NOUN fcis-32177 6 38 . . PUNCT fcis-32177 7 1 secondly secondly ADV fcis-32177 7 2 , , PUNCT fcis-32177 7 3 the the DET fcis-32177 7 4 levy levy NOUN fcis-32177 7 5 flight flight NOUN fcis-32177 7 6 strategy strategy NOUN fcis-32177 7 7 is be AUX fcis-32177 7 8 introduced introduce VERB fcis-32177 7 9 in in ADP fcis-32177 7 10 the the DET fcis-32177 7 11 theft theft NOUN fcis-32177 7 12 behavior behavior NOUN fcis-32177 7 13 to to PART fcis-32177 7 14 enhance enhance VERB fcis-32177 7 15 the the DET fcis-32177 7 16 search search NOUN fcis-32177 7 17 ability ability NOUN fcis-32177 7 18 and and CCONJ fcis-32177 7 19 diversity diversity NOUN fcis-32177 7 20 of of ADP fcis-32177 7 21 the the DET fcis-32177 7 22 algorithm algorithm NOUN fcis-32177 7 23 and and CCONJ fcis-32177 7 24 reduce reduce VERB fcis-32177 7 25 the the DET fcis-32177 7 26 probability probability NOUN fcis-32177 7 27 of of ADP fcis-32177 7 28 getting getting AUX fcis-32177 7 29 stuck stick VERB fcis-32177 7 30 in in ADP fcis-32177 7 31 the the DET fcis-32177 7 32 local local ADJ fcis-32177 7 33 optimal optimal ADJ fcis-32177 7 34 solution solution NOUN fcis-32177 7 35 . . PUNCT fcis-32177 8 1 a a DET fcis-32177 8 2 raster raster NOUN fcis-32177 8 3 map map NOUN fcis-32177 8 4 model model NOUN fcis-32177 8 5 for for ADP fcis-32177 8 6 simulating simulate VERB fcis-32177 8 7 the the DET fcis-32177 8 8 field field NOUN fcis-32177 8 9 working working NOUN fcis-32177 8 10 environment environment NOUN fcis-32177 8 11 was be AUX fcis-32177 8 12 constructed construct VERB fcis-32177 8 13 using use VERB fcis-32177 8 14 matlab matlab PROPN fcis-32177 8 15 . . PUNCT fcis-32177 9 1 comparative comparative ADJ fcis-32177 9 2 experiments experiment NOUN fcis-32177 9 3 were be AUX fcis-32177 9 4 conducted conduct VERB fcis-32177 9 5 among among ADP fcis-32177 9 6 the the DET fcis-32177 9 7 improved improved ADJ fcis-32177 9 8 dung dung NOUN fcis-32177 9 9 beetle beetle NOUN fcis-32177 9 10 algorithm algorithm NOUN fcis-32177 9 11 , , PUNCT fcis-32177 9 12 the the DET fcis-32177 9 13 original original ADJ fcis-32177 9 14 dung dung NOUN fcis-32177 9 15 beetle beetle NOUN fcis-32177 9 16 algorithm algorithm NOUN fcis-32177 9 17 , , PUNCT fcis-32177 9 18 the the DET fcis-32177 9 19 sparrow sparrow ADJ fcis-32177 9 20 optimization optimization NOUN fcis-32177 9 21 algorithm algorithm NOUN fcis-32177 9 22 , , PUNCT fcis-32177 9 23 and and CCONJ fcis-32177 9 24 the the DET fcis-32177 9 25 goose goose NOUN fcis-32177 9 26 flock flock NOUN fcis-32177 9 27 optimization optimization NOUN fcis-32177 9 28 algorithm algorithm NOUN fcis-32177 9 29 . . PUNCT fcis-32177 10 1 the the DET fcis-32177 10 2 results result NOUN fcis-32177 10 3 show show VERB fcis-32177 10 4 that that SCONJ fcis-32177 10 5 the the DET fcis-32177 10 6 improved improved ADJ fcis-32177 10 7 dung dung NOUN fcis-32177 10 8 beetle beetle NOUN fcis-32177 10 9 algorithm algorithm NOUN fcis-32177 10 10 has have VERB fcis-32177 10 11 more more ADV fcis-32177 10 12 outstanding outstanding ADJ fcis-32177 10 13 performance performance NOUN fcis-32177 10 14 in in ADP fcis-32177 10 15 terms term NOUN fcis-32177 10 16 of of ADP fcis-32177 10 17 path path NOUN fcis-32177 10 18 length length NOUN fcis-32177 10 19 , , PUNCT fcis-32177 10 20 number number NOUN fcis-32177 10 21 of of ADP fcis-32177 10 22 iterations iteration NOUN fcis-32177 10 23 , , PUNCT fcis-32177 10 24 and and CCONJ fcis-32177 10 25 stability stability NOUN fcis-32177 10 26 . . PUNCT fcis-32177 11 1 keywords keyword NOUN fcis-32177 11 2 : : PUNCT fcis-32177 11 3 dung dung NOUN fcis-32177 11 4 beetle beetle NOUN fcis-32177 11 5 optimization optimization NOUN fcis-32177 11 6 algorithm algorithm NOUN fcis-32177 11 7 ; ; PUNCT fcis-32177 11 8 path path NOUN fcis-32177 11 9 planning planning NOUN fcis-32177 11 10 ; ; PUNCT fcis-32177 11 11 agricultural agricultural ADJ fcis-32177 11 12 robot robot NOUN fcis-32177 11 13 . . PUNCT fcis-32177 12 1 1 1 X fcis-32177 12 2 . . X fcis-32177 12 3 introduction introduction NOUN fcis-32177 12 4 with with ADP fcis-32177 12 5 the the DET fcis-32177 12 6 rapid rapid ADJ fcis-32177 12 7 development development NOUN fcis-32177 12 8 of of ADP fcis-32177 12 9 technology technology NOUN fcis-32177 12 10 , , PUNCT fcis-32177 12 11 agricultural agricultural ADJ fcis-32177 12 12 machinery machinery NOUN fcis-32177 12 13 is be AUX fcis-32177 12 14 gradually gradually ADV fcis-32177 12 15 moving move VERB fcis-32177 12 16 towards towards ADP fcis-32177 12 17 intelligence intelligence NOUN fcis-32177 12 18 and and CCONJ fcis-32177 12 19 automation automation NOUN fcis-32177 12 20 . . PUNCT fcis-32177 13 1 [ [ X fcis-32177 13 2 1]agricultural 1]agricultural NUM fcis-32177 13 3 robots robot NOUN fcis-32177 13 4 are be AUX fcis-32177 13 5 a a DET fcis-32177 13 6 flexible flexible ADJ fcis-32177 13 7 , , PUNCT fcis-32177 13 8 efficient efficient ADJ fcis-32177 13 9 and and CCONJ fcis-32177 13 10 low low ADJ fcis-32177 13 11 - - PUNCT fcis-32177 13 12 cost cost NOUN fcis-32177 13 13 product product NOUN fcis-32177 13 14 and and CCONJ fcis-32177 13 15 an an DET fcis-32177 13 16 important important ADJ fcis-32177 13 17 research research NOUN fcis-32177 13 18 direction direction NOUN fcis-32177 13 19 in in ADP fcis-32177 13 20 artificial artificial ADJ fcis-32177 13 21 intelligence intelligence NOUN fcis-32177 13 22 technology technology NOUN fcis-32177 13 23 . . PUNCT fcis-32177 14 1 as as ADP fcis-32177 14 2 agricultural agricultural ADJ fcis-32177 14 3 robots robot NOUN fcis-32177 14 4 , , PUNCT fcis-32177 14 5 achieving achieve VERB fcis-32177 14 6 autonomous autonomous ADJ fcis-32177 14 7 movement movement NOUN fcis-32177 14 8 and and CCONJ fcis-32177 14 9 reasonable reasonable ADJ fcis-32177 14 10 path path NOUN fcis-32177 14 11 planning planning NOUN fcis-32177 14 12 is be AUX fcis-32177 14 13 one one NUM fcis-32177 14 14 of of ADP fcis-32177 14 15 their their PRON fcis-32177 14 16 core core NOUN fcis-32177 14 17 and and CCONJ fcis-32177 14 18 basic basic ADJ fcis-32177 14 19 functions function NOUN fcis-32177 14 20 . . PUNCT fcis-32177 15 1 compared compare VERB fcis-32177 15 2 with with ADP fcis-32177 15 3 pure pure ADJ fcis-32177 15 4 mechanical mechanical ADJ fcis-32177 15 5 human human ADJ fcis-32177 15 6 driving driving NOUN fcis-32177 15 7 , , PUNCT fcis-32177 15 8 they they PRON fcis-32177 15 9 can can AUX fcis-32177 15 10 not not PART fcis-32177 15 11 only only ADV fcis-32177 15 12 save save VERB fcis-32177 15 13 a a DET fcis-32177 15 14 lot lot NOUN fcis-32177 15 15 of of ADP fcis-32177 15 16 human human ADJ fcis-32177 15 17 and and CCONJ fcis-32177 15 18 material material ADJ fcis-32177 15 19 resources resource NOUN fcis-32177 15 20 , , PUNCT fcis-32177 15 21 it it PRON fcis-32177 15 22 is be AUX fcis-32177 15 23 also also ADV fcis-32177 15 24 possible possible ADJ fcis-32177 15 25 to to PART fcis-32177 15 26 calculate calculate VERB fcis-32177 15 27 more more ADV fcis-32177 15 28 effective effective ADJ fcis-32177 15 29 and and CCONJ fcis-32177 15 30 reasonable reasonable ADJ fcis-32177 15 31 driving driving NOUN fcis-32177 15 32 routes route NOUN fcis-32177 15 33 through through ADP fcis-32177 15 34 algorithms algorithm NOUN fcis-32177 15 35 , , PUNCT fcis-32177 15 36 and and CCONJ fcis-32177 15 37 its its PRON fcis-32177 15 38 significance significance NOUN fcis-32177 15 39 is be AUX fcis-32177 15 40 self self NOUN fcis-32177 15 41 - - PUNCT fcis-32177 15 42 evident evident ADJ fcis-32177 15 43 . . PUNCT fcis-32177 16 1 it it PRON fcis-32177 16 2 requires require VERB fcis-32177 16 3 agriculture agriculture NOUN fcis-32177 16 4 and and CCONJ fcis-32177 16 5 its its PRON fcis-32177 16 6 people people NOUN fcis-32177 16 7 to to PART fcis-32177 16 8 be be AUX fcis-32177 16 9 able able ADJ fcis-32177 16 10 to to PART fcis-32177 16 11 plan plan VERB fcis-32177 16 12 an an DET fcis-32177 16 13 optimal optimal ADJ fcis-32177 16 14 path path NOUN fcis-32177 16 15 from from ADP fcis-32177 16 16 the the DET fcis-32177 16 17 starting starting NOUN fcis-32177 16 18 point point NOUN fcis-32177 16 19 to to ADP fcis-32177 16 20 the the DET fcis-32177 16 21 end end NOUN fcis-32177 16 22 point point NOUN fcis-32177 16 23 in in ADP fcis-32177 16 24 a a DET fcis-32177 16 25 complex complex ADJ fcis-32177 16 26 environment environment NOUN fcis-32177 16 27 . . PUNCT fcis-32177 17 1 with with ADP fcis-32177 17 2 the the DET fcis-32177 17 3 continuous continuous ADJ fcis-32177 17 4 deepening deepening NOUN fcis-32177 17 5 of of ADP fcis-32177 17 6 research research NOUN fcis-32177 17 7 , , PUNCT fcis-32177 17 8 various various ADJ fcis-32177 17 9 new new ADJ fcis-32177 17 10 types type NOUN fcis-32177 17 11 of of ADP fcis-32177 17 12 intelligent intelligent ADJ fcis-32177 17 13 optimization optimization NOUN fcis-32177 17 14 algorithms algorithm NOUN fcis-32177 17 15 keep keep VERB fcis-32177 17 16 emerging emerge VERB fcis-32177 17 17 . . PUNCT fcis-32177 18 1 for for ADP fcis-32177 18 2 example example NOUN fcis-32177 18 3 , , PUNCT fcis-32177 18 4 the the DET fcis-32177 18 5 grev grev PROPN fcis-32177 18 6 wolf wolf PROPN fcis-32177 18 7 optimizer optimizer NOUN fcis-32177 18 8 ( ( PUNCT fcis-32177 18 9 gwo)[2 gwo)[2 PROPN fcis-32177 18 10 ] ] PUNCT fcis-32177 18 11 , , PUNCT fcis-32177 18 12 the the DET fcis-32177 18 13 sparrow sparrow ADJ fcis-32177 18 14 search search NOUN fcis-32177 18 15 algorithm algorithm NOUN fcis-32177 18 16 ( ( PUNCT fcis-32177 18 17 ssa)[3 ssa)[3 ADV fcis-32177 18 18 ] ] PUNCT fcis-32177 18 19 , , PUNCT fcis-32177 18 20 and and CCONJ fcis-32177 18 21 the the DET fcis-32177 18 22 particle particle NOUN fcis-32177 18 23 swarm swarm NOUN fcis-32177 18 24 optimization optimization NOUN fcis-32177 18 25 such such ADJ fcis-32177 18 26 as as ADP fcis-32177 18 27 pso[4 pso[4 NOUN fcis-32177 18 28 ] ] PUNCT fcis-32177 18 29 , , PUNCT fcis-32177 18 30 osprey osprey NOUN fcis-32177 18 31 optimization optimization NOUN fcis-32177 18 32 algorithm algorithm NOUN fcis-32177 18 33 ( ( PUNCT fcis-32177 18 34 ooa)[5 ooa)[5 PROPN fcis-32177 18 35 ] ] PUNCT fcis-32177 18 36 , , PUNCT fcis-32177 18 37 etc etc X fcis-32177 18 38 . . X fcis-32177 19 1 however however ADV fcis-32177 19 2 , , PUNCT fcis-32177 19 3 swarm swarm NOUN fcis-32177 19 4 intelligence intelligence NOUN fcis-32177 19 5 optimization optimization NOUN fcis-32177 19 6 algorithms algorithm NOUN fcis-32177 19 7 are be AUX fcis-32177 19 8 prone prone ADJ fcis-32177 19 9 to to ADP fcis-32177 19 10 problems problem NOUN fcis-32177 19 11 such such ADJ fcis-32177 19 12 as as ADP fcis-32177 19 13 poor poor ADJ fcis-32177 19 14 global global ADJ fcis-32177 19 15 search search NOUN fcis-32177 19 16 performance performance NOUN fcis-32177 19 17 and and CCONJ fcis-32177 19 18 falling fall VERB fcis-32177 19 19 into into ADP fcis-32177 19 20 local local ADJ fcis-32177 19 21 optimal optimal ADJ fcis-32177 19 22 solutions solution NOUN fcis-32177 19 23 . . PUNCT fcis-32177 20 1 therefore therefore ADV fcis-32177 20 2 , , PUNCT fcis-32177 20 3 the the DET fcis-32177 20 4 improvement improvement NOUN fcis-32177 20 5 of of ADP fcis-32177 20 6 algorithms algorithm NOUN fcis-32177 20 7 has have AUX fcis-32177 20 8 become become VERB fcis-32177 20 9 an an DET fcis-32177 20 10 important important ADJ fcis-32177 20 11 research research NOUN fcis-32177 20 12 hotspot hotspot NOUN fcis-32177 20 13 nowadays nowadays ADV fcis-32177 20 14 . . PUNCT fcis-32177 21 1 1.1 1.1 NUM fcis-32177 21 2 . . PUNCT fcis-32177 21 3 environmental environmental ADJ fcis-32177 21 4 map map NOUN fcis-32177 21 5 modeling modeling NOUN fcis-32177 21 6 in in ADP fcis-32177 21 7 the the DET fcis-32177 21 8 path path NOUN fcis-32177 21 9 planning planning NOUN fcis-32177 21 10 of of ADP fcis-32177 21 11 mobile mobile NOUN fcis-32177 21 12 robots robot NOUN fcis-32177 21 13 , , PUNCT fcis-32177 21 14 the the DET fcis-32177 21 15 first first ADJ fcis-32177 21 16 step step NOUN fcis-32177 21 17 is be AUX fcis-32177 21 18 to to PART fcis-32177 21 19 model model VERB fcis-32177 21 20 the the DET fcis-32177 21 21 map map NOUN fcis-32177 21 22 . . PUNCT fcis-32177 22 1 commonly commonly ADV fcis-32177 22 2 used use VERB fcis-32177 22 3 modeling modeling NOUN fcis-32177 22 4 methods method NOUN fcis-32177 22 5 include include VERB fcis-32177 22 6 geometric geometric ADJ fcis-32177 22 7 graph graph NOUN fcis-32177 22 8 method method NOUN fcis-32177 22 9 , , PUNCT fcis-32177 22 10 topological topological ADJ fcis-32177 22 11 map map NOUN fcis-32177 22 12 method method NOUN fcis-32177 22 13 and and CCONJ fcis-32177 22 14 raster raster PROPN fcis-32177 22 15 map map NOUN fcis-32177 22 16 method method NOUN fcis-32177 22 17 . . PUNCT fcis-32177 23 1 in in ADP fcis-32177 23 2 raster raster NOUN fcis-32177 23 3 maps map NOUN fcis-32177 23 4 , , PUNCT fcis-32177 23 5 the the DET fcis-32177 23 6 representation representation NOUN fcis-32177 23 7 of of ADP fcis-32177 23 8 feasible feasible ADJ fcis-32177 23 9 areas area NOUN fcis-32177 23 10 and and CCONJ fcis-32177 23 11 obstacles obstacle NOUN fcis-32177 23 12 is be AUX fcis-32177 23 13 achieved achieve VERB fcis-32177 23 14 through through ADP fcis-32177 23 15 the the DET fcis-32177 23 16 distribution distribution NOUN fcis-32177 23 17 of of ADP fcis-32177 23 18 0 0 NUM fcis-32177 23 19 and and CCONJ fcis-32177 23 20 1 1 NUM fcis-32177 23 21 in in ADP fcis-32177 23 22 an an DET fcis-32177 23 23 array array NOUN fcis-32177 23 24 . . PUNCT fcis-32177 24 1 among among ADP fcis-32177 24 2 them they PRON fcis-32177 24 3 , , PUNCT fcis-32177 24 4 white white ADJ fcis-32177 24 5 areas area NOUN fcis-32177 24 6 represent represent VERB fcis-32177 24 7 passable passable ADJ fcis-32177 24 8 areas area NOUN fcis-32177 24 9 , , PUNCT fcis-32177 24 10 while while SCONJ fcis-32177 24 11 black black ADJ fcis-32177 24 12 rasters raster NOUN fcis-32177 24 13 represent represent VERB fcis-32177 24 14 situations situation NOUN fcis-32177 24 15 where where SCONJ fcis-32177 24 16 obstacles obstacle NOUN fcis-32177 24 17 exist exist VERB fcis-32177 24 18 and and CCONJ fcis-32177 24 19 passage passage NOUN fcis-32177 24 20 is be AUX fcis-32177 24 21 impossible impossible ADJ fcis-32177 24 22 . . PUNCT fcis-32177 25 1 therefore therefore ADV fcis-32177 25 2 , , PUNCT fcis-32177 25 3 this this DET fcis-32177 25 4 paper paper NOUN fcis-32177 25 5 adopts adopt VERB fcis-32177 25 6 raster raster NOUN fcis-32177 25 7 maps map NOUN fcis-32177 25 8 for for ADP fcis-32177 25 9 environmental environmental ADJ fcis-32177 25 10 map map NOUN fcis-32177 25 11 modeling modeling NOUN fcis-32177 25 12 . . PUNCT fcis-32177 26 1 the the DET fcis-32177 26 2 grid grid NOUN fcis-32177 26 3 map map NOUN fcis-32177 26 4 model model NOUN fcis-32177 26 5 is be AUX fcis-32177 26 6 shown show VERB fcis-32177 26 7 in in ADP fcis-32177 26 8 figure figure NOUN fcis-32177 26 9 1 1 NUM fcis-32177 26 10 . . PUNCT fcis-32177 27 1 the the DET fcis-32177 27 2 robot robot NOUN fcis-32177 27 3 is be AUX fcis-32177 27 4 not not PART fcis-32177 27 5 allowed allow VERB fcis-32177 27 6 to to PART fcis-32177 27 7 pass pass VERB fcis-32177 27 8 through through ADP fcis-32177 27 9 the the DET fcis-32177 27 10 black black ADJ fcis-32177 27 11 obstacle obstacle NOUN fcis-32177 27 12 area area NOUN fcis-32177 27 13 in in ADP fcis-32177 27 14 the the DET fcis-32177 27 15 grid grid NOUN fcis-32177 27 16 . . PUNCT fcis-32177 28 1 the the DET fcis-32177 28 2 white white PROPN fcis-32177 28 3 grid grid PROPN fcis-32177 28 4 indicates indicate VERB fcis-32177 28 5 that that SCONJ fcis-32177 28 6 it it PRON fcis-32177 28 7 can can AUX fcis-32177 28 8 be be AUX fcis-32177 28 9 passed pass VERB fcis-32177 28 10 through through ADP fcis-32177 28 11 . . PUNCT fcis-32177 29 1 set set VERB fcis-32177 29 2 each each DET fcis-32177 29 3 grid grid NOUN fcis-32177 29 4 to to ADP fcis-32177 29 5 1 1 NUM fcis-32177 29 6 cm cm NOUN fcis-32177 29 7 . . PUNCT fcis-32177 30 1 fig fig PROPN fcis-32177 30 2 1 1 NUM fcis-32177 30 3 . . PUNCT fcis-32177 30 4 grid grid NOUN fcis-32177 30 5 map map NOUN fcis-32177 30 6 2 2 NUM fcis-32177 30 7 . . PUNCT fcis-32177 30 8 dung dung NOUN fcis-32177 30 9 beetle beetle NOUN fcis-32177 30 10 optimization optimization NOUN fcis-32177 30 11 algorithm algorithm NOUN fcis-32177 30 12 the the DET fcis-32177 30 13 dung dung NOUN fcis-32177 30 14 beetle beetle NOUN fcis-32177 30 15 optimizer optimizer NOUN fcis-32177 30 16 ( ( PUNCT fcis-32177 30 17 dbo dbo NOUN fcis-32177 30 18 ) ) PUNCT fcis-32177 30 19 is be AUX fcis-32177 30 20 an an DET fcis-32177 30 21 emerging emerge VERB fcis-32177 30 22 swarm swarm NOUN fcis-32177 30 23 intelligence intelligence NOUN fcis-32177 30 24 optimization optimization NOUN fcis-32177 30 25 technology technology NOUN fcis-32177 30 26 , , PUNCT fcis-32177 30 27 whose whose DET fcis-32177 30 28 design design NOUN fcis-32177 30 29 inspiration inspiration NOUN fcis-32177 30 30 comes come VERB fcis-32177 30 31 from from ADP fcis-32177 30 32 a a DET fcis-32177 30 33 series series NOUN fcis-32177 30 34 of of ADP fcis-32177 30 35 survival survival NOUN fcis-32177 30 36 behaviors behavior NOUN fcis-32177 30 37 of of ADP fcis-32177 30 38 dung dung NOUN fcis-32177 30 39 beetles beetle NOUN fcis-32177 30 40 ( ( PUNCT fcis-32177 30 41 commonly commonly ADV fcis-32177 30 42 known know VERB fcis-32177 30 43 as as ADP fcis-32177 30 44 dung dung NOUN fcis-32177 30 45 beetles beetle NOUN fcis-32177 30 46 ) ) PUNCT fcis-32177 30 47 in in ADP fcis-32177 30 48 the the DET fcis-32177 30 49 natural natural ADJ fcis-32177 30 50 environment[6 environment[6 NOUN fcis-32177 30 51 ] ] PUNCT fcis-32177 30 52 . . PUNCT fcis-32177 31 1 this this DET fcis-32177 31 2 algorithm algorithm NOUN fcis-32177 31 3 constructs construct VERB fcis-32177 31 4 a a DET fcis-32177 31 5 multi multi ADJ fcis-32177 31 6 - - ADJ fcis-32177 31 7 role role ADJ fcis-32177 31 8 collaborative collaborative ADJ fcis-32177 31 9 search search NOUN fcis-32177 31 10 framework framework NOUN fcis-32177 31 11 by by ADP fcis-32177 31 12 simulating simulate VERB fcis-32177 31 13 the the DET fcis-32177 31 14 complex complex ADJ fcis-32177 31 15 behaviors behavior NOUN fcis-32177 31 16 of of ADP fcis-32177 31 17 dung dung NOUN fcis-32177 31 18 beetle beetle NOUN fcis-32177 31 19 populations population NOUN fcis-32177 31 20 such such ADJ fcis-32177 31 21 as as ADP fcis-32177 31 22 rolling rolling ADJ fcis-32177 31 23 balls ball NOUN fcis-32177 31 24 , , PUNCT fcis-32177 31 25 dancing dancing NOUN fcis-32177 31 26 , , PUNCT fcis-32177 31 27 reproduction reproduction NOUN fcis-32177 31 28 , , PUNCT fcis-32177 31 29 foraging forage VERB fcis-32177 31 30 and and CCONJ fcis-32177 31 31 stealing stealing NOUN fcis-32177 31 32 , , PUNCT fcis-32177 31 33 aiming aim VERB fcis-32177 31 34 to to PART fcis-32177 31 35 efficiently efficiently ADV fcis-32177 31 36 solve solve VERB fcis-32177 31 37 global global ADJ fcis-32177 31 38 optimization optimization NOUN fcis-32177 31 39 problems problem NOUN fcis-32177 31 40 , , PUNCT fcis-32177 31 41 especially especially ADV fcis-32177 31 42 demonstrating demonstrate VERB fcis-32177 31 43 strong strong ADJ fcis-32177 31 44 optimization optimization NOUN fcis-32177 31 45 capabilities capability NOUN fcis-32177 31 46 in in ADP fcis-32177 31 47 complex complex ADJ fcis-32177 31 48 scenarios scenario NOUN fcis-32177 31 49 such such ADJ fcis-32177 31 50 as as ADP fcis-32177 31 51 path path NOUN fcis-32177 31 52 planning planning NOUN fcis-32177 31 53 . . PUNCT fcis-32177 32 1 74 74 NUM fcis-32177 32 2 2.1 2.1 NUM fcis-32177 32 3 . . PUNCT fcis-32177 33 1 rolling roll VERB fcis-32177 33 2 dung dung NOUN fcis-32177 33 3 beetle beetle NOUN fcis-32177 33 4 dung dung NOUN fcis-32177 33 5 beetles beetle NOUN fcis-32177 33 6 have have VERB fcis-32177 33 7 a a DET fcis-32177 33 8 unique unique ADJ fcis-32177 33 9 ball ball NOUN fcis-32177 33 10 - - PUNCT fcis-32177 33 11 rolling roll VERB fcis-32177 33 12 behavior behavior NOUN fcis-32177 33 13 in in ADP fcis-32177 33 14 nature nature NOUN fcis-32177 33 15 . . PUNCT fcis-32177 34 1 they they PRON fcis-32177 34 2 can can AUX fcis-32177 34 3 use use VERB fcis-32177 34 4 celestial celestial ADJ fcis-32177 34 5 cues cue NOUN fcis-32177 34 6 ( ( PUNCT fcis-32177 34 7 such such ADJ fcis-32177 34 8 as as ADP fcis-32177 34 9 sunlight sunlight NOUN fcis-32177 34 10 or or CCONJ fcis-32177 34 11 moonlight moonlight NOUN fcis-32177 34 12 ) ) PUNCT fcis-32177 34 13 for for ADP fcis-32177 34 14 navigation navigation NOUN fcis-32177 34 15 , , PUNCT fcis-32177 34 16 making make VERB fcis-32177 34 17 their their PRON fcis-32177 34 18 dung dung NOUN fcis-32177 34 19 balls ball NOUN fcis-32177 34 20 roll roll VERB fcis-32177 34 21 in in ADP fcis-32177 34 22 a a DET fcis-32177 34 23 straight straight ADJ fcis-32177 34 24 line line NOUN fcis-32177 34 25 . . PUNCT fcis-32177 35 1 however however ADV fcis-32177 35 2 , , PUNCT fcis-32177 35 3 when when SCONJ fcis-32177 35 4 in in ADP fcis-32177 35 5 a a DET fcis-32177 35 6 completely completely ADV fcis-32177 35 7 dark dark ADJ fcis-32177 35 8 environment environment NOUN fcis-32177 35 9 , , PUNCT fcis-32177 35 10 its its PRON fcis-32177 35 11 movement movement NOUN fcis-32177 35 12 path path NOUN fcis-32177 35 13 will will AUX fcis-32177 35 14 become become VERB fcis-32177 35 15 curved curved ADJ fcis-32177 35 16 . . PUNCT fcis-32177 36 1 this this DET fcis-32177 36 2 feature feature NOUN fcis-32177 36 3 was be AUX fcis-32177 36 4 inspired inspire VERB fcis-32177 36 5 for for ADP fcis-32177 36 6 the the DET fcis-32177 36 7 design design NOUN fcis-32177 36 8 of of ADP fcis-32177 36 9 optimization optimization NOUN fcis-32177 36 10 algorithms algorithm NOUN fcis-32177 36 11 . . PUNCT fcis-32177 37 1 in in ADP fcis-32177 37 2 the the DET fcis-32177 37 3 simulation simulation NOUN fcis-32177 37 4 of of ADP fcis-32177 37 5 the the DET fcis-32177 37 6 navigation navigation NOUN fcis-32177 37 7 process process NOUN fcis-32177 37 8 of of ADP fcis-32177 37 9 dung dung NOUN fcis-32177 37 10 beetles beetle NOUN fcis-32177 37 11 . . PUNCT fcis-32177 38 1 the the DET fcis-32177 38 2 corresponding correspond VERB fcis-32177 38 3 position position NOUN fcis-32177 38 4 update update NOUN fcis-32177 38 5 model model NOUN fcis-32177 38 6 can can AUX fcis-32177 38 7 be be AUX fcis-32177 38 8 expressed express VERB fcis-32177 38 9 as as SCONJ fcis-32177 38 10 follows follow VERB fcis-32177 38 11 π‘₯ π‘₯ PRON fcis-32177 38 12 𝑑 𝑑 PROPN fcis-32177 38 13 1 1 NUM fcis-32177 38 14 π‘₯ π‘₯ NOUN fcis-32177 38 15 𝑑 𝑑 NOUN fcis-32177 39 1 π‘Ž π‘Ž NOUN fcis-32177 39 2 βˆ— βˆ— NOUN fcis-32177 39 3 π‘˜ π‘˜ DET fcis-32177 39 4 βˆ— βˆ— NOUN fcis-32177 39 5 π‘₯ π‘₯ X fcis-32177 39 6 𝑑 𝑑 PROPN fcis-32177 39 7 1 1 NUM fcis-32177 39 8 𝑏 𝑏 PROPN fcis-32177 39 9 βˆ— βˆ— NOUN fcis-32177 39 10 β–³ β–³ X fcis-32177 39 11 π‘₯ π‘₯ PROPN fcis-32177 39 12 , , PUNCT fcis-32177 39 13 β–³ β–³ X fcis-32177 39 14 π‘₯ π‘₯ PROPN fcis-32177 39 15 |π‘₯ |π‘₯ NOUN fcis-32177 39 16 𝑑 𝑑 ADP fcis-32177 39 17 𝑋 𝑋 NOUN fcis-32177 39 18 | | NOUN fcis-32177 39 19 ( ( PUNCT fcis-32177 39 20 1 1 NUM fcis-32177 39 21 ) ) PUNCT fcis-32177 39 22 in in ADP fcis-32177 39 23 this this DET fcis-32177 39 24 formula formula NOUN fcis-32177 39 25 , , PUNCT fcis-32177 39 26 k k PROPN fcis-32177 39 27 is be AUX fcis-32177 39 28 a a DET fcis-32177 39 29 deflection deflection NOUN fcis-32177 39 30 coefficient coefficient NOUN fcis-32177 39 31 , , PUNCT fcis-32177 39 32 and and CCONJ fcis-32177 39 33 b b NOUN fcis-32177 39 34 is be AUX fcis-32177 39 35 a a DET fcis-32177 39 36 random random ADJ fcis-32177 39 37 parameter parameter NOUN fcis-32177 39 38 , , PUNCT fcis-32177 39 39 a a DET fcis-32177 39 40 coefficient coefficient NOUN fcis-32177 39 41 that that SCONJ fcis-32177 39 42 simulates simulate VERB fcis-32177 39 43 the the DET fcis-32177 39 44 influence influence NOUN fcis-32177 39 45 of of ADP fcis-32177 39 46 natural natural ADJ fcis-32177 39 47 factors factor NOUN fcis-32177 39 48 ( ( PUNCT fcis-32177 39 49 such such ADJ fcis-32177 39 50 as as ADP fcis-32177 39 51 wind wind NOUN fcis-32177 39 52 force force NOUN fcis-32177 39 53 or or CCONJ fcis-32177 39 54 uneven uneven ADJ fcis-32177 39 55 ground ground NOUN fcis-32177 39 56 ) ) PUNCT fcis-32177 39 57 on on ADP fcis-32177 39 58 the the DET fcis-32177 39 59 direction direction NOUN fcis-32177 39 60 .. .. PUNCT fcis-32177 40 1 the the PRON fcis-32177 40 2 larger large ADJ fcis-32177 40 3 the the DET fcis-32177 40 4 value value NOUN fcis-32177 40 5 , , PUNCT fcis-32177 40 6 the the PRON fcis-32177 40 7 weaker weak ADJ fcis-32177 40 8 the the DET fcis-32177 40 9 illumination illumination NOUN fcis-32177 40 10 , , PUNCT fcis-32177 40 11 thereby thereby ADV fcis-32177 40 12 encouraging encourage VERB fcis-32177 40 13 the the DET fcis-32177 40 14 algorithm algorithm NOUN fcis-32177 40 15 to to PART fcis-32177 40 16 conduct conduct VERB fcis-32177 40 17 more more ADV fcis-32177 40 18 extensive extensive ADJ fcis-32177 40 19 exploration exploration NOUN fcis-32177 40 20 . . PUNCT fcis-32177 41 1 2.2 2.2 NUM fcis-32177 41 2 . . PUNCT fcis-32177 42 1 breeding breed VERB fcis-32177 42 2 dung dung NOUN fcis-32177 42 3 beetles beetle NOUN fcis-32177 42 4 the the DET fcis-32177 42 5 reproductive reproductive ADJ fcis-32177 42 6 behavior behavior NOUN fcis-32177 42 7 in in ADP fcis-32177 42 8 the the DET fcis-32177 42 9 dung dung NOUN fcis-32177 42 10 beetle beetle NOUN fcis-32177 42 11 optimization optimization NOUN fcis-32177 42 12 algorithm algorithm NOUN fcis-32177 42 13 ( ( PUNCT fcis-32177 42 14 dbo dbo NOUN fcis-32177 42 15 ) ) PUNCT fcis-32177 42 16 simulates simulate VERB fcis-32177 42 17 the the DET fcis-32177 42 18 key key ADJ fcis-32177 42 19 biological biological ADJ fcis-32177 42 20 habit habit NOUN fcis-32177 42 21 of of ADP fcis-32177 42 22 female female ADJ fcis-32177 42 23 dung dung NOUN fcis-32177 42 24 beetles beetle NOUN fcis-32177 42 25 to to PART fcis-32177 42 26 safely safely ADV fcis-32177 42 27 hide hide VERB fcis-32177 42 28 their their PRON fcis-32177 42 29 dung dung NOUN fcis-32177 42 30 balls ball NOUN fcis-32177 42 31 and and CCONJ fcis-32177 42 32 lay lie VERB fcis-32177 42 33 eggs egg NOUN fcis-32177 42 34 for for ADP fcis-32177 42 35 reproduction reproduction NOUN fcis-32177 42 36 . . PUNCT fcis-32177 43 1 this this DET fcis-32177 43 2 behavior behavior NOUN fcis-32177 43 3 is be AUX fcis-32177 43 4 abstracted abstract VERB fcis-32177 43 5 as as ADP fcis-32177 43 6 a a DET fcis-32177 43 7 dynamic dynamic ADJ fcis-32177 43 8 boundary boundary ADJ fcis-32177 43 9 selection selection NOUN fcis-32177 43 10 strategy strategy NOUN fcis-32177 43 11 and and CCONJ fcis-32177 43 12 an an DET fcis-32177 43 13 egg egg NOUN fcis-32177 43 14 ball ball NOUN fcis-32177 43 15 position position NOUN fcis-32177 43 16 update update NOUN fcis-32177 43 17 mechanism mechanism NOUN fcis-32177 43 18 , , PUNCT fcis-32177 43 19 jointly jointly ADV fcis-32177 43 20 responsible responsible ADJ fcis-32177 43 21 for for ADP fcis-32177 43 22 the the DET fcis-32177 43 23 local local ADJ fcis-32177 43 24 fine fine ADJ fcis-32177 43 25 search search NOUN fcis-32177 43 26 of of ADP fcis-32177 43 27 the the DET fcis-32177 43 28 algorithm algorithm NOUN fcis-32177 43 29 during during ADP fcis-32177 43 30 the the DET fcis-32177 43 31 iterative iterative NOUN fcis-32177 43 32 process process NOUN fcis-32177 43 33 . . PUNCT fcis-32177 44 1 the the DET fcis-32177 44 2 boundary boundary ADJ fcis-32177 44 3 area area NOUN fcis-32177 44 4 selection selection NOUN fcis-32177 44 5 strategy strategy NOUN fcis-32177 44 6 for for ADP fcis-32177 44 7 simulating simulate VERB fcis-32177 44 8 dung dung NOUN fcis-32177 44 9 beetle beetle NOUN fcis-32177 44 10 spawning spawning NOUN fcis-32177 44 11 is be AUX fcis-32177 44 12 defined define VERB fcis-32177 44 13 as as SCONJ fcis-32177 44 14 follows follow VERB fcis-32177 44 15 : : PUNCT fcis-32177 44 16 lbβˆ— lbβˆ— ADJ fcis-32177 44 17 max max PROPN fcis-32177 44 18 xβˆ— xβˆ— PROPN fcis-32177 44 19 βˆ— βˆ— VERB fcis-32177 44 20 1 1 NUM fcis-32177 44 21 r r NOUN fcis-32177 44 22 , , PUNCT fcis-32177 44 23 lb lb X fcis-32177 44 24 ( ( PUNCT fcis-32177 44 25 2 2 NUM fcis-32177 44 26 ) ) PUNCT fcis-32177 44 27 ubβˆ— ubβˆ— ADJ fcis-32177 44 28 max max PROPN fcis-32177 44 29 xβˆ— xβˆ— PROPN fcis-32177 44 30 βˆ— βˆ— VERB fcis-32177 44 31 1 1 NUM fcis-32177 44 32 r r NOUN fcis-32177 44 33 , , PUNCT fcis-32177 44 34 ub ub INTJ fcis-32177 44 35 ( ( PUNCT fcis-32177 44 36 3 3 X fcis-32177 44 37 ) ) PUNCT fcis-32177 44 38 here here ADV fcis-32177 44 39 , , PUNCT fcis-32177 44 40 xβˆ— xβˆ— PROPN fcis-32177 44 41 represents represent VERB fcis-32177 44 42 the the DET fcis-32177 44 43 position position NOUN fcis-32177 44 44 of of ADP fcis-32177 44 45 the the DET fcis-32177 44 46 local local ADJ fcis-32177 44 47 optimal optimal ADJ fcis-32177 44 48 solution solution NOUN fcis-32177 44 49 in in ADP fcis-32177 44 50 the the DET fcis-32177 44 51 current current ADJ fcis-32177 44 52 iteration iteration NOUN fcis-32177 44 53 , , PUNCT fcis-32177 44 54 lbβˆ— lbβˆ— ADJ fcis-32177 44 55 , , PUNCT fcis-32177 44 56 ubβˆ— ubβˆ— ADJ fcis-32177 44 57 , , PUNCT fcis-32177 44 58 they they PRON fcis-32177 44 59 respectively respectively ADV fcis-32177 44 60 represent represent VERB fcis-32177 44 61 the the DET fcis-32177 44 62 upper upper ADJ fcis-32177 44 63 and and CCONJ fcis-32177 44 64 lower low ADJ fcis-32177 44 65 bounds bound NOUN fcis-32177 44 66 of of ADP fcis-32177 44 67 the the DET fcis-32177 44 68 dynamic dynamic ADJ fcis-32177 44 69 spawning spawning NOUN fcis-32177 44 70 region region NOUN fcis-32177 44 71 , , PUNCT fcis-32177 44 72 which which PRON fcis-32177 44 73 are be AUX fcis-32177 44 74 used use VERB fcis-32177 44 75 to to PART fcis-32177 44 76 define define VERB fcis-32177 44 77 the the DET fcis-32177 44 78 local local ADJ fcis-32177 44 79 search search NOUN fcis-32177 44 80 space space NOUN fcis-32177 44 81 of of ADP fcis-32177 44 82 this this DET fcis-32177 44 83 iteration iteration NOUN fcis-32177 44 84 . . PUNCT fcis-32177 45 1 r r NOUN fcis-32177 45 2 is be AUX fcis-32177 45 3 a a DET fcis-32177 45 4 convergence convergence NOUN fcis-32177 45 5 factor factor NOUN fcis-32177 45 6 , , PUNCT fcis-32177 45 7 and and CCONJ fcis-32177 45 8 the the DET fcis-32177 45 9 calculation calculation NOUN fcis-32177 45 10 method method NOUN fcis-32177 45 11 isr=1 isr=1 ADJ fcis-32177 45 12 - - ADJ fcis-32177 45 13 t/ t/ ADJ fcis-32177 45 14 𝑇 𝑇 PROPN fcis-32177 45 15 , , PUNCT fcis-32177 45 16 here here ADV fcis-32177 45 17 , , PUNCT fcis-32177 45 18 t t PROPN fcis-32177 45 19 represents represent VERB fcis-32177 45 20 the the DET fcis-32177 45 21 current current ADJ fcis-32177 45 22 number number NOUN fcis-32177 45 23 of of ADP fcis-32177 45 24 iterations,𝑇 iterations,𝑇 NOUN fcis-32177 45 25 is be AUX fcis-32177 45 26 the the DET fcis-32177 45 27 maximum maximum ADJ fcis-32177 45 28 number number NOUN fcis-32177 45 29 of of ADP fcis-32177 45 30 iterations iteration NOUN fcis-32177 45 31 , , PUNCT fcis-32177 45 32 and and CCONJ fcis-32177 45 33 the the DET fcis-32177 45 34 value value NOUN fcis-32177 45 35 of of ADP fcis-32177 45 36 r r NOUN fcis-32177 45 37 linearly linearly ADV fcis-32177 45 38 decreases decrease VERB fcis-32177 45 39 to to ADP fcis-32177 45 40 0 0 NUM fcis-32177 45 41 as as SCONJ fcis-32177 45 42 the the DET fcis-32177 45 43 number number NOUN fcis-32177 45 44 of of ADP fcis-32177 45 45 iterations iteration NOUN fcis-32177 45 46 changes.lb changes.lb NUM fcis-32177 45 47 and and CCONJ fcis-32177 45 48 ub ub PROPN fcis-32177 45 49 represent represent VERB fcis-32177 45 50 the the DET fcis-32177 45 51 fixed fix VERB fcis-32177 45 52 upper upper ADJ fcis-32177 45 53 and and CCONJ fcis-32177 45 54 lower low ADJ fcis-32177 45 55 bounds bound NOUN fcis-32177 45 56 of of ADP fcis-32177 45 57 the the DET fcis-32177 45 58 solution solution NOUN fcis-32177 45 59 space space NOUN fcis-32177 45 60 of of ADP fcis-32177 45 61 the the DET fcis-32177 45 62 entire entire ADJ fcis-32177 45 63 optimization optimization NOUN fcis-32177 45 64 problem.after problem.after NOUN fcis-32177 45 65 the the DET fcis-32177 45 66 egg egg NOUN fcis-32177 45 67 - - PUNCT fcis-32177 45 68 laying lay VERB fcis-32177 45 69 area area NOUN fcis-32177 45 70 is be AUX fcis-32177 45 71 determined determine VERB fcis-32177 45 72 , , PUNCT fcis-32177 45 73 the the DET fcis-32177 45 74 female female ADJ fcis-32177 45 75 dung dung NOUN fcis-32177 45 76 beetle beetle NOUN fcis-32177 45 77 will will AUX fcis-32177 45 78 lay lay VERB fcis-32177 45 79 eggs egg NOUN fcis-32177 45 80 in in ADP fcis-32177 45 81 this this DET fcis-32177 45 82 area area NOUN fcis-32177 45 83 . . PUNCT fcis-32177 46 1 assuming assume VERB fcis-32177 46 2 that that SCONJ fcis-32177 46 3 each each DET fcis-32177 46 4 reproductive reproductive ADJ fcis-32177 46 5 dung dung NOUN fcis-32177 46 6 beetle beetle NOUN fcis-32177 46 7 produces produce VERB fcis-32177 46 8 only only ADV fcis-32177 46 9 one one NUM fcis-32177 46 10 egg egg NOUN fcis-32177 46 11 ball ball NOUN fcis-32177 46 12 in in ADP fcis-32177 46 13 each each DET fcis-32177 46 14 iteration iteration NOUN fcis-32177 46 15 of of ADP fcis-32177 46 16 the the DET fcis-32177 46 17 algorithm algorithm NOUN fcis-32177 46 18 , , PUNCT fcis-32177 46 19 the the DET fcis-32177 46 20 position position NOUN fcis-32177 46 21 update update NOUN fcis-32177 46 22 formula formula NOUN fcis-32177 46 23 is be AUX fcis-32177 46 24 as as SCONJ fcis-32177 46 25 follows follow VERB fcis-32177 46 26 : : PUNCT fcis-32177 46 27 𝐡 𝐡 NOUN fcis-32177 46 28 𝑑 𝑑 VERB fcis-32177 46 29 1 1 NUM fcis-32177 46 30 π‘‹βˆ— π‘‹βˆ— ADJ fcis-32177 46 31 𝑏 𝑏 NOUN fcis-32177 46 32 βˆ— βˆ— NOUN fcis-32177 46 33 𝐡 𝐡 NOUN fcis-32177 46 34 𝑑 𝑑 PROPN fcis-32177 46 35 πΏπ‘βˆ— πΏπ‘βˆ— NOUN fcis-32177 46 36 𝑏 𝑏 NOUN fcis-32177 46 37 βˆ— βˆ— NOUN fcis-32177 46 38 𝐡 𝐡 NOUN fcis-32177 46 39 𝑑 𝑑 PROPN fcis-32177 46 40 π‘ˆπ‘βˆ— π‘ˆπ‘βˆ— NOUN fcis-32177 46 41 ( ( PUNCT fcis-32177 46 42 4 4 NUM fcis-32177 46 43 ) ) PUNCT fcis-32177 46 44 2.3 2.3 NUM fcis-32177 46 45 . . PUNCT fcis-32177 46 46 foraging forage VERB fcis-32177 46 47 dung dung NOUN fcis-32177 46 48 beetles beetle NOUN fcis-32177 46 49 foraging forage VERB fcis-32177 46 50 dung dung NOUN fcis-32177 46 51 beetles beetle NOUN fcis-32177 46 52 simulate simulate VERB fcis-32177 46 53 the the DET fcis-32177 46 54 natural natural ADJ fcis-32177 46 55 behavior behavior NOUN fcis-32177 46 56 of of ADP fcis-32177 46 57 adult adult NOUN fcis-32177 46 58 dung dung NOUN fcis-32177 46 59 beetles beetle NOUN fcis-32177 46 60 in in ADP fcis-32177 46 61 search search NOUN fcis-32177 46 62 of of ADP fcis-32177 46 63 food food NOUN fcis-32177 46 64 after after ADP fcis-32177 46 65 emerging emerge VERB fcis-32177 46 66 from from ADP fcis-32177 46 67 underground underground ADV fcis-32177 46 68 . . PUNCT fcis-32177 47 1 in in ADP fcis-32177 47 2 the the DET fcis-32177 47 3 dbo dbo NOUN fcis-32177 47 4 algorithm algorithm NOUN fcis-32177 47 5 , , PUNCT fcis-32177 47 6 such such ADJ fcis-32177 47 7 individuals individual NOUN fcis-32177 47 8 are be AUX fcis-32177 47 9 called call VERB fcis-32177 47 10 " " PUNCT fcis-32177 47 11 little little ADJ fcis-32177 47 12 dung dung NOUN fcis-32177 47 13 beetles beetle NOUN fcis-32177 47 14 " " PUNCT fcis-32177 47 15 , , PUNCT fcis-32177 47 16 responsible responsible ADJ fcis-32177 47 17 for for ADP fcis-32177 47 18 conducting conduct VERB fcis-32177 47 19 local local ADJ fcis-32177 47 20 fine fine ADJ fcis-32177 47 21 searches search NOUN fcis-32177 47 22 in in ADP fcis-32177 47 23 the the DET fcis-32177 47 24 region region NOUN fcis-32177 47 25 near near ADP fcis-32177 47 26 the the DET fcis-32177 47 27 global global ADJ fcis-32177 47 28 optimal optimal ADJ fcis-32177 47 29 solution solution NOUN fcis-32177 47 30 to to PART fcis-32177 47 31 enhance enhance VERB fcis-32177 47 32 the the DET fcis-32177 47 33 algorithm algorithm NOUN fcis-32177 47 34 's 's PART fcis-32177 47 35 development development NOUN fcis-32177 47 36 capability capability NOUN fcis-32177 47 37 . . PUNCT fcis-32177 48 1 its its PRON fcis-32177 48 2 design design NOUN fcis-32177 48 3 inspiration inspiration NOUN fcis-32177 48 4 comes come VERB fcis-32177 48 5 from from ADP fcis-32177 48 6 the the DET fcis-32177 48 7 habit habit NOUN fcis-32177 48 8 of of ADP fcis-32177 48 9 dung dung NOUN fcis-32177 48 10 beetles beetle NOUN fcis-32177 48 11 in in ADP fcis-32177 48 12 nature nature NOUN fcis-32177 48 13 to to PART fcis-32177 48 14 forage forage VERB fcis-32177 48 15 around around ADP fcis-32177 48 16 high high ADJ fcis-32177 48 17 - - PUNCT fcis-32177 48 18 quality quality NOUN fcis-32177 48 19 food food NOUN fcis-32177 48 20 sources source NOUN fcis-32177 48 21 ( ( PUNCT fcis-32177 48 22 such such ADJ fcis-32177 48 23 as as ADP fcis-32177 48 24 dung dung NOUN fcis-32177 48 25 balls ball NOUN fcis-32177 48 26 ) ) PUNCT fcis-32177 48 27 . . PUNCT fcis-32177 49 1 the the DET fcis-32177 49 2 boundary boundary NOUN fcis-32177 49 3 of of ADP fcis-32177 49 4 the the DET fcis-32177 49 5 foraging forage VERB fcis-32177 49 6 area area NOUN fcis-32177 49 7 is be AUX fcis-32177 49 8 defined define VERB fcis-32177 49 9 as as ADP fcis-32177 49 10 : : PUNCT fcis-32177 49 11 lb lb NUM fcis-32177 49 12 max max PROPN fcis-32177 49 13 x x PROPN fcis-32177 49 14 βˆ— βˆ— NOUN fcis-32177 49 15 1 1 NUM fcis-32177 49 16 r r NOUN fcis-32177 49 17 , , PUNCT fcis-32177 49 18 lb lb X fcis-32177 49 19 ( ( PUNCT fcis-32177 49 20 5 5 NUM fcis-32177 49 21 ) ) PUNCT fcis-32177 49 22 ub ub ADP fcis-32177 49 23 max max PROPN fcis-32177 49 24 x x PROPN fcis-32177 49 25 βˆ— βˆ— NOUN fcis-32177 49 26 1 1 NUM fcis-32177 49 27 r r NOUN fcis-32177 49 28 , , PUNCT fcis-32177 49 29 ub ub INTJ fcis-32177 49 30 ( ( PUNCT fcis-32177 49 31 6 6 NUM fcis-32177 49 32 ) ) PUNCT fcis-32177 49 33 here here ADV fcis-32177 49 34 , , PUNCT fcis-32177 49 35 x x PRON fcis-32177 49 36 represents represent VERB fcis-32177 49 37 the the DET fcis-32177 49 38 position position NOUN fcis-32177 49 39 of of ADP fcis-32177 49 40 the the DET fcis-32177 49 41 current current ADJ fcis-32177 49 42 global global ADJ fcis-32177 49 43 optimal optimal ADJ fcis-32177 49 44 solution solution NOUN fcis-32177 49 45 ; ; PUNCT fcis-32177 49 46 lb lb PRON fcis-32177 49 47 and and CCONJ fcis-32177 49 48 ub ub INTJ fcis-32177 49 49 respectively respectively ADV fcis-32177 49 50 represent represent VERB fcis-32177 49 51 the the DET fcis-32177 49 52 dynamic dynamic ADJ fcis-32177 49 53 lower low ADJ fcis-32177 49 54 and and CCONJ fcis-32177 49 55 upper upper ADJ fcis-32177 49 56 bounds bound NOUN fcis-32177 49 57 of of ADP fcis-32177 49 58 the the DET fcis-32177 49 59 foraging forage VERB fcis-32177 49 60 area area NOUN fcis-32177 49 61 . . PUNCT fcis-32177 50 1 therefore therefore ADV fcis-32177 50 2 , , PUNCT fcis-32177 50 3 the the DET fcis-32177 50 4 position position NOUN fcis-32177 50 5 during during ADP fcis-32177 50 6 foraging forage VERB fcis-32177 50 7 is be AUX fcis-32177 50 8 updated update VERB fcis-32177 50 9 to to ADP fcis-32177 50 10 : : PUNCT fcis-32177 50 11 𝑦 𝑦 NUM fcis-32177 50 12 𝑑 𝑑 NOUN fcis-32177 50 13 1 1 NUM fcis-32177 50 14 𝑦 𝑦 NUM fcis-32177 50 15 𝑑 𝑑 PRON fcis-32177 50 16 𝐢 𝐢 PROPN fcis-32177 50 17 𝑦 𝑦 PROPN fcis-32177 50 18 𝑑 𝑑 ADP fcis-32177 50 19 𝐿𝑏 𝐿𝑏 PROPN fcis-32177 50 20 𝐢 𝐢 PROPN fcis-32177 50 21 𝑦 𝑦 PROPN fcis-32177 50 22 𝑑 𝑑 X fcis-32177 50 23 π‘ˆπ‘ π‘ˆπ‘ PROPN fcis-32177 50 24 ( ( PUNCT fcis-32177 50 25 7 7 NUM fcis-32177 50 26 ) ) PUNCT fcis-32177 50 27 2.4 2.4 NUM fcis-32177 50 28 . . PUNCT fcis-32177 51 1 steal steal VERB fcis-32177 51 2 dung dung NOUN fcis-32177 51 3 beetles beetle NOUN fcis-32177 51 4 in in ADP fcis-32177 51 5 the the DET fcis-32177 51 6 living living NOUN fcis-32177 51 7 habits habit NOUN fcis-32177 51 8 of of ADP fcis-32177 51 9 dung dung NOUN fcis-32177 51 10 beetles beetle NOUN fcis-32177 51 11 , , PUNCT fcis-32177 51 12 a a DET fcis-32177 51 13 small small ADJ fcis-32177 51 14 number number NOUN fcis-32177 51 15 of of ADP fcis-32177 51 16 them they PRON fcis-32177 51 17 play play VERB fcis-32177 51 18 the the DET fcis-32177 51 19 role role NOUN fcis-32177 51 20 of of ADP fcis-32177 51 21 " " PUNCT fcis-32177 51 22 thieves thief NOUN fcis-32177 51 23 " " PUNCT fcis-32177 51 24 , , PUNCT fcis-32177 51 25 seizing seize VERB fcis-32177 51 26 the the DET fcis-32177 51 27 dung dung NOUN fcis-32177 51 28 balls ball NOUN fcis-32177 51 29 of of ADP fcis-32177 51 30 other other ADJ fcis-32177 51 31 dung dung NOUN fcis-32177 51 32 beetles beetle NOUN fcis-32177 51 33 to to PART fcis-32177 51 34 quickly quickly ADV fcis-32177 51 35 obtain obtain VERB fcis-32177 51 36 food food NOUN fcis-32177 51 37 . . PUNCT fcis-32177 52 1 although although SCONJ fcis-32177 52 2 this this DET fcis-32177 52 3 kind kind NOUN fcis-32177 52 4 of of ADP fcis-32177 52 5 theft theft NOUN fcis-32177 52 6 is be AUX fcis-32177 52 7 competitive competitive ADJ fcis-32177 52 8 , , PUNCT fcis-32177 52 9 from from ADP fcis-32177 52 10 the the DET fcis-32177 52 11 perspective perspective NOUN fcis-32177 52 12 of of ADP fcis-32177 52 13 population population NOUN fcis-32177 52 14 ecology ecology NOUN fcis-32177 52 15 , , PUNCT fcis-32177 52 16 it it PRON fcis-32177 52 17 promotes promote VERB fcis-32177 52 18 the the DET fcis-32177 52 19 redistribution redistribution NOUN fcis-32177 52 20 of of ADP fcis-32177 52 21 dung dung NOUN fcis-32177 52 22 ball ball NOUN fcis-32177 52 23 resources resource NOUN fcis-32177 52 24 among among ADP fcis-32177 52 25 different different ADJ fcis-32177 52 26 individuals individual NOUN fcis-32177 52 27 , , PUNCT fcis-32177 52 28 avoiding avoid VERB fcis-32177 52 29 excessive excessive ADJ fcis-32177 52 30 concentration concentration NOUN fcis-32177 52 31 of of ADP fcis-32177 52 32 resources resource NOUN fcis-32177 52 33 . . PUNCT fcis-32177 53 1 it it PRON fcis-32177 53 2 helps help VERB fcis-32177 53 3 the the DET fcis-32177 53 4 population population NOUN fcis-32177 53 5 maintain maintain VERB fcis-32177 53 6 overall overall ADJ fcis-32177 53 7 adaptability adaptability NOUN fcis-32177 53 8 and and CCONJ fcis-32177 53 9 vitality vitality NOUN fcis-32177 53 10 in in ADP fcis-32177 53 11 a a DET fcis-32177 53 12 variable variable ADJ fcis-32177 53 13 environment environment NOUN fcis-32177 53 14 . . PUNCT fcis-32177 54 1 the the DET fcis-32177 54 2 position position NOUN fcis-32177 54 3 update update NOUN fcis-32177 54 4 formula formula NOUN fcis-32177 54 5 for for ADP fcis-32177 54 6 stealing steal VERB fcis-32177 54 7 dung dung NOUN fcis-32177 54 8 beetles beetle NOUN fcis-32177 54 9 is be AUX fcis-32177 54 10 : : PUNCT fcis-32177 54 11 𝑧 𝑧 PROPN fcis-32177 54 12 𝑑 𝑑 PROPN fcis-32177 54 13 1 1 NUM fcis-32177 54 14 𝑍 𝑍 PROPN fcis-32177 54 15 𝑆 𝑆 PROPN fcis-32177 54 16 βˆ— βˆ— NOUN fcis-32177 54 17 𝑔 𝑔 PROPN fcis-32177 54 18 βˆ— βˆ— NOUN fcis-32177 54 19 |𝑧 |𝑧 NOUN fcis-32177 54 20 𝑑 𝑑 NOUN fcis-32177 54 21 π‘βˆ—| π‘βˆ—| ADJ fcis-32177 54 22 |𝑧 |𝑧 NOUN fcis-32177 54 23 𝑑 𝑑 ADP fcis-32177 54 24 𝑍 𝑍 PROPN fcis-32177 54 25 | | NOUN fcis-32177 54 26 ( ( PUNCT fcis-32177 54 27 8) 8) NOUN fcis-32177 54 28 2.5 2.5 NUM fcis-32177 54 29 . . PUNCT fcis-32177 55 1 population population NOUN fcis-32177 55 2 division division NOUN fcis-32177 55 3 of of ADP fcis-32177 55 4 dung dung NOUN fcis-32177 55 5 beetles beetle NOUN fcis-32177 55 6 fig fig NOUN fcis-32177 55 7 2 2 NUM fcis-32177 55 8 . . PUNCT fcis-32177 56 1 population population NOUN fcis-32177 56 2 distribution distribution NOUN fcis-32177 56 3 when when SCONJ fcis-32177 56 4 applying apply VERB fcis-32177 56 5 the the DET fcis-32177 56 6 dung dung NOUN fcis-32177 56 7 beetle beetle NOUN fcis-32177 56 8 optimization optimization NOUN fcis-32177 56 9 algorithm algorithm NOUN fcis-32177 56 10 , , PUNCT fcis-32177 56 11 it it PRON fcis-32177 56 12 is be AUX fcis-32177 56 13 necessary necessary ADJ fcis-32177 56 14 to to PART fcis-32177 56 15 divide divide VERB fcis-32177 56 16 different different ADJ fcis-32177 56 17 dung dung NOUN fcis-32177 56 18 beetle beetle NOUN fcis-32177 56 19 populations population NOUN fcis-32177 56 20 in in ADP fcis-32177 56 21 a a DET fcis-32177 56 22 certain certain ADJ fcis-32177 56 23 proportion proportion NOUN fcis-32177 56 24 . . PUNCT fcis-32177 57 1 each each DET fcis-32177 57 2 part part NOUN fcis-32177 57 3 of of ADP fcis-32177 57 4 the the DET fcis-32177 57 5 dung dung NOUN fcis-32177 57 6 beetles beetle NOUN fcis-32177 57 7 searches search NOUN fcis-32177 57 8 according accord VERB fcis-32177 57 9 to to ADP fcis-32177 57 10 different different ADJ fcis-32177 57 11 divisions division NOUN fcis-32177 57 12 of of ADP fcis-32177 57 13 labor labor NOUN fcis-32177 57 14 to to PART fcis-32177 57 15 achieve achieve VERB fcis-32177 57 16 the the DET fcis-32177 57 17 application application NOUN fcis-32177 57 18 effect effect NOUN fcis-32177 57 19 of of ADP fcis-32177 57 20 the the DET fcis-32177 57 21 algorithm algorithm NOUN fcis-32177 57 22 . . PUNCT fcis-32177 58 1 xue xue PROPN fcis-32177 58 2 et et PROPN fcis-32177 58 3 al[6 al[6 PROPN fcis-32177 58 4 ] ] PUNCT fcis-32177 58 5 . . PUNCT fcis-32177 58 6 proposed propose VERB fcis-32177 58 7 that that SCONJ fcis-32177 58 8 when when SCONJ fcis-32177 58 9 optimizing optimize VERB fcis-32177 58 10 the the DET fcis-32177 58 11 dung dung NOUN fcis-32177 58 12 beetle beetle NOUN fcis-32177 58 13 algorithm algorithm NOUN fcis-32177 58 14 , , PUNCT fcis-32177 58 15 the the DET fcis-32177 58 16 proportion proportion NOUN fcis-32177 58 17 of of ADP fcis-32177 58 18 rolling rolling ADJ fcis-32177 58 19 ball ball NOUN fcis-32177 58 20 dung dung NOUN fcis-32177 58 21 beetles beetle NOUN fcis-32177 58 22 is be AUX fcis-32177 58 23 20 20 NUM fcis-32177 58 24 % % NOUN fcis-32177 58 25 , , PUNCT fcis-32177 58 26 egg egg NOUN fcis-32177 58 27 ball ball NOUN fcis-32177 58 28 dung dung NOUN fcis-32177 58 29 beetles beetle NOUN fcis-32177 58 30 is be AUX fcis-32177 58 31 20 20 NUM fcis-32177 58 32 % % NOUN fcis-32177 58 33 , , PUNCT fcis-32177 58 34 foraging forage VERB fcis-32177 58 35 dung dung NOUN fcis-32177 58 36 beetles beetle NOUN fcis-32177 58 37 are be AUX fcis-32177 58 38 25 25 NUM fcis-32177 58 39 % % NOUN fcis-32177 58 40 , , PUNCT fcis-32177 58 41 and and CCONJ fcis-32177 58 42 stealing steal VERB fcis-32177 58 43 dung dung NOUN fcis-32177 58 44 beetles beetle NOUN fcis-32177 58 45 are be AUX fcis-32177 58 46 35 35 NUM fcis-32177 58 47 % % NOUN fcis-32177 58 48 . . PUNCT fcis-32177 59 1 the the DET fcis-32177 59 2 proportions proportion NOUN fcis-32177 59 3 of of ADP fcis-32177 59 4 each each DET fcis-32177 59 5 type type NOUN fcis-32177 59 6 are be AUX fcis-32177 59 7 shown show VERB fcis-32177 59 8 in in ADP fcis-32177 59 9 figure figure NOUN fcis-32177 59 10 2 2 NUM fcis-32177 59 11 . . NOUN fcis-32177 59 12 3 3 X fcis-32177 59 13 . . X fcis-32177 59 14 improve improve VERB fcis-32177 59 15 the the DET fcis-32177 59 16 optimization optimization NOUN fcis-32177 59 17 algorithm algorithm NOUN fcis-32177 59 18 for for ADP fcis-32177 59 19 dung dung NOUN fcis-32177 59 20 beetles beetle NOUN fcis-32177 59 21 3.1 3.1 NUM fcis-32177 59 22 . . PUNCT fcis-32177 60 1 population population NOUN fcis-32177 60 2 logistics logistic NOUN fcis-32177 60 3 chaos chaos PROPN fcis-32177 60 4 initialization initialization NOUN fcis-32177 60 5 traditional traditional ADJ fcis-32177 60 6 dung dung NOUN fcis-32177 60 7 beetle beetle NOUN fcis-32177 60 8 optimization optimization NOUN fcis-32177 60 9 algorithms algorithm NOUN fcis-32177 60 10 usually usually ADV fcis-32177 60 11 generate generate VERB fcis-32177 60 12 the the DET fcis-32177 60 13 initial initial ADJ fcis-32177 60 14 population population NOUN fcis-32177 60 15 in in ADP fcis-32177 60 16 a a DET fcis-32177 60 17 random random ADJ fcis-32177 60 18 way way NOUN fcis-32177 60 19 . . PUNCT fcis-32177 61 1 this this DET fcis-32177 61 2 method method NOUN fcis-32177 61 3 is be AUX fcis-32177 61 4 prone prone ADJ fcis-32177 61 5 to to PART fcis-32177 61 6 cause cause VERB fcis-32177 61 7 uneven uneven ADJ fcis-32177 61 8 distribution distribution NOUN fcis-32177 61 9 of of ADP fcis-32177 61 10 population population NOUN fcis-32177 61 11 individuals individual NOUN fcis-32177 61 12 in in ADP fcis-32177 61 13 the the DET fcis-32177 61 14 solution solution NOUN fcis-32177 61 15 space space NOUN fcis-32177 61 16 , , PUNCT fcis-32177 61 17 which which PRON fcis-32177 61 18 in in ADP fcis-32177 61 19 turn turn NOUN fcis-32177 61 20 leads lead VERB fcis-32177 61 21 to to ADP fcis-32177 61 22 a a DET fcis-32177 61 23 low low ADJ fcis-32177 61 24 level level NOUN fcis-32177 61 25 of of ADP fcis-32177 61 26 population population NOUN fcis-32177 61 27 diversity diversity NOUN fcis-32177 61 28 . . PUNCT fcis-32177 62 1 the the DET fcis-32177 62 2 insufficiency insufficiency NOUN fcis-32177 62 3 of of ADP fcis-32177 62 4 diversity diversity NOUN fcis-32177 62 5 will will AUX fcis-32177 62 6 cause cause VERB fcis-32177 62 7 the the DET fcis-32177 62 8 algorithm algorithm NOUN fcis-32177 62 9 to to PART fcis-32177 62 10 tend tend VERB fcis-32177 62 11 to to PART fcis-32177 62 12 develop develop VERB fcis-32177 62 13 in in ADP fcis-32177 62 14 local local ADJ fcis-32177 62 15 areas area NOUN fcis-32177 62 16 at at ADP fcis-32177 62 17 the the DET fcis-32177 62 18 early early ADJ fcis-32177 62 19 stage stage NOUN fcis-32177 62 20 of of ADP fcis-32177 62 21 search search NOUN fcis-32177 62 22 , , PUNCT fcis-32177 62 23 resulting result VERB fcis-32177 62 24 in in ADP fcis-32177 62 25 premature premature ADJ fcis-32177 62 26 convergence convergence NOUN fcis-32177 62 27 and and CCONJ fcis-32177 62 28 making make VERB fcis-32177 62 29 it it PRON fcis-32177 62 30 difficult difficult ADJ fcis-32177 62 31 to to PART fcis-32177 62 32 obtain obtain VERB fcis-32177 62 33 high high ADJ fcis-32177 62 34 - - PUNCT fcis-32177 62 35 quality quality NOUN fcis-32177 62 36 global global ADJ fcis-32177 62 37 optimal optimal ADJ fcis-32177 62 38 solutions solution NOUN fcis-32177 62 39 . . PUNCT fcis-32177 63 1 to to PART fcis-32177 63 2 solve solve VERB fcis-32177 63 3 the the DET fcis-32177 63 4 above above ADJ fcis-32177 63 5 problems problem NOUN fcis-32177 63 6 , , PUNCT fcis-32177 63 7 logistics logistic NOUN fcis-32177 63 8 chaotic chaotic ADJ fcis-32177 63 9 mapping mapping NOUN fcis-32177 63 10 is be AUX fcis-32177 63 11 introduced introduce VERB fcis-32177 63 12 to to PART fcis-32177 63 13 replace replace VERB fcis-32177 63 14 the the DET fcis-32177 63 15 traditional traditional ADJ fcis-32177 63 16 random random ADJ fcis-32177 63 17 initialization initialization NOUN fcis-32177 63 18 method method NOUN fcis-32177 63 19 . . PUNCT fcis-32177 64 1 logistics logistic NOUN fcis-32177 64 2 mapping mapping NOUN fcis-32177 64 3 is be AUX fcis-32177 64 4 a a DET fcis-32177 64 5 classic classic ADJ fcis-32177 64 6 chaotic chaotic ADJ fcis-32177 64 7 75 75 NUM fcis-32177 64 8 system system NOUN fcis-32177 64 9 with with ADP fcis-32177 64 10 a a DET fcis-32177 64 11 concise concise ADJ fcis-32177 64 12 mathematical mathematical ADJ fcis-32177 64 13 expression expression NOUN fcis-32177 64 14 and and CCONJ fcis-32177 64 15 rich rich ADJ fcis-32177 64 16 dynamic dynamic ADJ fcis-32177 64 17 behavior behavior NOUN fcis-32177 64 18 , , PUNCT fcis-32177 64 19 making make VERB fcis-32177 64 20 it it PRON fcis-32177 64 21 highly highly ADV fcis-32177 64 22 suitable suitable ADJ fcis-32177 64 23 for for ADP fcis-32177 64 24 generating generate VERB fcis-32177 64 25 initial initial ADJ fcis-32177 64 26 populations population NOUN fcis-32177 64 27 . . PUNCT fcis-32177 65 1 the the DET fcis-32177 65 2 formula formula NOUN fcis-32177 65 3 for for ADP fcis-32177 65 4 logistics logistic NOUN fcis-32177 65 5 chaotic chaotic ADJ fcis-32177 65 6 mapping mapping NOUN fcis-32177 65 7 is be AUX fcis-32177 65 8 : : PUNCT fcis-32177 65 9 x x SYM fcis-32177 65 10 t t PROPN fcis-32177 65 11 1 1 NUM fcis-32177 65 12 ΞΌ ΞΌ PROPN fcis-32177 65 13 βˆ— βˆ— NOUN fcis-32177 65 14 x x PUNCT fcis-32177 65 15 t t PROPN fcis-32177 65 16 βˆ— βˆ— NOUN fcis-32177 65 17 1 1 NUM fcis-32177 65 18 x x SYM fcis-32177 65 19 t t PROPN fcis-32177 65 20 ( ( PUNCT fcis-32177 65 21 9 9 NUM fcis-32177 65 22 ) ) PUNCT fcis-32177 65 23 in in ADP fcis-32177 65 24 the the DET fcis-32177 65 25 formula formula NOUN fcis-32177 65 26 , , PUNCT fcis-32177 65 27 x x PROPN fcis-32177 65 28 t t PROPN fcis-32177 65 29 represents represent VERB fcis-32177 65 30 the the DET fcis-32177 65 31 position position NOUN fcis-32177 65 32 information information NOUN fcis-32177 65 33 at at ADP fcis-32177 65 34 the the DET fcis-32177 65 35 tth tth PROPN fcis-32177 65 36 iteration iteration NOUN fcis-32177 65 37 : : PUNCT fcis-32177 65 38 x x SYM fcis-32177 65 39 t t NOUN fcis-32177 65 40 1 1 NUM fcis-32177 65 41 represents represent VERB fcis-32177 65 42 the the DET fcis-32177 65 43 position position NOUN fcis-32177 65 44 information information NOUN fcis-32177 65 45 at at ADP fcis-32177 65 46 the the DET fcis-32177 65 47 t+1 t+1 PROPN fcis-32177 65 48 th th NUM fcis-32177 65 49 iteration iteration NOUN fcis-32177 65 50 , , PUNCT fcis-32177 65 51 and and CCONJ fcis-32177 65 52 ΞΌ ΞΌ NOUN fcis-32177 65 53 is be AUX fcis-32177 65 54 the the DET fcis-32177 65 55 control control NOUN fcis-32177 65 56 parameter parameter NOUN fcis-32177 65 57 . . PUNCT fcis-32177 66 1 3.2 3.2 NUM fcis-32177 66 2 . . PUNCT fcis-32177 66 3 introduce introduce VERB fcis-32177 66 4 the the DET fcis-32177 66 5 levy levy NOUN fcis-32177 66 6 flight flight NOUN fcis-32177 66 7 strategy strategy NOUN fcis-32177 66 8 levy levy NOUN fcis-32177 66 9 walks walk VERB fcis-32177 66 10 randomly randomly ADV fcis-32177 66 11 during during ADP fcis-32177 66 12 flight flight NOUN fcis-32177 66 13 , , PUNCT fcis-32177 66 14 and and CCONJ fcis-32177 66 15 the the DET fcis-32177 66 16 number number NOUN fcis-32177 66 17 of of ADP fcis-32177 66 18 steps step NOUN fcis-32177 66 19 is be AUX fcis-32177 66 20 determined determine VERB fcis-32177 66 21 by by ADP fcis-32177 66 22 the the DET fcis-32177 66 23 step step NOUN fcis-32177 66 24 length length NOUN fcis-32177 66 25 . . PUNCT fcis-32177 67 1 compared compare VERB fcis-32177 67 2 with with ADP fcis-32177 67 3 the the DET fcis-32177 67 4 gaussian gaussian ADJ fcis-32177 67 5 distribution distribution NOUN fcis-32177 67 6 , , PUNCT fcis-32177 67 7 levy levy NOUN fcis-32177 67 8 does do AUX fcis-32177 67 9 not not PART fcis-32177 67 10 decline decline VERB fcis-32177 67 11 rapidly rapidly ADV fcis-32177 67 12 over over ADP fcis-32177 67 13 long long ADJ fcis-32177 67 14 distances distance NOUN fcis-32177 67 15 . . PUNCT fcis-32177 68 1 for for ADP fcis-32177 68 2 brownian brownian ADJ fcis-32177 68 3 motion motion NOUN fcis-32177 68 4 , , PUNCT fcis-32177 68 5 each each DET fcis-32177 68 6 size size NOUN fcis-32177 68 7 is be AUX fcis-32177 68 8 usually usually ADV fcis-32177 68 9 small small ADJ fcis-32177 68 10 and and CCONJ fcis-32177 68 11 the the DET fcis-32177 68 12 variance variance NOUN fcis-32177 68 13 of of ADP fcis-32177 68 14 the the DET fcis-32177 68 15 distribution distribution NOUN fcis-32177 68 16 is be AUX fcis-32177 68 17 finite finite ADJ fcis-32177 68 18 . . PUNCT fcis-32177 69 1 levy levy NOUN fcis-32177 69 2 jumps jump VERB fcis-32177 69 3 have have VERB fcis-32177 69 4 no no DET fcis-32177 69 5 characteristic characteristic ADJ fcis-32177 69 6 length length NOUN fcis-32177 69 7 scale scale NOUN fcis-32177 69 8 . . PUNCT fcis-32177 70 1 therefore therefore ADV fcis-32177 70 2 , , PUNCT fcis-32177 70 3 combining combine VERB fcis-32177 70 4 levy levy NOUN fcis-32177 70 5 flight flight NOUN fcis-32177 70 6 with with ADP fcis-32177 70 7 the the DET fcis-32177 70 8 dbo dbo NOUN fcis-32177 70 9 algorithm algorithm NOUN fcis-32177 70 10 can can AUX fcis-32177 70 11 effectively effectively ADV fcis-32177 70 12 enhance enhance VERB fcis-32177 70 13 the the DET fcis-32177 70 14 global global ADJ fcis-32177 70 15 search search NOUN fcis-32177 70 16 ability ability NOUN fcis-32177 70 17 and and CCONJ fcis-32177 70 18 diversity diversity NOUN fcis-32177 70 19 of of ADP fcis-32177 70 20 the the DET fcis-32177 70 21 algorithm algorithm NOUN fcis-32177 70 22 and and CCONJ fcis-32177 70 23 prevent prevent VERB fcis-32177 70 24 it it PRON fcis-32177 70 25 from from ADP fcis-32177 70 26 falling fall VERB fcis-32177 70 27 into into ADP fcis-32177 70 28 a a DET fcis-32177 70 29 local local ADJ fcis-32177 70 30 optimal optimal ADJ fcis-32177 70 31 state state NOUN fcis-32177 70 32 . . PUNCT fcis-32177 71 1 after after ADP fcis-32177 71 2 introducing introduce VERB fcis-32177 71 3 levy levy NOUN fcis-32177 71 4 flight flight NOUN fcis-32177 71 5 , , PUNCT fcis-32177 71 6 the the DET fcis-32177 71 7 algorithm algorithm NOUN fcis-32177 71 8 's 's PART fcis-32177 71 9 position position NOUN fcis-32177 71 10 update update NOUN fcis-32177 71 11 formula formula NOUN fcis-32177 71 12 for for ADP fcis-32177 71 13 theft theft NOUN fcis-32177 71 14 behavior behavior NOUN fcis-32177 71 15 is be AUX fcis-32177 71 16 : : PUNCT fcis-32177 71 17 π‘₯ π‘₯ PROPN fcis-32177 71 18 𝑑 𝑑 PROPN fcis-32177 71 19 1 1 NUM fcis-32177 71 20 π‘₯ π‘₯ PROPN fcis-32177 71 21 𝑆 𝑆 PROPN fcis-32177 71 22 βˆ— βˆ— NOUN fcis-32177 71 23 𝑔 𝑔 PROPN fcis-32177 71 24 βˆ— βˆ— NOUN fcis-32177 71 25 |π‘₯ |π‘₯ NOUN fcis-32177 71 26 𝑑 𝑑 PROPN fcis-32177 71 27 π‘₯βˆ—| π‘₯βˆ—| NOUN fcis-32177 71 28 |π‘₯ |π‘₯ NOUN fcis-32177 71 29 𝑑 𝑑 ADP fcis-32177 71 30 π‘₯ π‘₯ VERB fcis-32177 71 31 | | ADV fcis-32177 71 32 βˆ— βˆ— NOUN fcis-32177 71 33 𝑙𝑒𝑣𝑦 𝑙𝑒𝑣𝑦 VERB fcis-32177 71 34 𝛽 𝛽 NOUN fcis-32177 71 35 ( ( PUNCT fcis-32177 71 36 10 10 NUM fcis-32177 71 37 ) ) PUNCT fcis-32177 71 38 3.3 3.3 NUM fcis-32177 71 39 . . PUNCT fcis-32177 72 1 improved improve VERB fcis-32177 72 2 location location NOUN fcis-32177 72 3 update update NOUN fcis-32177 72 4 strategy strategy NOUN fcis-32177 72 5 for for ADP fcis-32177 72 6 the the DET fcis-32177 72 7 first first ADJ fcis-32177 72 8 p p ADJ fcis-32177 72 9 individuals individual NOUN fcis-32177 72 10 of of ADP fcis-32177 72 11 the the DET fcis-32177 72 12 producer producer NOUN fcis-32177 72 13 , , PUNCT fcis-32177 72 14 two two NUM fcis-32177 72 15 strategies strategy NOUN fcis-32177 72 16 are be AUX fcis-32177 72 17 adopted adopt VERB fcis-32177 72 18 . . PUNCT fcis-32177 73 1 with with ADP fcis-32177 73 2 an an DET fcis-32177 73 3 80 80 NUM fcis-32177 73 4 % % NOUN fcis-32177 73 5 probability probability NOUN fcis-32177 73 6 , , PUNCT fcis-32177 73 7 exploration exploration NOUN fcis-32177 73 8 based base VERB fcis-32177 73 9 on on ADP fcis-32177 73 10 the the DET fcis-32177 73 11 worst bad ADJ fcis-32177 73 12 individual individual ADJ fcis-32177 73 13 and and CCONJ fcis-32177 73 14 random random ADJ fcis-32177 73 15 perturbation perturbation NOUN fcis-32177 73 16 is be AUX fcis-32177 73 17 used use VERB fcis-32177 73 18 , , PUNCT fcis-32177 73 19 and and CCONJ fcis-32177 73 20 with with ADP fcis-32177 73 21 a a DET fcis-32177 73 22 20 20 NUM fcis-32177 73 23 % % NOUN fcis-32177 73 24 probability probability NOUN fcis-32177 73 25 , , PUNCT fcis-32177 73 26 exploration exploration NOUN fcis-32177 73 27 based base VERB fcis-32177 73 28 on on ADP fcis-32177 73 29 angles angle NOUN fcis-32177 73 30 is be AUX fcis-32177 73 31 adopted adopt VERB fcis-32177 73 32 . . PUNCT fcis-32177 74 1 if if SCONJ fcis-32177 74 2 the the DET fcis-32177 74 3 angles angle NOUN fcis-32177 74 4 are be AUX fcis-32177 74 5 0 0 NUM fcis-32177 74 6 , , PUNCT fcis-32177 74 7 90 90 NUM fcis-32177 74 8 , , PUNCT fcis-32177 74 9 or or CCONJ fcis-32177 74 10 180 180 NUM fcis-32177 74 11 , , PUNCT fcis-32177 74 12 small small ADJ fcis-32177 74 13 perturbations perturbation NOUN fcis-32177 74 14 are be AUX fcis-32177 74 15 added add VERB fcis-32177 74 16 ; ; PUNCT fcis-32177 74 17 otherwise otherwise ADV fcis-32177 74 18 , , PUNCT fcis-32177 74 19 the the DET fcis-32177 74 20 tangent tangent NOUN fcis-32177 74 21 function function NOUN fcis-32177 74 22 is be AUX fcis-32177 74 23 introduced introduce VERB fcis-32177 74 24 for for ADP fcis-32177 74 25 update update NOUN fcis-32177 74 26 . . PUNCT fcis-32177 75 1 its its PRON fcis-32177 75 2 formula formula NOUN fcis-32177 75 3 is be AUX fcis-32177 75 4 : : PUNCT fcis-32177 75 5 π‘₯ π‘₯ X fcis-32177 75 6 𝑝π‘₯ 𝑝π‘₯ ADJ fcis-32177 75 7 π‘Ž π‘Ž PRON fcis-32177 75 8 βˆ— βˆ— NOUN fcis-32177 75 9 π‘‘π‘Žπ‘› π‘‘π‘Žπ‘› NOUN fcis-32177 76 1 πœƒ πœƒ X fcis-32177 76 2 βˆ— βˆ— NOUN fcis-32177 76 3 |𝑝π‘₯ |𝑝π‘₯ NUM fcis-32177 76 4 π‘₯π‘₯ π‘₯π‘₯ ADP fcis-32177 76 5 | | ADV fcis-32177 76 6 ( ( PUNCT fcis-32177 76 7 11 11 NUM fcis-32177 76 8 ) ) SYM fcis-32177 76 9 4 4 NUM fcis-32177 76 10 . . X fcis-32177 76 11 simulation simulation NOUN fcis-32177 76 12 experiment experiment NOUN fcis-32177 76 13 fig fig PROPN fcis-32177 76 14 3 3 X fcis-32177 76 15 . . PUNCT fcis-32177 77 1 each each DET fcis-32177 77 2 optimization optimization NOUN fcis-32177 77 3 algorithm algorithm PROPN fcis-32177 77 4 path path PROPN fcis-32177 77 5 fig fig PROPN fcis-32177 77 6 4 4 NUM fcis-32177 77 7 . . NOUN fcis-32177 77 8 iterative iterative NOUN fcis-32177 77 9 curves curve NOUN fcis-32177 77 10 of of ADP fcis-32177 77 11 each each DET fcis-32177 77 12 optimization optimization NOUN fcis-32177 77 13 algorithm algorithm NOUN fcis-32177 77 14 76 76 NUM fcis-32177 77 15 to to PART fcis-32177 77 16 verify verify VERB fcis-32177 77 17 the the DET fcis-32177 77 18 effectiveness effectiveness NOUN fcis-32177 77 19 of of ADP fcis-32177 77 20 the the DET fcis-32177 77 21 algorithm algorithm NOUN fcis-32177 77 22 , , PUNCT fcis-32177 77 23 an an DET fcis-32177 77 24 experimental experimental ADJ fcis-32177 77 25 raster raster NOUN fcis-32177 77 26 map map NOUN fcis-32177 77 27 was be AUX fcis-32177 77 28 built build VERB fcis-32177 77 29 using use VERB fcis-32177 77 30 matlab matlab PROPN fcis-32177 77 31 simulation simulation NOUN fcis-32177 77 32 software software PROPN fcis-32177 77 33 . . PUNCT fcis-32177 78 1 the the DET fcis-32177 78 2 number number NOUN fcis-32177 78 3 of of ADP fcis-32177 78 4 population population NOUN fcis-32177 78 5 iterations iteration NOUN fcis-32177 78 6 was be AUX fcis-32177 78 7 set set VERB fcis-32177 78 8 to to ADP fcis-32177 78 9 100 100 NUM fcis-32177 78 10 generations generation NOUN fcis-32177 78 11 , , PUNCT fcis-32177 78 12 and and CCONJ fcis-32177 78 13 the the DET fcis-32177 78 14 population population NOUN fcis-32177 78 15 size size NOUN fcis-32177 78 16 was be AUX fcis-32177 78 17 50 50 NUM fcis-32177 78 18 . . PUNCT fcis-32177 79 1 different different ADJ fcis-32177 79 2 types type NOUN fcis-32177 79 3 of of ADP fcis-32177 79 4 dung dung NOUN fcis-32177 79 5 beetle beetle NOUN fcis-32177 79 6 populations population NOUN fcis-32177 79 7 were be AUX fcis-32177 79 8 allocated allocate VERB fcis-32177 79 9 according accord VERB fcis-32177 79 10 to to ADP fcis-32177 79 11 the the DET fcis-32177 79 12 previous previous ADJ fcis-32177 79 13 proportion proportion NOUN fcis-32177 79 14 , , PUNCT fcis-32177 79 15 among among ADP fcis-32177 79 16 which which PRON fcis-32177 79 17 the the DET fcis-32177 79 18 number number NOUN fcis-32177 79 19 of of ADP fcis-32177 79 20 rolling roll VERB fcis-32177 79 21 dung dung NOUN fcis-32177 79 22 beetles beetle NOUN fcis-32177 79 23 was be AUX fcis-32177 79 24 10 10 NUM fcis-32177 79 25 , , PUNCT fcis-32177 79 26 the the DET fcis-32177 79 27 number number NOUN fcis-32177 79 28 of of ADP fcis-32177 79 29 breeding breed VERB fcis-32177 79 30 dung dung NOUN fcis-32177 79 31 beetles beetle NOUN fcis-32177 79 32 was be AUX fcis-32177 79 33 10 10 NUM fcis-32177 79 34 , , PUNCT fcis-32177 79 35 the the DET fcis-32177 79 36 number number NOUN fcis-32177 79 37 of of ADP fcis-32177 79 38 foraging forage VERB fcis-32177 79 39 dung dung NOUN fcis-32177 79 40 beetles beetle NOUN fcis-32177 79 41 was be AUX fcis-32177 79 42 13 13 NUM fcis-32177 79 43 , , PUNCT fcis-32177 79 44 and and CCONJ fcis-32177 79 45 the the DET fcis-32177 79 46 number number NOUN fcis-32177 79 47 of of ADP fcis-32177 79 48 stealing steal VERB fcis-32177 79 49 dung dung NOUN fcis-32177 79 50 beetles beetle NOUN fcis-32177 79 51 was be AUX fcis-32177 79 52 17 17 NUM fcis-32177 79 53 . . PUNCT fcis-32177 80 1 set set VERB fcis-32177 80 2 the the DET fcis-32177 80 3 starting starting NOUN fcis-32177 80 4 point point NOUN fcis-32177 80 5 coordinates coordinate NOUN fcis-32177 80 6 to to ADP fcis-32177 80 7 ( ( PUNCT fcis-32177 80 8 1,1 1,1 NUM fcis-32177 80 9 ) ) PUNCT fcis-32177 80 10 and and CCONJ fcis-32177 80 11 the the DET fcis-32177 80 12 ending end VERB fcis-32177 80 13 point point NOUN fcis-32177 80 14 coordinates coordinate NOUN fcis-32177 80 15 to to ADP fcis-32177 80 16 ( ( PUNCT fcis-32177 80 17 20,20 20,20 NUM fcis-32177 80 18 ) ) PUNCT fcis-32177 80 19 . . PUNCT fcis-32177 81 1 during during ADP fcis-32177 81 2 the the DET fcis-32177 81 3 experiment experiment NOUN fcis-32177 81 4 , , PUNCT fcis-32177 81 5 the the DET fcis-32177 81 6 improved improved ADJ fcis-32177 81 7 dung dung NOUN fcis-32177 81 8 beetle beetle NOUN fcis-32177 81 9 algorithm algorithm NOUN fcis-32177 81 10 , , PUNCT fcis-32177 81 11 the the DET fcis-32177 81 12 original original ADJ fcis-32177 81 13 dung dung NOUN fcis-32177 81 14 beetle beetle NOUN fcis-32177 81 15 algorithm algorithm NOUN fcis-32177 81 16 , , PUNCT fcis-32177 81 17 the the DET fcis-32177 81 18 sparrow sparrow ADJ fcis-32177 81 19 optimization optimization NOUN fcis-32177 81 20 algorithm algorithm NOUN fcis-32177 81 21 and and CCONJ fcis-32177 81 22 the the DET fcis-32177 81 23 goose goose NOUN fcis-32177 81 24 swarm swarm NOUN fcis-32177 81 25 optimization optimization NOUN fcis-32177 81 26 algorithm algorithm NOUN fcis-32177 81 27 were be AUX fcis-32177 81 28 selected select VERB fcis-32177 81 29 for for ADP fcis-32177 81 30 comparative comparative ADJ fcis-32177 81 31 experiments experiment NOUN fcis-32177 81 32 . . PUNCT fcis-32177 82 1 the the DET fcis-32177 82 2 optimal optimal ADJ fcis-32177 82 3 paths path NOUN fcis-32177 82 4 and and CCONJ fcis-32177 82 5 iterative iterative NOUN fcis-32177 82 6 curves curve NOUN fcis-32177 82 7 of of ADP fcis-32177 82 8 the the DET fcis-32177 82 9 improved improved ADJ fcis-32177 82 10 dung dung NOUN fcis-32177 82 11 beetle beetle NOUN fcis-32177 82 12 algorithm algorithm NOUN fcis-32177 82 13 , , PUNCT fcis-32177 82 14 the the DET fcis-32177 82 15 original original ADJ fcis-32177 82 16 dung dung NOUN fcis-32177 82 17 beetle beetle NOUN fcis-32177 82 18 algorithm algorithm NOUN fcis-32177 82 19 , , PUNCT fcis-32177 82 20 the the DET fcis-32177 82 21 sparrow sparrow ADJ fcis-32177 82 22 optimization optimization NOUN fcis-32177 82 23 algorithm algorithm NOUN fcis-32177 82 24 , , PUNCT fcis-32177 82 25 and and CCONJ fcis-32177 82 26 the the DET fcis-32177 82 27 goose goose NOUN fcis-32177 82 28 swarm swarm NOUN fcis-32177 82 29 optimization optimization NOUN fcis-32177 82 30 algorithm algorithm NOUN fcis-32177 82 31 are be AUX fcis-32177 82 32 shown show VERB fcis-32177 82 33 in in ADP fcis-32177 82 34 the the DET fcis-32177 82 35 following follow VERB fcis-32177 82 36 figure figure NOUN fcis-32177 82 37 3 3 NUM fcis-32177 82 38 and and CCONJ fcis-32177 82 39 figure figure VERB fcis-32177 82 40 4 4 NUM fcis-32177 82 41 . . PUNCT fcis-32177 82 42 to to PART fcis-32177 82 43 reduce reduce VERB fcis-32177 82 44 experimental experimental ADJ fcis-32177 82 45 errors error NOUN fcis-32177 82 46 , , PUNCT fcis-32177 82 47 the the DET fcis-32177 82 48 data data NOUN fcis-32177 82 49 results result NOUN fcis-32177 82 50 of of ADP fcis-32177 82 51 running run VERB fcis-32177 82 52 the the DET fcis-32177 82 53 four four NUM fcis-32177 82 54 algorithms algorithm NOUN fcis-32177 82 55 independently independently ADV fcis-32177 82 56 for for ADP fcis-32177 82 57 20 20 NUM fcis-32177 82 58 times time NOUN fcis-32177 82 59 in in ADP fcis-32177 82 60 the the DET fcis-32177 82 61 raster raster NOUN fcis-32177 82 62 map map NOUN fcis-32177 82 63 show show VERB fcis-32177 82 64 that that SCONJ fcis-32177 82 65 the the DET fcis-32177 82 66 improved improved ADJ fcis-32177 82 67 dung dung NOUN fcis-32177 82 68 beetle beetle NOUN fcis-32177 82 69 optimization optimization NOUN fcis-32177 82 70 algorithm algorithm NOUN fcis-32177 82 71 has have AUX fcis-32177 82 72 modified modify VERB fcis-32177 82 73 performance performance NOUN fcis-32177 82 74 in in ADP fcis-32177 82 75 terms term NOUN fcis-32177 82 76 of of ADP fcis-32177 82 77 average average ADJ fcis-32177 82 78 path path NOUN fcis-32177 82 79 length length NOUN fcis-32177 82 80 , , PUNCT fcis-32177 82 81 average average ADJ fcis-32177 82 82 number number NOUN fcis-32177 82 83 of of ADP fcis-32177 82 84 iterations iteration NOUN fcis-32177 82 85 , , PUNCT fcis-32177 82 86 and and CCONJ fcis-32177 82 87 optimization optimization NOUN fcis-32177 82 88 stability stability NOUN fcis-32177 82 89 . . PUNCT fcis-32177 83 1 compared compare VERB fcis-32177 83 2 with with ADP fcis-32177 83 3 the the DET fcis-32177 83 4 other other ADJ fcis-32177 83 5 three three NUM fcis-32177 83 6 algorithms algorithm NOUN fcis-32177 83 7 , , PUNCT fcis-32177 83 8 the the DET fcis-32177 83 9 average average ADJ fcis-32177 83 10 path path NOUN fcis-32177 83 11 length length NOUN fcis-32177 83 12 has have AUX fcis-32177 83 13 decreased decrease VERB fcis-32177 83 14 by by ADP fcis-32177 83 15 11.49 11.49 NUM fcis-32177 83 16 % % NOUN fcis-32177 83 17 , , PUNCT fcis-32177 83 18 9.45 9.45 NUM fcis-32177 83 19 % % NOUN fcis-32177 83 20 , , PUNCT fcis-32177 83 21 and and CCONJ fcis-32177 83 22 31.2 31.2 NUM fcis-32177 83 23 % % NOUN fcis-32177 83 24 respectively respectively ADV fcis-32177 83 25 . . PUNCT fcis-32177 84 1 the the DET fcis-32177 84 2 average average ADJ fcis-32177 84 3 number number NOUN fcis-32177 84 4 of of ADP fcis-32177 84 5 iterations iteration NOUN fcis-32177 84 6 decreased decrease VERB fcis-32177 84 7 by by ADP fcis-32177 84 8 12.3 12.3 NUM fcis-32177 84 9 % % NOUN fcis-32177 84 10 , , PUNCT fcis-32177 84 11 15.6 15.6 NUM fcis-32177 84 12 % % NOUN fcis-32177 84 13 and and CCONJ fcis-32177 84 14 18.4 18.4 NUM fcis-32177 84 15 % % NOUN fcis-32177 84 16 respectively respectively ADV fcis-32177 84 17 . . PUNCT fcis-32177 85 1 5 5 X fcis-32177 85 2 . . X fcis-32177 85 3 summary summary NOUN fcis-32177 85 4 ( ( PUNCT fcis-32177 85 5 1 1 X fcis-32177 85 6 ) ) PUNCT fcis-32177 85 7 the the DET fcis-32177 85 8 initial initial ADJ fcis-32177 85 9 population population NOUN fcis-32177 85 10 adopts adopt VERB fcis-32177 85 11 the the DET fcis-32177 85 12 chaotic chaotic ADJ fcis-32177 85 13 mapping mapping NOUN fcis-32177 85 14 method method NOUN fcis-32177 85 15 , , PUNCT fcis-32177 85 16 which which PRON fcis-32177 85 17 makes make VERB fcis-32177 85 18 the the DET fcis-32177 85 19 initial initial ADJ fcis-32177 85 20 dung dung NOUN fcis-32177 85 21 beetle beetle NOUN fcis-32177 85 22 population population NOUN fcis-32177 85 23 more more ADV fcis-32177 85 24 evenly evenly ADV fcis-32177 85 25 distributed distribute VERB fcis-32177 85 26 in in ADP fcis-32177 85 27 the the DET fcis-32177 85 28 search search NOUN fcis-32177 85 29 space space NOUN fcis-32177 85 30 and and CCONJ fcis-32177 85 31 improves improve VERB fcis-32177 85 32 the the DET fcis-32177 85 33 search search NOUN fcis-32177 85 34 ability ability NOUN fcis-32177 85 35 of of ADP fcis-32177 85 36 the the DET fcis-32177 85 37 algorithm algorithm NOUN fcis-32177 85 38 . . PUNCT fcis-32177 86 1 the the DET fcis-32177 86 2 strategy strategy NOUN fcis-32177 86 3 of of ADP fcis-32177 86 4 incorporating incorporate VERB fcis-32177 86 5 levy levy NOUN fcis-32177 86 6 flight flight NOUN fcis-32177 86 7 into into ADP fcis-32177 86 8 the the DET fcis-32177 86 9 theft theft NOUN fcis-32177 86 10 behavior behavior NOUN fcis-32177 86 11 enhances enhance VERB fcis-32177 86 12 the the DET fcis-32177 86 13 global global ADJ fcis-32177 86 14 search search NOUN fcis-32177 86 15 ability ability NOUN fcis-32177 86 16 of of ADP fcis-32177 86 17 the the DET fcis-32177 86 18 algorithm algorithm NOUN fcis-32177 86 19 and and CCONJ fcis-32177 86 20 adopts adopt VERB fcis-32177 86 21 a a DET fcis-32177 86 22 more more ADV fcis-32177 86 23 flexible flexible ADJ fcis-32177 86 24 processing processing NOUN fcis-32177 86 25 approach approach NOUN fcis-32177 86 26 for for ADP fcis-32177 86 27 the the DET fcis-32177 86 28 location location NOUN fcis-32177 86 29 update update NOUN fcis-32177 86 30 strategy strategy NOUN fcis-32177 86 31 ( ( PUNCT fcis-32177 86 32 2 2 X fcis-32177 86 33 ) ) PUNCT fcis-32177 86 34 a a DET fcis-32177 86 35 map map NOUN fcis-32177 86 36 model model NOUN fcis-32177 86 37 was be AUX fcis-32177 86 38 designed design VERB fcis-32177 86 39 in in ADP fcis-32177 86 40 matlab matlab PROPN fcis-32177 86 41 , , PUNCT fcis-32177 86 42 and and CCONJ fcis-32177 86 43 a a DET fcis-32177 86 44 comparative comparative ADJ fcis-32177 86 45 experiment experiment NOUN fcis-32177 86 46 was be AUX fcis-32177 86 47 conducted conduct VERB fcis-32177 86 48 among among ADP fcis-32177 86 49 the the DET fcis-32177 86 50 four four NUM fcis-32177 86 51 algorithms algorithm NOUN fcis-32177 86 52 . . PUNCT fcis-32177 87 1 the the DET fcis-32177 87 2 results result NOUN fcis-32177 87 3 showed show VERB fcis-32177 87 4 that that SCONJ fcis-32177 87 5 the the DET fcis-32177 87 6 improved improved ADJ fcis-32177 87 7 dung dung NOUN fcis-32177 87 8 beetle beetle NOUN fcis-32177 87 9 algorithm algorithm NOUN fcis-32177 87 10 had have VERB fcis-32177 87 11 better well ADJ fcis-32177 87 12 effects effect NOUN fcis-32177 87 13 in in ADP fcis-32177 87 14 terms term NOUN fcis-32177 87 15 of of ADP fcis-32177 87 16 average average ADJ fcis-32177 87 17 path path NOUN fcis-32177 87 18 length length NOUN fcis-32177 87 19 , , PUNCT fcis-32177 87 20 average average ADJ fcis-32177 87 21 number number NOUN fcis-32177 87 22 of of ADP fcis-32177 87 23 iterations iteration NOUN fcis-32177 87 24 and and CCONJ fcis-32177 87 25 stability stability NOUN fcis-32177 87 26 , , PUNCT fcis-32177 87 27 verifying verify VERB fcis-32177 87 28 the the DET fcis-32177 87 29 effect effect NOUN fcis-32177 87 30 of of ADP fcis-32177 87 31 the the DET fcis-32177 87 32 algorithm algorithm NOUN fcis-32177 87 33 improvement improvement NOUN fcis-32177 87 34 . . PUNCT fcis-32177 88 1 ( ( PUNCT fcis-32177 88 2 3 3 X fcis-32177 88 3 ) ) PUNCT fcis-32177 88 4 the the DET fcis-32177 88 5 main main ADJ fcis-32177 88 6 argument argument NOUN fcis-32177 88 7 is be AUX fcis-32177 88 8 that that SCONJ fcis-32177 88 9 the the DET fcis-32177 88 10 improved improved ADJ fcis-32177 88 11 dung dung NOUN fcis-32177 88 12 beetle beetle NOUN fcis-32177 88 13 algorithm algorithm NOUN fcis-32177 88 14 takes take VERB fcis-32177 88 15 the the DET fcis-32177 88 16 walking walk VERB fcis-32177 88 17 route route NOUN fcis-32177 88 18 of of ADP fcis-32177 88 19 agricultural agricultural ADJ fcis-32177 88 20 mobile mobile ADJ fcis-32177 88 21 robots robot NOUN fcis-32177 88 22 as as ADP fcis-32177 88 23 the the DET fcis-32177 88 24 optimization optimization NOUN fcis-32177 88 25 objective objective NOUN fcis-32177 88 26 , , PUNCT fcis-32177 88 27 simulates simulate VERB fcis-32177 88 28 the the DET fcis-32177 88 29 agricultural agricultural ADJ fcis-32177 88 30 working work VERB fcis-32177 88 31 environment environment NOUN fcis-32177 88 32 with with ADP fcis-32177 88 33 a a DET fcis-32177 88 34 grid grid NOUN fcis-32177 88 35 map map NOUN fcis-32177 88 36 , , PUNCT fcis-32177 88 37 simplifies simplify VERB fcis-32177 88 38 the the DET fcis-32177 88 39 robot robot NOUN fcis-32177 88 40 as as ADP fcis-32177 88 41 a a DET fcis-32177 88 42 particle particle NOUN fcis-32177 88 43 , , PUNCT fcis-32177 88 44 and and CCONJ fcis-32177 88 45 the the DET fcis-32177 88 46 obstacles obstacle NOUN fcis-32177 88 47 as as ADP fcis-32177 88 48 black black ADJ fcis-32177 88 49 grids grid NOUN fcis-32177 88 50 . . PUNCT fcis-32177 89 1 subsequently subsequently ADV fcis-32177 89 2 , , PUNCT fcis-32177 89 3 it it PRON fcis-32177 89 4 is be AUX fcis-32177 89 5 considered consider VERB fcis-32177 89 6 to to PART fcis-32177 89 7 deploy deploy VERB fcis-32177 89 8 the the DET fcis-32177 89 9 algorithm algorithm NOUN fcis-32177 89 10 to to ADP fcis-32177 89 11 physical physical ADJ fcis-32177 89 12 robots robot NOUN fcis-32177 89 13 for for ADP fcis-32177 89 14 experimental experimental ADJ fcis-32177 89 15 verification verification NOUN fcis-32177 89 16 to to PART fcis-32177 89 17 further far ADV fcis-32177 89 18 improve improve VERB fcis-32177 89 19 the the DET fcis-32177 89 20 algorithm algorithm NOUN fcis-32177 89 21 . . PUNCT fcis-32177 90 1 references reference NOUN fcis-32177 90 2 [ [ X fcis-32177 90 3 1 1 X fcis-32177 90 4 ] ] X fcis-32177 90 5 shi shi PROPN fcis-32177 90 6 zhigang zhigang PROPN fcis-32177 90 7 , , PUNCT fcis-32177 90 8 mei mei PROPN fcis-32177 90 9 song song PROPN fcis-32177 90 10 , , PUNCT fcis-32177 90 11 shao shao PROPN fcis-32177 90 12 yifan yifan PROPN fcis-32177 90 13 , , PUNCT fcis-32177 90 14 et et PROPN fcis-32177 90 15 al al PROPN fcis-32177 90 16 . . PROPN fcis-32177 90 17 based base VERB fcis-32177 90 18 on on ADP fcis-32177 90 19 artificial artificial ADJ fcis-32177 90 20 potential potential ADJ fcis-32177 90 21 field field NOUN fcis-32177 90 22 method method NOUN fcis-32177 90 23 of of ADP fcis-32177 90 24 mobile mobile ADJ fcis-32177 90 25 robot robot NOUN fcis-32177 90 26 path path PROPN fcis-32177 90 27 planning planning PROPN fcis-32177 90 28 research research NOUN fcis-32177 90 29 status status NOUN fcis-32177 90 30 and and CCONJ fcis-32177 90 31 prospect prospect NOUN fcis-32177 90 32 of of ADP fcis-32177 90 33 [ [ X fcis-32177 90 34 j j X fcis-32177 90 35 ] ] X fcis-32177 90 36 . . PUNCT fcis-32177 91 1 journal journal PROPN fcis-32177 91 2 of of ADP fcis-32177 91 3 chinese chinese ADJ fcis-32177 91 4 agricultural agricultural ADJ fcis-32177 91 5 mechanization mechanization NOUN fcis-32177 91 6 , , PUNCT fcis-32177 91 7 and and CCONJ fcis-32177 91 8 2021 2021 NUM fcis-32177 91 9 ( ( PUNCT fcis-32177 91 10 12 12 NUM fcis-32177 91 11 ): ): PUNCT fcis-32177 91 12 182 182 NUM fcis-32177 91 13 - - SYM fcis-32177 91 14 188 188 NUM fcis-32177 91 15 . . PUNCT fcis-32177 92 1 [ [ X fcis-32177 92 2 2 2 NUM fcis-32177 92 3 ] ] X fcis-32177 92 4 mirjalili mirjalili NOUN fcis-32177 92 5 s s PROPN fcis-32177 92 6 , , PUNCT fcis-32177 92 7 mirjalili mirjalili NOUN fcis-32177 92 8 m m PROPN fcis-32177 92 9 s s PROPN fcis-32177 92 10 , , PUNCT fcis-32177 92 11 lewis lewis PROPN fcis-32177 92 12 a a DET fcis-32177 92 13 .grey .grey NOUN fcis-32177 92 14 wolf wolf PROPN fcis-32177 92 15 optimizer optimizer NOUN fcis-32177 92 16 [ [ X fcis-32177 92 17 j].advances j].advance NOUN fcis-32177 92 18 in in ADP fcis-32177 92 19 engineering engineer VERB fcis-32177 92 20 software,2014,6946 software,2014,6946 PROPN fcis-32177 92 21 - - PUNCT fcis-32177 92 22 61.doi 61.doi PROPN fcis-32177 92 23 : : PUNCT fcis-32177 92 24 10 10 NUM fcis-32177 92 25 . . X fcis-32177 92 26 1016 1016 NUM fcis-32177 92 27 / / SYM fcis-32177 92 28 j.advengsoft.2013.12.007 j.advengsoft.2013.12.007 NOUN fcis-32177 92 29 . . PUNCT fcis-32177 93 1 [ [ X fcis-32177 93 2 3 3 X fcis-32177 93 3 ] ] X fcis-32177 93 4 xue xue PROPN fcis-32177 93 5 j j PROPN fcis-32177 93 6 k k PROPN fcis-32177 93 7 , , PUNCT fcis-32177 93 8 shen shen PROPN fcis-32177 93 9 b b PROPN fcis-32177 93 10 , , PUNCT fcis-32177 93 11 a a DET fcis-32177 93 12 novel novel ADJ fcis-32177 93 13 swarm swarm NOUN fcis-32177 93 14 intelligence intelligence NOUN fcis-32177 93 15 optimization optimization NOUN fcis-32177 93 16 approach approach NOUN fcis-32177 93 17 : : PUNCT fcis-32177 93 18 sparrow sparrow ADJ fcis-32177 93 19 search search NOUN fcis-32177 93 20 algorithm algorithm NOUN fcis-32177 94 1 [ [ X fcis-32177 94 2 j].systems j].system NOUN fcis-32177 94 3 science science NOUN fcis-32177 94 4 & & CCONJ fcis-32177 94 5 control control PROPN fcis-32177 94 6 engineering.2020,8(1):22 engineering.2020,8(1):22 PROPN fcis-32177 94 7 - - PUNCT fcis-32177 94 8 34 34 NUM fcis-32177 94 9 . . PUNCT fcis-32177 95 1 [ [ X fcis-32177 95 2 4 4 X fcis-32177 95 3 ] ] PUNCT fcis-32177 95 4 knnedy knnedy PROPN fcis-32177 95 5 j j PROPN fcis-32177 95 6 , , PUNCT fcis-32177 95 7 eberhart eberhart PROPN fcis-32177 95 8 r. r. PROPN fcis-32177 95 9 particle particle PROPN fcis-32177 95 10 swarm swarm NOUN fcis-32177 95 11 optimization optimization NOUN fcis-32177 96 1 [ [ X fcis-32177 96 2 c c X fcis-32177 96 3 ] ] X fcis-32177 96 4 //proceedings //proceedings X fcis-32177 96 5 of of ADP fcis-32177 96 6 icnn’95 icnn’95 NOUN fcis-32177 96 7 - - PUNCT fcis-32177 96 8 international international ADJ fcis-32177 96 9 conference conference NOUN fcis-32177 96 10 on on ADP fcis-32177 96 11 neuml neuml NOUN fcis-32177 96 12 networks.ieee,1995:1942 networks.ieee,1995:1942 NOUN fcis-32177 96 13 - - SYM fcis-32177 96 14 1948 1948 NUM fcis-32177 96 15 . . PUNCT fcis-32177 97 1 [ [ X fcis-32177 97 2 5 5 X fcis-32177 97 3 ] ] X fcis-32177 97 4 dehghani dehghani PROPN fcis-32177 97 5 m m PROPN fcis-32177 97 6 , , PUNCT fcis-32177 97 7 bektemyssova bektemyssova ADJ fcis-32177 97 8 g g PROPN fcis-32177 97 9 , , PUNCT fcis-32177 97 10 montazeri montazeri NOUN fcis-32177 97 11 z z NOUN fcis-32177 97 12 , , PUNCT fcis-32177 97 13 et et PROPN fcis-32177 97 14 al.lyrebird al.lyrebird DET fcis-32177 97 15 optimization optimization NOUN fcis-32177 97 16 algorithm algorithm NOUN fcis-32177 97 17 : : PUNCT fcis-32177 97 18 a a DET fcis-32177 97 19 new new ADJ fcis-32177 97 20 bio bio ADJ fcis-32177 97 21 - - PUNCT fcis-32177 97 22 inspired inspire VERB fcis-32177 97 23 metaheuristic metaheuristic ADJ fcis-32177 97 24 algorithm algorithm NOUN fcis-32177 97 25 for for ADP fcis-32177 97 26 solving solve VERB fcis-32177 97 27 optimization optimization NOUN fcis-32177 97 28 problems[j problems[j NOUN fcis-32177 97 29 ] ] PUNCT fcis-32177 97 30 . . PUNCT fcis-32177 98 1 biomimetics biomimetic NOUN fcis-32177 98 2 , , PUNCT fcis-32177 98 3 2023,8(6):507- 2023,8(6):507- NUM fcis-32177 98 4 .. .. PUNCT fcis-32177 99 1 [ [ X fcis-32177 99 2 6 6 X fcis-32177 99 3 ] ] PUNCT fcis-32177 99 4 jiankai jiankai NOUN fcis-32177 99 5 x x NOUN fcis-32177 99 6 , , PUNCT fcis-32177 99 7 bo bo PROPN fcis-32177 99 8 s s PROPN fcis-32177 99 9 .dung .dung PROPN fcis-32177 99 10 beetle beetle NOUN fcis-32177 99 11 optimizer optimizer NOUN fcis-32177 99 12 : : PUNCT fcis-32177 99 13 a a DET fcis-32177 99 14 new new ADJ fcis-32177 99 15 meta meta ADJ fcis-32177 99 16 - - PUNCT fcis-32177 99 17 heuristic heuristic ADJ fcis-32177 99 18 algorithm algorithm NOUN fcis-32177 99 19 for for ADP fcis-32177 99 20 global global ADJ fcis-32177 99 21 optimization[j].the optimization[j].the DET fcis-32177 99 22 journal journal PROPN fcis-32177 99 23 of of ADP fcis-32177 99 24 supercomputing supercomputing NOUN fcis-32177 99 25 , , PUNCT fcis-32177 99 26 2022 2022 NUM fcis-32177 99 27 , , PUNCT fcis-32177 99 28 79(7):7305 79(7):7305 PROPN fcis-32177 99 29 - - NOUN fcis-32177 99 30 7336 7336 NUM fcis-32177 99 31 . . PUNCT