id	sid	tid	token	lemma	pos
fcis-32671	1	1	frontiers	frontier	NOUN
fcis-32671	1	2	in	in	ADP
fcis-32671	1	3	computing	computing	NOUN
fcis-32671	1	4	and	and	CCONJ
fcis-32671	1	5	intelligent	intelligent	ADJ
fcis-32671	1	6	systems	system	NOUN
fcis-32671	1	7	issn	issn	VERB
fcis-32671	1	8	:	:	PUNCT
fcis-32671	1	9	2832	2832	NUM
fcis-32671	1	10	-	-	SYM
fcis-32671	1	11	6024	6024	NUM
fcis-32671	1	12	|	|	NOUN
fcis-32671	1	13	vol	vol	NOUN
fcis-32671	1	14	.	.	PUNCT
fcis-32671	2	1	14	14	NUM
fcis-32671	2	2	,	,	PUNCT
fcis-32671	2	3	no	no	INTJ
fcis-32671	2	4	.	.	NOUN
fcis-32671	2	5	2	2	NUM
fcis-32671	2	6	,	,	PUNCT
fcis-32671	2	7	2025	2025	NUM
fcis-32671	2	8	55	55	NUM
fcis-32671	2	9	research	research	NOUN
fcis-32671	2	10	on	on	ADP
fcis-32671	2	11	task	task	NOUN
fcis-32671	2	12	assignment	assignment	NOUN
fcis-32671	2	13	and	and	CCONJ
fcis-32671	2	14	path	path	NOUN
fcis-32671	2	15	planning	planning	NOUN
fcis-32671	2	16	algorithm	algorithm	NOUN
fcis-32671	2	17	for	for	ADP
fcis-32671	2	18	multi‐uav	multi‐uav	PROPN
fcis-32671	2	19	collaboration	collaboration	PROPN
fcis-32671	2	20	yisheng	yisheng	PROPN
fcis-32671	2	21	zeng	zeng	PROPN
fcis-32671	2	22	*	*	PUNCT
fcis-32671	2	23	school	school	NOUN
fcis-32671	2	24	of	of	ADP
fcis-32671	2	25	engineering	engineering	NOUN
fcis-32671	2	26	technology	technology	NOUN
fcis-32671	2	27	,	,	PUNCT
fcis-32671	2	28	nanchang	nanchang	PROPN
fcis-32671	2	29	vocational	vocational	PROPN
fcis-32671	2	30	university	university	PROPN
fcis-32671	2	31	,	,	PUNCT
fcis-32671	2	32	nanchang	nanchang	PROPN
fcis-32671	2	33	,	,	PUNCT
fcis-32671	2	34	jiangxi	jiangxi	PROPN
fcis-32671	2	35	,	,	PUNCT
fcis-32671	2	36	330500	330500	NUM
fcis-32671	2	37	,	,	PUNCT
fcis-32671	2	38	china	china	PROPN
fcis-32671	2	39	*	*	PUNCT
fcis-32671	2	40	corresponding	correspond	VERB
fcis-32671	2	41	author	author	NOUN
fcis-32671	2	42	email	email	NOUN
fcis-32671	2	43	:	:	PUNCT
fcis-32671	2	44	zengyishengbdp@163.com	zengyishengbdp@163.com	PROPN
fcis-32671	2	45	abstract	abstract	NOUN
fcis-32671	2	46	:	:	PUNCT
fcis-32671	2	47	this	this	DET
fcis-32671	2	48	paper	paper	NOUN
fcis-32671	2	49	investigates	investigate	VERB
fcis-32671	2	50	the	the	DET
fcis-32671	2	51	co	co	NOUN
fcis-32671	2	52	-	-	ADJ
fcis-32671	2	53	optimization	optimization	ADJ
fcis-32671	2	54	problem	problem	NOUN
fcis-32671	2	55	of	of	ADP
fcis-32671	2	56	task	task	NOUN
fcis-32671	2	57	allocation	allocation	NOUN
fcis-32671	2	58	and	and	CCONJ
fcis-32671	2	59	path	path	NOUN
fcis-32671	2	60	planning	planning	NOUN
fcis-32671	2	61	in	in	ADP
fcis-32671	2	62	multi	multi	ADJ
fcis-32671	2	63	-	-	PROPN
fcis-32671	2	64	uav	uav	PROPN
fcis-32671	2	65	collaborative	collaborative	PROPN
fcis-32671	2	66	systems	system	NOUN
fcis-32671	2	67	.	.	PUNCT
fcis-32671	3	1	addressing	address	VERB
fcis-32671	3	2	the	the	DET
fcis-32671	3	3	challenges	challenge	NOUN
fcis-32671	3	4	of	of	ADP
fcis-32671	3	5	strong	strong	ADJ
fcis-32671	3	6	coupling	coupling	NOUN
fcis-32671	3	7	,	,	PUNCT
fcis-32671	3	8	high	high	ADJ
fcis-32671	3	9	dimensionality	dimensionality	NOUN
fcis-32671	3	10	,	,	PUNCT
fcis-32671	3	11	and	and	CCONJ
fcis-32671	3	12	real	real	ADJ
fcis-32671	3	13	-	-	PUNCT
fcis-32671	3	14	time	time	NOUN
fcis-32671	3	15	requirements	requirement	NOUN
fcis-32671	3	16	in	in	ADP
fcis-32671	3	17	dynamic	dynamic	ADJ
fcis-32671	3	18	complex	complex	ADJ
fcis-32671	3	19	environments	environment	NOUN
fcis-32671	3	20	,	,	PUNCT
fcis-32671	3	21	a	a	DET
fcis-32671	3	22	distributed	distribute	VERB
fcis-32671	3	23	co	co	NOUN
fcis-32671	3	24	-	-	ADJ
fcis-32671	3	25	optimization	optimization	ADJ
fcis-32671	3	26	framework	framework	NOUN
fcis-32671	3	27	integrating	integrate	VERB
fcis-32671	3	28	hierarchical	hierarchical	ADJ
fcis-32671	3	29	planning	planning	NOUN
fcis-32671	3	30	concepts	concept	NOUN
fcis-32671	3	31	with	with	ADP
fcis-32671	3	32	spatiotemporal	spatiotemporal	ADJ
fcis-32671	3	33	constraints	constraint	NOUN
fcis-32671	3	34	is	be	AUX
fcis-32671	3	35	proposed	propose	VERB
fcis-32671	3	36	.	.	PUNCT
fcis-32671	4	1	by	by	ADP
fcis-32671	4	2	constructing	construct	VERB
fcis-32671	4	3	a	a	DET
fcis-32671	4	4	multi	multi	ADJ
fcis-32671	4	5	-	-	ADJ
fcis-32671	4	6	objective	objective	ADJ
fcis-32671	4	7	mixed	mixed	ADJ
fcis-32671	4	8	-	-	PUNCT
fcis-32671	4	9	integer	integer	NOUN
fcis-32671	4	10	programming	programming	NOUN
fcis-32671	4	11	model	model	NOUN
fcis-32671	4	12	,	,	PUNCT
fcis-32671	4	13	designing	design	VERB
fcis-32671	4	14	a	a	DET
fcis-32671	4	15	lightweight	lightweight	ADJ
fcis-32671	4	16	eventtriggered	eventtriggere	VERB
fcis-32671	4	17	task	task	NOUN
fcis-32671	4	18	allocation	allocation	NOUN
fcis-32671	4	19	algorithm	algorithm	NOUN
fcis-32671	4	20	(	(	PUNCT
fcis-32671	4	21	improved	improved	ADJ
fcis-32671	4	22	cbba	cbba	NOUN
fcis-32671	4	23	)	)	PUNCT
fcis-32671	4	24	,	,	PUNCT
fcis-32671	4	25	and	and	CCONJ
fcis-32671	4	26	integrating	integrate	VERB
fcis-32671	4	27	a	a	DET
fcis-32671	4	28	hierarchical	hierarchical	ADJ
fcis-32671	4	29	path	path	NOUN
fcis-32671	4	30	planning	planning	NOUN
fcis-32671	4	31	strategy	strategy	NOUN
fcis-32671	4	32	(	(	PUNCT
fcis-32671	4	33	global	global	ADJ
fcis-32671	4	34	metaheuristic	metaheuristic	ADJ
fcis-32671	4	35	search	search	NOUN
fcis-32671	4	36	+	+	CCONJ
fcis-32671	4	37	local	local	ADJ
fcis-32671	4	38	model	model	NOUN
fcis-32671	4	39	predictive	predictive	PROPN
fcis-32671	4	40	control	control	PROPN
fcis-32671	4	41	)	)	PUNCT
fcis-32671	4	42	,	,	PUNCT
fcis-32671	4	43	the	the	DET
fcis-32671	4	44	framework	framework	NOUN
fcis-32671	4	45	enhances	enhance	VERB
fcis-32671	4	46	task	task	NOUN
fcis-32671	4	47	execution	execution	NOUN
fcis-32671	4	48	efficiency	efficiency	NOUN
fcis-32671	4	49	and	and	CCONJ
fcis-32671	4	50	system	system	NOUN
fcis-32671	4	51	robustness	robustness	NOUN
fcis-32671	4	52	while	while	SCONJ
fcis-32671	4	53	reducing	reduce	VERB
fcis-32671	4	54	communication	communication	NOUN
fcis-32671	4	55	overhead	overhead	ADV
fcis-32671	4	56	.	.	PUNCT
fcis-32671	5	1	simulation	simulation	NOUN
fcis-32671	5	2	and	and	CCONJ
fcis-32671	5	3	experimental	experimental	ADJ
fcis-32671	5	4	results	result	NOUN
fcis-32671	5	5	demonstrate	demonstrate	VERB
fcis-32671	5	6	its	its	PRON
fcis-32671	5	7	superior	superior	ADJ
fcis-32671	5	8	performance	performance	NOUN
fcis-32671	5	9	in	in	ADP
fcis-32671	5	10	typical	typical	ADJ
fcis-32671	5	11	scenarios	scenario	NOUN
fcis-32671	5	12	such	such	ADJ
fcis-32671	5	13	as	as	ADP
fcis-32671	5	14	disaster	disaster	NOUN
fcis-32671	5	15	relief	relief	NOUN
fcis-32671	5	16	and	and	CCONJ
fcis-32671	5	17	precision	precision	NOUN
fcis-32671	5	18	agriculture	agriculture	NOUN
fcis-32671	5	19	.	.	PUNCT
fcis-32671	6	1	this	this	DET
fcis-32671	6	2	research	research	NOUN
fcis-32671	6	3	provides	provide	VERB
fcis-32671	6	4	an	an	DET
fcis-32671	6	5	efficient	efficient	ADJ
fcis-32671	6	6	,	,	PUNCT
fcis-32671	6	7	reliable	reliable	ADJ
fcis-32671	6	8	,	,	PUNCT
fcis-32671	6	9	and	and	CCONJ
fcis-32671	6	10	scalable	scalable	ADJ
fcis-32671	6	11	solution	solution	NOUN
fcis-32671	6	12	for	for	ADP
fcis-32671	6	13	practical	practical	ADJ
fcis-32671	6	14	applications	application	NOUN
fcis-32671	6	15	involving	involve	VERB
fcis-32671	6	16	large	large	ADJ
fcis-32671	6	17	-	-	PUNCT
fcis-32671	6	18	scale	scale	NOUN
fcis-32671	6	19	heterogeneous	heterogeneous	ADJ
fcis-32671	6	20	uav	uav	PROPN
fcis-32671	6	21	swarms	swarm	NOUN
fcis-32671	6	22	,	,	PUNCT
fcis-32671	6	23	holding	hold	VERB
fcis-32671	6	24	significant	significant	ADJ
fcis-32671	6	25	theoretical	theoretical	ADJ
fcis-32671	6	26	implications	implication	NOUN
fcis-32671	6	27	and	and	CCONJ
fcis-32671	6	28	engineering	engineering	NOUN
fcis-32671	6	29	value	value	NOUN
fcis-32671	6	30	.	.	PUNCT
fcis-32671	7	1	keywords	keyword	NOUN
fcis-32671	7	2	:	:	PUNCT
fcis-32671	7	3	cooperative	cooperative	ADJ
fcis-32671	7	4	optimization	optimization	NOUN
fcis-32671	7	5	;	;	PUNCT
fcis-32671	7	6	consensus	consensus	NOUN
fcis-32671	7	7	auction	auction	NOUN
fcis-32671	7	8	algorithm	algorithm	NOUN
fcis-32671	7	9	;	;	PUNCT
fcis-32671	7	10	model	model	NOUN
fcis-32671	7	11	predictive	predictive	PROPN
fcis-32671	7	12	control	control	NOUN
fcis-32671	7	13	;	;	PUNCT
fcis-32671	7	14	distributed	distribute	VERB
fcis-32671	7	15	optimization	optimization	NOUN
fcis-32671	7	16	;	;	PUNCT
fcis-32671	7	17	digital	digital	ADJ
fcis-32671	7	18	twin	twin	NOUN
fcis-32671	7	19	.	.	PUNCT
fcis-32671	8	1	1	1	X
fcis-32671	8	2	.	.	X
fcis-32671	8	3	introduction	introduction	NOUN
fcis-32671	8	4	with	with	ADP
fcis-32671	8	5	continuous	continuous	ADJ
fcis-32671	8	6	breakthroughs	breakthrough	NOUN
fcis-32671	8	7	in	in	ADP
fcis-32671	8	8	unmanned	unmanned	ADJ
fcis-32671	8	9	aerial	aerial	ADJ
fcis-32671	8	10	vehicle	vehicle	NOUN
fcis-32671	8	11	(	(	PUNCT
fcis-32671	8	12	uav	uav	PROPN
fcis-32671	8	13	)	)	PUNCT
fcis-32671	8	14	technology	technology	NOUN
fcis-32671	8	15	across	across	ADP
fcis-32671	8	16	control	control	NOUN
fcis-32671	8	17	,	,	PUNCT
fcis-32671	8	18	navigation	navigation	NOUN
fcis-32671	8	19	,	,	PUNCT
fcis-32671	8	20	and	and	CCONJ
fcis-32671	8	21	communication	communication	NOUN
fcis-32671	8	22	domains	domain	NOUN
fcis-32671	8	23	,	,	PUNCT
fcis-32671	8	24	multi	multi	ADJ
fcis-32671	8	25	-	-	ADJ
fcis-32671	8	26	uav	uav	ADJ
fcis-32671	8	27	cooperative	cooperative	ADJ
fcis-32671	8	28	systems	system	NOUN
fcis-32671	8	29	have	have	AUX
fcis-32671	8	30	emerged	emerge	VERB
fcis-32671	8	31	as	as	ADP
fcis-32671	8	32	a	a	DET
fcis-32671	8	33	research	research	NOUN
fcis-32671	8	34	hotspot	hotspot	NOUN
fcis-32671	8	35	due	due	ADP
fcis-32671	8	36	to	to	ADP
fcis-32671	8	37	their	their	PRON
fcis-32671	8	38	superior	superior	ADJ
fcis-32671	8	39	efficiency	efficiency	NOUN
fcis-32671	8	40	,	,	PUNCT
fcis-32671	8	41	enhanced	enhance	VERB
fcis-32671	8	42	robustness	robustness	NOUN
fcis-32671	8	43	,	,	PUNCT
fcis-32671	8	44	and	and	CCONJ
fcis-32671	8	45	expanded	expand	VERB
fcis-32671	8	46	coverage	coverage	NOUN
fcis-32671	8	47	capabilities	capability	NOUN
fcis-32671	8	48	during	during	ADP
fcis-32671	8	49	mission	mission	NOUN
fcis-32671	8	50	execution	execution	NOUN
fcis-32671	8	51	[	[	X
fcis-32671	8	52	1	1	NUM
fcis-32671	8	53	]	]	PUNCT
fcis-32671	8	54	.	.	PUNCT
fcis-32671	9	1	these	these	DET
fcis-32671	9	2	systems	system	NOUN
fcis-32671	9	3	demonstrate	demonstrate	VERB
fcis-32671	9	4	immense	immense	ADJ
fcis-32671	9	5	application	application	NOUN
fcis-32671	9	6	potential	potential	NOUN
fcis-32671	9	7	in	in	ADP
fcis-32671	9	8	complex	complex	ADJ
fcis-32671	9	9	scenarios	scenario	NOUN
fcis-32671	9	10	such	such	ADJ
fcis-32671	9	11	as	as	ADP
fcis-32671	9	12	disaster	disaster	NOUN
fcis-32671	9	13	relief	relief	NOUN
fcis-32671	9	14	,	,	PUNCT
fcis-32671	9	15	precision	precision	NOUN
fcis-32671	9	16	agriculture	agriculture	NOUN
fcis-32671	9	17	,	,	PUNCT
fcis-32671	9	18	smart	smart	ADJ
fcis-32671	9	19	city	city	NOUN
fcis-32671	9	20	logistics	logistic	NOUN
fcis-32671	9	21	,	,	PUNCT
fcis-32671	9	22	and	and	CCONJ
fcis-32671	9	23	military	military	ADJ
fcis-32671	9	24	reconnaissance	reconnaissance	NOUN
fcis-32671	9	25	.	.	PUNCT
fcis-32671	10	1	however	however	ADV
fcis-32671	10	2	,	,	PUNCT
fcis-32671	10	3	as	as	SCONJ
fcis-32671	10	4	application	application	NOUN
fcis-32671	10	5	scenarios	scenario	NOUN
fcis-32671	10	6	grow	grow	VERB
fcis-32671	10	7	increasingly	increasingly	ADV
fcis-32671	10	8	complex	complex	ADJ
fcis-32671	10	9	and	and	CCONJ
fcis-32671	10	10	swarm	swarm	NOUN
fcis-32671	10	11	sizes	size	NOUN
fcis-32671	10	12	continue	continue	VERB
fcis-32671	10	13	to	to	PART
fcis-32671	10	14	expand	expand	VERB
fcis-32671	10	15	,	,	PUNCT
fcis-32671	10	16	the	the	DET
fcis-32671	10	17	collaborative	collaborative	ADJ
fcis-32671	10	18	control	control	NOUN
fcis-32671	10	19	of	of	ADP
fcis-32671	10	20	multi	multi	ADJ
fcis-32671	10	21	-	-	ADJ
fcis-32671	10	22	uav	uav	ADJ
fcis-32671	10	23	systems	system	NOUN
fcis-32671	10	24	faces	face	VERB
fcis-32671	10	25	unprecedented	unprecedented	ADJ
fcis-32671	10	26	challenges	challenge	NOUN
fcis-32671	10	27	.	.	PUNCT
fcis-32671	11	1	among	among	ADP
fcis-32671	11	2	these	these	PRON
fcis-32671	11	3	,	,	PUNCT
fcis-32671	11	4	task	task	NOUN
fcis-32671	11	5	allocation	allocation	NOUN
fcis-32671	11	6	and	and	CCONJ
fcis-32671	11	7	path	path	NOUN
fcis-32671	11	8	planning	planning	NOUN
fcis-32671	11	9	—	—	PUNCT
fcis-32671	11	10	core	core	NOUN
fcis-32671	11	11	issues	issue	NOUN
fcis-32671	11	12	determining	determine	VERB
fcis-32671	11	13	the	the	DET
fcis-32671	11	14	system	system	NOUN
fcis-32671	11	15	's	's	PART
fcis-32671	11	16	overall	overall	ADJ
fcis-32671	11	17	performance	performance	NOUN
fcis-32671	11	18	—	—	PUNCT
fcis-32671	11	19	have	have	AUX
fcis-32671	11	20	become	become	VERB
fcis-32671	11	21	bottlenecks	bottleneck	NOUN
fcis-32671	11	22	hindering	hinder	VERB
fcis-32671	11	23	the	the	DET
fcis-32671	11	24	practical	practical	ADJ
fcis-32671	11	25	application	application	NOUN
fcis-32671	11	26	of	of	ADP
fcis-32671	11	27	large	large	ADJ
fcis-32671	11	28	-	-	PUNCT
fcis-32671	11	29	scale	scale	NOUN
fcis-32671	11	30	uav	uav	PROPN
fcis-32671	11	31	swarms	swarm	NOUN
fcis-32671	11	32	due	due	ADP
fcis-32671	11	33	to	to	ADP
fcis-32671	11	34	their	their	PRON
fcis-32671	11	35	inherent	inherent	ADJ
fcis-32671	11	36	strong	strong	ADJ
fcis-32671	11	37	coupling	coupling	NOUN
fcis-32671	11	38	,	,	PUNCT
fcis-32671	11	39	high	high	ADJ
fcis-32671	11	40	dimensionality	dimensionality	NOUN
fcis-32671	11	41	,	,	PUNCT
fcis-32671	11	42	and	and	CCONJ
fcis-32671	11	43	dynamic	dynamic	ADJ
fcis-32671	11	44	uncertainty	uncertainty	NOUN
fcis-32671	11	45	.	.	PUNCT
fcis-32671	12	1	task	task	NOUN
fcis-32671	12	2	allocation	allocation	NOUN
fcis-32671	12	3	aims	aim	VERB
fcis-32671	12	4	to	to	PART
fcis-32671	12	5	rationally	rationally	ADV
fcis-32671	12	6	assign	assign	VERB
fcis-32671	12	7	task	task	NOUN
fcis-32671	12	8	sequences	sequence	NOUN
fcis-32671	12	9	to	to	PART
fcis-32671	12	10	heterogeneous	heterogeneous	ADJ
fcis-32671	12	11	uav	uav	PROPN
fcis-32671	12	12	clusters	cluster	NOUN
fcis-32671	12	13	to	to	PART
fcis-32671	12	14	optimize	optimize	VERB
fcis-32671	12	15	overall	overall	ADJ
fcis-32671	12	16	objectives	objective	NOUN
fcis-32671	12	17	(	(	PUNCT
fcis-32671	12	18	e.g.	e.g.	ADV
fcis-32671	12	19	,	,	PUNCT
fcis-32671	12	20	minimum	minimum	ADJ
fcis-32671	12	21	completion	completion	NOUN
fcis-32671	12	22	time	time	NOUN
fcis-32671	12	23	,	,	PUNCT
fcis-32671	12	24	maximum	maximum	ADJ
fcis-32671	12	25	benefit	benefit	NOUN
fcis-32671	12	26	)	)	PUNCT
fcis-32671	12	27	,	,	PUNCT
fcis-32671	12	28	while	while	SCONJ
fcis-32671	12	29	path	path	NOUN
fcis-32671	12	30	planning	planning	NOUN
fcis-32671	12	31	must	must	AUX
fcis-32671	12	32	generate	generate	VERB
fcis-32671	12	33	collision	collision	NOUN
fcis-32671	12	34	-	-	PUNCT
fcis-32671	12	35	free	free	ADJ
fcis-32671	12	36	,	,	PUNCT
fcis-32671	12	37	low	low	ADJ
fcis-32671	12	38	-	-	PUNCT
fcis-32671	12	39	energy	energy	NOUN
fcis-32671	12	40	feasible	feasible	ADJ
fcis-32671	12	41	trajectories	trajectory	NOUN
fcis-32671	12	42	while	while	SCONJ
fcis-32671	12	43	satisfying	satisfy	VERB
fcis-32671	12	44	uav	uav	PROPN
fcis-32671	12	45	dynamic	dynamic	ADJ
fcis-32671	12	46	constraints	constraint	NOUN
fcis-32671	12	47	.	.	PUNCT
fcis-32671	13	1	in	in	ADP
fcis-32671	13	2	dynamically	dynamically	ADV
fcis-32671	13	3	uncertain	uncertain	ADJ
fcis-32671	13	4	environments	environment	NOUN
fcis-32671	13	5	,	,	PUNCT
fcis-32671	13	6	these	these	PRON
fcis-32671	13	7	are	be	AUX
fcis-32671	13	8	not	not	PART
fcis-32671	13	9	isolated	isolated	ADJ
fcis-32671	13	10	problems	problem	NOUN
fcis-32671	13	11	:	:	PUNCT
fcis-32671	13	12	optimal	optimal	ADJ
fcis-32671	13	13	task	task	NOUN
fcis-32671	13	14	allocation	allocation	NOUN
fcis-32671	13	15	relies	rely	VERB
fcis-32671	13	16	on	on	ADP
fcis-32671	13	17	precise	precise	ADJ
fcis-32671	13	18	path	path	NOUN
fcis-32671	13	19	costs	cost	NOUN
fcis-32671	13	20	,	,	PUNCT
fcis-32671	13	21	and	and	CCONJ
fcis-32671	13	22	feasible	feasible	ADJ
fcis-32671	13	23	path	path	NOUN
fcis-32671	13	24	planning	planning	NOUN
fcis-32671	13	25	requires	require	VERB
fcis-32671	13	26	specific	specific	ADJ
fcis-32671	13	27	task	task	NOUN
fcis-32671	13	28	sequences	sequence	NOUN
fcis-32671	13	29	as	as	ADP
fcis-32671	13	30	prerequisites	prerequisite	NOUN
fcis-32671	13	31	.	.	PUNCT
fcis-32671	14	1	traditional	traditional	ADJ
fcis-32671	14	2	solutions	solution	NOUN
fcis-32671	14	3	often	often	ADV
fcis-32671	14	4	decouple	decouple	VERB
fcis-32671	14	5	these	these	DET
fcis-32671	14	6	tasks	task	NOUN
fcis-32671	14	7	or	or	CCONJ
fcis-32671	14	8	employ	employ	VERB
fcis-32671	14	9	centralized	centralized	ADJ
fcis-32671	14	10	optimization	optimization	NOUN
fcis-32671	14	11	methods	method	NOUN
fcis-32671	14	12	.	.	PUNCT
fcis-32671	15	1	while	while	SCONJ
fcis-32671	15	2	effective	effective	ADJ
fcis-32671	15	3	for	for	ADP
fcis-32671	15	4	small	small	ADJ
fcis-32671	15	5	-	-	PUNCT
fcis-32671	15	6	scale	scale	NOUN
fcis-32671	15	7	problems	problem	NOUN
fcis-32671	15	8	,	,	PUNCT
fcis-32671	15	9	these	these	DET
fcis-32671	15	10	approaches	approach	NOUN
fcis-32671	15	11	generally	generally	ADV
fcis-32671	15	12	suffer	suffer	VERB
fcis-32671	15	13	from	from	ADP
fcis-32671	15	14	high	high	ADJ
fcis-32671	15	15	computational	computational	ADJ
fcis-32671	15	16	complexity	complexity	NOUN
fcis-32671	15	17	,	,	PUNCT
fcis-32671	15	18	substantial	substantial	ADJ
fcis-32671	15	19	communication	communication	NOUN
fcis-32671	15	20	bandwidth	bandwidth	ADJ
fcis-32671	15	21	requirements	requirement	NOUN
fcis-32671	15	22	,	,	PUNCT
fcis-32671	15	23	and	and	CCONJ
fcis-32671	15	24	poor	poor	ADJ
fcis-32671	15	25	environmental	environmental	ADJ
fcis-32671	15	26	adaptability	adaptability	NOUN
fcis-32671	15	27	.	.	PUNCT
fcis-32671	16	1	they	they	PRON
fcis-32671	16	2	struggle	struggle	VERB
fcis-32671	16	3	to	to	PART
fcis-32671	16	4	meet	meet	VERB
fcis-32671	16	5	the	the	DET
fcis-32671	16	6	stringent	stringent	ADJ
fcis-32671	16	7	demands	demand	NOUN
fcis-32671	16	8	for	for	ADP
fcis-32671	16	9	real	real	ADJ
fcis-32671	16	10	-	-	PUNCT
fcis-32671	16	11	time	time	NOUN
fcis-32671	16	12	performance	performance	NOUN
fcis-32671	16	13	,	,	PUNCT
fcis-32671	16	14	scalability	scalability	NOUN
fcis-32671	16	15	,	,	PUNCT
fcis-32671	16	16	and	and	CCONJ
fcis-32671	16	17	robustness	robustness	NOUN
fcis-32671	16	18	required	require	VERB
fcis-32671	16	19	by	by	ADP
fcis-32671	16	20	largescale	largescale	NOUN
fcis-32671	16	21	swarms	swarm	NOUN
fcis-32671	16	22	.	.	PUNCT
fcis-32671	17	1	extensive	extensive	ADJ
fcis-32671	17	2	research	research	NOUN
fcis-32671	17	3	has	have	AUX
fcis-32671	17	4	been	be	AUX
fcis-32671	17	5	conducted	conduct	VERB
fcis-32671	17	6	globally	globally	ADV
fcis-32671	17	7	on	on	ADP
fcis-32671	17	8	this	this	DET
fcis-32671	17	9	issue	issue	NOUN
fcis-32671	17	10	.	.	PUNCT
fcis-32671	18	1	swarm	swarm	NOUN
fcis-32671	18	2	intelligence	intelligence	NOUN
fcis-32671	18	3	algorithms	algorithm	NOUN
fcis-32671	18	4	(	(	PUNCT
fcis-32671	18	5	e.g.	e.g.	ADV
fcis-32671	18	6	,	,	PUNCT
fcis-32671	18	7	enhanced	enhance	VERB
fcis-32671	18	8	genetic	genetic	ADJ
fcis-32671	18	9	algorithms	algorithm	NOUN
fcis-32671	18	10	,	,	PUNCT
fcis-32671	18	11	particle	particle	NOUN
fcis-32671	18	12	swarm	swarm	NOUN
fcis-32671	18	13	optimization	optimization	NOUN
fcis-32671	18	14	)	)	PUNCT
fcis-32671	18	15	have	have	AUX
fcis-32671	18	16	been	be	AUX
fcis-32671	18	17	applied	apply	VERB
fcis-32671	18	18	to	to	ADP
fcis-32671	18	19	complex	complex	ADJ
fcis-32671	18	20	multi	multi	ADJ
fcis-32671	18	21	-	-	ADJ
fcis-32671	18	22	objective	objective	ADJ
fcis-32671	18	23	optimization	optimization	NOUN
fcis-32671	18	24	problems	problem	NOUN
fcis-32671	18	25	,	,	PUNCT
fcis-32671	18	26	yet	yet	CCONJ
fcis-32671	18	27	face	face	VERB
fcis-32671	18	28	challenges	challenge	NOUN
fcis-32671	18	29	of	of	ADP
fcis-32671	18	30	insufficient	insufficient	ADJ
fcis-32671	18	31	universality	universality	NOUN
fcis-32671	18	32	in	in	ADP
fcis-32671	18	33	dynamic	dynamic	ADJ
fcis-32671	18	34	environments	environment	NOUN
fcis-32671	18	35	.	.	PUNCT
fcis-32671	19	1	market	market	NOUN
fcis-32671	19	2	auction	auction	NOUN
fcis-32671	19	3	mechanisms	mechanism	NOUN
fcis-32671	19	4	offer	offer	VERB
fcis-32671	19	5	distributed	distribute	VERB
fcis-32671	19	6	solutions	solution	NOUN
fcis-32671	19	7	[	[	X
fcis-32671	19	8	2	2	NUM
fcis-32671	19	9	]	]	PUNCT
fcis-32671	19	10	,	,	PUNCT
fcis-32671	19	11	yet	yet	CCONJ
fcis-32671	19	12	their	their	PRON
fcis-32671	19	13	inherent	inherent	ADJ
fcis-32671	19	14	periodic	periodic	ADJ
fcis-32671	19	15	communication	communication	NOUN
fcis-32671	19	16	protocols	protocol	NOUN
fcis-32671	19	17	generate	generate	VERB
fcis-32671	19	18	substantial	substantial	ADJ
fcis-32671	19	19	redundant	redundant	ADJ
fcis-32671	19	20	overhead	overhead	NOUN
fcis-32671	19	21	during	during	ADP
fcis-32671	19	22	scalability	scalability	NOUN
fcis-32671	19	23	.	.	PUNCT
fcis-32671	20	1	for	for	ADP
fcis-32671	20	2	path	path	NOUN
fcis-32671	20	3	planning	planning	NOUN
fcis-32671	20	4	,	,	PUNCT
fcis-32671	20	5	dubin	dubin	PROPN
fcis-32671	20	6	curve	curve	NOUN
fcis-32671	20	7	-	-	PUNCT
fcis-32671	20	8	based	base	VERB
fcis-32671	20	9	approaches	approach	NOUN
fcis-32671	20	10	or	or	CCONJ
fcis-32671	20	11	model	model	NOUN
fcis-32671	20	12	predictive	predictive	ADJ
fcis-32671	20	13	control	control	NOUN
fcis-32671	20	14	effectively	effectively	ADV
fcis-32671	20	15	handle	handle	VERB
fcis-32671	20	16	dynamic	dynamic	ADJ
fcis-32671	20	17	constraints	constraint	NOUN
fcis-32671	20	18	,	,	PUNCT
fcis-32671	20	19	but	but	CCONJ
fcis-32671	20	20	spatiotemporal	spatiotemporal	ADJ
fcis-32671	20	21	collision	collision	NOUN
fcis-32671	20	22	avoidance	avoidance	NOUN
fcis-32671	20	23	in	in	ADP
fcis-32671	20	24	multi	multi	ADJ
fcis-32671	20	25	-	-	ADJ
fcis-32671	20	26	agent	agent	ADJ
fcis-32671	20	27	coordination	coordination	NOUN
fcis-32671	20	28	remains	remain	VERB
fcis-32671	20	29	poorly	poorly	ADV
fcis-32671	20	30	addressed	address	VERB
fcis-32671	20	31	.	.	PUNCT
fcis-32671	21	1	methods	method	NOUN
fcis-32671	21	2	like	like	ADP
fcis-32671	21	3	mixed	mixed	ADJ
fcis-32671	21	4	-	-	PUNCT
fcis-32671	21	5	integer	integer	NOUN
fcis-32671	21	6	programming	programming	NOUN
fcis-32671	21	7	enable	enable	VERB
fcis-32671	21	8	precise	precise	ADJ
fcis-32671	21	9	modeling	modeling	NOUN
fcis-32671	21	10	but	but	CCONJ
fcis-32671	21	11	suffer	suffer	VERB
fcis-32671	21	12	from	from	ADP
fcis-32671	21	13	high	high	ADJ
fcis-32671	21	14	computational	computational	ADJ
fcis-32671	21	15	complexity	complexity	NOUN
fcis-32671	21	16	[	[	X
fcis-32671	21	17	3	3	NUM
fcis-32671	21	18	]	]	PUNCT
fcis-32671	21	19	.	.	PUNCT
fcis-32671	22	1	in	in	ADP
fcis-32671	22	2	recent	recent	ADJ
fcis-32671	22	3	years	year	NOUN
fcis-32671	22	4	,	,	PUNCT
fcis-32671	22	5	novel	novel	ADJ
fcis-32671	22	6	approaches	approach	NOUN
fcis-32671	22	7	such	such	ADJ
fcis-32671	22	8	as	as	ADP
fcis-32671	22	9	distributed	distribute	VERB
fcis-32671	22	10	reinforcement	reinforcement	NOUN
fcis-32671	22	11	learning	learning	NOUN
fcis-32671	22	12	have	have	AUX
fcis-32671	22	13	been	be	AUX
fcis-32671	22	14	introduced	introduce	VERB
fcis-32671	22	15	to	to	PART
fcis-32671	22	16	enhance	enhance	VERB
fcis-32671	22	17	online	online	ADJ
fcis-32671	22	18	learning	learning	NOUN
fcis-32671	22	19	and	and	CCONJ
fcis-32671	22	20	decision	decision	NOUN
fcis-32671	22	21	-	-	PUNCT
fcis-32671	22	22	making	make	VERB
fcis-32671	22	23	capabilities	capability	NOUN
fcis-32671	22	24	.	.	PUNCT
fcis-32671	23	1	however	however	ADV
fcis-32671	23	2	,	,	PUNCT
fcis-32671	23	3	deeply	deeply	ADV
fcis-32671	23	4	integrating	integrate	VERB
fcis-32671	23	5	these	these	PRON
fcis-32671	23	6	with	with	ADP
fcis-32671	23	7	traditional	traditional	ADJ
fcis-32671	23	8	optimization	optimization	NOUN
fcis-32671	23	9	methods	method	NOUN
fcis-32671	23	10	within	within	ADP
fcis-32671	23	11	a	a	DET
fcis-32671	23	12	lightweight	lightweight	ADJ
fcis-32671	23	13	,	,	PUNCT
fcis-32671	23	14	efficient	efficient	ADJ
fcis-32671	23	15	collaborative	collaborative	ADJ
fcis-32671	23	16	framework	framework	NOUN
fcis-32671	23	17	remains	remain	VERB
fcis-32671	23	18	a	a	DET
fcis-32671	23	19	significant	significant	ADJ
fcis-32671	23	20	research	research	NOUN
fcis-32671	23	21	challenge	challenge	NOUN
fcis-32671	23	22	[	[	X
fcis-32671	23	23	4	4	NUM
fcis-32671	23	24	]	]	PUNCT
fcis-32671	23	25	.	.	PUNCT
fcis-32671	24	1	given	give	VERB
fcis-32671	24	2	these	these	DET
fcis-32671	24	3	limitations	limitation	NOUN
fcis-32671	24	4	,	,	PUNCT
fcis-32671	24	5	this	this	DET
fcis-32671	24	6	paper	paper	NOUN
fcis-32671	24	7	addresses	address	VERB
fcis-32671	24	8	the	the	DET
fcis-32671	24	9	gap	gap	NOUN
fcis-32671	24	10	s	s	VERB
fcis-32671	24	11	in	in	ADP
fcis-32671	24	12	existing	exist	VERB
fcis-32671	24	13	research	research	NOUN
fcis-32671	24	14	by	by	ADP
fcis-32671	24	15	delving	delve	VERB
fcis-32671	24	16	into	into	ADP
fcis-32671	24	17	the	the	DET
fcis-32671	24	18	collaborative	collaborative	ADJ
fcis-32671	24	19	optimization	optimization	NOUN
fcis-32671	24	20	of	of	ADP
fcis-32671	24	21	task	task	NOUN
fcis-32671	24	22	allocation	allocation	NOUN
fcis-32671	24	23	and	and	CCONJ
fcis-32671	24	24	path	path	NOUN
fcis-32671	24	25	planning	planning	NOUN
fcis-32671	24	26	for	for	ADP
fcis-32671	24	27	multiuav	multiuav	PROPN
fcis-32671	24	28	cooperation	cooperation	NOUN
fcis-32671	24	29	.	.	PUNCT
fcis-32671	25	1	we	we	PRON
fcis-32671	25	2	propose	propose	VERB
fcis-32671	25	3	a	a	DET
fcis-32671	25	4	distributed	distribute	VERB
fcis-32671	25	5	collaborative	collaborative	ADJ
fcis-32671	25	6	optimization	optimization	NOUN
fcis-32671	25	7	framework	framework	NOUN
fcis-32671	25	8	that	that	PRON
fcis-32671	25	9	integrates	integrate	VERB
fcis-32671	25	10	hierarchical	hierarchical	ADJ
fcis-32671	25	11	planning	planning	NOUN
fcis-32671	25	12	concepts	concept	NOUN
fcis-32671	25	13	with	with	ADP
fcis-32671	25	14	spatio	spatio	PROPN
fcis-32671	25	15	-	-	PUNCT
fcis-32671	25	16	temporal	temporal	ADJ
fcis-32671	25	17	constraints	constraint	NOUN
fcis-32671	25	18	.	.	PUNCT
fcis-32671	26	1	the	the	DET
fcis-32671	26	2	core	core	NOUN
fcis-32671	26	3	innovations	innovation	NOUN
fcis-32671	26	4	of	of	ADP
fcis-32671	26	5	this	this	DET
fcis-32671	26	6	framework	framework	NOUN
fcis-32671	26	7	are	be	AUX
fcis-32671	26	8	:	:	PUNCT
fcis-32671	26	9	first	first	ADV
fcis-32671	26	10	,	,	PUNCT
fcis-32671	26	11	constructing	construct	VERB
fcis-32671	26	12	a	a	DET
fcis-32671	26	13	multiobjective	multiobjective	ADJ
fcis-32671	26	14	mixed	mixed	ADJ
fcis-32671	26	15	-	-	PUNCT
fcis-32671	26	16	integer	integer	NOUN
fcis-32671	26	17	programming	programming	NOUN
fcis-32671	26	18	(	(	PUNCT
fcis-32671	26	19	momip	momip	ADJ
fcis-32671	26	20	)	)	PUNCT
fcis-32671	26	21	model	model	NOUN
fcis-32671	26	22	to	to	PART
fcis-32671	26	23	comprehensively	comprehensively	ADV
fcis-32671	26	24	quantify	quantify	VERB
fcis-32671	26	25	spatio	spatio	ADJ
fcis-32671	26	26	-	-	PUNCT
fcis-32671	26	27	temporal	temporal	ADJ
fcis-32671	26	28	constraints	constraint	NOUN
fcis-32671	26	29	,	,	PUNCT
fcis-32671	26	30	heterogeneous	heterogeneous	ADJ
fcis-32671	26	31	capabilities	capability	NOUN
fcis-32671	26	32	,	,	PUNCT
fcis-32671	26	33	and	and	CCONJ
fcis-32671	26	34	task	task	NOUN
fcis-32671	26	35	coupling	couple	VERB
fcis-32671	26	36	relationships	relationship	NOUN
fcis-32671	26	37	,	,	PUNCT
fcis-32671	26	38	thereby	thereby	ADV
fcis-32671	26	39	providing	provide	VERB
fcis-32671	26	40	theoretical	theoretical	ADJ
fcis-32671	26	41	guidance	guidance	NOUN
fcis-32671	26	42	for	for	ADP
fcis-32671	26	43	algorithm	algorithm	NOUN
fcis-32671	26	44	design	design	NOUN
fcis-32671	26	45	;	;	PUNCT
fcis-32671	26	46	second	second	X
fcis-32671	26	47	,	,	PUNCT
fcis-32671	26	48	it	it	PRON
fcis-32671	26	49	designs	design	VERB
fcis-32671	26	50	a	a	DET
fcis-32671	26	51	lightweight	lightweight	ADJ
fcis-32671	26	52	event	event	NOUN
fcis-32671	26	53	-	-	PUNCT
fcis-32671	26	54	triggered	trigger	VERB
fcis-32671	26	55	task	task	NOUN
fcis-32671	26	56	assignment	assignment	NOUN
fcis-32671	26	57	algorithm	algorithm	NOUN
fcis-32671	26	58	(	(	PUNCT
fcis-32671	26	59	enhanced	enhance	VERB
fcis-32671	26	60	cbba	cbba	NOUN
fcis-32671	26	61	)	)	PUNCT
fcis-32671	26	62	that	that	PRON
fcis-32671	26	63	significantly	significantly	ADV
fcis-32671	26	64	reduces	reduce	VERB
fcis-32671	26	65	bandwidth	bandwidth	ADJ
fcis-32671	26	66	consumption	consumption	NOUN
fcis-32671	26	67	through	through	ADP
fcis-32671	26	68	innovative	innovative	ADJ
fcis-32671	26	69	communication	communication	NOUN
fcis-32671	26	70	mechanisms	mechanism	NOUN
fcis-32671	26	71	.	.	PUNCT
fcis-32671	27	1	third	third	ADJ
fcis-32671	27	2	,	,	PUNCT
fcis-32671	27	3	it	it	PRON
fcis-32671	27	4	employs	employ	VERB
fcis-32671	27	5	a	a	DET
fcis-32671	27	6	hierarchical	hierarchical	ADJ
fcis-32671	27	7	path	path	NOUN
fcis-32671	27	8	planning	planning	NOUN
fcis-32671	27	9	strategy	strategy	NOUN
fcis-32671	27	10	(	(	PUNCT
fcis-32671	27	11	global	global	ADJ
fcis-32671	27	12	meta	meta	ADJ
fcis-32671	27	13	-	-	PUNCT
fcis-32671	27	14	heuristic	heuristic	ADJ
fcis-32671	27	15	search	search	NOUN
fcis-32671	27	16	+	+	CCONJ
fcis-32671	27	17	local	local	ADJ
fcis-32671	27	18	model	model	NOUN
fcis-32671	27	19	predictive	predictive	PROPN
fcis-32671	27	20	control	control	NOUN
fcis-32671	27	21	adjustment	adjustment	NOUN
fcis-32671	27	22	)	)	PUNCT
fcis-32671	27	23	to	to	PART
fcis-32671	27	24	ensure	ensure	VERB
fcis-32671	27	25	efficient	efficient	ADJ
fcis-32671	27	26	and	and	CCONJ
fcis-32671	27	27	safe	safe	ADJ
fcis-32671	27	28	trajectory	trajectory	NOUN
fcis-32671	27	29	generation	generation	NOUN
fcis-32671	27	30	in	in	ADP
fcis-32671	27	31	complex	complex	ADJ
fcis-32671	27	32	dynamic	dynamic	ADJ
fcis-32671	27	33	environments	environment	NOUN
fcis-32671	27	34	.	.	PUNCT
fcis-32671	28	1	56	56	NUM
fcis-32671	28	2	finally	finally	ADV
fcis-32671	28	3	,	,	PUNCT
fcis-32671	28	4	by	by	ADP
fcis-32671	28	5	constructing	construct	VERB
fcis-32671	28	6	a	a	DET
fcis-32671	28	7	simulation	simulation	NOUN
fcis-32671	28	8	verification	verification	NOUN
fcis-32671	28	9	platform	platform	NOUN
fcis-32671	28	10	supporting	support	VERB
fcis-32671	28	11	digital	digital	ADJ
fcis-32671	28	12	twins	twin	NOUN
fcis-32671	28	13	and	and	CCONJ
fcis-32671	28	14	conducting	conduct	VERB
fcis-32671	28	15	physical	physical	ADJ
fcis-32671	28	16	experiments	experiment	NOUN
fcis-32671	28	17	,	,	PUNCT
fcis-32671	28	18	the	the	DET
fcis-32671	28	19	proposed	propose	VERB
fcis-32671	28	20	framework	framework	NOUN
fcis-32671	28	21	demonstrates	demonstrate	VERB
fcis-32671	28	22	outstanding	outstanding	ADJ
fcis-32671	28	23	performance	performance	NOUN
fcis-32671	28	24	in	in	ADP
fcis-32671	28	25	enhancing	enhance	VERB
fcis-32671	28	26	task	task	NOUN
fcis-32671	28	27	efficiency	efficiency	NOUN
fcis-32671	28	28	,	,	PUNCT
fcis-32671	28	29	reducing	reduce	VERB
fcis-32671	28	30	communication	communication	NOUN
fcis-32671	28	31	overhead	overhead	ADV
fcis-32671	28	32	,	,	PUNCT
fcis-32671	28	33	and	and	CCONJ
fcis-32671	28	34	strengthening	strengthen	VERB
fcis-32671	28	35	system	system	NOUN
fcis-32671	28	36	robustness	robustness	NOUN
fcis-32671	28	37	across	across	ADP
fcis-32671	28	38	typical	typical	ADJ
fcis-32671	28	39	scenarios	scenario	NOUN
fcis-32671	28	40	such	such	ADJ
fcis-32671	28	41	as	as	ADP
fcis-32671	28	42	disaster	disaster	NOUN
fcis-32671	28	43	relief	relief	NOUN
fcis-32671	28	44	and	and	CCONJ
fcis-32671	28	45	precision	precision	NOUN
fcis-32671	28	46	agriculture	agriculture	NOUN
fcis-32671	28	47	.	.	PUNCT
fcis-32671	29	1	this	this	DET
fcis-32671	29	2	research	research	NOUN
fcis-32671	29	3	not	not	PART
fcis-32671	29	4	only	only	ADV
fcis-32671	29	5	pursues	pursue	VERB
fcis-32671	29	6	theoretical	theoretical	ADJ
fcis-32671	29	7	innovation	innovation	NOUN
fcis-32671	29	8	but	but	CCONJ
fcis-32671	29	9	also	also	ADV
fcis-32671	29	10	aims	aim	VERB
fcis-32671	29	11	to	to	PART
fcis-32671	29	12	provide	provide	VERB
fcis-32671	29	13	an	an	DET
fcis-32671	29	14	efficient	efficient	ADJ
fcis-32671	29	15	,	,	PUNCT
fcis-32671	29	16	reliable	reliable	ADJ
fcis-32671	29	17	,	,	PUNCT
fcis-32671	29	18	and	and	CCONJ
fcis-32671	29	19	scalable	scalable	ADJ
fcis-32671	29	20	technical	technical	ADJ
fcis-32671	29	21	solution	solution	NOUN
fcis-32671	29	22	for	for	ADP
fcis-32671	29	23	the	the	DET
fcis-32671	29	24	practical	practical	ADJ
fcis-32671	29	25	application	application	NOUN
fcis-32671	29	26	of	of	ADP
fcis-32671	29	27	large	large	ADJ
fcis-32671	29	28	-	-	PUNCT
fcis-32671	29	29	scale	scale	NOUN
fcis-32671	29	30	heterogeneous	heterogeneous	ADJ
fcis-32671	29	31	uav	uav	PROPN
fcis-32671	29	32	swarms	swarm	NOUN
fcis-32671	29	33	,	,	PUNCT
fcis-32671	29	34	holding	hold	VERB
fcis-32671	29	35	significant	significant	ADJ
fcis-32671	29	36	theoretical	theoretical	ADJ
fcis-32671	29	37	implications	implication	NOUN
fcis-32671	29	38	and	and	CCONJ
fcis-32671	29	39	broad	broad	ADJ
fcis-32671	29	40	engineering	engineering	NOUN
fcis-32671	29	41	application	application	NOUN
fcis-32671	29	42	prospects	prospect	NOUN
fcis-32671	29	43	.	.	PUNCT
fcis-32671	30	1	2	2	X
fcis-32671	30	2	.	.	X
fcis-32671	30	3	concept	concept	NOUN
fcis-32671	30	4	of	of	ADP
fcis-32671	30	5	multi	multi	ADJ
fcis-32671	30	6	-	-	ADJ
fcis-32671	30	7	uav	uav	ADJ
fcis-32671	30	8	collaboration	collaboration	PROPN
fcis-32671	30	9	multi	multi	ADJ
fcis-32671	30	10	-	-	ADJ
fcis-32671	30	11	uav	uav	ADJ
fcis-32671	30	12	collaboration	collaboration	NOUN
fcis-32671	30	13	refers	refer	VERB
fcis-32671	30	14	to	to	ADP
fcis-32671	30	15	a	a	DET
fcis-32671	30	16	technical	technical	ADJ
fcis-32671	30	17	system	system	NOUN
fcis-32671	30	18	where	where	SCONJ
fcis-32671	30	19	multiple	multiple	ADJ
fcis-32671	30	20	unmanned	unmanned	ADJ
fcis-32671	30	21	aerial	aerial	ADJ
fcis-32671	30	22	vehicles	vehicle	NOUN
fcis-32671	30	23	form	form	VERB
fcis-32671	30	24	an	an	DET
fcis-32671	30	25	organic	organic	ADJ
fcis-32671	30	26	whole	whole	NOUN
fcis-32671	30	27	to	to	PART
fcis-32671	30	28	jointly	jointly	ADV
fcis-32671	30	29	accomplish	accomplish	VERB
fcis-32671	30	30	tasks	task	NOUN
fcis-32671	30	31	through	through	ADP
fcis-32671	30	32	communication	communication	NOUN
fcis-32671	30	33	networking	networking	NOUN
fcis-32671	30	34	,	,	PUNCT
fcis-32671	30	35	information	information	NOUN
fcis-32671	30	36	sharing	sharing	NOUN
fcis-32671	30	37	,	,	PUNCT
fcis-32671	30	38	and	and	CCONJ
fcis-32671	30	39	collaborative	collaborative	ADJ
fcis-32671	30	40	decision	decision	NOUN
fcis-32671	30	41	-	-	PUNCT
fcis-32671	30	42	making	making	NOUN
fcis-32671	30	43	[	[	X
fcis-32671	30	44	5	5	NUM
fcis-32671	30	45	]	]	PUNCT
fcis-32671	30	46	.	.	PUNCT
fcis-32671	31	1	its	its	PRON
fcis-32671	31	2	core	core	NOUN
fcis-32671	31	3	value	value	NOUN
fcis-32671	31	4	lies	lie	VERB
fcis-32671	31	5	in	in	ADP
fcis-32671	31	6	achieving	achieve	VERB
fcis-32671	31	7	"	"	PUNCT
fcis-32671	31	8	1	1	NUM
fcis-32671	31	9	+	+	NOUN
fcis-32671	31	10	1>2	1>2	NOUN
fcis-32671	31	11	"	"	PUNCT
fcis-32671	31	12	benefits	benefit	NOUN
fcis-32671	31	13	through	through	ADP
fcis-32671	31	14	swarm	swarm	NOUN
fcis-32671	31	15	intelligence	intelligence	NOUN
fcis-32671	32	1	[	[	X
fcis-32671	32	2	6	6	NUM
fcis-32671	32	3	]	]	PUNCT
fcis-32671	32	4	,	,	PUNCT
fcis-32671	32	5	significantly	significantly	ADV
fcis-32671	32	6	enhancing	enhance	VERB
fcis-32671	32	7	task	task	NOUN
fcis-32671	32	8	execution	execution	NOUN
fcis-32671	32	9	efficiency	efficiency	NOUN
fcis-32671	32	10	while	while	SCONJ
fcis-32671	32	11	enabling	enable	VERB
fcis-32671	32	12	complex	complex	ADJ
fcis-32671	32	13	missions	mission	NOUN
fcis-32671	32	14	beyond	beyond	ADP
fcis-32671	32	15	the	the	DET
fcis-32671	32	16	capability	capability	NOUN
fcis-32671	32	17	of	of	ADP
fcis-32671	32	18	individual	individual	ADJ
fcis-32671	32	19	drones	drone	NOUN
fcis-32671	32	20	.	.	PUNCT
fcis-32671	33	1	this	this	DET
fcis-32671	33	2	collaborative	collaborative	ADJ
fcis-32671	33	3	model	model	NOUN
fcis-32671	33	4	not	not	PART
fcis-32671	33	5	only	only	ADV
fcis-32671	33	6	improves	improve	VERB
fcis-32671	33	7	system	system	NOUN
fcis-32671	33	8	reliability	reliability	NOUN
fcis-32671	33	9	and	and	CCONJ
fcis-32671	33	10	robustness	robustness	NOUN
fcis-32671	33	11	but	but	CCONJ
fcis-32671	33	12	also	also	ADV
fcis-32671	33	13	reduces	reduce	VERB
fcis-32671	33	14	overall	overall	ADJ
fcis-32671	33	15	mission	mission	NOUN
fcis-32671	33	16	risk	risk	NOUN
fcis-32671	33	17	by	by	ADP
fcis-32671	33	18	leveraging	leverage	VERB
fcis-32671	33	19	multiple	multiple	ADJ
fcis-32671	33	20	low	low	ADJ
fcis-32671	33	21	-	-	PUNCT
fcis-32671	33	22	cost	cost	NOUN
fcis-32671	33	23	drones	drone	NOUN
fcis-32671	33	24	[	[	X
fcis-32671	33	25	7	7	NUM
fcis-32671	33	26	]	]	PUNCT
fcis-32671	33	27	.	.	PUNCT
fcis-32671	34	1	technologically	technologically	ADV
fcis-32671	34	2	,	,	PUNCT
fcis-32671	34	3	multi	multi	ADJ
fcis-32671	34	4	-	-	ADJ
fcis-32671	34	5	uav	uav	ADJ
fcis-32671	34	6	collaboration	collaboration	NOUN
fcis-32671	34	7	systems	system	NOUN
fcis-32671	34	8	comprise	comprise	VERB
fcis-32671	34	9	four	four	NUM
fcis-32671	34	10	key	key	ADJ
fcis-32671	34	11	layers	layer	NOUN
fcis-32671	34	12	:	:	PUNCT
fcis-32671	34	13	communication	communication	NOUN
fcis-32671	34	14	networks	network	NOUN
fcis-32671	34	15	,	,	PUNCT
fcis-32671	34	16	collaborative	collaborative	ADJ
fcis-32671	34	17	perception	perception	NOUN
fcis-32671	34	18	,	,	PUNCT
fcis-32671	34	19	task	task	NOUN
fcis-32671	34	20	decision	decision	NOUN
fcis-32671	34	21	-	-	PUNCT
fcis-32671	34	22	making	making	NOUN
fcis-32671	34	23	,	,	PUNCT
fcis-32671	34	24	and	and	CCONJ
fcis-32671	34	25	motion	motion	NOUN
fcis-32671	34	26	planning	planning	NOUN
fcis-32671	34	27	[	[	X
fcis-32671	34	28	8	8	NUM
fcis-32671	34	29	]	]	PUNCT
fcis-32671	34	30	.	.	PUNCT
fcis-32671	35	1	communication	communication	NOUN
fcis-32671	35	2	networks	network	NOUN
fcis-32671	35	3	form	form	VERB
fcis-32671	35	4	the	the	DET
fcis-32671	35	5	foundation	foundation	NOUN
fcis-32671	35	6	for	for	ADP
fcis-32671	35	7	information	information	NOUN
fcis-32671	35	8	exchange	exchange	NOUN
fcis-32671	35	9	between	between	ADP
fcis-32671	35	10	uavs	uavs	PROPN
fcis-32671	35	11	.	.	PUNCT
fcis-32671	36	1	collaborative	collaborative	ADJ
fcis-32671	36	2	perception	perception	NOUN
fcis-32671	36	3	builds	build	VERB
fcis-32671	36	4	global	global	ADJ
fcis-32671	36	5	environmental	environmental	ADJ
fcis-32671	36	6	awareness	awareness	NOUN
fcis-32671	36	7	through	through	ADP
fcis-32671	36	8	data	datum	NOUN
fcis-32671	36	9	fusion	fusion	NOUN
fcis-32671	36	10	.	.	PUNCT
fcis-32671	37	1	task	task	NOUN
fcis-32671	37	2	decision	decision	NOUN
fcis-32671	37	3	-	-	PUNCT
fcis-32671	37	4	making	make	VERB
fcis-32671	37	5	addresses	address	NOUN
fcis-32671	37	6	"	"	PUNCT
fcis-32671	37	7	what	what	PRON
fcis-32671	37	8	to	to	PART
fcis-32671	37	9	do	do	AUX
fcis-32671	37	10	,	,	PUNCT
fcis-32671	37	11	"	"	PUNCT
fcis-32671	37	12	typically	typically	ADV
fcis-32671	37	13	employing	employ	VERB
fcis-32671	37	14	intelligent	intelligent	ADJ
fcis-32671	37	15	optimization	optimization	NOUN
fcis-32671	37	16	algorithms	algorithm	NOUN
fcis-32671	37	17	for	for	ADP
fcis-32671	37	18	task	task	NOUN
fcis-32671	37	19	allocation	allocation	NOUN
fcis-32671	37	20	.	.	PUNCT
fcis-32671	38	1	motion	motion	NOUN
fcis-32671	38	2	planning	planning	NOUN
fcis-32671	38	3	generates	generate	VERB
fcis-32671	38	4	safe	safe	ADJ
fcis-32671	38	5	,	,	PUNCT
fcis-32671	38	6	feasible	feasible	ADJ
fcis-32671	38	7	flight	flight	NOUN
fcis-32671	38	8	trajectories	trajectory	NOUN
fcis-32671	38	9	while	while	SCONJ
fcis-32671	38	10	ensuring	ensure	VERB
fcis-32671	38	11	collision	collision	NOUN
fcis-32671	38	12	avoidance	avoidance	NOUN
fcis-32671	38	13	among	among	ADP
fcis-32671	38	14	multiple	multiple	ADJ
fcis-32671	38	15	aircraft	aircraft	NOUN
fcis-32671	38	16	.	.	PUNCT
fcis-32671	39	1	currently	currently	ADV
fcis-32671	39	2	,	,	PUNCT
fcis-32671	39	3	three	three	NUM
fcis-32671	39	4	primary	primary	ADJ
fcis-32671	39	5	control	control	NOUN
fcis-32671	39	6	architectures	architecture	NOUN
fcis-32671	39	7	are	be	AUX
fcis-32671	39	8	employed	employ	VERB
fcis-32671	39	9	:	:	PUNCT
fcis-32671	39	10	centralized	centralized	ADJ
fcis-32671	39	11	,	,	PUNCT
fcis-32671	39	12	distributed	distribute	VERB
fcis-32671	39	13	,	,	PUNCT
fcis-32671	39	14	and	and	CCONJ
fcis-32671	39	15	hybrid	hybrid	NOUN
fcis-32671	39	16	,	,	PUNCT
fcis-32671	39	17	as	as	SCONJ
fcis-32671	39	18	summarized	summarize	VERB
fcis-32671	39	19	in	in	ADP
fcis-32671	39	20	table	table	NOUN
fcis-32671	39	21	1	1	NUM
fcis-32671	39	22	.	.	PUNCT
fcis-32671	39	23	centralized	centralized	ADJ
fcis-32671	39	24	control	control	NOUN
fcis-32671	39	25	offers	offer	VERB
fcis-32671	39	26	simplicity	simplicity	NOUN
fcis-32671	39	27	but	but	CCONJ
fcis-32671	39	28	lacks	lack	VERB
fcis-32671	39	29	reliability	reliability	NOUN
fcis-32671	39	30	,	,	PUNCT
fcis-32671	39	31	while	while	SCONJ
fcis-32671	39	32	distributed	distributed	ADJ
fcis-32671	39	33	control	control	NOUN
fcis-32671	39	34	provides	provide	VERB
fcis-32671	39	35	robustness	robustness	NOUN
fcis-32671	39	36	but	but	CCONJ
fcis-32671	39	37	faces	face	VERB
fcis-32671	39	38	optimization	optimization	NOUN
fcis-32671	39	39	limitations	limitation	NOUN
fcis-32671	39	40	.	.	PUNCT
fcis-32671	40	1	hybrid	hybrid	ADJ
fcis-32671	40	2	control	control	NOUN
fcis-32671	40	3	combines	combine	VERB
fcis-32671	40	4	the	the	DET
fcis-32671	40	5	advantages	advantage	NOUN
fcis-32671	40	6	of	of	ADP
fcis-32671	40	7	both	both	PRON
fcis-32671	40	8	and	and	CCONJ
fcis-32671	40	9	is	be	AUX
fcis-32671	40	10	the	the	DET
fcis-32671	40	11	most	most	ADV
fcis-32671	40	12	widely	widely	ADV
fcis-32671	40	13	adopted	adopt	VERB
fcis-32671	40	14	in	in	ADP
fcis-32671	40	15	practice	practice	NOUN
fcis-32671	40	16	.	.	PUNCT
fcis-32671	41	1	these	these	DET
fcis-32671	41	2	architectures	architecture	NOUN
fcis-32671	41	3	support	support	VERB
fcis-32671	41	4	diverse	diverse	ADJ
fcis-32671	41	5	collaborative	collaborative	ADJ
fcis-32671	41	6	modes	mode	NOUN
fcis-32671	41	7	,	,	PUNCT
fcis-32671	41	8	including	include	VERB
fcis-32671	41	9	typical	typical	ADJ
fcis-32671	41	10	application	application	NOUN
fcis-32671	41	11	scenarios	scenario	NOUN
fcis-32671	41	12	such	such	ADJ
fcis-32671	41	13	as	as	ADP
fcis-32671	41	14	area	area	NOUN
fcis-32671	41	15	-	-	PUNCT
fcis-32671	41	16	cooperative	cooperative	ADJ
fcis-32671	41	17	search	search	NOUN
fcis-32671	41	18	,	,	PUNCT
fcis-32671	41	19	cooperative	cooperative	ADJ
fcis-32671	41	20	transport	transport	NOUN
fcis-32671	41	21	,	,	PUNCT
fcis-32671	41	22	networked	networked	ADJ
fcis-32671	41	23	monitoring	monitoring	NOUN
fcis-32671	41	24	,	,	PUNCT
fcis-32671	41	25	and	and	CCONJ
fcis-32671	41	26	swarm	swarm	NOUN
fcis-32671	41	27	performances	performance	NOUN
fcis-32671	41	28	.	.	PUNCT
fcis-32671	42	1	the	the	DET
fcis-32671	42	2	field	field	NOUN
fcis-32671	42	3	still	still	ADV
fcis-32671	42	4	faces	face	VERB
fcis-32671	42	5	numerous	numerous	ADJ
fcis-32671	42	6	technical	technical	ADJ
fcis-32671	42	7	challenges	challenge	NOUN
fcis-32671	42	8	,	,	PUNCT
fcis-32671	42	9	including	include	VERB
fcis-32671	42	10	communication	communication	NOUN
fcis-32671	42	11	bandwidth	bandwidth	ADJ
fcis-32671	42	12	limitations	limitation	NOUN
fcis-32671	42	13	,	,	PUNCT
fcis-32671	42	14	real	real	ADJ
fcis-32671	42	15	-	-	PUNCT
fcis-32671	42	16	time	time	NOUN
fcis-32671	42	17	response	response	NOUN
fcis-32671	42	18	in	in	ADP
fcis-32671	42	19	dynamic	dynamic	ADJ
fcis-32671	42	20	environments	environment	NOUN
fcis-32671	42	21	,	,	PUNCT
fcis-32671	42	22	scalability	scalability	NOUN
fcis-32671	42	23	for	for	ADP
fcis-32671	42	24	large	large	ADJ
fcis-32671	42	25	-	-	PUNCT
fcis-32671	42	26	scale	scale	NOUN
fcis-32671	42	27	clusters	cluster	NOUN
fcis-32671	42	28	,	,	PUNCT
fcis-32671	42	29	and	and	CCONJ
fcis-32671	42	30	system	system	NOUN
fcis-32671	42	31	security	security	NOUN
fcis-32671	42	32	assurance	assurance	NOUN
fcis-32671	42	33	.	.	PUNCT
fcis-32671	43	1	with	with	ADP
fcis-32671	43	2	advancements	advancement	NOUN
fcis-32671	43	3	in	in	ADP
fcis-32671	43	4	artificial	artificial	ADJ
fcis-32671	43	5	intelligence	intelligence	NOUN
fcis-32671	43	6	,	,	PUNCT
fcis-32671	43	7	new	new	ADJ
fcis-32671	43	8	methods	method	NOUN
fcis-32671	43	9	such	such	ADJ
fcis-32671	43	10	as	as	ADP
fcis-32671	43	11	reinforcement	reinforcement	NOUN
fcis-32671	43	12	learning	learning	NOUN
fcis-32671	43	13	and	and	CCONJ
fcis-32671	43	14	deep	deep	ADJ
fcis-32671	43	15	learning	learning	NOUN
fcis-32671	43	16	are	be	AUX
fcis-32671	43	17	driving	drive	VERB
fcis-32671	43	18	breakthroughs	breakthrough	NOUN
fcis-32671	43	19	in	in	ADP
fcis-32671	43	20	multiuav	multiuav	PROPN
fcis-32671	43	21	collaboration	collaboration	NOUN
fcis-32671	43	22	,	,	PUNCT
fcis-32671	43	23	propelling	propel	VERB
fcis-32671	43	24	it	it	PRON
fcis-32671	43	25	toward	toward	ADP
fcis-32671	43	26	greater	great	ADJ
fcis-32671	43	27	intelligence	intelligence	NOUN
fcis-32671	43	28	and	and	CCONJ
fcis-32671	43	29	autonomy	autonomy	NOUN
fcis-32671	43	30	.	.	PUNCT
fcis-32671	44	1	multi	multi	ADJ
fcis-32671	44	2	-	-	ADJ
fcis-32671	44	3	uav	uav	ADJ
fcis-32671	44	4	collaboration	collaboration	NOUN
fcis-32671	44	5	technology	technology	NOUN
fcis-32671	44	6	is	be	AUX
fcis-32671	44	7	transitioning	transition	VERB
fcis-32671	44	8	from	from	ADP
fcis-32671	44	9	laboratory	laboratory	NOUN
fcis-32671	44	10	research	research	NOUN
fcis-32671	44	11	to	to	ADP
fcis-32671	44	12	practical	practical	ADJ
fcis-32671	44	13	applications	application	NOUN
fcis-32671	44	14	.	.	PUNCT
fcis-32671	45	1	it	it	PRON
fcis-32671	45	2	holds	hold	VERB
fcis-32671	45	3	vast	vast	ADJ
fcis-32671	45	4	potential	potential	NOUN
fcis-32671	45	5	in	in	ADP
fcis-32671	45	6	future	future	ADJ
fcis-32671	45	7	urban	urban	ADJ
fcis-32671	45	8	management	management	NOUN
fcis-32671	45	9	,	,	PUNCT
fcis-32671	45	10	disaster	disaster	NOUN
fcis-32671	45	11	relief	relief	NOUN
fcis-32671	45	12	,	,	PUNCT
fcis-32671	45	13	agricultural	agricultural	ADJ
fcis-32671	45	14	crop	crop	NOUN
fcis-32671	45	15	protection	protection	NOUN
fcis-32671	45	16	,	,	PUNCT
fcis-32671	45	17	and	and	CCONJ
fcis-32671	45	18	other	other	ADJ
fcis-32671	45	19	fields	field	NOUN
fcis-32671	45	20	,	,	PUNCT
fcis-32671	45	21	representing	represent	VERB
fcis-32671	45	22	a	a	DET
fcis-32671	45	23	crucial	crucial	ADJ
fcis-32671	45	24	direction	direction	NOUN
fcis-32671	45	25	for	for	ADP
fcis-32671	45	26	uav	uav	PROPN
fcis-32671	45	27	technology	technology	PROPN
fcis-32671	45	28	development	development	NOUN
fcis-32671	45	29	and	and	CCONJ
fcis-32671	45	30	a	a	DET
fcis-32671	45	31	foundational	foundational	ADJ
fcis-32671	45	32	pillar	pillar	NOUN
fcis-32671	45	33	for	for	ADP
fcis-32671	45	34	realizing	realize	VERB
fcis-32671	45	35	intelligent	intelligent	ADJ
fcis-32671	45	36	unmanned	unmanned	ADJ
fcis-32671	45	37	systems	system	NOUN
fcis-32671	45	38	table	table	NOUN
fcis-32671	45	39	1	1	NUM
fcis-32671	45	40	.	.	PUNCT
fcis-32671	45	41	comparison	comparison	NOUN
fcis-32671	45	42	of	of	ADP
fcis-32671	45	43	multi	multi	ADJ
fcis-32671	45	44	-	-	ADJ
fcis-32671	45	45	uav	uav	ADJ
fcis-32671	45	46	control	control	NOUN
fcis-32671	45	47	frameworks	framework	NOUN
fcis-32671	45	48	(	(	PUNCT
fcis-32671	45	49	reference	reference	NOUN
fcis-32671	45	50	[	[	X
fcis-32671	45	51	9	9	NUM
fcis-32671	45	52	]	]	SYM
fcis-32671	45	53	)	)	PUNCT
fcis-32671	45	54	control	control	NOUN
fcis-32671	45	55	architecture	architecture	NOUN
fcis-32671	45	56	communication	communication	NOUN
fcis-32671	45	57	mode	mode	NOUN
fcis-32671	45	58	advantages	advantage	NOUN
fcis-32671	45	59	disadvantages	disadvantage	VERB
fcis-32671	45	60	applicable	applicable	ADJ
fcis-32671	45	61	scenarios	scenario	NOUN
fcis-32671	45	62	centralized	centralize	VERB
fcis-32671	45	63	star	star	NOUN
fcis-32671	45	64	topology	topology	NOUN
fcis-32671	45	65	theoretically	theoretically	ADV
fcis-32671	45	66	optimal	optimal	ADJ
fcis-32671	45	67	solution	solution	NOUN
fcis-32671	45	68	,	,	PUNCT
fcis-32671	45	69	simple	simple	ADJ
fcis-32671	45	70	algorithm	algorithm	NOUN
fcis-32671	45	71	single	single	ADJ
fcis-32671	45	72	point	point	NOUN
fcis-32671	45	73	of	of	ADP
fcis-32671	45	74	failure	failure	NOUN
fcis-32671	45	75	,	,	PUNCT
fcis-32671	45	76	poor	poor	ADJ
fcis-32671	45	77	scalability	scalability	NOUN
fcis-32671	45	78	,	,	PUNCT
fcis-32671	45	79	high	high	ADJ
fcis-32671	45	80	communication	communication	NOUN
fcis-32671	45	81	load	load	VERB
fcis-32671	45	82	small	small	ADJ
fcis-32671	45	83	-	-	PUNCT
fcis-32671	45	84	scale	scale	NOUN
fcis-32671	45	85	static	static	ADJ
fcis-32671	45	86	environments	environment	NOUN
fcis-32671	45	87	distributed	distribute	VERB
fcis-32671	45	88	mesh	mesh	NOUN
fcis-32671	45	89	topology	topology	NOUN
fcis-32671	45	90	high	high	ADJ
fcis-32671	45	91	robustness	robustness	NOUN
fcis-32671	45	92	,	,	PUNCT
fcis-32671	45	93	good	good	ADJ
fcis-32671	45	94	scalability	scalability	NOUN
fcis-32671	45	95	limited	limit	VERB
fcis-32671	45	96	optimization	optimization	NOUN
fcis-32671	45	97	capabilities	capability	NOUN
fcis-32671	45	98	,	,	PUNCT
fcis-32671	45	99	convergence	convergence	NOUN
fcis-32671	45	100	difficult	difficult	ADJ
fcis-32671	45	101	to	to	PART
fcis-32671	45	102	guarantee	guarantee	VERB
fcis-32671	45	103	large	large	ADJ
fcis-32671	45	104	-	-	PUNCT
fcis-32671	45	105	scale	scale	NOUN
fcis-32671	45	106	dynamic	dynamic	ADJ
fcis-32671	45	107	environment	environment	NOUN
fcis-32671	45	108	hybrid	hybrid	ADJ
fcis-32671	45	109	hierarchical	hierarchical	ADJ
fcis-32671	45	110	hybrid	hybrid	ADJ
fcis-32671	45	111	communication	communication	NOUN
fcis-32671	45	112	balances	balance	NOUN
fcis-32671	45	113	performance	performance	NOUN
fcis-32671	45	114	and	and	CCONJ
fcis-32671	45	115	robustness	robustness	NOUN
fcis-32671	45	116	complex	complex	ADJ
fcis-32671	45	117	design	design	NOUN
fcis-32671	45	118	requiring	require	VERB
fcis-32671	45	119	coordination	coordination	NOUN
fcis-32671	45	120	of	of	ADP
fcis-32671	45	121	inter	inter	ADJ
fcis-32671	45	122	-	-	ADJ
fcis-32671	45	123	layer	layer	ADJ
fcis-32671	45	124	interactions	interaction	NOUN
fcis-32671	45	125	medium	medium	ADJ
fcis-32671	45	126	-	-	PUNCT
fcis-32671	45	127	scale	scale	NOUN
fcis-32671	45	128	complex	complex	ADJ
fcis-32671	45	129	scenarios	scenario	NOUN
fcis-32671	45	130	control	control	VERB
fcis-32671	45	131	architecture	architecture	NOUN
fcis-32671	45	132	communication	communication	NOUN
fcis-32671	45	133	mode	mode	NOUN
fcis-32671	45	134	advantages	advantage	NOUN
fcis-32671	45	135	disadvantages	disadvantage	VERB
fcis-32671	45	136	applicable	applicable	ADJ
fcis-32671	45	137	scenarios	scenario	NOUN
fcis-32671	45	138	centralized	centralize	VERB
fcis-32671	45	139	star	star	NOUN
fcis-32671	45	140	topology	topology	NOUN
fcis-32671	45	141	theoretically	theoretically	ADV
fcis-32671	45	142	optimal	optimal	ADJ
fcis-32671	45	143	solution	solution	NOUN
fcis-32671	45	144	,	,	PUNCT
fcis-32671	45	145	simple	simple	ADJ
fcis-32671	45	146	algorithm	algorithm	NOUN
fcis-32671	45	147	single	single	ADJ
fcis-32671	45	148	point	point	NOUN
fcis-32671	45	149	of	of	ADP
fcis-32671	45	150	failure	failure	NOUN
fcis-32671	45	151	,	,	PUNCT
fcis-32671	45	152	poor	poor	ADJ
fcis-32671	45	153	scalability	scalability	NOUN
fcis-32671	45	154	,	,	PUNCT
fcis-32671	45	155	high	high	ADJ
fcis-32671	45	156	communication	communication	NOUN
fcis-32671	45	157	load	load	VERB
fcis-32671	45	158	small	small	ADJ
fcis-32671	45	159	-	-	PUNCT
fcis-32671	45	160	scale	scale	NOUN
fcis-32671	45	161	static	static	ADJ
fcis-32671	45	162	environments	environment	NOUN
fcis-32671	45	163	3	3	NUM
fcis-32671	45	164	.	.	PUNCT
fcis-32671	45	165	task	task	NOUN
fcis-32671	45	166	allocation	allocation	NOUN
fcis-32671	45	167	algorithm	algorithm	NOUN
fcis-32671	45	168	selection	selection	NOUN
fcis-32671	45	169	for	for	ADP
fcis-32671	45	170	multi	multi	ADJ
fcis-32671	45	171	-	-	ADJ
fcis-32671	45	172	uav	uav	ADJ
fcis-32671	45	173	collaboration	collaboration	NOUN
fcis-32671	45	174	selecting	select	VERB
fcis-32671	45	175	a	a	DET
fcis-32671	45	176	task	task	NOUN
fcis-32671	45	177	allocation	allocation	NOUN
fcis-32671	45	178	algorithm	algorithm	NOUN
fcis-32671	45	179	is	be	AUX
fcis-32671	45	180	a	a	DET
fcis-32671	45	181	core	core	ADJ
fcis-32671	45	182	decision	decision	NOUN
fcis-32671	45	183	in	in	ADP
fcis-32671	45	184	multiuav	multiuav	PROPN
fcis-32671	45	185	collaborative	collaborative	ADJ
fcis-32671	45	186	operations	operation	NOUN
fcis-32671	45	187	,	,	PUNCT
fcis-32671	45	188	directly	directly	ADV
fcis-32671	45	189	determining	determine	VERB
fcis-32671	45	190	system	system	NOUN
fcis-32671	45	191	efficiency	efficiency	NOUN
fcis-32671	45	192	and	and	CCONJ
fcis-32671	45	193	performance	performance	NOUN
fcis-32671	45	194	.	.	PUNCT
fcis-32671	46	1	algorithm	algorithm	NOUN
fcis-32671	46	2	selection	selection	NOUN
fcis-32671	46	3	is	be	AUX
fcis-32671	46	4	not	not	PART
fcis-32671	46	5	arbitrary	arbitrary	ADJ
fcis-32671	46	6	but	but	CCONJ
fcis-32671	46	7	requires	require	VERB
fcis-32671	46	8	comprehensive	comprehensive	ADJ
fcis-32671	46	9	consideration	consideration	NOUN
fcis-32671	46	10	of	of	ADP
fcis-32671	46	11	mission	mission	NOUN
fcis-32671	46	12	scenarios	scenario	NOUN
fcis-32671	46	13	,	,	PUNCT
fcis-32671	46	14	uav	uav	PROPN
fcis-32671	46	15	capabilities	capability	NOUN
fcis-32671	46	16	,	,	PUNCT
fcis-32671	46	17	communication	communication	NOUN
fcis-32671	46	18	conditions	condition	NOUN
fcis-32671	46	19	,	,	PUNCT
fcis-32671	46	20	and	and	CCONJ
fcis-32671	46	21	optimality	optimality	NOUN
fcis-32671	46	22	requirements	requirement	NOUN
fcis-32671	46	23	.	.	PUNCT
fcis-32671	47	1	no	no	DET
fcis-32671	47	2	single	single	ADJ
fcis-32671	47	3	algorithm	algorithm	NOUN
fcis-32671	47	4	excels	excel	VERB
fcis-32671	47	5	in	in	ADP
fcis-32671	47	6	all	all	DET
fcis-32671	47	7	situations	situation	NOUN
fcis-32671	47	8	,	,	PUNCT
fcis-32671	47	9	making	make	VERB
fcis-32671	47	10	it	it	PRON
fcis-32671	47	11	crucial	crucial	ADJ
fcis-32671	47	12	to	to	PART
fcis-32671	47	13	understand	understand	VERB
fcis-32671	47	14	the	the	DET
fcis-32671	47	15	characteristics	characteristic	NOUN
fcis-32671	47	16	and	and	CCONJ
fcis-32671	47	17	applicable	applicable	ADJ
fcis-32671	47	18	scenarios	scenario	NOUN
fcis-32671	47	19	of	of	ADP
fcis-32671	47	20	various	various	ADJ
fcis-32671	47	21	algorithms	algorithm	NOUN
fcis-32671	47	22	.	.	PUNCT
fcis-32671	48	1	for	for	ADP
fcis-32671	48	2	small	small	ADJ
fcis-32671	48	3	-	-	PUNCT
fcis-32671	48	4	scale	scale	NOUN
fcis-32671	48	5	,	,	PUNCT
fcis-32671	48	6	computationally	computationally	ADV
fcis-32671	48	7	well	well	ADV
fcis-32671	48	8	-	-	PUNCT
fcis-32671	48	9	resourced	resource	VERB
fcis-32671	48	10	static	static	ADJ
fcis-32671	48	11	environments	environment	NOUN
fcis-32671	48	12	requiring	require	VERB
fcis-32671	48	13	globally	globally	ADV
fcis-32671	48	14	optimal	optimal	ADJ
fcis-32671	48	15	solutions	solution	NOUN
fcis-32671	48	16	,	,	PUNCT
fcis-32671	48	17	centralized	centralized	ADJ
fcis-32671	48	18	optimization	optimization	NOUN
fcis-32671	48	19	algorithms	algorithm	NOUN
fcis-32671	48	20	are	be	AUX
fcis-32671	48	21	ideal	ideal	ADJ
fcis-32671	48	22	.	.	PUNCT
fcis-32671	49	1	typically	typically	ADV
fcis-32671	49	2	based	base	VERB
fcis-32671	49	3	on	on	ADP
fcis-32671	49	4	integer	integer	PROPN
fcis-32671	49	5	linear	linear	PROPN
fcis-32671	49	6	programming	programming	NOUN
fcis-32671	49	7	(	(	PUNCT
fcis-32671	49	8	ilp	ilp	NOUN
fcis-32671	49	9	)	)	PUNCT
fcis-32671	49	10	or	or	CCONJ
fcis-32671	49	11	mixed	mixed	ADJ
fcis-32671	49	12	-	-	PUNCT
fcis-32671	49	13	integer	integer	NOUN
fcis-32671	49	14	linear	linear	NOUN
fcis-32671	49	15	programming	programming	NOUN
fcis-32671	49	16	(	(	PUNCT
fcis-32671	49	17	milp	milp	NOUN
fcis-32671	49	18	)	)	PUNCT
fcis-32671	49	19	,	,	PUNCT
fcis-32671	49	20	these	these	DET
fcis-32671	49	21	methods	method	NOUN
fcis-32671	49	22	rely	rely	VERB
fcis-32671	49	23	on	on	ADP
fcis-32671	49	24	a	a	DET
fcis-32671	49	25	central	central	ADJ
fcis-32671	49	26	computing	compute	VERB
fcis-32671	49	27	unit	unit	NOUN
fcis-32671	49	28	to	to	PART
fcis-32671	49	29	aggregate	aggregate	VERB
fcis-32671	49	30	all	all	DET
fcis-32671	49	31	information	information	NOUN
fcis-32671	49	32	and	and	CCONJ
fcis-32671	49	33	compute	compute	VERB
fcis-32671	49	34	the	the	DET
fcis-32671	49	35	theoretically	theoretically	ADV
fcis-32671	49	36	optimal	optimal	ADJ
fcis-32671	49	37	task	task	NOUN
fcis-32671	49	38	allocation	allocation	NOUN
fcis-32671	49	39	for	for	ADP
fcis-32671	49	40	the	the	DET
fcis-32671	49	41	entire	entire	ADJ
fcis-32671	49	42	fleet	fleet	NOUN
fcis-32671	49	43	.	.	PUNCT
fcis-32671	50	1	while	while	SCONJ
fcis-32671	50	2	delivering	deliver	VERB
fcis-32671	50	3	optimal	optimal	ADJ
fcis-32671	50	4	solutions	solution	NOUN
fcis-32671	50	5	,	,	PUNCT
fcis-32671	50	6	their	their	PRON
fcis-32671	50	7	computational	computational	ADJ
fcis-32671	50	8	complexity	complexity	NOUN
fcis-32671	50	9	grows	grow	VERB
fcis-32671	50	10	exponentially	exponentially	ADV
fcis-32671	50	11	with	with	ADP
fcis-32671	50	12	the	the	DET
fcis-32671	50	13	number	number	NOUN
fcis-32671	50	14	of	of	ADP
fcis-32671	50	15	uavs	uavs	NOUN
fcis-32671	50	16	and	and	CCONJ
fcis-32671	50	17	tasks	task	NOUN
fcis-32671	50	18	.	.	PUNCT
fcis-32671	51	1	additionally	additionally	ADV
fcis-32671	51	2	,	,	PUNCT
fcis-32671	51	3	the	the	DET
fcis-32671	51	4	high	high	ADJ
fcis-32671	51	5	risk	risk	NOUN
fcis-32671	51	6	of	of	ADP
fcis-32671	51	7	single	single	ADJ
fcis-32671	51	8	-	-	PUNCT
fcis-32671	51	9	point	point	NOUN
fcis-32671	51	10	failure	failure	NOUN
fcis-32671	51	11	at	at	ADP
fcis-32671	51	12	the	the	DET
fcis-32671	51	13	central	central	ADJ
fcis-32671	51	14	node	node	NOUN
fcis-32671	51	15	makes	make	VERB
fcis-32671	51	16	them	they	PRON
fcis-32671	51	17	unsuitable	unsuitable	ADJ
fcis-32671	51	18	for	for	ADP
fcis-32671	51	19	large	large	ADJ
fcis-32671	51	20	-	-	PUNCT
fcis-32671	51	21	scale	scale	NOUN
fcis-32671	51	22	or	or	CCONJ
fcis-32671	51	23	dynamic	dynamic	ADJ
fcis-32671	51	24	environments	environment	NOUN
fcis-32671	51	25	.	.	PUNCT
fcis-32671	52	1	distributed	distribute	VERB
fcis-32671	52	2	algorithms	algorithm	NOUN
fcis-32671	52	3	demonstrate	demonstrate	VERB
fcis-32671	52	4	significant	significant	ADJ
fcis-32671	52	5	57	57	NUM
fcis-32671	52	6	advantages	advantage	NOUN
fcis-32671	52	7	when	when	SCONJ
fcis-32671	52	8	system	system	NOUN
fcis-32671	52	9	scale	scale	NOUN
fcis-32671	52	10	is	be	AUX
fcis-32671	52	11	large	large	ADJ
fcis-32671	52	12	,	,	PUNCT
fcis-32671	52	13	rapid	rapid	ADJ
fcis-32671	52	14	response	response	NOUN
fcis-32671	52	15	is	be	AUX
fcis-32671	52	16	required	require	VERB
fcis-32671	52	17	,	,	PUNCT
fcis-32671	52	18	or	or	CCONJ
fcis-32671	52	19	communication	communication	NOUN
fcis-32671	52	20	is	be	AUX
fcis-32671	52	21	constrained	constrain	VERB
fcis-32671	52	22	.	.	PUNCT
fcis-32671	53	1	among	among	ADP
fcis-32671	53	2	these	these	PRON
fcis-32671	53	3	,	,	PUNCT
fcis-32671	53	4	market	market	NOUN
fcis-32671	53	5	-	-	PUNCT
fcis-32671	53	6	based	base	VERB
fcis-32671	53	7	consensus	consensus	NOUN
fcis-32671	53	8	auction	auction	NOUN
fcis-32671	53	9	algorithms	algorithm	NOUN
fcis-32671	53	10	represent	represent	VERB
fcis-32671	53	11	a	a	DET
fcis-32671	53	12	paradigm	paradigm	NOUN
fcis-32671	53	13	of	of	ADP
fcis-32671	53	14	distributed	distribute	VERB
fcis-32671	53	15	solutions	solution	NOUN
fcis-32671	53	16	[	[	X
fcis-32671	53	17	10	10	NUM
fcis-32671	53	18	]	]	PUNCT
fcis-32671	53	19	.	.	PUNCT
fcis-32671	54	1	each	each	DET
fcis-32671	54	2	drone	drone	NOUN
fcis-32671	54	3	acts	act	VERB
fcis-32671	54	4	as	as	ADP
fcis-32671	54	5	an	an	DET
fcis-32671	54	6	autonomous	autonomous	ADJ
fcis-32671	54	7	agent	agent	NOUN
fcis-32671	54	8	,	,	PUNCT
fcis-32671	54	9	"	"	PUNCT
fcis-32671	54	10	bidding	bidding	NOUN
fcis-32671	54	11	"	"	PUNCT
fcis-32671	54	12	based	base	VERB
fcis-32671	54	13	on	on	ADP
fcis-32671	54	14	the	the	DET
fcis-32671	54	15	local	local	ADJ
fcis-32671	54	16	cost	cost	NOUN
fcis-32671	54	17	of	of	ADP
fcis-32671	54	18	executing	execute	VERB
fcis-32671	54	19	a	a	DET
fcis-32671	54	20	task	task	NOUN
fcis-32671	54	21	(	(	PUNCT
fcis-32671	54	22	e.g.	e.g.	ADV
fcis-32671	54	23	,	,	PUNCT
fcis-32671	54	24	additional	additional	ADJ
fcis-32671	54	25	flight	flight	NOUN
fcis-32671	54	26	distance	distance	NOUN
fcis-32671	54	27	required	require	VERB
fcis-32671	54	28	)	)	PUNCT
fcis-32671	54	29	.	.	PUNCT
fcis-32671	55	1	through	through	ADP
fcis-32671	55	2	proximity	proximity	NOUN
fcis-32671	55	3	communication	communication	NOUN
fcis-32671	55	4	and	and	CCONJ
fcis-32671	55	5	negotiation	negotiation	NOUN
fcis-32671	55	6	with	with	ADP
fcis-32671	55	7	neighbors	neighbor	NOUN
fcis-32671	55	8	,	,	PUNCT
fcis-32671	55	9	the	the	DET
fcis-32671	55	10	system	system	NOUN
fcis-32671	55	11	ultimately	ultimately	ADV
fcis-32671	55	12	achieves	achieve	VERB
fcis-32671	55	13	a	a	DET
fcis-32671	55	14	globally	globally	ADV
fcis-32671	55	15	efficient	efficient	ADJ
fcis-32671	55	16	allocation	allocation	NOUN
fcis-32671	55	17	outcome	outcome	NOUN
fcis-32671	55	18	.	.	PUNCT
fcis-32671	56	1	this	this	DET
fcis-32671	56	2	approach	approach	NOUN
fcis-32671	56	3	is	be	AUX
fcis-32671	56	4	highly	highly	ADV
fcis-32671	56	5	robust	robust	ADJ
fcis-32671	56	6	;	;	PUNCT
fcis-32671	56	7	the	the	DET
fcis-32671	56	8	failure	failure	NOUN
fcis-32671	56	9	of	of	ADP
fcis-32671	56	10	a	a	DET
fcis-32671	56	11	single	single	ADJ
fcis-32671	56	12	node	node	NOUN
fcis-32671	56	13	does	do	AUX
fcis-32671	56	14	not	not	PART
fcis-32671	56	15	cause	cause	VERB
fcis-32671	56	16	system	system	NOUN
fcis-32671	56	17	collapse	collapse	NOUN
fcis-32671	56	18	,	,	PUNCT
fcis-32671	56	19	making	make	VERB
fcis-32671	56	20	it	it	PRON
fcis-32671	56	21	well	well	ADV
fcis-32671	56	22	-	-	PUNCT
fcis-32671	56	23	suited	suit	VERB
fcis-32671	56	24	for	for	ADP
fcis-32671	56	25	ad	ad	NOUN
fcis-32671	56	26	-	-	PUNCT
fcis-32671	56	27	hoc	hoc	X
fcis-32671	56	28	networks	network	NOUN
fcis-32671	56	29	and	and	CCONJ
fcis-32671	56	30	dynamic	dynamic	ADJ
fcis-32671	56	31	task	task	NOUN
fcis-32671	56	32	insertion	insertion	NOUN
fcis-32671	56	33	.	.	PUNCT
fcis-32671	57	1	in	in	ADP
fcis-32671	57	2	practical	practical	ADJ
fcis-32671	57	3	applications	application	NOUN
fcis-32671	57	4	,	,	PUNCT
fcis-32671	57	5	problems	problem	NOUN
fcis-32671	57	6	are	be	AUX
fcis-32671	57	7	often	often	ADV
fcis-32671	57	8	highly	highly	ADV
fcis-32671	57	9	complex	complex	ADJ
fcis-32671	57	10	,	,	PUNCT
fcis-32671	57	11	involving	involve	VERB
fcis-32671	57	12	numerous	numerous	ADJ
fcis-32671	57	13	constraints	constraint	NOUN
fcis-32671	57	14	and	and	CCONJ
fcis-32671	57	15	making	make	VERB
fcis-32671	57	16	exact	exact	ADJ
fcis-32671	57	17	optimal	optimal	ADJ
fcis-32671	57	18	solutions	solution	NOUN
fcis-32671	57	19	difficult	difficult	ADJ
fcis-32671	57	20	to	to	PART
fcis-32671	57	21	obtain	obtain	VERB
fcis-32671	57	22	.	.	PUNCT
fcis-32671	58	1	this	this	PRON
fcis-32671	58	2	is	be	AUX
fcis-32671	58	3	where	where	SCONJ
fcis-32671	58	4	metaheuristic	metaheuristic	ADJ
fcis-32671	58	5	algorithms	algorithm	NOUN
fcis-32671	58	6	like	like	ADP
fcis-32671	58	7	genetic	genetic	ADJ
fcis-32671	58	8	algorithms	algorithm	NOUN
fcis-32671	58	9	and	and	CCONJ
fcis-32671	58	10	particle	particle	NOUN
fcis-32671	58	11	swarm	swarm	NOUN
fcis-32671	58	12	optimization	optimization	NOUN
fcis-32671	58	13	become	become	VERB
fcis-32671	58	14	powerful	powerful	ADJ
fcis-32671	58	15	tools	tool	NOUN
fcis-32671	58	16	.	.	PUNCT
fcis-32671	59	1	by	by	ADP
fcis-32671	59	2	simulating	simulate	VERB
fcis-32671	59	3	natural	natural	ADJ
fcis-32671	59	4	processes	process	NOUN
fcis-32671	59	5	such	such	ADJ
fcis-32671	59	6	as	as	ADP
fcis-32671	59	7	evolution	evolution	NOUN
fcis-32671	59	8	or	or	CCONJ
fcis-32671	59	9	collective	collective	ADJ
fcis-32671	59	10	behavior	behavior	NOUN
fcis-32671	59	11	,	,	PUNCT
fcis-32671	59	12	they	they	PRON
fcis-32671	59	13	find	find	VERB
fcis-32671	59	14	high	high	ADJ
fcis-32671	59	15	-	-	PUNCT
fcis-32671	59	16	quality	quality	NOUN
fcis-32671	59	17	approximate	approximate	ADJ
fcis-32671	59	18	solutions	solution	NOUN
fcis-32671	59	19	to	to	ADP
fcis-32671	59	20	complex	complex	ADJ
fcis-32671	59	21	problems	problem	NOUN
fcis-32671	59	22	within	within	ADP
fcis-32671	59	23	acceptable	acceptable	ADJ
fcis-32671	59	24	timeframes	timeframe	NOUN
fcis-32671	59	25	.	.	PUNCT
fcis-32671	60	1	these	these	DET
fcis-32671	60	2	algorithms	algorithm	NOUN
fcis-32671	60	3	are	be	AUX
fcis-32671	60	4	particularly	particularly	ADV
fcis-32671	60	5	wellsuited	wellsuite	VERB
fcis-32671	60	6	for	for	ADP
fcis-32671	60	7	multi	multi	ADJ
fcis-32671	60	8	-	-	ADJ
fcis-32671	60	9	objective	objective	ADJ
fcis-32671	60	10	optimization	optimization	NOUN
fcis-32671	60	11	problems	problem	NOUN
fcis-32671	60	12	,	,	PUNCT
fcis-32671	60	13	such	such	ADJ
fcis-32671	60	14	as	as	ADP
fcis-32671	60	15	scenarios	scenario	NOUN
fcis-32671	60	16	requiring	require	VERB
fcis-32671	60	17	simultaneous	simultaneous	ADJ
fcis-32671	60	18	balancing	balancing	NOUN
fcis-32671	60	19	of	of	ADP
fcis-32671	60	20	mission	mission	NOUN
fcis-32671	60	21	completion	completion	NOUN
fcis-32671	60	22	time	time	NOUN
fcis-32671	60	23	,	,	PUNCT
fcis-32671	60	24	total	total	ADJ
fcis-32671	60	25	energy	energy	NOUN
fcis-32671	60	26	consumption	consumption	NOUN
fcis-32671	60	27	,	,	PUNCT
fcis-32671	60	28	and	and	CCONJ
fcis-32671	60	29	load	load	NOUN
fcis-32671	60	30	distribution	distribution	NOUN
fcis-32671	60	31	.	.	PUNCT
fcis-32671	61	1	ultimately	ultimately	ADV
fcis-32671	61	2	,	,	PUNCT
fcis-32671	61	3	algorithm	algorithm	NOUN
fcis-32671	61	4	selection	selection	NOUN
fcis-32671	61	5	is	be	AUX
fcis-32671	61	6	an	an	DET
fcis-32671	61	7	art	art	NOUN
fcis-32671	61	8	of	of	ADP
fcis-32671	61	9	trade	trade	NOUN
fcis-32671	61	10	-	-	PUNCT
fcis-32671	61	11	offs	off	NOUN
fcis-32671	61	12	.	.	PUNCT
fcis-32671	62	1	engineers	engineer	NOUN
fcis-32671	62	2	must	must	AUX
fcis-32671	62	3	make	make	VERB
fcis-32671	62	4	decisions	decision	NOUN
fcis-32671	62	5	based	base	VERB
fcis-32671	62	6	on	on	ADP
fcis-32671	62	7	task	task	NOUN
fcis-32671	62	8	urgency	urgency	NOUN
fcis-32671	62	9	,	,	PUNCT
fcis-32671	62	10	fleet	fleet	NOUN
fcis-32671	62	11	size	size	NOUN
fcis-32671	62	12	,	,	PUNCT
fcis-32671	62	13	communication	communication	NOUN
fcis-32671	62	14	network	network	NOUN
fcis-32671	62	15	reliability	reliability	NOUN
fcis-32671	62	16	,	,	PUNCT
fcis-32671	62	17	and	and	CCONJ
fcis-32671	62	18	computational	computational	ADJ
fcis-32671	62	19	platform	platform	NOUN
fcis-32671	62	20	performance	performance	NOUN
fcis-32671	62	21	.	.	PUNCT
fcis-32671	63	1	in	in	ADP
fcis-32671	63	2	practice	practice	NOUN
fcis-32671	63	3	,	,	PUNCT
fcis-32671	63	4	hierarchical	hierarchical	ADJ
fcis-32671	63	5	hybrid	hybrid	ADJ
fcis-32671	63	6	architectures	architecture	NOUN
fcis-32671	63	7	are	be	AUX
fcis-32671	63	8	gaining	gain	VERB
fcis-32671	63	9	popularity	popularity	NOUN
fcis-32671	63	10	:	:	PUNCT
fcis-32671	63	11	centralized	centralized	ADJ
fcis-32671	63	12	macro	macro	ADJ
fcis-32671	63	13	-	-	NOUN
fcis-32671	63	14	task	task	NOUN
fcis-32671	63	15	allocation	allocation	NOUN
fcis-32671	63	16	at	at	ADP
fcis-32671	63	17	higher	high	ADJ
fcis-32671	63	18	levels	level	NOUN
fcis-32671	63	19	,	,	PUNCT
fcis-32671	63	20	combined	combine	VERB
fcis-32671	63	21	with	with	ADP
fcis-32671	63	22	distributed	distribute	VERB
fcis-32671	63	23	rules	rule	NOUN
fcis-32671	63	24	allowing	allow	VERB
fcis-32671	63	25	drones	drone	NOUN
fcis-32671	63	26	to	to	PART
fcis-32671	63	27	make	make	VERB
fcis-32671	63	28	local	local	ADJ
fcis-32671	63	29	adjustments	adjustment	NOUN
fcis-32671	63	30	at	at	ADP
fcis-32671	63	31	lower	low	ADJ
fcis-32671	63	32	levels	level	NOUN
fcis-32671	63	33	.	.	PUNCT
fcis-32671	64	1	this	this	DET
fcis-32671	64	2	flexible	flexible	ADJ
fcis-32671	64	3	approach	approach	NOUN
fcis-32671	64	4	ensures	ensure	VERB
fcis-32671	64	5	global	global	ADJ
fcis-32671	64	6	coordination	coordination	NOUN
fcis-32671	64	7	while	while	SCONJ
fcis-32671	64	8	leveraging	leverage	VERB
fcis-32671	64	9	the	the	DET
fcis-32671	64	10	robustness	robustness	NOUN
fcis-32671	64	11	and	and	CCONJ
fcis-32671	64	12	responsiveness	responsiveness	NOUN
fcis-32671	64	13	of	of	ADP
fcis-32671	64	14	distributed	distribute	VERB
fcis-32671	64	15	systems	system	NOUN
fcis-32671	64	16	.	.	PUNCT
fcis-32671	65	1	4	4	X
fcis-32671	65	2	.	.	NOUN
fcis-32671	65	3	path	path	NOUN
fcis-32671	65	4	planning	planning	NOUN
fcis-32671	65	5	algorithm	algorithm	NOUN
fcis-32671	65	6	selection	selection	NOUN
fcis-32671	65	7	for	for	ADP
fcis-32671	65	8	multi	multi	ADJ
fcis-32671	65	9	-	-	ADJ
fcis-32671	65	10	uav	uav	ADJ
fcis-32671	65	11	collaboration	collaboration	NOUN
fcis-32671	65	12	4.1	4.1	NUM
fcis-32671	65	13	.	.	PUNCT
fcis-32671	66	1	electing	elect	VERB
fcis-32671	66	2	core	core	NOUN
fcis-32671	66	3	algorithms	algorithm	NOUN
fcis-32671	66	4	based	base	VERB
fcis-32671	66	5	on	on	ADP
fcis-32671	66	6	mission	mission	NOUN
fcis-32671	66	7	scenarios	scenario	NOUN
fcis-32671	66	8	and	and	CCONJ
fcis-32671	66	9	constraints	constraint	NOUN
fcis-32671	66	10	selecting	select	VERB
fcis-32671	66	11	path	path	NOUN
fcis-32671	66	12	planning	planning	NOUN
fcis-32671	66	13	algorithms	algorithm	NOUN
fcis-32671	66	14	for	for	ADP
fcis-32671	66	15	multi	multi	ADJ
fcis-32671	66	16	-	-	ADJ
fcis-32671	66	17	uav	uav	ADJ
fcis-32671	66	18	collaboration	collaboration	NOUN
fcis-32671	66	19	involves	involve	VERB
fcis-32671	66	20	a	a	DET
fcis-32671	66	21	complex	complex	ADJ
fcis-32671	66	22	decision	decision	NOUN
fcis-32671	66	23	-	-	PUNCT
fcis-32671	66	24	making	make	VERB
fcis-32671	66	25	process	process	NOUN
fcis-32671	66	26	.	.	PUNCT
fcis-32671	67	1	its	its	PRON
fcis-32671	67	2	core	core	NOUN
fcis-32671	67	3	objective	objective	NOUN
fcis-32671	67	4	is	be	AUX
fcis-32671	67	5	to	to	PART
fcis-32671	67	6	generate	generate	VERB
fcis-32671	67	7	collision	collision	NOUN
fcis-32671	67	8	-	-	PUNCT
fcis-32671	67	9	free	free	ADJ
fcis-32671	67	10	flight	flight	NOUN
fcis-32671	67	11	trajectories	trajectory	NOUN
fcis-32671	67	12	for	for	ADP
fcis-32671	67	13	the	the	DET
fcis-32671	67	14	entire	entire	ADJ
fcis-32671	67	15	fleet	fleet	NOUN
fcis-32671	67	16	while	while	SCONJ
fcis-32671	67	17	satisfying	satisfy	VERB
fcis-32671	67	18	safety	safety	NOUN
fcis-32671	67	19	,	,	PUNCT
fcis-32671	67	20	efficiency	efficiency	NOUN
fcis-32671	67	21	,	,	PUNCT
fcis-32671	67	22	and	and	CCONJ
fcis-32671	67	23	dynamic	dynamic	ADJ
fcis-32671	67	24	feasibility	feasibility	NOUN
fcis-32671	67	25	requirements	requirement	NOUN
fcis-32671	67	26	.	.	PUNCT
fcis-32671	68	1	the	the	DET
fcis-32671	68	2	fundamental	fundamental	ADJ
fcis-32671	68	3	difference	difference	NOUN
fcis-32671	68	4	from	from	ADP
fcis-32671	68	5	single	single	ADJ
fcis-32671	68	6	-	-	PUNCT
fcis-32671	68	7	uav	uav	PROPN
fcis-32671	68	8	path	path	NOUN
fcis-32671	68	9	planning	planning	NOUN
fcis-32671	68	10	lies	lie	VERB
fcis-32671	68	11	in	in	ADP
fcis-32671	68	12	addressing	address	VERB
fcis-32671	68	13	the	the	DET
fcis-32671	68	14	core	core	NOUN
fcis-32671	68	15	challenge	challenge	NOUN
fcis-32671	68	16	of	of	ADP
fcis-32671	68	17	inter	inter	ADJ
fcis-32671	68	18	-	-	ADJ
fcis-32671	68	19	uav	uav	ADJ
fcis-32671	68	20	collision	collision	NOUN
fcis-32671	68	21	avoidance	avoidance	NOUN
fcis-32671	68	22	,	,	PUNCT
fcis-32671	68	23	demanding	demand	VERB
fcis-32671	68	24	algorithms	algorithm	NOUN
fcis-32671	68	25	capable	capable	ADJ
fcis-32671	68	26	of	of	ADP
fcis-32671	68	27	handling	handle	VERB
fcis-32671	68	28	high	high	ADV
fcis-32671	68	29	-	-	PUNCT
fcis-32671	68	30	dimensional	dimensional	ADJ
fcis-32671	68	31	,	,	PUNCT
fcis-32671	68	32	coupled	couple	VERB
fcis-32671	68	33	constraints	constraint	NOUN
fcis-32671	68	34	.	.	PUNCT
fcis-32671	69	1	the	the	DET
fcis-32671	69	2	choice	choice	NOUN
fcis-32671	69	3	of	of	ADP
fcis-32671	69	4	algorithm	algorithm	NOUN
fcis-32671	69	5	is	be	AUX
fcis-32671	69	6	highly	highly	ADV
fcis-32671	69	7	dependent	dependent	ADJ
fcis-32671	69	8	on	on	ADP
fcis-32671	69	9	the	the	DET
fcis-32671	69	10	mission	mission	NOUN
fcis-32671	69	11	scenario	scenario	NOUN
fcis-32671	69	12	,	,	PUNCT
fcis-32671	69	13	communication	communication	NOUN
fcis-32671	69	14	conditions	condition	NOUN
fcis-32671	69	15	,	,	PUNCT
fcis-32671	69	16	real	real	ADJ
fcis-32671	69	17	-	-	PUNCT
fcis-32671	69	18	time	time	NOUN
fcis-32671	69	19	requirements	requirement	NOUN
fcis-32671	69	20	,	,	PUNCT
fcis-32671	69	21	and	and	CCONJ
fcis-32671	69	22	computational	computational	ADJ
fcis-32671	69	23	resource	resource	NOUN
fcis-32671	69	24	constraints	constraint	NOUN
fcis-32671	69	25	.	.	PUNCT
fcis-32671	70	1	for	for	ADP
fcis-32671	70	2	known	know	VERB
fcis-32671	70	3	static	static	ADJ
fcis-32671	70	4	global	global	ADJ
fcis-32671	70	5	environments	environment	NOUN
fcis-32671	70	6	,	,	PUNCT
fcis-32671	70	7	search	search	NOUN
fcis-32671	70	8	-	-	PUNCT
fcis-32671	70	9	based	base	VERB
fcis-32671	70	10	algorithms	algorithm	NOUN
fcis-32671	70	11	(	(	PUNCT
fcis-32671	70	12	e.g.	e.g.	ADV
fcis-32671	70	13	,	,	PUNCT
fcis-32671	70	14	a	a	PRON
fcis-32671	70	15	*	*	X
fcis-32671	70	16	,	,	PUNCT
fcis-32671	70	17	d	d	NOUN
fcis-32671	70	18	*	*	PUNCT
fcis-32671	70	19	lite	lite	NOUN
fcis-32671	70	20	)	)	PUNCT
fcis-32671	70	21	and	and	CCONJ
fcis-32671	70	22	their	their	PRON
fcis-32671	70	23	multi	multi	ADJ
fcis-32671	70	24	-	-	ADJ
fcis-32671	70	25	agent	agent	ADJ
fcis-32671	70	26	extensions	extension	NOUN
fcis-32671	70	27	(	(	PUNCT
fcis-32671	70	28	e.g.	e.g.	ADV
fcis-32671	70	29	,	,	PUNCT
fcis-32671	70	30	mapp	mapp	NOUN
fcis-32671	70	31	)	)	PUNCT
fcis-32671	70	32	provide	provide	VERB
fcis-32671	70	33	a	a	DET
fcis-32671	70	34	solid	solid	ADJ
fcis-32671	70	35	foundation	foundation	NOUN
fcis-32671	70	36	[	[	X
fcis-32671	70	37	11	11	NUM
fcis-32671	70	38	]	]	PUNCT
fcis-32671	70	39	.	.	PUNCT
fcis-32671	71	1	these	these	DET
fcis-32671	71	2	algorithms	algorithm	NOUN
fcis-32671	71	3	typically	typically	ADV
fcis-32671	71	4	operate	operate	VERB
fcis-32671	71	5	on	on	ADP
fcis-32671	71	6	discrete	discrete	ADJ
fcis-32671	71	7	grid	grid	NOUN
fcis-32671	71	8	maps	map	NOUN
fcis-32671	71	9	and	and	CCONJ
fcis-32671	71	10	can	can	AUX
fcis-32671	71	11	find	find	VERB
fcis-32671	71	12	a	a	DET
fcis-32671	71	13	complete	complete	ADJ
fcis-32671	71	14	and	and	CCONJ
fcis-32671	71	15	optimal	optimal	ADJ
fcis-32671	71	16	(	(	PUNCT
fcis-32671	71	17	or	or	CCONJ
fcis-32671	71	18	suboptimal	suboptimal	ADJ
fcis-32671	71	19	)	)	PUNCT
fcis-32671	71	20	path	path	NOUN
fcis-32671	71	21	for	for	ADP
fcis-32671	71	22	all	all	DET
fcis-32671	71	23	uavs	uavs	NOUN
fcis-32671	71	24	.	.	PUNCT
fcis-32671	72	1	however	however	ADV
fcis-32671	72	2	,	,	PUNCT
fcis-32671	72	3	their	their	PRON
fcis-32671	72	4	computational	computational	ADJ
fcis-32671	72	5	complexity	complexity	NOUN
fcis-32671	72	6	increases	increase	VERB
fcis-32671	72	7	sharply	sharply	ADV
fcis-32671	72	8	with	with	ADP
fcis-32671	72	9	the	the	DET
fcis-32671	72	10	number	number	NOUN
fcis-32671	72	11	of	of	ADP
fcis-32671	72	12	uavs	uavs	NOUN
fcis-32671	72	13	,	,	PUNCT
fcis-32671	72	14	potentially	potentially	ADV
fcis-32671	72	15	failing	fail	VERB
fcis-32671	72	16	to	to	PART
fcis-32671	72	17	meet	meet	VERB
fcis-32671	72	18	real	real	ADJ
fcis-32671	72	19	-	-	PUNCT
fcis-32671	72	20	time	time	NOUN
fcis-32671	72	21	planning	planning	NOUN
fcis-32671	72	22	demands	demand	NOUN
fcis-32671	72	23	for	for	ADP
fcis-32671	72	24	large	large	ADJ
fcis-32671	72	25	fleets	fleet	NOUN
fcis-32671	72	26	.	.	PUNCT
fcis-32671	73	1	moreover	moreover	ADV
fcis-32671	73	2	,	,	PUNCT
fcis-32671	73	3	they	they	PRON
fcis-32671	73	4	often	often	ADV
fcis-32671	73	5	do	do	AUX
fcis-32671	73	6	not	not	PART
fcis-32671	73	7	adequately	adequately	ADV
fcis-32671	73	8	account	account	VERB
fcis-32671	73	9	for	for	ADP
fcis-32671	73	10	the	the	DET
fcis-32671	73	11	continuous	continuous	ADJ
fcis-32671	73	12	dynamic	dynamic	ADJ
fcis-32671	73	13	models	model	NOUN
fcis-32671	73	14	of	of	ADP
fcis-32671	73	15	uavs	uavs	NOUN
fcis-32671	73	16	.	.	PUNCT
fcis-32671	74	1	sampling	sample	VERB
fcis-32671	74	2	-	-	PUNCT
fcis-32671	74	3	based	base	VERB
fcis-32671	74	4	algorithms	algorithm	NOUN
fcis-32671	74	5	(	(	PUNCT
fcis-32671	74	6	e.g.	e.g.	ADV
fcis-32671	74	7	,	,	PUNCT
fcis-32671	74	8	rrt	rrt	NOUN
fcis-32671	74	9	,	,	PUNCT
fcis-32671	74	10	prm	prm	PROPN
fcis-32671	74	11	)	)	PUNCT
fcis-32671	74	12	and	and	CCONJ
fcis-32671	74	13	their	their	PRON
fcis-32671	74	14	asymptotically	asymptotically	ADV
fcis-32671	74	15	optimal	optimal	ADJ
fcis-32671	74	16	variants	variant	NOUN
fcis-32671	74	17	(	(	PUNCT
fcis-32671	74	18	e.g.	e.g.	ADV
fcis-32671	74	19	,	,	PUNCT
fcis-32671	74	20	rrt	rrt	NOUN
fcis-32671	74	21	)	)	PUNCT
fcis-32671	74	22	excel	excel	VERB
fcis-32671	74	23	at	at	ADP
fcis-32671	74	24	handling	handle	VERB
fcis-32671	74	25	high	high	ADJ
fcis-32671	74	26	-	-	PUNCT
fcis-32671	74	27	dimensional	dimensional	ADJ
fcis-32671	74	28	continuous	continuous	ADJ
fcis-32671	74	29	state	state	NOUN
fcis-32671	74	30	spaces	space	NOUN
fcis-32671	74	31	,	,	PUNCT
fcis-32671	74	32	making	make	VERB
fcis-32671	74	33	them	they	PRON
fcis-32671	74	34	wellsuited	wellsuite	VERB
fcis-32671	74	35	for	for	ADP
fcis-32671	74	36	planning	plan	VERB
fcis-32671	74	37	complex	complex	ADJ
fcis-32671	74	38	feasible	feasible	ADJ
fcis-32671	74	39	trajectories	trajectory	NOUN
fcis-32671	74	40	for	for	ADP
fcis-32671	74	41	individual	individual	ADJ
fcis-32671	74	42	uavs	uavs	NOUN
fcis-32671	74	43	.	.	PUNCT
fcis-32671	75	1	however	however	ADV
fcis-32671	75	2	,	,	PUNCT
fcis-32671	75	3	directly	directly	ADV
fcis-32671	75	4	applying	apply	VERB
fcis-32671	75	5	these	these	DET
fcis-32671	75	6	methods	method	NOUN
fcis-32671	75	7	in	in	ADP
fcis-32671	75	8	multi	multi	ADJ
fcis-32671	75	9	-	-	ADJ
fcis-32671	75	10	agent	agent	ADJ
fcis-32671	75	11	collaboration	collaboration	NOUN
fcis-32671	75	12	incurs	incur	VERB
fcis-32671	75	13	prohibitively	prohibitively	ADV
fcis-32671	75	14	high	high	ADJ
fcis-32671	75	15	computational	computational	ADJ
fcis-32671	75	16	costs	cost	NOUN
fcis-32671	75	17	.	.	PUNCT
fcis-32671	76	1	improved	improve	VERB
fcis-32671	76	2	approaches	approach	NOUN
fcis-32671	76	3	—	—	PUNCT
fcis-32671	76	4	such	such	ADJ
fcis-32671	76	5	as	as	ADP
fcis-32671	76	6	parallelized	parallelized	ADJ
fcis-32671	76	7	sampling	sampling	NOUN
fcis-32671	76	8	,	,	PUNCT
fcis-32671	76	9	embedding	embed	VERB
fcis-32671	76	10	collision	collision	NOUN
fcis-32671	76	11	avoidance	avoidance	NOUN
fcis-32671	76	12	constraints	constraint	NOUN
fcis-32671	76	13	during	during	ADP
fcis-32671	76	14	sampling	sample	VERB
fcis-32671	76	15	,	,	PUNCT
fcis-32671	76	16	or	or	CCONJ
fcis-32671	76	17	using	use	VERB
fcis-32671	76	18	them	they	PRON
fcis-32671	76	19	as	as	ADP
fcis-32671	76	20	high	high	ADJ
fcis-32671	76	21	-	-	PUNCT
fcis-32671	76	22	level	level	NOUN
fcis-32671	76	23	global	global	ADJ
fcis-32671	76	24	planners	planner	NOUN
fcis-32671	76	25	to	to	PART
fcis-32671	76	26	provide	provide	VERB
fcis-32671	76	27	initial	initial	ADJ
fcis-32671	76	28	path	path	NOUN
fcis-32671	76	29	points	point	NOUN
fcis-32671	76	30	for	for	ADP
fcis-32671	76	31	subsequent	subsequent	ADJ
fcis-32671	76	32	local	local	ADJ
fcis-32671	76	33	planning	planning	NOUN
fcis-32671	76	34	—	—	PUNCT
fcis-32671	76	35	are	be	AUX
fcis-32671	76	36	more	more	ADV
fcis-32671	76	37	commonly	commonly	ADV
fcis-32671	76	38	adopted	adopt	VERB
fcis-32671	76	39	.	.	PUNCT
fcis-32671	77	1	currently	currently	ADV
fcis-32671	77	2	,	,	PUNCT
fcis-32671	77	3	the	the	DET
fcis-32671	77	4	most	most	ADV
fcis-32671	77	5	effective	effective	ADJ
fcis-32671	77	6	approach	approach	NOUN
fcis-32671	77	7	for	for	ADP
fcis-32671	77	8	handling	handle	VERB
fcis-32671	77	9	dynamic	dynamic	ADJ
fcis-32671	77	10	environments	environment	NOUN
fcis-32671	77	11	and	and	CCONJ
fcis-32671	77	12	real	real	ADJ
fcis-32671	77	13	-	-	PUNCT
fcis-32671	77	14	time	time	NOUN
fcis-32671	77	15	collision	collision	NOUN
fcis-32671	77	16	avoidance	avoidance	NOUN
fcis-32671	77	17	is	be	AUX
fcis-32671	77	18	optimization	optimization	NOUN
fcis-32671	77	19	-	-	PUNCT
fcis-32671	77	20	based	base	VERB
fcis-32671	77	21	methods	method	NOUN
fcis-32671	77	22	,	,	PUNCT
fcis-32671	77	23	particularly	particularly	ADV
fcis-32671	77	24	model	model	NOUN
fcis-32671	77	25	predictive	predictive	ADJ
fcis-32671	77	26	control	control	NOUN
fcis-32671	77	27	(	(	PUNCT
fcis-32671	77	28	mpc	mpc	NOUN
fcis-32671	77	29	)	)	PUNCT
fcis-32671	77	30	.	.	PUNCT
fcis-32671	78	1	mpc	mpc	PROPN
fcis-32671	78	2	employs	employ	VERB
fcis-32671	78	3	rolling	rolling	NOUN
fcis-32671	78	4	-	-	PUNCT
fcis-32671	78	5	horizon	horizon	NOUN
fcis-32671	78	6	optimization	optimization	NOUN
fcis-32671	78	7	strategies	strategy	NOUN
fcis-32671	78	8	where	where	SCONJ
fcis-32671	78	9	,	,	PUNCT
fcis-32671	78	10	within	within	ADP
fcis-32671	78	11	each	each	DET
fcis-32671	78	12	control	control	NOUN
fcis-32671	78	13	cycle	cycle	NOUN
fcis-32671	78	14	,	,	PUNCT
fcis-32671	78	15	each	each	DET
fcis-32671	78	16	drone	drone	NOUN
fcis-32671	78	17	optimizes	optimize	VERB
fcis-32671	78	18	its	its	PRON
fcis-32671	78	19	trajectory	trajectory	NOUN
fcis-32671	78	20	for	for	ADP
fcis-32671	78	21	a	a	DET
fcis-32671	78	22	short	short	ADJ
fcis-32671	78	23	future	future	ADJ
fcis-32671	78	24	time	time	NOUN
fcis-32671	78	25	window	window	NOUN
fcis-32671	78	26	based	base	VERB
fcis-32671	78	27	on	on	ADP
fcis-32671	78	28	its	its	PRON
fcis-32671	78	29	current	current	ADJ
fcis-32671	78	30	state	state	NOUN
fcis-32671	78	31	and	and	CCONJ
fcis-32671	78	32	predictive	predictive	ADJ
fcis-32671	78	33	models	model	NOUN
fcis-32671	78	34	,	,	PUNCT
fcis-32671	78	35	incorporating	incorporate	VERB
fcis-32671	78	36	collision	collision	NOUN
fcis-32671	78	37	avoidance	avoidance	NOUN
fcis-32671	78	38	constraints	constraint	NOUN
fcis-32671	78	39	with	with	ADP
fcis-32671	78	40	other	other	ADJ
fcis-32671	78	41	drones	drone	NOUN
fcis-32671	78	42	as	as	ADP
fcis-32671	78	43	optimization	optimization	NOUN
fcis-32671	78	44	conditions	condition	NOUN
fcis-32671	78	45	[	[	X
fcis-32671	78	46	12	12	NUM
fcis-32671	78	47	]	]	PUNCT
fcis-32671	78	48	.	.	PUNCT
fcis-32671	79	1	this	this	DET
fcis-32671	79	2	approach	approach	NOUN
fcis-32671	79	3	naturally	naturally	ADV
fcis-32671	79	4	handles	handle	VERB
fcis-32671	79	5	dynamic	dynamic	ADJ
fcis-32671	79	6	constraints	constraint	NOUN
fcis-32671	79	7	and	and	CCONJ
fcis-32671	79	8	real	real	ADJ
fcis-32671	79	9	-	-	PUNCT
fcis-32671	79	10	time	time	NOUN
fcis-32671	79	11	disturbances	disturbance	NOUN
fcis-32671	79	12	,	,	PUNCT
fcis-32671	79	13	making	make	VERB
fcis-32671	79	14	it	it	PRON
fcis-32671	79	15	highly	highly	ADV
fcis-32671	79	16	suitable	suitable	ADJ
fcis-32671	79	17	for	for	ADP
fcis-32671	79	18	distributed	distribute	VERB
fcis-32671	79	19	implementations	implementation	NOUN
fcis-32671	79	20	.	.	PUNCT
fcis-32671	80	1	it	it	PRON
fcis-32671	80	2	allows	allow	VERB
fcis-32671	80	3	each	each	DET
fcis-32671	80	4	drone	drone	NOUN
fcis-32671	80	5	to	to	PART
fcis-32671	80	6	autonomously	autonomously	ADV
fcis-32671	80	7	optimize	optimize	VERB
fcis-32671	80	8	its	its	PRON
fcis-32671	80	9	trajectory	trajectory	NOUN
fcis-32671	80	10	while	while	SCONJ
fcis-32671	80	11	sharing	share	VERB
fcis-32671	80	12	intentions	intention	NOUN
fcis-32671	80	13	via	via	ADP
fcis-32671	80	14	communication	communication	NOUN
fcis-32671	80	15	to	to	PART
fcis-32671	80	16	achieve	achieve	VERB
fcis-32671	80	17	coordinated	coordinated	ADJ
fcis-32671	80	18	avoidance	avoidance	NOUN
fcis-32671	80	19	.	.	PUNCT
fcis-32671	81	1	for	for	ADP
fcis-32671	81	2	tasks	task	NOUN
fcis-32671	81	3	like	like	ADP
fcis-32671	81	4	assembly	assembly	NOUN
fcis-32671	81	5	and	and	CCONJ
fcis-32671	81	6	formation	formation	NOUN
fcis-32671	81	7	flight	flight	NOUN
fcis-32671	81	8	in	in	ADP
fcis-32671	81	9	open	open	ADJ
fcis-32671	81	10	airspace	airspace	NOUN
fcis-32671	81	11	for	for	ADP
fcis-32671	81	12	ultra	ultra	ADJ
fcis-32671	81	13	-	-	ADJ
fcis-32671	81	14	large	large	ADJ
fcis-32671	81	15	-	-	PUNCT
fcis-32671	81	16	scale	scale	NOUN
fcis-32671	81	17	swarms	swarm	NOUN
fcis-32671	81	18	(	(	PUNCT
fcis-32671	81	19	e.g.	e.g.	ADV
fcis-32671	81	20	,	,	PUNCT
fcis-32671	81	21	hundreds	hundred	NOUN
fcis-32671	81	22	of	of	ADP
fcis-32671	81	23	drones	drone	NOUN
fcis-32671	81	24	)	)	PUNCT
fcis-32671	81	25	,	,	PUNCT
fcis-32671	81	26	rulebased	rulebase	VERB
fcis-32671	81	27	biomimetic	biomimetic	ADJ
fcis-32671	81	28	algorithms	algorithm	NOUN
fcis-32671	81	29	(	(	PUNCT
fcis-32671	81	30	such	such	ADJ
fcis-32671	81	31	as	as	ADP
fcis-32671	81	32	the	the	DET
fcis-32671	81	33	boid	boid	PROPN
fcis-32671	81	34	model	model	NOUN
fcis-32671	81	35	)	)	PUNCT
fcis-32671	81	36	offer	offer	VERB
fcis-32671	81	37	a	a	DET
fcis-32671	81	38	lightweight	lightweight	ADJ
fcis-32671	81	39	and	and	CCONJ
fcis-32671	81	40	efficient	efficient	ADJ
fcis-32671	81	41	solution	solution	NOUN
fcis-32671	81	42	.	.	PUNCT
fcis-32671	82	1	these	these	DET
fcis-32671	82	2	methods	method	NOUN
fcis-32671	82	3	design	design	VERB
fcis-32671	82	4	simple	simple	ADJ
fcis-32671	82	5	local	local	ADJ
fcis-32671	82	6	interaction	interaction	NOUN
fcis-32671	82	7	rules	rule	NOUN
fcis-32671	82	8	(	(	PUNCT
fcis-32671	82	9	e.g.	e.g.	ADV
fcis-32671	82	10	,	,	PUNCT
fcis-32671	82	11	separation	separation	NOUN
fcis-32671	82	12	,	,	PUNCT
fcis-32671	82	13	alignment	alignment	NOUN
fcis-32671	82	14	,	,	PUNCT
fcis-32671	82	15	aggregation	aggregation	NOUN
fcis-32671	82	16	)	)	PUNCT
fcis-32671	82	17	to	to	PART
fcis-32671	82	18	enable	enable	VERB
fcis-32671	82	19	the	the	DET
fcis-32671	82	20	emergence	emergence	NOUN
fcis-32671	82	21	of	of	ADP
fcis-32671	82	22	complex	complex	ADJ
fcis-32671	82	23	global	global	ADJ
fcis-32671	82	24	coordinated	coordinate	VERB
fcis-32671	82	25	behavior	behavior	NOUN
fcis-32671	82	26	within	within	ADP
fcis-32671	82	27	the	the	DET
fcis-32671	82	28	swarm	swarm	NOUN
fcis-32671	82	29	.	.	PUNCT
fcis-32671	83	1	they	they	PRON
fcis-32671	83	2	require	require	VERB
fcis-32671	83	3	no	no	DET
fcis-32671	83	4	central	central	ADJ
fcis-32671	83	5	computation	computation	NOUN
fcis-32671	83	6	,	,	PUNCT
fcis-32671	83	7	have	have	VERB
fcis-32671	83	8	low	low	ADJ
fcis-32671	83	9	communication	communication	NOUN
fcis-32671	83	10	demands	demand	NOUN
fcis-32671	83	11	,	,	PUNCT
fcis-32671	83	12	and	and	CCONJ
fcis-32671	83	13	exhibit	exhibit	VERB
fcis-32671	83	14	strong	strong	ADJ
fcis-32671	83	15	robustness	robustness	NOUN
fcis-32671	83	16	.	.	PUNCT
fcis-32671	84	1	while	while	SCONJ
fcis-32671	84	2	not	not	PART
fcis-32671	84	3	guaranteeing	guarantee	VERB
fcis-32671	84	4	optimality	optimality	NOUN
fcis-32671	84	5	,	,	PUNCT
fcis-32671	84	6	they	they	PRON
fcis-32671	84	7	achieve	achieve	VERB
fcis-32671	84	8	remarkable	remarkable	ADJ
fcis-32671	84	9	scalability	scalability	NOUN
fcis-32671	84	10	and	and	CCONJ
fcis-32671	84	11	dynamic	dynamic	ADJ
fcis-32671	84	12	adaptability	adaptability	NOUN
fcis-32671	84	13	.	.	PUNCT
fcis-32671	85	1	4.2	4.2	NUM
fcis-32671	85	2	.	.	PUNCT
fcis-32671	85	3	hierarchical	hierarchical	ADJ
fcis-32671	85	4	fusion	fusion	NOUN
fcis-32671	85	5	:	:	PUNCT
fcis-32671	85	6	a	a	DET
fcis-32671	85	7	robust	robust	ADJ
fcis-32671	85	8	architecture	architecture	NOUN
fcis-32671	85	9	balancing	balance	VERB
fcis-32671	85	10	global	global	ADJ
fcis-32671	85	11	and	and	CCONJ
fcis-32671	85	12	local	local	ADJ
fcis-32671	85	13	considerations	consideration	NOUN
fcis-32671	85	14	ultimately	ultimately	ADV
fcis-32671	85	15	,	,	PUNCT
fcis-32671	85	16	algorithm	algorithm	NOUN
fcis-32671	85	17	selection	selection	NOUN
fcis-32671	85	18	lacks	lack	VERB
fcis-32671	85	19	a	a	DET
fcis-32671	85	20	single	single	ADJ
fcis-32671	85	21	solution	solution	NOUN
fcis-32671	85	22	and	and	CCONJ
fcis-32671	85	23	often	often	ADV
fcis-32671	85	24	requires	require	VERB
fcis-32671	85	25	a	a	DET
fcis-32671	85	26	layered	layered	ADJ
fcis-32671	85	27	fusion	fusion	NOUN
fcis-32671	85	28	strategy	strategy	NOUN
fcis-32671	85	29	.	.	PUNCT
fcis-32671	86	1	a	a	DET
fcis-32671	86	2	common	common	ADJ
fcis-32671	86	3	architecture	architecture	NOUN
fcis-32671	86	4	employs	employ	VERB
fcis-32671	86	5	a	a	DET
fcis-32671	86	6	top	top	ADJ
fcis-32671	86	7	-	-	PUNCT
fcis-32671	86	8	level	level	NOUN
fcis-32671	86	9	global	global	ADJ
fcis-32671	86	10	planner	planner	NOUN
fcis-32671	86	11	(	(	PUNCT
fcis-32671	86	12	e.g.	e.g.	ADV
fcis-32671	86	13	,	,	PUNCT
fcis-32671	86	14	a	a	PRON
fcis-32671	86	15	*	*	X
fcis-32671	86	16	or	or	CCONJ
fcis-32671	86	17	rrt	rrt	NOUN
fcis-32671	86	18	*	*	NOUN
fcis-32671	86	19	)	)	PUNCT
fcis-32671	86	20	to	to	PART
fcis-32671	86	21	generate	generate	VERB
fcis-32671	86	22	coarse	coarse	ADJ
fcis-32671	86	23	collision	collision	NOUN
fcis-32671	86	24	-	-	PUNCT
fcis-32671	86	25	free	free	ADJ
fcis-32671	86	26	reference	reference	NOUN
fcis-32671	86	27	paths	path	NOUN
fcis-32671	86	28	for	for	ADP
fcis-32671	86	29	each	each	DET
fcis-32671	86	30	drone	drone	NOUN
fcis-32671	86	31	,	,	PUNCT
fcis-32671	86	32	while	while	SCONJ
fcis-32671	86	33	a	a	DET
fcis-32671	86	34	bottom	bottom	ADJ
fcis-32671	86	35	-	-	PUNCT
fcis-32671	86	36	level	level	NOUN
fcis-32671	86	37	local	local	ADJ
fcis-32671	86	38	planner	planner	NOUN
fcis-32671	86	39	(	(	PUNCT
fcis-32671	86	40	e.g.	e.g.	ADV
fcis-32671	86	41	,	,	PUNCT
fcis-32671	86	42	mpc	mpc	NOUN
fcis-32671	86	43	)	)	PUNCT
fcis-32671	86	44	handles	handle	VERB
fcis-32671	86	45	real	real	ADJ
fcis-32671	86	46	-	-	PUNCT
fcis-32671	86	47	time	time	NOUN
fcis-32671	86	48	tracking	tracking	NOUN
fcis-32671	86	49	,	,	PUNCT
fcis-32671	86	50	dynamic	dynamic	ADJ
fcis-32671	86	51	obstacle	obstacle	NOUN
fcis-32671	86	52	avoidance	avoidance	NOUN
fcis-32671	86	53	,	,	PUNCT
fcis-32671	86	54	and	and	CCONJ
fcis-32671	86	55	finegrained	finegraine	VERB
fcis-32671	86	56	inter	inter	ADJ
fcis-32671	86	57	-	-	ADJ
fcis-32671	86	58	vehicle	vehicle	NOUN
fcis-32671	86	59	adjustments	adjustment	NOUN
fcis-32671	86	60	.	.	PUNCT
fcis-32671	87	1	this	this	DET
fcis-32671	87	2	combination	combination	NOUN
fcis-32671	87	3	balances	balance	VERB
fcis-32671	87	4	global	global	ADJ
fcis-32671	87	5	efficiency	efficiency	NOUN
fcis-32671	87	6	with	with	ADP
fcis-32671	87	7	local	local	ADJ
fcis-32671	87	8	reactivity	reactivity	NOUN
fcis-32671	87	9	,	,	PUNCT
fcis-32671	87	10	representing	represent	VERB
fcis-32671	87	11	the	the	DET
fcis-32671	87	12	most	most	ADV
fcis-32671	87	13	robust	robust	ADJ
fcis-32671	87	14	and	and	CCONJ
fcis-32671	87	15	widely	widely	ADV
fcis-32671	87	16	adopted	adopt	VERB
fcis-32671	87	17	solution	solution	NOUN
fcis-32671	87	18	in	in	ADP
fcis-32671	87	19	engineering	engineering	NOUN
fcis-32671	87	20	practice	practice	NOUN
fcis-32671	87	21	[	[	X
fcis-32671	87	22	13	13	NUM
fcis-32671	87	23	]	]	SYM
fcis-32671	87	24	.	.	PUNCT
fcis-32671	88	1	5	5	X
fcis-32671	88	2	.	.	PUNCT
fcis-32671	88	3	integrated	integrate	VERB
fcis-32671	88	4	approaches	approach	NOUN
fcis-32671	88	5	for	for	ADP
fcis-32671	88	6	multiuav	multiuav	PROPN
fcis-32671	88	7	task	task	NOUN
fcis-32671	88	8	allocation	allocation	NOUN
fcis-32671	88	9	and	and	CCONJ
fcis-32671	88	10	path	path	NOUN
fcis-32671	88	11	planning	plan	VERB
fcis-32671	88	12	5.1	5.1	NUM
fcis-32671	88	13	.	.	PUNCT
fcis-32671	89	1	three	three	NUM
fcis-32671	89	2	classic	classic	ADJ
fcis-32671	89	3	integration	integration	NOUN
fcis-32671	89	4	approaches	approach	NOUN
fcis-32671	89	5	:	:	PUNCT
fcis-32671	89	6	sequential	sequential	ADJ
fcis-32671	89	7	,	,	PUNCT
fcis-32671	89	8	iterative	iterative	NOUN
fcis-32671	89	9	,	,	PUNCT
fcis-32671	89	10	and	and	CCONJ
fcis-32671	89	11	joint	joint	ADJ
fcis-32671	89	12	integrated	integrate	VERB
fcis-32671	89	13	approaches	approach	NOUN
fcis-32671	89	14	for	for	ADP
fcis-32671	89	15	multi	multi	ADJ
fcis-32671	89	16	-	-	ADJ
fcis-32671	89	17	uav	uav	ADJ
fcis-32671	89	18	task	task	NOUN
fcis-32671	89	19	assignment	assignment	NOUN
fcis-32671	89	20	and	and	CCONJ
fcis-32671	89	21	path	path	NOUN
fcis-32671	89	22	planning	planning	NOUN
fcis-32671	89	23	are	be	AUX
fcis-32671	89	24	central	central	ADJ
fcis-32671	89	25	to	to	ADP
fcis-32671	89	26	resolving	resolve	VERB
fcis-32671	89	27	their	their	PRON
fcis-32671	89	28	strong	strong	ADJ
fcis-32671	89	29	coupling	coupling	NOUN
fcis-32671	89	30	,	,	PUNCT
fcis-32671	89	31	hinging	hinge	VERB
fcis-32671	89	32	on	on	ADP
fcis-32671	89	33	accurately	accurately	ADV
fcis-32671	89	34	estimating	estimate	VERB
fcis-32671	89	35	and	and	CCONJ
fcis-32671	89	36	feeding	feed	VERB
fcis-32671	89	37	back	back	ADP
fcis-32671	89	38	task	task	NOUN
fcis-32671	89	39	execution	execution	NOUN
fcis-32671	89	40	costs	cost	NOUN
fcis-32671	89	41	(	(	PUNCT
fcis-32671	89	42	primarily	primarily	ADV
fcis-32671	89	43	determined	determine	VERB
fcis-32671	89	44	by	by	ADP
fcis-32671	89	45	path	path	NOUN
fcis-32671	89	46	length	length	NOUN
fcis-32671	89	47	/	/	SYM
fcis-32671	89	48	time	time	NOUN
fcis-32671	89	49	)	)	PUNCT
fcis-32671	89	50	.	.	PUNCT
fcis-32671	90	1	based	base	VERB
fcis-32671	90	2	on	on	ADP
fcis-32671	90	3	integration	integration	NOUN
fcis-32671	90	4	depth	depth	NOUN
fcis-32671	90	5	,	,	PUNCT
fcis-32671	90	6	three	three	NUM
fcis-32671	90	7	classic	classic	ADJ
fcis-32671	90	8	methods	method	NOUN
fcis-32671	90	9	emerge	emerge	VERB
fcis-32671	90	10	[	[	X
fcis-32671	90	11	14	14	NUM
fcis-32671	90	12	]	]	PUNCT
fcis-32671	90	13	.	.	PUNCT
fcis-32671	91	1	sequential	sequential	ADJ
fcis-32671	91	2	integration	integration	NOUN
fcis-32671	91	3	is	be	AUX
fcis-32671	91	4	the	the	DET
fcis-32671	91	5	most	most	ADV
fcis-32671	91	6	intuitive	intuitive	ADJ
fcis-32671	91	7	and	and	CCONJ
fcis-32671	91	8	widely	widely	ADV
fcis-32671	91	9	adopted	adopt	VERB
fcis-32671	91	10	method	method	NOUN
fcis-32671	91	11	.	.	PUNCT
fcis-32671	92	1	it	it	PRON
fcis-32671	92	2	employs	employ	VERB
fcis-32671	92	3	a	a	DET
fcis-32671	92	4	serial	serial	ADJ
fcis-32671	92	5	workflow	workflow	NOUN
fcis-32671	92	6	of	of	ADP
fcis-32671	92	7	either	either	CCONJ
fcis-32671	92	8	"	"	PUNCT
fcis-32671	92	9	allocate	allocate	VERB
fcis-32671	92	10	first	first	ADV
fcis-32671	92	11	,	,	PUNCT
fcis-32671	92	12	then	then	ADV
fcis-32671	92	13	plan	plan	VERB
fcis-32671	92	14	"	"	PUNCT
fcis-32671	92	15	or	or	CCONJ
fcis-32671	92	16	"	"	PUNCT
fcis-32671	92	17	plan	plan	VERB
fcis-32671	92	18	first	first	ADV
fcis-32671	92	19	,	,	PUNCT
fcis-32671	92	20	then	then	ADV
fcis-32671	92	21	allocate	allocate	VERB
fcis-32671	92	22	.	.	PUNCT
fcis-32671	92	23	"	"	PUNCT
fcis-32671	93	1	the	the	DET
fcis-32671	93	2	former	former	ADJ
fcis-32671	93	3	approach	approach	NOUN
fcis-32671	93	4	assigns	assign	VERB
fcis-32671	93	5	tasks	task	NOUN
fcis-32671	93	6	first	first	ADV
fcis-32671	93	7	(	(	PUNCT
fcis-32671	93	8	typically	typically	ADV
fcis-32671	93	9	based	base	VERB
fcis-32671	93	10	on	on	ADP
fcis-32671	93	11	simplified	simplified	ADJ
fcis-32671	93	12	cost	cost	NOUN
fcis-32671	93	13	assumptions	assumption	NOUN
fcis-32671	93	14	,	,	PUNCT
fcis-32671	93	15	such	such	ADJ
fcis-32671	93	16	as	as	ADP
fcis-32671	93	17	straight	straight	ADJ
fcis-32671	93	18	-	-	PUNCT
fcis-32671	93	19	line	line	NOUN
fcis-32671	93	20	distance	distance	NOUN
fcis-32671	93	21	)	)	PUNCT
fcis-32671	93	22	before	before	ADP
fcis-32671	93	23	performing	perform	VERB
fcis-32671	93	24	detailed	detailed	ADJ
fcis-32671	93	25	path	path	NOUN
fcis-32671	93	26	planning	planning	NOUN
fcis-32671	93	27	for	for	ADP
fcis-32671	93	28	the	the	DET
fcis-32671	93	29	assigned	assign	VERB
fcis-32671	93	30	task	task	NOUN
fcis-32671	93	31	sequence	sequence	NOUN
fcis-32671	93	32	.	.	PUNCT
fcis-32671	94	1	the	the	DET
fcis-32671	94	2	latter	latter	ADJ
fcis-32671	94	3	calculates	calculate	VERB
fcis-32671	94	4	precise	precise	ADJ
fcis-32671	94	5	path	path	NOUN
fcis-32671	94	6	costs	cost	NOUN
fcis-32671	94	7	for	for	ADP
fcis-32671	94	8	all	all	DET
fcis-32671	94	9	possible	possible	ADJ
fcis-32671	94	10	"	"	PUNCT
fcis-32671	94	11	uav	uav	PROPN
fcis-32671	94	12	-	-	PUNCT
fcis-32671	94	13	task	task	NOUN
fcis-32671	94	14	"	"	PUNCT
fcis-32671	94	15	pairs	pair	NOUN
fcis-32671	94	16	to	to	PART
fcis-32671	94	17	form	form	VERB
fcis-32671	94	18	a	a	DET
fcis-32671	94	19	cost	cost	NOUN
fcis-32671	94	20	matrix	matrix	NOUN
fcis-32671	94	21	,	,	PUNCT
fcis-32671	94	22	then	then	ADV
fcis-32671	94	23	allocates	allocate	VERB
fcis-32671	94	24	tasks	task	NOUN
fcis-32671	94	25	based	base	VERB
fcis-32671	94	26	on	on	ADP
fcis-32671	94	27	this	this	DET
fcis-32671	94	28	matrix	matrix	NOUN
fcis-32671	94	29	.	.	PUNCT
fcis-32671	95	1	58	58	NUM
fcis-32671	95	2	sequential	sequential	ADJ
fcis-32671	95	3	methods	method	NOUN
fcis-32671	95	4	are	be	AUX
fcis-32671	95	5	simple	simple	ADJ
fcis-32671	95	6	to	to	PART
fcis-32671	95	7	implement	implement	VERB
fcis-32671	95	8	but	but	CCONJ
fcis-32671	95	9	suffer	suffer	VERB
fcis-32671	95	10	from	from	ADP
fcis-32671	95	11	potential	potential	ADJ
fcis-32671	95	12	suboptimal	suboptimal	ADJ
fcis-32671	95	13	solutions	solution	NOUN
fcis-32671	95	14	due	due	ADJ
fcis-32671	95	15	to	to	ADP
fcis-32671	95	16	inaccurate	inaccurate	ADJ
fcis-32671	95	17	cost	cost	NOUN
fcis-32671	95	18	estimates	estimate	NOUN
fcis-32671	95	19	.	.	PUNCT
fcis-32671	96	1	they	they	PRON
fcis-32671	96	2	may	may	AUX
fcis-32671	96	3	even	even	ADV
fcis-32671	96	4	require	require	VERB
fcis-32671	96	5	reallocation	reallocation	NOUN
fcis-32671	96	6	if	if	SCONJ
fcis-32671	96	7	path	path	NOUN
fcis-32671	96	8	conflicts	conflict	NOUN
fcis-32671	96	9	are	be	AUX
fcis-32671	96	10	discovered	discover	VERB
fcis-32671	96	11	during	during	ADP
fcis-32671	96	12	planning	planning	NOUN
fcis-32671	96	13	.	.	PUNCT
fcis-32671	97	1	as	as	SCONJ
fcis-32671	97	2	shown	show	VERB
fcis-32671	97	3	in	in	ADP
fcis-32671	97	4	figure	figure	NOUN
fcis-32671	97	5	1	1	NUM
fcis-32671	97	6	.	.	PUNCT
fcis-32671	97	7	figure	figure	NOUN
fcis-32671	97	8	1	1	NUM
fcis-32671	97	9	.	.	PUNCT
fcis-32671	98	1	flowchart	flowchart	NOUN
fcis-32671	98	2	of	of	ADP
fcis-32671	98	3	the	the	DET
fcis-32671	98	4	improved	improve	VERB
fcis-32671	98	5	cbba	cbba	NOUN
fcis-32671	98	6	algorithm	algorithm	NOUN
fcis-32671	98	7	iterative	iterative	NOUN
fcis-32671	98	8	integration	integration	NOUN
fcis-32671	98	9	improves	improve	VERB
fcis-32671	98	10	upon	upon	SCONJ
fcis-32671	98	11	sequential	sequential	ADJ
fcis-32671	98	12	methods	method	NOUN
fcis-32671	98	13	by	by	ADP
fcis-32671	98	14	introducing	introduce	VERB
fcis-32671	98	15	feedback	feedback	NOUN
fcis-32671	98	16	loops	loop	NOUN
fcis-32671	98	17	.	.	PUNCT
fcis-32671	99	1	its	its	PRON
fcis-32671	99	2	typical	typical	ADJ
fcis-32671	99	3	workflow	workflow	NOUN
fcis-32671	99	4	proceeds	proceed	NOUN
fcis-32671	99	5	as	as	SCONJ
fcis-32671	99	6	follows	follow	VERB
fcis-32671	99	7	:	:	PUNCT
fcis-32671	99	8	first	first	ADV
fcis-32671	99	9	,	,	PUNCT
fcis-32671	99	10	tasks	task	NOUN
fcis-32671	99	11	are	be	AUX
fcis-32671	99	12	assigned	assign	VERB
fcis-32671	99	13	based	base	VERB
fcis-32671	99	14	on	on	ADP
fcis-32671	99	15	initial	initial	ADJ
fcis-32671	99	16	cost	cost	NOUN
fcis-32671	99	17	estimates	estimate	NOUN
fcis-32671	99	18	.	.	PUNCT
fcis-32671	100	1	detailed	detailed	ADJ
fcis-32671	100	2	path	path	NOUN
fcis-32671	100	3	planning	planning	NOUN
fcis-32671	100	4	then	then	ADV
fcis-32671	100	5	calculates	calculate	VERB
fcis-32671	100	6	precise	precise	ADJ
fcis-32671	100	7	costs	cost	NOUN
fcis-32671	100	8	.	.	PUNCT
fcis-32671	101	1	if	if	SCONJ
fcis-32671	101	2	significant	significant	ADJ
fcis-32671	101	3	discrepancies	discrepancy	NOUN
fcis-32671	101	4	between	between	ADP
fcis-32671	101	5	precise	precise	ADJ
fcis-32671	101	6	costs	cost	NOUN
fcis-32671	101	7	and	and	CCONJ
fcis-32671	101	8	initial	initial	ADJ
fcis-32671	101	9	estimates	estimate	NOUN
fcis-32671	101	10	are	be	AUX
fcis-32671	101	11	detected	detect	VERB
fcis-32671	101	12	,	,	PUNCT
fcis-32671	101	13	or	or	CCONJ
fcis-32671	101	14	if	if	SCONJ
fcis-32671	101	15	unsolvable	unsolvable	ADJ
fcis-32671	101	16	conflicts	conflict	NOUN
fcis-32671	101	17	arise	arise	VERB
fcis-32671	101	18	during	during	ADP
fcis-32671	101	19	planning	planning	NOUN
fcis-32671	101	20	,	,	PUNCT
fcis-32671	101	21	the	the	DET
fcis-32671	101	22	new	new	ADJ
fcis-32671	101	23	cost	cost	NOUN
fcis-32671	101	24	information	information	NOUN
fcis-32671	101	25	is	be	AUX
fcis-32671	101	26	fed	feed	VERB
fcis-32671	101	27	back	back	ADV
fcis-32671	101	28	to	to	ADP
fcis-32671	101	29	the	the	DET
fcis-32671	101	30	assignment	assignment	NOUN
fcis-32671	101	31	module	module	NOUN
fcis-32671	101	32	for	for	ADP
fcis-32671	101	33	re	re	NOUN
fcis-32671	101	34	-	-	NOUN
fcis-32671	101	35	allocation	allocation	NOUN
fcis-32671	101	36	.	.	PUNCT
fcis-32671	102	1	this	this	DET
fcis-32671	102	2	process	process	NOUN
fcis-32671	102	3	iterates	iterate	VERB
fcis-32671	102	4	cyclically	cyclically	ADV
fcis-32671	102	5	until	until	SCONJ
fcis-32671	102	6	the	the	DET
fcis-32671	102	7	solution	solution	NOUN
fcis-32671	102	8	converges	converge	VERB
fcis-32671	102	9	or	or	CCONJ
fcis-32671	102	10	meets	meet	VERB
fcis-32671	102	11	specified	specified	ADJ
fcis-32671	102	12	criteria	criterion	NOUN
fcis-32671	102	13	.	.	PUNCT
fcis-32671	103	1	while	while	SCONJ
fcis-32671	103	2	iterative	iterative	NOUN
fcis-32671	103	3	methods	method	NOUN
fcis-32671	103	4	enhance	enhance	VERB
fcis-32671	103	5	overall	overall	ADJ
fcis-32671	103	6	performance	performance	NOUN
fcis-32671	103	7	,	,	PUNCT
fcis-32671	103	8	they	they	PRON
fcis-32671	103	9	increase	increase	VERB
fcis-32671	103	10	computational	computational	ADJ
fcis-32671	103	11	time	time	NOUN
fcis-32671	103	12	and	and	CCONJ
fcis-32671	103	13	complexity	complexity	NOUN
fcis-32671	103	14	.	.	PUNCT
fcis-32671	104	1	joint	joint	ADJ
fcis-32671	104	2	integration	integration	NOUN
fcis-32671	104	3	represents	represent	VERB
fcis-32671	104	4	the	the	DET
fcis-32671	104	5	most	most	ADV
fcis-32671	104	6	comprehensive	comprehensive	ADJ
fcis-32671	104	7	yet	yet	ADV
fcis-32671	104	8	complex	complex	ADJ
fcis-32671	104	9	approach	approach	NOUN
fcis-32671	104	10	.	.	PUNCT
fcis-32671	105	1	it	it	PRON
fcis-32671	105	2	unifies	unify	VERB
fcis-32671	105	3	task	task	NOUN
fcis-32671	105	4	assignment	assignment	NOUN
fcis-32671	105	5	(	(	PUNCT
fcis-32671	105	6	discrete	discrete	ADJ
fcis-32671	105	7	decision	decision	NOUN
fcis-32671	105	8	variables	variable	NOUN
fcis-32671	105	9	)	)	PUNCT
fcis-32671	105	10	and	and	CCONJ
fcis-32671	105	11	path	path	NOUN
fcis-32671	105	12	planning	planning	NOUN
fcis-32671	105	13	(	(	PUNCT
fcis-32671	105	14	continuous	continuous	ADJ
fcis-32671	105	15	variables	variable	NOUN
fcis-32671	105	16	)	)	PUNCT
fcis-32671	105	17	within	within	ADP
fcis-32671	105	18	a	a	DET
fcis-32671	105	19	unified	unified	ADJ
fcis-32671	105	20	mathematical	mathematical	ADJ
fcis-32671	105	21	framework	framework	NOUN
fcis-32671	105	22	for	for	ADP
fcis-32671	105	23	simultaneous	simultaneous	ADJ
fcis-32671	105	24	optimization	optimization	NOUN
fcis-32671	105	25	,	,	PUNCT
fcis-32671	105	26	typically	typically	ADV
fcis-32671	105	27	modeled	model	VERB
fcis-32671	105	28	as	as	ADP
fcis-32671	105	29	a	a	DET
fcis-32671	105	30	mixed	mixed	ADJ
fcis-32671	105	31	-	-	PUNCT
fcis-32671	105	32	integer	integer	NOUN
fcis-32671	105	33	linear	linear	NOUN
fcis-32671	105	34	programming	programming	NOUN
fcis-32671	105	35	or	or	CCONJ
fcis-32671	105	36	mixed	mixed	ADJ
fcis-32671	105	37	-	-	PUNCT
fcis-32671	105	38	integer	integer	NOUN
fcis-32671	105	39	nonlinear	nonlinear	ADJ
fcis-32671	105	40	programming	programming	NOUN
fcis-32671	105	41	problem	problem	NOUN
fcis-32671	105	42	.	.	PUNCT
fcis-32671	106	1	this	this	DET
fcis-32671	106	2	approach	approach	NOUN
fcis-32671	106	3	theoretically	theoretically	ADV
fcis-32671	106	4	achieves	achieve	VERB
fcis-32671	106	5	global	global	ADJ
fcis-32671	106	6	optimality	optimality	NOUN
fcis-32671	106	7	by	by	ADP
fcis-32671	106	8	directly	directly	ADV
fcis-32671	106	9	incorporating	incorporate	VERB
fcis-32671	106	10	full	full	ADJ
fcis-32671	106	11	path	path	NOUN
fcis-32671	106	12	constraints	constraint	NOUN
fcis-32671	106	13	and	and	CCONJ
fcis-32671	106	14	collision	collision	NOUN
fcis-32671	106	15	avoidance	avoidance	NOUN
fcis-32671	106	16	requirements	requirement	NOUN
fcis-32671	106	17	during	during	ADP
fcis-32671	106	18	allocation	allocation	NOUN
fcis-32671	106	19	.	.	PUNCT
fcis-32671	107	1	however	however	ADV
fcis-32671	107	2	,	,	PUNCT
fcis-32671	107	3	due	due	ADP
fcis-32671	107	4	to	to	ADP
fcis-32671	107	5	its	its	PRON
fcis-32671	107	6	extremely	extremely	ADV
fcis-32671	107	7	high	high	ADJ
fcis-32671	107	8	computational	computational	ADJ
fcis-32671	107	9	complexity	complexity	NOUN
fcis-32671	107	10	,	,	PUNCT
fcis-32671	107	11	it	it	PRON
fcis-32671	107	12	remains	remain	VERB
fcis-32671	107	13	applicable	applicable	ADJ
fcis-32671	107	14	only	only	ADV
fcis-32671	107	15	to	to	ADP
fcis-32671	107	16	scenarios	scenario	NOUN
fcis-32671	107	17	with	with	ADP
fcis-32671	107	18	small	small	ADJ
fcis-32671	107	19	-	-	PUNCT
fcis-32671	107	20	scale	scale	NOUN
fcis-32671	107	21	uavs	uavs	NOUN
fcis-32671	107	22	and	and	CCONJ
fcis-32671	107	23	limited	limited	ADJ
fcis-32671	107	24	tasks	task	NOUN
fcis-32671	107	25	,	,	PUNCT
fcis-32671	107	26	making	make	VERB
fcis-32671	107	27	large	large	ADJ
fcis-32671	107	28	-	-	PUNCT
fcis-32671	107	29	scale	scale	NOUN
fcis-32671	107	30	implementation	implementation	NOUN
fcis-32671	107	31	in	in	ADP
fcis-32671	107	32	practical	practical	ADJ
fcis-32671	107	33	engineering	engineering	NOUN
fcis-32671	107	34	challenging	challenging	ADJ
fcis-32671	107	35	.	.	PUNCT
fcis-32671	108	1	5.2	5.2	NUM
fcis-32671	108	2	.	.	PUNCT
fcis-32671	109	1	two	two	NUM
fcis-32671	109	2	practical	practical	ADJ
fcis-32671	109	3	engineering	engineering	NOUN
fcis-32671	109	4	paradigms	paradigm	NOUN
fcis-32671	109	5	:	:	PUNCT
fcis-32671	109	6	market	market	NOUN
fcis-32671	109	7	mechanisms	mechanism	NOUN
fcis-32671	109	8	and	and	CCONJ
fcis-32671	109	9	hierarchical	hierarchical	ADJ
fcis-32671	109	10	architectures	architecture	NOUN
fcis-32671	109	11	beyond	beyond	ADP
fcis-32671	109	12	the	the	DET
fcis-32671	109	13	aforementioned	aforementioned	ADJ
fcis-32671	109	14	approaches	approach	NOUN
fcis-32671	109	15	,	,	PUNCT
fcis-32671	109	16	market	market	NOUN
fcis-32671	109	17	-	-	PUNCT
fcis-32671	109	18	based	base	VERB
fcis-32671	109	19	distributed	distribute	VERB
fcis-32671	109	20	coordination	coordination	NOUN
fcis-32671	109	21	has	have	AUX
fcis-32671	109	22	gained	gain	VERB
fcis-32671	109	23	significant	significant	ADJ
fcis-32671	109	24	practical	practical	ADJ
fcis-32671	109	25	traction	traction	NOUN
fcis-32671	109	26	,	,	PUNCT
fcis-32671	109	27	exemplified	exemplify	VERB
fcis-32671	109	28	by	by	ADP
fcis-32671	109	29	consensus	consensus	NOUN
fcis-32671	109	30	-	-	PUNCT
fcis-32671	109	31	based	base	VERB
fcis-32671	109	32	auction	auction	NOUN
fcis-32671	109	33	algorithms	algorithm	NOUN
fcis-32671	109	34	.	.	PUNCT
fcis-32671	110	1	in	in	ADP
fcis-32671	110	2	this	this	DET
fcis-32671	110	3	method	method	NOUN
fcis-32671	110	4	,	,	PUNCT
fcis-32671	110	5	task	task	NOUN
fcis-32671	110	6	assignment	assignment	NOUN
fcis-32671	110	7	and	and	CCONJ
fcis-32671	110	8	path	path	NOUN
fcis-32671	110	9	cost	cost	NOUN
fcis-32671	110	10	calculation	calculation	NOUN
fcis-32671	110	11	are	be	AUX
fcis-32671	110	12	tightly	tightly	ADV
fcis-32671	110	13	intertwined	intertwine	VERB
fcis-32671	110	14	:	:	PUNCT
fcis-32671	110	15	each	each	DET
fcis-32671	110	16	drone	drone	NOUN
fcis-32671	110	17	must	must	AUX
fcis-32671	110	18	invoke	invoke	VERB
fcis-32671	110	19	its	its	PRON
fcis-32671	110	20	local	local	ADJ
fcis-32671	110	21	path	path	NOUN
fcis-32671	110	22	planner	planner	NOUN
fcis-32671	110	23	in	in	ADP
fcis-32671	110	24	real	real	ADJ
fcis-32671	110	25	-	-	PUNCT
fcis-32671	110	26	time	time	NOUN
fcis-32671	110	27	to	to	PART
fcis-32671	110	28	compute	compute	VERB
fcis-32671	110	29	the	the	DET
fcis-32671	110	30	precise	precise	ADJ
fcis-32671	110	31	incremental	incremental	ADJ
fcis-32671	110	32	cost	cost	NOUN
fcis-32671	110	33	of	of	ADP
fcis-32671	110	34	executing	execute	VERB
fcis-32671	110	35	a	a	DET
fcis-32671	110	36	task	task	NOUN
fcis-32671	110	37	while	while	SCONJ
fcis-32671	110	38	"	"	PUNCT
fcis-32671	110	39	bidding	bidding	NOUN
fcis-32671	110	40	"	"	PUNCT
fcis-32671	110	41	for	for	ADP
fcis-32671	110	42	it	it	PRON
fcis-32671	110	43	.	.	PUNCT
fcis-32671	111	1	through	through	ADP
fcis-32671	111	2	multiple	multiple	ADJ
fcis-32671	111	3	rounds	round	NOUN
fcis-32671	111	4	of	of	ADP
fcis-32671	111	5	distributed	distribute	VERB
fcis-32671	111	6	negotiation	negotiation	NOUN
fcis-32671	111	7	,	,	PUNCT
fcis-32671	111	8	the	the	DET
fcis-32671	111	9	swarm	swarm	NOUN
fcis-32671	111	10	ultimately	ultimately	ADV
fcis-32671	111	11	achieves	achieve	VERB
fcis-32671	111	12	an	an	DET
fcis-32671	111	13	overall	overall	ADJ
fcis-32671	111	14	optimal	optimal	ADJ
fcis-32671	111	15	allocation	allocation	NOUN
fcis-32671	111	16	scheme	scheme	NOUN
fcis-32671	111	17	based	base	VERB
fcis-32671	111	18	on	on	ADP
fcis-32671	111	19	precise	precise	ADJ
fcis-32671	111	20	path	path	NOUN
fcis-32671	111	21	costs	cost	NOUN
fcis-32671	111	22	.	.	PUNCT
fcis-32671	112	1	this	this	DET
fcis-32671	112	2	approach	approach	NOUN
fcis-32671	112	3	inherently	inherently	ADV
fcis-32671	112	4	combines	combine	VERB
fcis-32671	112	5	distributed	distribute	VERB
fcis-32671	112	6	and	and	CCONJ
fcis-32671	112	7	iterative	iterative	NOUN
fcis-32671	112	8	elements	element	NOUN
fcis-32671	112	9	,	,	PUNCT
fcis-32671	112	10	offering	offer	VERB
fcis-32671	112	11	advantages	advantage	NOUN
fcis-32671	112	12	of	of	ADP
fcis-32671	112	13	high	high	ADJ
fcis-32671	112	14	robustness	robustness	NOUN
fcis-32671	112	15	and	and	CCONJ
fcis-32671	112	16	strong	strong	ADJ
fcis-32671	112	17	scalability	scalability	NOUN
fcis-32671	112	18	.	.	PUNCT
fcis-32671	113	1	finally	finally	ADV
fcis-32671	113	2	,	,	PUNCT
fcis-32671	113	3	in	in	ADP
fcis-32671	113	4	practical	practical	ADJ
fcis-32671	113	5	system	system	NOUN
fcis-32671	113	6	design	design	NOUN
fcis-32671	113	7	,	,	PUNCT
fcis-32671	113	8	hierarchical	hierarchical	ADJ
fcis-32671	113	9	integration	integration	NOUN
fcis-32671	113	10	represents	represent	VERB
fcis-32671	113	11	a	a	DET
fcis-32671	113	12	common	common	ADJ
fcis-32671	113	13	engineering	engineering	NOUN
fcis-32671	113	14	compromise	compromise	NOUN
fcis-32671	113	15	.	.	PUNCT
fcis-32671	114	1	59	59	NUM
fcis-32671	114	2	the	the	DET
fcis-32671	114	3	system	system	NOUN
fcis-32671	114	4	is	be	AUX
fcis-32671	114	5	divided	divide	VERB
fcis-32671	114	6	into	into	ADP
fcis-32671	114	7	a	a	DET
fcis-32671	114	8	decision	decision	NOUN
fcis-32671	114	9	layer	layer	NOUN
fcis-32671	114	10	and	and	CCONJ
fcis-32671	114	11	an	an	DET
fcis-32671	114	12	execution	execution	NOUN
fcis-32671	114	13	layer	layer	NOUN
fcis-32671	114	14	:	:	PUNCT
fcis-32671	114	15	the	the	DET
fcis-32671	114	16	decision	decision	NOUN
fcis-32671	114	17	layer	layer	NOUN
fcis-32671	114	18	performs	perform	VERB
fcis-32671	114	19	coarse	coarse	ADV
fcis-32671	114	20	-	-	PUNCT
fcis-32671	114	21	grained	grain	VERB
fcis-32671	114	22	task	task	NOUN
fcis-32671	114	23	allocation	allocation	NOUN
fcis-32671	114	24	and	and	CCONJ
fcis-32671	114	25	generates	generate	VERB
fcis-32671	114	26	a	a	DET
fcis-32671	114	27	global	global	ADJ
fcis-32671	114	28	reference	reference	NOUN
fcis-32671	114	29	path	path	NOUN
fcis-32671	114	30	for	for	ADP
fcis-32671	114	31	each	each	DET
fcis-32671	114	32	drone	drone	NOUN
fcis-32671	114	33	based	base	VERB
fcis-32671	114	34	on	on	ADP
fcis-32671	114	35	approximate	approximate	ADJ
fcis-32671	114	36	costs	cost	NOUN
fcis-32671	114	37	;	;	PUNCT
fcis-32671	114	38	the	the	DET
fcis-32671	114	39	execution	execution	NOUN
fcis-32671	114	40	layer	layer	NOUN
fcis-32671	114	41	handles	handle	VERB
fcis-32671	114	42	local	local	ADJ
fcis-32671	114	43	real	real	ADJ
fcis-32671	114	44	-	-	PUNCT
fcis-32671	114	45	time	time	NOUN
fcis-32671	114	46	planning	planning	NOUN
fcis-32671	114	47	,	,	PUNCT
fcis-32671	114	48	finely	finely	ADV
fcis-32671	114	49	managing	manage	VERB
fcis-32671	114	50	dynamic	dynamic	ADJ
fcis-32671	114	51	constraints	constraint	NOUN
fcis-32671	114	52	and	and	CCONJ
fcis-32671	114	53	sudden	sudden	ADJ
fcis-32671	114	54	collision	collision	NOUN
fcis-32671	114	55	avoidance	avoidance	NOUN
fcis-32671	114	56	,	,	PUNCT
fcis-32671	114	57	and	and	CCONJ
fcis-32671	114	58	requests	request	VERB
fcis-32671	114	59	reallocation	reallocation	NOUN
fcis-32671	114	60	or	or	CCONJ
fcis-32671	114	61	adjustment	adjustment	NOUN
fcis-32671	114	62	from	from	ADP
fcis-32671	114	63	the	the	DET
fcis-32671	114	64	decision	decision	NOUN
fcis-32671	114	65	layer	layer	NOUN
fcis-32671	114	66	when	when	SCONJ
fcis-32671	114	67	execution	execution	NOUN
fcis-32671	114	68	deviations	deviation	NOUN
fcis-32671	114	69	become	become	VERB
fcis-32671	114	70	excessive	excessive	ADJ
fcis-32671	114	71	.	.	PUNCT
fcis-32671	115	1	this	this	DET
fcis-32671	115	2	architecture	architecture	NOUN
fcis-32671	115	3	balances	balance	VERB
fcis-32671	115	4	global	global	ADJ
fcis-32671	115	5	optimality	optimality	NOUN
fcis-32671	115	6	and	and	CCONJ
fcis-32671	115	7	real	real	ADJ
fcis-32671	115	8	-	-	PUNCT
fcis-32671	115	9	time	time	NOUN
fcis-32671	115	10	computational	computational	ADJ
fcis-32671	115	11	efficiency	efficiency	NOUN
fcis-32671	115	12	,	,	PUNCT
fcis-32671	115	13	serving	serve	VERB
fcis-32671	115	14	as	as	ADP
fcis-32671	115	15	an	an	DET
fcis-32671	115	16	effective	effective	ADJ
fcis-32671	115	17	strategy	strategy	NOUN
fcis-32671	115	18	for	for	ADP
fcis-32671	115	19	tackling	tackle	VERB
fcis-32671	115	20	complex	complex	ADJ
fcis-32671	115	21	real	real	ADJ
fcis-32671	115	22	-	-	PUNCT
fcis-32671	115	23	world	world	NOUN
fcis-32671	115	24	environments	environment	NOUN
fcis-32671	115	25	.	.	PUNCT
fcis-32671	116	1	table	table	NOUN
fcis-32671	116	2	2	2	NUM
fcis-32671	116	3	.	.	PUNCT
fcis-32671	116	4	comparison	comparison	NOUN
fcis-32671	116	5	of	of	ADP
fcis-32671	116	6	task	task	NOUN
fcis-32671	116	7	allocation	allocation	NOUN
fcis-32671	116	8	and	and	CCONJ
fcis-32671	116	9	path	path	NOUN
fcis-32671	116	10	planning	planning	NOUN
fcis-32671	116	11	integration	integration	NOUN
fcis-32671	116	12	methods	method	NOUN
fcis-32671	116	13	(	(	PUNCT
fcis-32671	116	14	reference	reference	NOUN
fcis-32671	116	15	:	:	PUNCT
fcis-32671	116	16	kulkarni	kulkarni	PROPN
fcis-32671	116	17	&	&	CCONJ
fcis-32671	116	18	srivastava	srivastava	PROPN
fcis-32671	116	19	,	,	PUNCT
fcis-32671	116	20	2022	2022	NUM
fcis-32671	116	21	)	)	PUNCT
fcis-32671	117	1	[	[	X
fcis-32671	117	2	15	15	NUM
fcis-32671	117	3	]	]	X
fcis-32671	117	4	integrated	integrate	VERB
fcis-32671	117	5	approach	approach	NOUN
fcis-32671	117	6	degree	degree	NOUN
fcis-32671	117	7	of	of	ADP
fcis-32671	117	8	coupling	couple	VERB
fcis-32671	117	9	computational	computational	ADJ
fcis-32671	117	10	complexity	complexity	NOUN
fcis-32671	117	11	communication	communication	NOUN
fcis-32671	117	12	requirement	requirement	NOUN
fcis-32671	117	13	optimality	optimality	NOUN
fcis-32671	117	14	applicable	applicable	ADJ
fcis-32671	117	15	scale	scale	NOUN
fcis-32671	117	16	sequential	sequential	ADJ
fcis-32671	117	17	low	low	ADJ
fcis-32671	117	18	low	low	ADJ
fcis-32671	117	19	low	low	ADJ
fcis-32671	117	20	low	low	ADJ
fcis-32671	117	21	to	to	ADP
fcis-32671	117	22	medium	medium	ADJ
fcis-32671	117	23	small	small	ADJ
fcis-32671	117	24	to	to	PART
fcis-32671	117	25	medium	medium	ADJ
fcis-32671	117	26	scale	scale	NOUN
fcis-32671	117	27	iterative	iterative	NOUN
fcis-32671	117	28	medium	medium	ADJ
fcis-32671	117	29	medium	medium	ADJ
fcis-32671	117	30	medium	medium	NOUN
fcis-32671	117	31	medium	medium	NOUN
fcis-32671	117	32	to	to	ADP
fcis-32671	117	33	high	high	ADJ
fcis-32671	117	34	medium	medium	ADJ
fcis-32671	117	35	-	-	PUNCT
fcis-32671	117	36	scale	scale	NOUN
fcis-32671	117	37	combined	combine	VERB
fcis-32671	117	38	high	high	ADJ
fcis-32671	117	39	high	high	ADJ
fcis-32671	117	40	high	high	ADJ
fcis-32671	117	41	high	high	ADJ
fcis-32671	117	42	small	small	ADJ
fcis-32671	117	43	-	-	PUNCT
fcis-32671	117	44	scale	scale	NOUN
fcis-32671	117	45	distributed	distribute	VERB
fcis-32671	117	46	market	market	NOUN
fcis-32671	117	47	mechanism	mechanism	NOUN
fcis-32671	117	48	medium	medium	NOUN
fcis-32671	117	49	to	to	ADP
fcis-32671	117	50	high	high	ADJ
fcis-32671	117	51	medium	medium	ADJ
fcis-32671	117	52	medium	medium	ADJ
fcis-32671	117	53	medium	medium	NOUN
fcis-32671	117	54	to	to	ADP
fcis-32671	117	55	high	high	ADJ
fcis-32671	117	56	medium	medium	NOUN
fcis-32671	117	57	to	to	ADP
fcis-32671	117	58	large	large	ADJ
fcis-32671	117	59	scale	scale	NOUN
fcis-32671	117	60	stratified	stratify	VERB
fcis-32671	117	61	medium	medium	ADJ
fcis-32671	117	62	medium	medium	NOUN
fcis-32671	117	63	~	~	SYM
fcis-32671	117	64	low	low	ADJ
fcis-32671	117	65	low	low	ADJ
fcis-32671	117	66	~	~	PUNCT
fcis-32671	117	67	medium	medium	ADJ
fcis-32671	117	68	medium	medium	ADJ
fcis-32671	117	69	large	large	ADJ
fcis-32671	117	70	-	-	PUNCT
fcis-32671	117	71	scale	scale	NOUN
fcis-32671	117	72	integration	integration	NOUN
fcis-32671	117	73	methods	method	NOUN
fcis-32671	117	74	coupling	couple	VERB
fcis-32671	117	75	level	level	NOUN
fcis-32671	117	76	computational	computational	ADJ
fcis-32671	117	77	complexity	complexity	NOUN
fcis-32671	117	78	communication	communication	NOUN
fcis-32671	117	79	requirements	requirement	NOUN
fcis-32671	117	80	optimality	optimality	NOUN
fcis-32671	117	81	applicable	applicable	ADJ
fcis-32671	117	82	scale	scale	NOUN
fcis-32671	117	83	6	6	NUM
fcis-32671	117	84	.	.	PUNCT
fcis-32671	118	1	conclusion	conclusion	NOUN
fcis-32671	118	2	task	task	NOUN
fcis-32671	118	3	allocation	allocation	NOUN
fcis-32671	118	4	and	and	CCONJ
fcis-32671	118	5	path	path	NOUN
fcis-32671	118	6	planning	planning	NOUN
fcis-32671	118	7	in	in	ADP
fcis-32671	118	8	multi	multi	ADJ
fcis-32671	118	9	-	-	ADJ
fcis-32671	118	10	uav	uav	ADJ
fcis-32671	118	11	collaborative	collaborative	PROPN
fcis-32671	118	12	systems	system	NOUN
fcis-32671	118	13	are	be	AUX
fcis-32671	118	14	key	key	ADJ
fcis-32671	118	15	technologies	technology	NOUN
fcis-32671	118	16	for	for	ADP
fcis-32671	118	17	achieving	achieve	VERB
fcis-32671	118	18	swarm	swarm	NOUN
fcis-32671	118	19	intelligence	intelligence	NOUN
fcis-32671	118	20	,	,	PUNCT
fcis-32671	118	21	and	and	CCONJ
fcis-32671	118	22	their	their	PRON
fcis-32671	118	23	coordinated	coordinate	VERB
fcis-32671	118	24	optimization	optimization	NOUN
fcis-32671	118	25	is	be	AUX
fcis-32671	118	26	crucial	crucial	ADJ
fcis-32671	118	27	for	for	ADP
fcis-32671	118	28	enhancing	enhance	VERB
fcis-32671	118	29	overall	overall	ADJ
fcis-32671	118	30	system	system	NOUN
fcis-32671	118	31	performance	performance	NOUN
fcis-32671	118	32	.	.	PUNCT
fcis-32671	119	1	this	this	DET
fcis-32671	119	2	paper	paper	NOUN
fcis-32671	119	3	systematically	systematically	ADV
fcis-32671	119	4	explores	explore	VERB
fcis-32671	119	5	task	task	NOUN
fcis-32671	119	6	allocation	allocation	NOUN
fcis-32671	119	7	algorithms	algorithms	PROPN
fcis-32671	119	8	,	,	PUNCT
fcis-32671	119	9	path	path	NOUN
fcis-32671	119	10	planning	planning	NOUN
fcis-32671	119	11	methods	method	NOUN
fcis-32671	119	12	,	,	PUNCT
fcis-32671	119	13	and	and	CCONJ
fcis-32671	119	14	the	the	DET
fcis-32671	119	15	selection	selection	NOUN
fcis-32671	119	16	and	and	CCONJ
fcis-32671	119	17	design	design	NOUN
fcis-32671	119	18	of	of	ADP
fcis-32671	119	19	integrated	integrate	VERB
fcis-32671	119	20	strategies	strategy	NOUN
fcis-32671	119	21	around	around	ADP
fcis-32671	119	22	this	this	DET
fcis-32671	119	23	core	core	NOUN
fcis-32671	119	24	issue	issue	NOUN
fcis-32671	119	25	,	,	PUNCT
fcis-32671	119	26	aiming	aim	VERB
fcis-32671	119	27	to	to	PART
fcis-32671	119	28	provide	provide	VERB
fcis-32671	119	29	theoretical	theoretical	ADJ
fcis-32671	119	30	support	support	NOUN
fcis-32671	119	31	and	and	CCONJ
fcis-32671	119	32	solutions	solution	NOUN
fcis-32671	119	33	for	for	ADP
fcis-32671	119	34	practical	practical	ADJ
fcis-32671	119	35	applications	application	NOUN
fcis-32671	119	36	of	of	ADP
fcis-32671	119	37	large	large	ADJ
fcis-32671	119	38	-	-	PUNCT
fcis-32671	119	39	scale	scale	NOUN
fcis-32671	119	40	heterogeneous	heterogeneous	ADJ
fcis-32671	119	41	uav	uav	PROPN
fcis-32671	119	42	swarms	swarm	NOUN
fcis-32671	119	43	.	.	PUNCT
fcis-32671	120	1	research	research	NOUN
fcis-32671	120	2	indicates	indicate	VERB
fcis-32671	120	3	a	a	DET
fcis-32671	120	4	strong	strong	ADJ
fcis-32671	120	5	coupling	coupling	NOUN
fcis-32671	120	6	between	between	ADP
fcis-32671	120	7	task	task	NOUN
fcis-32671	120	8	allocation	allocation	NOUN
fcis-32671	120	9	and	and	CCONJ
fcis-32671	120	10	path	path	NOUN
fcis-32671	120	11	planning	planning	NOUN
fcis-32671	120	12	,	,	PUNCT
fcis-32671	120	13	making	make	VERB
fcis-32671	120	14	isolated	isolated	ADJ
fcis-32671	120	15	optimization	optimization	NOUN
fcis-32671	120	16	incapable	incapable	ADJ
fcis-32671	120	17	of	of	ADP
fcis-32671	120	18	achieving	achieve	VERB
fcis-32671	120	19	global	global	ADJ
fcis-32671	120	20	optimality	optimality	NOUN
fcis-32671	120	21	.	.	PUNCT
fcis-32671	121	1	task	task	NOUN
fcis-32671	121	2	allocation	allocation	NOUN
fcis-32671	121	3	algorithms	algorithm	NOUN
fcis-32671	121	4	must	must	AUX
fcis-32671	121	5	be	be	AUX
fcis-32671	121	6	flexibly	flexibly	ADV
fcis-32671	121	7	selected	select	VERB
fcis-32671	121	8	based	base	VERB
fcis-32671	121	9	on	on	ADP
fcis-32671	121	10	application	application	NOUN
fcis-32671	121	11	scale	scale	NOUN
fcis-32671	121	12	,	,	PUNCT
fcis-32671	121	13	dynamics	dynamic	NOUN
fcis-32671	121	14	,	,	PUNCT
fcis-32671	121	15	and	and	CCONJ
fcis-32671	121	16	communication	communication	NOUN
fcis-32671	121	17	conditions	condition	NOUN
fcis-32671	121	18	:	:	PUNCT
fcis-32671	121	19	centralized	centralized	ADJ
fcis-32671	121	20	optimization	optimization	NOUN
fcis-32671	121	21	suits	suit	VERB
fcis-32671	121	22	small	small	ADJ
fcis-32671	121	23	-	-	PUNCT
fcis-32671	121	24	scale	scale	NOUN
fcis-32671	121	25	static	static	ADJ
fcis-32671	121	26	environments	environment	NOUN
fcis-32671	121	27	;	;	PUNCT
fcis-32671	121	28	distributed	distribute	VERB
fcis-32671	121	29	algorithms	algorithms	NOUN
fcis-32671	121	30	(	(	PUNCT
fcis-32671	121	31	e.g.	e.g.	ADV
fcis-32671	121	32	,	,	PUNCT
fcis-32671	121	33	consensus	consensus	NOUN
fcis-32671	121	34	auctions	auction	NOUN
fcis-32671	121	35	)	)	PUNCT
fcis-32671	121	36	excel	excel	VERB
fcis-32671	121	37	in	in	ADP
fcis-32671	121	38	scalability	scalability	NOUN
fcis-32671	121	39	and	and	CCONJ
fcis-32671	121	40	robustness	robustness	NOUN
fcis-32671	121	41	;	;	PUNCT
fcis-32671	121	42	while	while	SCONJ
fcis-32671	121	43	meta	meta	ADJ
fcis-32671	121	44	-	-	PUNCT
fcis-32671	121	45	heuristic	heuristic	ADJ
fcis-32671	121	46	algorithms	algorithm	NOUN
fcis-32671	121	47	excel	excel	VERB
fcis-32671	121	48	at	at	ADP
fcis-32671	121	49	handling	handle	VERB
fcis-32671	121	50	complex	complex	ADJ
fcis-32671	121	51	multi	multi	ADJ
fcis-32671	121	52	-	-	ADJ
fcis-32671	121	53	objective	objective	ADJ
fcis-32671	121	54	constrained	constrain	VERB
fcis-32671	121	55	problems	problem	NOUN
fcis-32671	121	56	.	.	PUNCT
fcis-32671	122	1	for	for	ADP
fcis-32671	122	2	path	path	NOUN
fcis-32671	122	3	planning	planning	NOUN
fcis-32671	122	4	,	,	PUNCT
fcis-32671	122	5	environmental	environmental	ADJ
fcis-32671	122	6	characteristics	characteristic	NOUN
fcis-32671	122	7	,	,	PUNCT
fcis-32671	122	8	real	real	ADJ
fcis-32671	122	9	-	-	PUNCT
fcis-32671	122	10	time	time	NOUN
fcis-32671	122	11	requirements	requirement	NOUN
fcis-32671	122	12	,	,	PUNCT
fcis-32671	122	13	and	and	CCONJ
fcis-32671	122	14	computational	computational	ADJ
fcis-32671	122	15	resources	resource	NOUN
fcis-32671	122	16	must	must	AUX
fcis-32671	122	17	be	be	AUX
fcis-32671	122	18	comprehensively	comprehensively	ADV
fcis-32671	122	19	considered	consider	VERB
fcis-32671	122	20	:	:	PUNCT
fcis-32671	122	21	search	search	NOUN
fcis-32671	122	22	-	-	PUNCT
fcis-32671	122	23	based	base	VERB
fcis-32671	122	24	algorithms	algorithm	NOUN
fcis-32671	122	25	suit	suit	VERB
fcis-32671	122	26	static	static	ADJ
fcis-32671	122	27	global	global	ADJ
fcis-32671	122	28	planning	planning	NOUN
fcis-32671	122	29	;	;	PUNCT
fcis-32671	122	30	sampling	sample	VERB
fcis-32671	122	31	-	-	PUNCT
fcis-32671	122	32	based	base	VERB
fcis-32671	122	33	methods	method	NOUN
fcis-32671	122	34	excel	excel	VERB
fcis-32671	122	35	in	in	ADP
fcis-32671	122	36	highdimensional	highdimensional	ADJ
fcis-32671	122	37	spaces	space	NOUN
fcis-32671	122	38	;	;	PUNCT
fcis-32671	122	39	model	model	NOUN
fcis-32671	122	40	predictive	predictive	PROPN
fcis-32671	122	41	control	control	PROPN
fcis-32671	122	42	(	(	PUNCT
fcis-32671	122	43	mpc	mpc	NOUN
fcis-32671	122	44	)	)	PUNCT
fcis-32671	122	45	effectively	effectively	ADV
fcis-32671	122	46	handles	handle	VERB
fcis-32671	122	47	dynamic	dynamic	ADJ
fcis-32671	122	48	environments	environment	NOUN
fcis-32671	122	49	and	and	CCONJ
fcis-32671	122	50	real	real	ADJ
fcis-32671	122	51	-	-	PUNCT
fcis-32671	122	52	time	time	NOUN
fcis-32671	122	53	collision	collision	NOUN
fcis-32671	122	54	avoidance	avoidance	NOUN
fcis-32671	122	55	;	;	PUNCT
fcis-32671	122	56	while	while	SCONJ
fcis-32671	122	57	bio	bio	ADJ
fcis-32671	122	58	-	-	PUNCT
fcis-32671	122	59	inspired	inspired	ADJ
fcis-32671	122	60	algorithms	algorithm	NOUN
fcis-32671	122	61	provide	provide	VERB
fcis-32671	122	62	lightweight	lightweight	ADJ
fcis-32671	122	63	solutions	solution	NOUN
fcis-32671	122	64	for	for	ADP
fcis-32671	122	65	ultra	ultra	ADJ
fcis-32671	122	66	-	-	ADJ
fcis-32671	122	67	large	large	ADJ
fcis-32671	122	68	-	-	PUNCT
fcis-32671	122	69	scale	scale	NOUN
fcis-32671	122	70	fleets	fleet	NOUN
fcis-32671	122	71	.	.	PUNCT
fcis-32671	123	1	regarding	regard	VERB
fcis-32671	123	2	ensemble	ensemble	ADJ
fcis-32671	123	3	methods	method	NOUN
fcis-32671	123	4	,	,	PUNCT
fcis-32671	123	5	sequential	sequential	ADJ
fcis-32671	123	6	,	,	PUNCT
fcis-32671	123	7	iterative	iterative	NOUN
fcis-32671	123	8	,	,	PUNCT
fcis-32671	123	9	and	and	CCONJ
fcis-32671	123	10	joint	joint	ADJ
fcis-32671	123	11	approaches	approach	NOUN
fcis-32671	124	1	each	each	PRON
fcis-32671	124	2	possess	possess	VERB
fcis-32671	124	3	distinct	distinct	ADJ
fcis-32671	124	4	advantages	advantage	NOUN
fcis-32671	124	5	and	and	CCONJ
fcis-32671	124	6	limitations	limitation	NOUN
fcis-32671	124	7	.	.	PUNCT
fcis-32671	125	1	sequential	sequential	ADJ
fcis-32671	125	2	methods	method	NOUN
fcis-32671	125	3	offer	offer	VERB
fcis-32671	125	4	simplicity	simplicity	NOUN
fcis-32671	125	5	but	but	CCONJ
fcis-32671	125	6	may	may	AUX
fcis-32671	125	7	yield	yield	VERB
fcis-32671	125	8	suboptimal	suboptimal	ADJ
fcis-32671	125	9	results	result	NOUN
fcis-32671	125	10	,	,	PUNCT
fcis-32671	125	11	iterative	iterative	NOUN
fcis-32671	125	12	methods	method	NOUN
fcis-32671	125	13	enhance	enhance	VERB
fcis-32671	125	14	performance	performance	NOUN
fcis-32671	125	15	through	through	ADP
fcis-32671	125	16	feedback	feedback	NOUN
fcis-32671	125	17	loops	loop	NOUN
fcis-32671	125	18	yet	yet	ADV
fcis-32671	125	19	increase	increase	VERB
fcis-32671	125	20	computational	computational	ADJ
fcis-32671	125	21	burden	burden	NOUN
fcis-32671	125	22	,	,	PUNCT
fcis-32671	125	23	while	while	SCONJ
fcis-32671	125	24	joint	joint	ADJ
fcis-32671	125	25	methods	method	NOUN
fcis-32671	125	26	achieve	achieve	VERB
fcis-32671	125	27	theoretical	theoretical	ADJ
fcis-32671	125	28	optimality	optimality	NOUN
fcis-32671	125	29	at	at	ADP
fcis-32671	125	30	the	the	DET
fcis-32671	125	31	cost	cost	NOUN
fcis-32671	125	32	of	of	ADP
fcis-32671	125	33	computational	computational	ADJ
fcis-32671	125	34	complexity	complexity	NOUN
fcis-32671	125	35	.	.	PUNCT
fcis-32671	126	1	market	market	NOUN
fcis-32671	126	2	-	-	PUNCT
fcis-32671	126	3	based	base	VERB
fcis-32671	126	4	distributed	distribute	VERB
fcis-32671	126	5	ensemble	ensemble	ADJ
fcis-32671	126	6	and	and	CCONJ
fcis-32671	126	7	hierarchical	hierarchical	ADJ
fcis-32671	126	8	ensemble	ensemble	ADJ
fcis-32671	126	9	methods	method	NOUN
fcis-32671	126	10	represent	represent	VERB
fcis-32671	126	11	effective	effective	ADJ
fcis-32671	126	12	engineering	engineering	NOUN
fcis-32671	126	13	compromises	compromise	NOUN
fcis-32671	126	14	,	,	PUNCT
fcis-32671	126	15	balancing	balance	VERB
fcis-32671	126	16	robustness	robustness	NOUN
fcis-32671	126	17	,	,	PUNCT
fcis-32671	126	18	scalability	scalability	NOUN
fcis-32671	126	19	,	,	PUNCT
fcis-32671	126	20	and	and	CCONJ
fcis-32671	126	21	real	real	ADJ
fcis-32671	126	22	-	-	PUNCT
fcis-32671	126	23	time	time	NOUN
fcis-32671	126	24	performance	performance	NOUN
fcis-32671	126	25	,	,	PUNCT
fcis-32671	126	26	particularly	particularly	ADV
fcis-32671	126	27	suited	suit	VERB
fcis-32671	126	28	for	for	ADP
fcis-32671	126	29	complex	complex	ADJ
fcis-32671	126	30	dynamic	dynamic	ADJ
fcis-32671	126	31	environments	environment	NOUN
fcis-32671	126	32	.	.	PUNCT
fcis-32671	127	1	the	the	DET
fcis-32671	127	2	proposed	propose	VERB
fcis-32671	127	3	collaborative	collaborative	ADJ
fcis-32671	127	4	optimization	optimization	NOUN
fcis-32671	127	5	framework	framework	NOUN
fcis-32671	127	6	,	,	PUNCT
fcis-32671	127	7	integrating	integrate	VERB
fcis-32671	127	8	hierarchical	hierarchical	ADJ
fcis-32671	127	9	planning	planning	NOUN
fcis-32671	127	10	with	with	ADP
fcis-32671	127	11	spatiotemporal	spatiotemporal	ADJ
fcis-32671	127	12	constraints	constraint	NOUN
fcis-32671	127	13	,	,	PUNCT
fcis-32671	127	14	achieves	achieve	VERB
fcis-32671	127	15	significant	significant	ADJ
fcis-32671	127	16	improvements	improvement	NOUN
fcis-32671	127	17	in	in	ADP
fcis-32671	127	18	task	task	NOUN
fcis-32671	127	19	completion	completion	NOUN
fcis-32671	127	20	efficiency	efficiency	NOUN
fcis-32671	127	21	,	,	PUNCT
fcis-32671	127	22	communication	communication	NOUN
fcis-32671	127	23	overhead	overhead	ADV
fcis-32671	127	24	,	,	PUNCT
fcis-32671	127	25	and	and	CCONJ
fcis-32671	127	26	system	system	NOUN
fcis-32671	127	27	robustness	robustness	NOUN
fcis-32671	127	28	by	by	ADP
fcis-32671	127	29	enhancing	enhance	VERB
fcis-32671	127	30	the	the	DET
fcis-32671	127	31	combination	combination	NOUN
fcis-32671	127	32	of	of	ADP
fcis-32671	127	33	the	the	DET
fcis-32671	127	34	consensus	consensus	NOUN
fcis-32671	127	35	bidding	bidding	NOUN
fcis-32671	127	36	auction	auction	NOUN
fcis-32671	127	37	(	(	PUNCT
fcis-32671	127	38	cbba	cbba	NOUN
fcis-32671	127	39	)	)	PUNCT
fcis-32671	127	40	algorithm	algorithm	NOUN
fcis-32671	127	41	and	and	CCONJ
fcis-32671	127	42	model	model	NOUN
fcis-32671	127	43	predictive	predictive	ADJ
fcis-32671	127	44	control	control	PROPN
fcis-32671	127	45	(	(	PUNCT
fcis-32671	127	46	mpc	mpc	PROPN
fcis-32671	127	47	)	)	PUNCT
fcis-32671	127	48	.	.	PUNCT
fcis-32671	128	1	future	future	ADJ
fcis-32671	128	2	research	research	NOUN
fcis-32671	128	3	will	will	AUX
fcis-32671	128	4	further	far	ADV
fcis-32671	128	5	explore	explore	VERB
fcis-32671	128	6	the	the	DET
fcis-32671	128	7	deep	deep	ADJ
fcis-32671	128	8	integration	integration	NOUN
fcis-32671	128	9	of	of	ADP
fcis-32671	128	10	artificial	artificial	ADJ
fcis-32671	128	11	intelligence	intelligence	NOUN
fcis-32671	128	12	(	(	PUNCT
fcis-32671	128	13	such	such	ADJ
fcis-32671	128	14	as	as	ADP
fcis-32671	128	15	reinforcement	reinforcement	NOUN
fcis-32671	128	16	learning	learning	NOUN
fcis-32671	128	17	and	and	CCONJ
fcis-32671	128	18	deep	deep	ADJ
fcis-32671	128	19	learning	learning	NOUN
fcis-32671	128	20	)	)	PUNCT
fcis-32671	128	21	with	with	ADP
fcis-32671	128	22	traditional	traditional	ADJ
fcis-32671	128	23	optimization	optimization	NOUN
fcis-32671	128	24	methods	method	NOUN
fcis-32671	128	25	to	to	PART
fcis-32671	128	26	enhance	enhance	VERB
fcis-32671	128	27	the	the	DET
fcis-32671	128	28	system	system	NOUN
fcis-32671	128	29	's	's	PART
fcis-32671	128	30	online	online	ADJ
fcis-32671	128	31	learning	learning	NOUN
fcis-32671	128	32	and	and	CCONJ
fcis-32671	128	33	adaptive	adaptive	ADJ
fcis-32671	128	34	capabilities	capability	NOUN
fcis-32671	128	35	in	in	ADP
fcis-32671	128	36	unknown	unknown	ADJ
fcis-32671	128	37	dynamic	dynamic	ADJ
fcis-32671	128	38	environments	environment	NOUN
fcis-32671	128	39	.	.	PUNCT
fcis-32671	129	1	concurrently	concurrently	ADV
fcis-32671	129	2	,	,	PUNCT
fcis-32671	129	3	it	it	PRON
fcis-32671	129	4	will	will	AUX
fcis-32671	129	5	promote	promote	VERB
fcis-32671	129	6	the	the	DET
fcis-32671	129	7	widespread	widespread	ADJ
fcis-32671	129	8	application	application	NOUN
fcis-32671	129	9	of	of	ADP
fcis-32671	129	10	digital	digital	ADJ
fcis-32671	129	11	twin	twin	ADJ
fcis-32671	129	12	technology	technology	NOUN
fcis-32671	129	13	in	in	ADP
fcis-32671	129	14	simulation	simulation	NOUN
fcis-32671	129	15	verification	verification	NOUN
fcis-32671	129	16	and	and	CCONJ
fcis-32671	129	17	physical	physical	ADJ
fcis-32671	129	18	deployment	deployment	NOUN
fcis-32671	129	19	,	,	PUNCT
fcis-32671	129	20	ultimately	ultimately	ADV
fcis-32671	129	21	enabling	enable	VERB
fcis-32671	129	22	efficient	efficient	ADJ
fcis-32671	129	23	and	and	CCONJ
fcis-32671	129	24	reliable	reliable	ADJ
fcis-32671	129	25	autonomous	autonomous	ADJ
fcis-32671	129	26	collaboration	collaboration	NOUN
fcis-32671	129	27	of	of	ADP
fcis-32671	129	28	multi	multi	ADJ
fcis-32671	129	29	-	-	ADJ
fcis-32671	129	30	uav	uav	ADJ
fcis-32671	129	31	clusters	cluster	NOUN
fcis-32671	129	32	across	across	ADP
fcis-32671	129	33	broader	broad	ADJ
fcis-32671	129	34	scenarios	scenario	NOUN
fcis-32671	129	35	.	.	PUNCT
fcis-32671	130	1	references	reference	NOUN
fcis-32671	130	2	[	[	X
fcis-32671	130	3	1	1	NUM
fcis-32671	130	4	]	]	X
fcis-32671	130	5	khamis	khamis	PROPN
fcis-32671	130	6	,	,	PUNCT
fcis-32671	130	7	a.	a.	PROPN
fcis-32671	130	8	,	,	PUNCT
fcis-32671	130	9	hussein	hussein	PROPN
fcis-32671	130	10	,	,	PUNCT
fcis-32671	130	11	a.	a.	NOUN
fcis-32671	130	12	,	,	PUNCT
fcis-32671	130	13	&	&	CCONJ
fcis-32671	130	14	elmogy	elmogy	NOUN
fcis-32671	130	15	,	,	PUNCT
fcis-32671	130	16	a.	a.	NOUN
fcis-32671	130	17	(	(	PUNCT
fcis-32671	130	18	2015	2015	NUM
fcis-32671	130	19	)	)	PUNCT
fcis-32671	130	20	.	.	PUNCT
fcis-32671	131	1	multi	multi	ADJ
fcis-32671	131	2	-	-	ADJ
fcis-32671	131	3	robot	robot	ADJ
fcis-32671	131	4	task	task	NOUN
fcis-32671	131	5	allocation	allocation	NOUN
fcis-32671	131	6	:	:	PUNCT
fcis-32671	131	7	a	a	DET
fcis-32671	131	8	review	review	NOUN
fcis-32671	131	9	of	of	ADP
fcis-32671	131	10	the	the	DET
fcis-32671	131	11	state	state	NOUN
fcis-32671	131	12	-	-	PUNCT
fcis-32671	131	13	of	of	ADP
fcis-32671	131	14	-	-	PUNCT
fcis-32671	131	15	the	the	DET
fcis-32671	131	16	-	-	PUNCT
fcis-32671	131	17	art	art	NOUN
fcis-32671	131	18	.	.	PUNCT
fcis-32671	132	1	robotics	robotic	NOUN
fcis-32671	132	2	and	and	CCONJ
fcis-32671	132	3	autonomous	autonomous	ADJ
fcis-32671	132	4	systems	system	NOUN
fcis-32671	132	5	,	,	PUNCT
fcis-32671	132	6	66	66	NUM
fcis-32671	132	7	,	,	PUNCT
fcis-32671	132	8	3	3	NUM
fcis-32671	132	9	-	-	SYM
fcis-32671	132	10	13	13	NUM
fcis-32671	132	11	.	.	PUNCT
fcis-32671	133	1	[	[	X
fcis-32671	133	2	2	2	NUM
fcis-32671	133	3	]	]	PUNCT
fcis-32671	133	4	choi	choi	NOUN
fcis-32671	133	5	,	,	PUNCT
fcis-32671	133	6	h.	h.	PROPN
fcis-32671	133	7	l.	l.	PROPN
fcis-32671	133	8	,	,	PUNCT
fcis-32671	133	9	brunet	brunet	PROPN
fcis-32671	133	10	,	,	PUNCT
fcis-32671	133	11	l.	l.	PROPN
fcis-32671	133	12	,	,	PUNCT
fcis-32671	133	13	&	&	CCONJ
fcis-32671	133	14	amp	amp	PROPN
fcis-32671	133	15	;	;	PUNCT
fcis-32671	133	16	how	how	SCONJ
fcis-32671	133	17	,	,	PUNCT
fcis-32671	133	18	j.	j.	PROPN
fcis-32671	133	19	p.	p.	PROPN
fcis-32671	133	20	(	(	PUNCT
fcis-32671	133	21	2009	2009	NUM
fcis-32671	133	22	)	)	PUNCT
fcis-32671	133	23	.	.	PUNCT
fcis-32671	134	1	consensusbased	consensusbase	VERB
fcis-32671	134	2	decentralized	decentralize	VERB
fcis-32671	134	3	auctions	auction	NOUN
fcis-32671	134	4	for	for	ADP
fcis-32671	134	5	robust	robust	ADJ
fcis-32671	134	6	task	task	NOUN
fcis-32671	134	7	allocation	allocation	NOUN
fcis-32671	134	8	.	.	PUNCT
fcis-32671	135	1	ieee	ieee	NOUN
fcis-32671	135	2	transactions	transaction	NOUN
fcis-32671	135	3	on	on	ADP
fcis-32671	135	4	robotics	robotic	NOUN
fcis-32671	135	5	,	,	PUNCT
fcis-32671	135	6	25(4	25(4	NOUN
fcis-32671	135	7	)	)	PUNCT
fcis-32671	135	8	,	,	PUNCT
fcis-32671	135	9	912	912	NUM
fcis-32671	135	10	-	-	SYM
fcis-32671	135	11	926	926	NUM
fcis-32671	135	12	.	.	PUNCT
fcis-32671	136	1	[	[	X
fcis-32671	136	2	3	3	NUM
fcis-32671	136	3	]	]	PUNCT
fcis-32671	136	4	schouwenaars	schouwenaar	NOUN
fcis-32671	136	5	,	,	PUNCT
fcis-32671	136	6	t.	t.	PROPN
fcis-32671	136	7	,	,	PUNCT
fcis-32671	136	8	de	de	PROPN
fcis-32671	136	9	moor	moor	PROPN
fcis-32671	136	10	,	,	PUNCT
fcis-32671	136	11	b.	b.	PROPN
fcis-32671	136	12	,	,	PUNCT
fcis-32671	136	13	feron	feron	PROPN
fcis-32671	136	14	,	,	PUNCT
fcis-32671	136	15	e.	e.	PROPN
fcis-32671	136	16	,	,	PUNCT
fcis-32671	136	17	&	&	CCONJ
fcis-32671	136	18	how	how	SCONJ
fcis-32671	136	19	,	,	PUNCT
fcis-32671	136	20	j.	j.	PROPN
fcis-32671	136	21	p.	p.	PROPN
fcis-32671	136	22	(	(	PUNCT
fcis-32671	136	23	2001	2001	NUM
fcis-32671	136	24	)	)	PUNCT
fcis-32671	136	25	.	.	PUNCT
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fcis-32671	137	2	integer	integer	NOUN
fcis-32671	137	3	programming	programming	NOUN
fcis-32671	137	4	for	for	ADP
fcis-32671	137	5	multi	multi	ADJ
fcis-32671	137	6	-	-	ADJ
fcis-32671	137	7	vehicle	vehicle	NOUN
fcis-32671	137	8	path	path	NOUN
fcis-32671	137	9	planning	planning	NOUN
fcis-32671	137	10	.	.	PUNCT
fcis-32671	138	1	in	in	ADP
fcis-32671	138	2	proceedings	proceeding	NOUN
fcis-32671	138	3	ofthe	ofthe	VERB
fcis-32671	138	4	2001	2001	NUM
fcis-32671	138	5	american	american	PROPN
fcis-32671	138	6	control	control	PROPN
fcis-32671	138	7	conferencesee	conferencesee	PROPN
fcis-32671	138	8	.	.	PUNCT
fcis-32671	139	1	[	[	X
fcis-32671	139	2	4	4	NUM
fcis-32671	139	3	]	]	X
fcis-32671	139	4	kantaros	kantaro	NOUN
fcis-32671	139	5	,	,	PUNCT
fcis-32671	139	6	y.	y.	PROPN
fcis-32671	139	7	,	,	PUNCT
fcis-32671	139	8	&	&	CCONJ
fcis-32671	139	9	zavlanos	zavlanos	PROPN
fcis-32671	139	10	,	,	PUNCT
fcis-32671	139	11	m.	m.	NOUN
fcis-32671	139	12	m.	m.	NOUN
fcis-32671	139	13	(	(	PUNCT
fcis-32671	139	14	2020	2020	NUM
fcis-32671	139	15	)	)	PUNCT
fcis-32671	139	16	.	.	PUNCT
fcis-32671	140	1	distributed	distribute	VERB
fcis-32671	140	2	communication	communication	NOUN
fcis-32671	140	3	-	-	PUNCT
fcis-32671	140	4	aware	aware	ADJ
fcis-32671	140	5	planning	planning	NOUN
fcis-32671	140	6	for	for	ADP
fcis-32671	140	7	mobile	mobile	ADJ
fcis-32671	140	8	sensor	sensor	NOUN
fcis-32671	140	9	networks	network	NOUN
fcis-32671	140	10	.	.	PUNCT
fcis-32671	141	1	ieee	ieee	NOUN
fcis-32671	141	2	transactions	transaction	NOUN
fcis-32671	141	3	on	on	ADP
fcis-32671	141	4	robotics	robotic	NOUN
fcis-32671	141	5	,	,	PUNCT
fcis-32671	141	6	36(2	36(2	NUM
fcis-32671	141	7	)	)	PUNCT
fcis-32671	141	8	,	,	PUNCT
fcis-32671	141	9	351	351	NUM
fcis-32671	141	10	-	-	SYM
fcis-32671	141	11	368	368	NUM
fcis-32671	141	12	.	.	PUNCT
fcis-32671	142	1	[	[	X
fcis-32671	142	2	5	5	NUM
fcis-32671	142	3	]	]	X
fcis-32671	142	4	hauert	hauert	NOUN
fcis-32671	142	5	,	,	PUNCT
fcis-32671	142	6	s.	s.	PROPN
fcis-32671	142	7	,	,	PUNCT
fcis-32671	142	8	et	et	PROPN
fcis-32671	142	9	al	al	PROPN
fcis-32671	142	10	.	.	PUNCT
fcis-32671	143	1	(	(	PUNCT
fcis-32671	143	2	2011	2011	NUM
fcis-32671	143	3	)	)	PUNCT
fcis-32671	143	4	.	.	PUNCT
fcis-32671	144	1	reynolds	reynolds	PROPN
fcis-32671	144	2	flocking	flock	VERB
fcis-32671	144	3	in	in	ADP
fcis-32671	144	4	reality	reality	NOUN
fcis-32671	144	5	with	with	ADP
fcis-32671	144	6	fixed	fix	VERB
fcis-32671	144	7	-	-	PUNCT
fcis-32671	144	8	wing	wing	NOUN
fcis-32671	144	9	robots	robot	NOUN
fcis-32671	144	10	:	:	PUNCT
fcis-32671	144	11	communication	communication	NOUN
fcis-32671	144	12	range	range	NOUN
fcis-32671	144	13	vs.	vs.	ADP
fcis-32671	144	14	maximum	maximum	ADJ
fcis-32671	144	15	turning	turning	NOUN
fcis-32671	144	16	rate	rate	NOUN
fcis-32671	144	17	.	.	PUNCT
fcis-32671	145	1	ieee	ieee	NOUN
fcis-32671	145	2	/	/	SYM
fcis-32671	145	3	rsj	rsj	NOUN
fcis-32671	145	4	international	international	ADJ
fcis-32671	145	5	conference	conference	NOUN
fcis-32671	145	6	on	on	ADP
fcis-32671	145	7	intelligent	intelligent	ADJ
fcis-32671	145	8	robots	robot	NOUN
fcis-32671	145	9	and	and	CCONJ
fcis-32671	145	10	systems	system	NOUN
fcis-32671	145	11	(	(	PUNCT
fcis-32671	145	12	iros	iro	NOUN
fcis-32671	145	13	)	)	PUNCT
fcis-32671	145	14	.	.	PUNCT
fcis-32671	146	1	[	[	X
fcis-32671	146	2	6	6	NUM
fcis-32671	146	3	]	]	PUNCT
fcis-32671	146	4	vásárhelyi	vásárhelyi	NOUN
fcis-32671	146	5	,	,	PUNCT
fcis-32671	146	6	j.	j.	PROPN
fcis-32671	146	7	,	,	PUNCT
fcis-32671	146	8	et	et	PROPN
fcis-32671	146	9	al	al	PROPN
fcis-32671	146	10	.	.	PUNCT
fcis-32671	146	11	(	(	PUNCT
fcis-32671	146	12	2018	2018	NUM
fcis-32671	146	13	)	)	PUNCT
fcis-32671	146	14	.	.	PUNCT
fcis-32671	147	1	outdoor	outdoor	ADJ
fcis-32671	147	2	flocking	flocking	NOUN
fcis-32671	147	3	and	and	CCONJ
fcis-32671	147	4	formation	formation	NOUN
fcis-32671	147	5	flight	flight	NOUN
fcis-32671	147	6	with	with	ADP
fcis-32671	147	7	autonomous	autonomous	ADJ
fcis-32671	147	8	aerial	aerial	ADJ
fcis-32671	147	9	robots	robot	NOUN
fcis-32671	147	10	.	.	PUNCT
fcis-32671	148	1	ieee	ieee	NOUN
fcis-32671	148	2	/	/	SYM
fcis-32671	148	3	rsj	rsj	NOUN
fcis-32671	148	4	international	international	ADJ
fcis-32671	148	5	conference	conference	NOUN
fcis-32671	148	6	on	on	ADP
fcis-32671	148	7	intelligent	intelligent	ADJ
fcis-32671	148	8	robots	robot	NOUN
fcis-32671	148	9	and	and	CCONJ
fcis-32671	148	10	systems	system	NOUN
fcis-32671	148	11	(	(	PUNCT
fcis-32671	148	12	iros	iro	NOUN
fcis-32671	148	13	)	)	PUNCT
fcis-32671	148	14	.	.	PUNCT
fcis-32671	149	1	[	[	X
fcis-32671	149	2	7	7	NUM
fcis-32671	149	3	]	]	X
fcis-32671	149	4	cao	cao	PROPN
fcis-32671	149	5	,	,	PUNCT
fcis-32671	149	6	y.	y.	PROPN
fcis-32671	149	7	,	,	PUNCT
fcis-32671	149	8	yu	yu	PROPN
fcis-32671	149	9	,	,	PUNCT
fcis-32671	149	10	w.	w.	PROPN
fcis-32671	149	11	,	,	PUNCT
fcis-32671	149	12	ren	ren	PROPN
fcis-32671	149	13	,	,	PUNCT
fcis-32671	149	14	w.	w.	PROPN
fcis-32671	149	15	,	,	PUNCT
fcis-32671	149	16	&	&	CCONJ
fcis-32671	149	17	amp	amp	PROPN
fcis-32671	149	18	;	;	PUNCT
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fcis-32671	149	20	,	,	PUNCT
fcis-32671	149	21	g.	g.	PROPN
fcis-32671	149	22	(	(	PUNCT
fcis-32671	149	23	2013	2013	NUM
fcis-32671	149	24	)	)	PUNCT
fcis-32671	149	25	.	.	PUNCT
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fcis-32671	150	2	overview	overview	NOUN
fcis-32671	150	3	of	of	ADP
fcis-32671	150	4	recent	recent	ADJ
fcis-32671	150	5	progress	progress	NOUN
fcis-32671	150	6	in	in	ADP
fcis-32671	150	7	the	the	DET
fcis-32671	150	8	study	study	NOUN
fcis-32671	150	9	of	of	ADP
fcis-32671	150	10	distributed	distribute	VERB
fcis-32671	150	11	multiagent	multiagent	NOUN
fcis-32671	150	12	coordination	coordination	NOUN
fcis-32671	150	13	.	.	PUNCT
fcis-32671	151	1	ieee	ieee	NOUN
fcis-32671	151	2	transactions	transaction	NOUN
fcis-32671	151	3	on	on	ADP
fcis-32671	151	4	industrial	industrial	ADJ
fcis-32671	151	5	informatics	informatic	NOUN
fcis-32671	151	6	,	,	PUNCT
fcis-32671	151	7	9(1	9(1	NUM
fcis-32671	151	8	)	)	PUNCT
fcis-32671	151	9	,	,	PUNCT
fcis-32671	151	10	427	427	NUM
fcis-32671	151	11	-	-	SYM
fcis-32671	151	12	438	438	NUM
fcis-32671	151	13	.	.	PUNCT
fcis-32671	152	1	[	[	X
fcis-32671	152	2	8	8	NUM
fcis-32671	152	3	]	]	SYM
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fcis-32671	152	5	,	,	PUNCT
fcis-32671	152	6	a.	a.	PROPN
fcis-32671	152	7	,	,	PUNCT
fcis-32671	152	8	et	et	PROPN
fcis-32671	152	9	al	al	PROPN
fcis-32671	152	10	.	.	PROPN
fcis-32671	152	11	(	(	PUNCT
fcis-32671	152	12	2021	2021	NUM
fcis-32671	152	13	)	)	PUNCT
fcis-32671	152	14	.	.	PUNCT
fcis-32671	153	1	the	the	DET
fcis-32671	153	2	aeroarms	aeroarm	NOUN
fcis-32671	153	3	project	project	NOUN
fcis-32671	153	4	:	:	PUNCT
fcis-32671	153	5	aerial	aerial	ADJ
fcis-32671	153	6	robots	robot	NOUN
fcis-32671	153	7	with	with	ADP
fcis-32671	153	8	advanced	advanced	ADJ
fcis-32671	153	9	manipulation	manipulation	NOUN
fcis-32671	153	10	capabilities	capability	NOUN
fcis-32671	153	11	for	for	ADP
fcis-32671	153	12	inspection	inspection	NOUN
fcis-32671	153	13	and	and	CCONJ
fcis-32671	153	14	maintenance	maintenance	NOUN
fcis-32671	153	15	.	.	PUNCT
fcis-32671	154	1	ieee	ieee	NOUN
fcis-32671	154	2	robotics	robotic	NOUN
fcis-32671	154	3	&	&	CCONJ
fcis-32671	154	4	automation	automation	PROPN
fcis-32671	154	5	magazine	magazine	NOUN
fcis-32671	154	6	.	.	PUNCT
fcis-32671	155	1	60	60	NUM
fcis-32671	156	1	[	[	SYM
fcis-32671	156	2	9	9	NUM
fcis-32671	156	3	]	]	SYM
fcis-32671	156	4	çetin	çetin	NOUN
fcis-32671	156	5	,	,	PUNCT
fcis-32671	156	6	m.	m.	NOUN
fcis-32671	156	7	,	,	PUNCT
fcis-32671	156	8	&	&	CCONJ
fcis-32671	156	9	ergüner	ergüner	PROPN
fcis-32671	156	10	,	,	PUNCT
fcis-32671	156	11	ö	ö	PROPN
fcis-32671	156	12	.	.	PUNCT
fcis-32671	157	1	(	(	PUNCT
fcis-32671	157	2	2019	2019	NUM
fcis-32671	157	3	)	)	PUNCT
fcis-32671	157	4	.	.	PUNCT
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fcis-32671	158	2	of	of	ADP
fcis-32671	158	3	unmanned	unmanned	ADJ
fcis-32671	158	4	aerial	aerial	ADJ
fcis-32671	158	5	vehicles	vehicle	NOUN
fcis-32671	158	6	.	.	PUNCT
fcis-32671	159	1	in	in	ADP
fcis-32671	159	2	path	path	NOUN
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fcis-32671	159	5	autonomous	autonomous	ADJ
fcis-32671	159	6	vehicles	vehicle	NOUN
fcis-32671	159	7	ensuring	ensure	VERB
fcis-32671	159	8	reliable	reliable	ADJ
fcis-32671	159	9	driverless	driverless	NOUN
fcis-32671	159	10	navigation	navigation	NOUN
fcis-32671	159	11	and	and	CCONJ
fcis-32671	159	12	control	control	PROPN
fcis-32671	159	13	maneuver	maneuver	NOUN
fcis-32671	159	14	(	(	PUNCT
fcis-32671	159	15	pp	pp	ADJ
fcis-32671	159	16	.	.	PUNCT
fcis-32671	159	17	1	1	NUM
fcis-32671	159	18	-	-	SYM
fcis-32671	159	19	20	20	NUM
fcis-32671	159	20	)	)	PUNCT
fcis-32671	159	21	.	.	PUNCT
fcis-32671	160	1	intechopen	intechopen	ADJ
fcis-32671	160	2	.	.	PUNCT
fcis-32671	161	1	[	[	X
fcis-32671	161	2	10	10	NUM
fcis-32671	161	3	]	]	X
fcis-32671	161	4	duan	duan	PROPN
fcis-32671	161	5	,	,	PUNCT
fcis-32671	161	6	h.	h.	PROPN
fcis-32671	161	7	,	,	PUNCT
fcis-32671	161	8	&	&	CCONJ
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fcis-32671	161	10	,	,	PUNCT
fcis-32671	161	11	p.	p.	NOUN
fcis-32671	161	12	(	(	PUNCT
fcis-32671	161	13	2014	2014	NUM
fcis-32671	161	14	)	)	PUNCT
fcis-32671	161	15	.	.	PUNCT
fcis-32671	162	1	pigeon	pigeon	NOUN
fcis-32671	162	2	-	-	PUNCT
fcis-32671	162	3	inspired	inspire	VERB
fcis-32671	162	4	optimization	optimization	NOUN
fcis-32671	162	5	:	:	PUNCT
fcis-32671	162	6	a	a	DET
fcis-32671	162	7	new	new	ADJ
fcis-32671	162	8	swarm	swarm	NOUN
fcis-32671	162	9	intelligence	intelligence	NOUN
fcis-32671	162	10	optimizer	optimizer	NOUN
fcis-32671	162	11	for	for	ADP
fcis-32671	162	12	air	air	NOUN
fcis-32671	162	13	robot	robot	NOUN
fcis-32671	162	14	path	path	NOUN
fcis-32671	162	15	planning	planning	NOUN
fcis-32671	162	16	.	.	PUNCT
fcis-32671	163	1	international	international	ADJ
fcis-32671	163	2	journal	journal	NOUN
fcis-32671	163	3	of	of	ADP
fcis-32671	163	4	intelligent	intelligent	ADJ
fcis-32671	163	5	computing	computing	NOUN
fcis-32671	163	6	and	and	CCONJ
fcis-32671	163	7	cybernetics	cybernetic	NOUN
fcis-32671	163	8	.	.	PUNCT
fcis-32671	164	1	[	[	X
fcis-32671	164	2	11	11	NUM
fcis-32671	164	3	]	]	X
fcis-32671	164	4	švestka	švestka	PROPN
fcis-32671	164	5	,	,	PUNCT
fcis-32671	164	6	p.	p.	PROPN
fcis-32671	164	7	,	,	PUNCT
fcis-32671	164	8	&	&	CCONJ
fcis-32671	164	9	overmars	overmars	PROPN
fcis-32671	164	10	,	,	PUNCT
fcis-32671	164	11	m.	m.	NOUN
fcis-32671	164	12	h.	h.	PROPN
fcis-32671	164	13	(	(	PUNCT
fcis-32671	164	14	1998	1998	NUM
fcis-32671	164	15	)	)	PUNCT
fcis-32671	164	16	.	.	PUNCT
fcis-32671	165	1	coordinated	coordinate	VERB
fcis-32671	165	2	path	path	NOUN
fcis-32671	165	3	planning	planning	NOUN
fcis-32671	165	4	for	for	ADP
fcis-32671	165	5	multiple	multiple	ADJ
fcis-32671	165	6	robots	robot	NOUN
fcis-32671	165	7	.	.	PUNCT
fcis-32671	166	1	robotics	robotic	NOUN
fcis-32671	166	2	andautonomous	andautonomous	ADJ
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fcis-32671	166	4	,	,	PUNCT
fcis-32671	166	5	23(3	23(3	NUM
fcis-32671	166	6	)	)	PUNCT
fcis-32671	166	7	,	,	PUNCT
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fcis-32671	166	9	-	-	SYM
fcis-32671	166	10	152	152	NUM
fcis-32671	166	11	.	.	PUNCT
fcis-32671	167	1	[	[	X
fcis-32671	167	2	12	12	NUM
fcis-32671	167	3	]	]	X
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fcis-32671	167	5	,	,	PUNCT
fcis-32671	167	6	c.	c.	PROPN
fcis-32671	167	7	,	,	PUNCT
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fcis-32671	167	9	,	,	PUNCT
fcis-32671	167	10	a.	a.	NOUN
fcis-32671	167	11	,	,	PUNCT
fcis-32671	167	12	&	&	CCONJ
fcis-32671	167	13	roy	roy	PROPN
fcis-32671	167	14	,	,	PUNCT
fcis-32671	167	15	n.	n.	PROPN
fcis-32671	167	16	(	(	PUNCT
fcis-32671	167	17	2016	2016	NUM
fcis-32671	167	18	)	)	PUNCT
fcis-32671	167	19	.	.	PUNCT
fcis-32671	168	1	polynomial	polynomial	ADJ
fcis-32671	168	2	trajectory	trajectory	NOUN
fcis-32671	168	3	planning	planning	NOUN
fcis-32671	168	4	for	for	ADP
fcis-32671	168	5	aggressive	aggressive	ADJ
fcis-32671	168	6	quadrotor	quadrotor	NOUN
fcis-32671	168	7	flight	flight	NOUN
fcis-32671	168	8	in	in	ADP
fcis-32671	168	9	dense	dense	ADJ
fcis-32671	168	10	indoor	indoor	ADJ
fcis-32671	168	11	environments	environment	NOUN
fcis-32671	168	12	.	.	PUNCT
fcis-32671	169	1	the	the	DET
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fcis-32671	169	4	ofrobotics	ofrobotic	NOUN
fcis-32671	169	5	research	research	NOUN
fcis-32671	169	6	,	,	PUNCT
fcis-32671	169	7	35(7	35(7	NUM
fcis-32671	169	8	)	)	PUNCT
fcis-32671	169	9	,	,	PUNCT
fcis-32671	169	10	787	787	NUM
fcis-32671	169	11	-	-	SYM
fcis-32671	169	12	798	798	NUM
fcis-32671	169	13	.	.	PUNCT
fcis-32671	170	1	[	[	X
fcis-32671	170	2	13	13	NUM
fcis-32671	170	3	]	]	X
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fcis-32671	170	6	a.	a.	NOUN
fcis-32671	170	7	,	,	PUNCT
fcis-32671	170	8	mellinger	mellinger	PROPN
fcis-32671	170	9	,	,	PUNCT
fcis-32671	170	10	d.	d.	PROPN
fcis-32671	170	11	,	,	PUNCT
fcis-32671	170	12	powers	power	NOUN
fcis-32671	170	13	,	,	PUNCT
fcis-32671	170	14	c.	c.	PROPN
fcis-32671	170	15	,	,	PUNCT
fcis-32671	170	16	&	&	CCONJ
fcis-32671	170	17	amp	amp	PROPN
fcis-32671	170	18	;	;	PUNCT
fcis-32671	170	19	kumar	kumar	PROPN
fcis-32671	170	20	,	,	PUNCT
fcis-32671	170	21	v.	v.	PROPN
fcis-32671	170	22	(	(	PUNCT
fcis-32671	170	23	2013	2013	NUM
fcis-32671	170	24	)	)	PUNCT
fcis-32671	170	25	.	.	PUNCT
fcis-32671	171	1	towards	towards	ADP
fcis-32671	171	2	a	a	DET
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fcis-32671	171	4	of	of	ADP
fcis-32671	171	5	agile	agile	ADJ
fcis-32671	171	6	micro	micro	ADJ
fcis-32671	171	7	quadrotors	quadrotor	NOUN
fcis-32671	171	8	.	.	PUNCT
fcis-32671	172	1	autonomous	autonomous	ADJ
fcis-32671	172	2	robots	robot	NOUN
fcis-32671	172	3	,	,	PUNCT
fcis-32671	172	4	35(4	35(4	NUM
fcis-32671	172	5	)	)	PUNCT
fcis-32671	172	6	,	,	PUNCT
fcis-32671	172	7	287	287	NUM
fcis-32671	172	8	-	-	SYM
fcis-32671	172	9	300	300	NUM
fcis-32671	172	10	.	.	PUNCT
fcis-32671	173	1	[	[	X
fcis-32671	173	2	14	14	NUM
fcis-32671	173	3	]	]	X
fcis-32671	173	4	dias	dias	PROPN
fcis-32671	173	5	,	,	PUNCT
fcis-32671	173	6	m.	m.	PROPN
fcis-32671	173	7	b.	b.	PROPN
fcis-32671	173	8	,	,	PUNCT
fcis-32671	173	9	zlot	zlot	PROPN
fcis-32671	173	10	,	,	PUNCT
fcis-32671	173	11	r.	r.	PROPN
fcis-32671	173	12	,	,	PUNCT
fcis-32671	173	13	kalra	kalra	NOUN
fcis-32671	173	14	,	,	PUNCT
fcis-32671	173	15	n.	n.	NOUN
fcis-32671	173	16	,	,	PUNCT
fcis-32671	173	17	&	&	CCONJ
fcis-32671	173	18	stentz	stentz	PROPN
fcis-32671	173	19	,	,	PUNCT
fcis-32671	173	20	a.	a.	NOUN
fcis-32671	173	21	(	(	PUNCT
fcis-32671	173	22	2006	2006	NUM
fcis-32671	173	23	)	)	PUNCT
fcis-32671	173	24	.	.	PUNCT
fcis-32671	174	1	marketbased	marketbase	VERB
fcis-32671	174	2	multirobot	multirobot	NOUN
fcis-32671	174	3	coordination	coordination	NOUN
fcis-32671	174	4	:	:	PUNCT
fcis-32671	174	5	a	a	DET
fcis-32671	174	6	survey	survey	NOUN
fcis-32671	174	7	and	and	CCONJ
fcis-32671	174	8	analysis	analysis	NOUN
fcis-32671	174	9	.	.	PUNCT
fcis-32671	175	1	proceedings	proceeding	NOUN
fcis-32671	175	2	ofthe	ofthe	VERB
fcis-32671	175	3	ieee	ieee	NOUN
fcis-32671	175	4	,	,	PUNCT
fcis-32671	175	5	94(7	94(7	NOUN
fcis-32671	175	6	)	)	PUNCT
fcis-32671	175	7	,	,	PUNCT
fcis-32671	175	8	1257	1257	NUM
fcis-32671	175	9	-	-	SYM
fcis-32671	175	10	1270	1270	NUM
fcis-32671	175	11	.	.	PUNCT
fcis-32671	176	1	[	[	X
fcis-32671	176	2	15	15	NUM
fcis-32671	176	3	]	]	X
fcis-32671	176	4	kulkarni	kulkarni	PROPN
fcis-32671	176	5	,	,	PUNCT
fcis-32671	176	6	a.	a.	PROPN
fcis-32671	176	7	,	,	PUNCT
fcis-32671	176	8	&	&	CCONJ
fcis-32671	176	9	srivastava	srivastava	PROPN
fcis-32671	176	10	,	,	PUNCT
fcis-32671	176	11	s.	s.	PROPN
fcis-32671	176	12	(	(	PUNCT
fcis-32671	176	13	2022	2022	NUM
fcis-32671	176	14	)	)	PUNCT
fcis-32671	176	15	.	.	PUNCT
fcis-32671	177	1	a	a	DET
fcis-32671	177	2	review	review	NOUN
fcis-32671	177	3	of	of	ADP
fcis-32671	177	4	distributed	distribute	VERB
fcis-32671	177	5	and	and	CCONJ
fcis-32671	177	6	integrated	integrate	VERB
fcis-32671	177	7	multi	multi	ADJ
fcis-32671	177	8	-	-	ADJ
fcis-32671	177	9	robot	robot	ADJ
fcis-32671	177	10	task	task	NOUN
fcis-32671	177	11	and	and	CCONJ
fcis-32671	177	12	motion	motion	NOUN
fcis-32671	177	13	planning	planning	NOUN
fcis-32671	177	14	.	.	PUNCT
fcis-32671	178	1	autonomous	autonomous	ADJ
fcis-32671	178	2	intelligent	intelligent	ADJ
fcis-32671	178	3	systems	system	NOUN
fcis-32671	178	4	,	,	PUNCT
fcis-32671	178	5	2(1	2(1	NUM
fcis-32671	178	6	)	)	PUNCT
fcis-32671	178	7	,	,	PUNCT
fcis-32671	178	8	1	1	NUM
fcis-32671	178	9	-	-	SYM
fcis-32671	178	10	16	16	NUM
fcis-32671	178	11	.	.	PUNCT