id	sid	tid	token	lemma	pos
fcis-4602	1	1	frontiers	frontier	NOUN
fcis-4602	1	2	in	in	ADP
fcis-4602	1	3	computing	computing	NOUN
fcis-4602	1	4	and	and	CCONJ
fcis-4602	1	5	intelligent	intelligent	ADJ
fcis-4602	1	6	systems	system	NOUN
fcis-4602	1	7	issn	issn	VERB
fcis-4602	1	8	:	:	PUNCT
fcis-4602	1	9	2832	2832	NUM
fcis-4602	1	10	-	-	SYM
fcis-4602	1	11	6024	6024	NUM
fcis-4602	1	12	|	|	NOUN
fcis-4602	1	13	vol	vol	NOUN
fcis-4602	1	14	.	.	PROPN
fcis-4602	2	1	2	2	NUM
fcis-4602	2	2	,	,	PUNCT
fcis-4602	2	3	no	no	INTJ
fcis-4602	2	4	.	.	NOUN
fcis-4602	2	5	2	2	NUM
fcis-4602	2	6	,	,	PUNCT
fcis-4602	2	7	2022	2022	NUM
fcis-4602	2	8	89	89	NUM
fcis-4602	2	9	closed	close	VERB
fcis-4602	2	10	trajectory	trajectory	NOUN
fcis-4602	2	11	optimization	optimization	NOUN
fcis-4602	2	12	for	for	ADP
fcis-4602	2	13	aerial	aerial	ADJ
fcis-4602	2	14	base	base	NOUN
fcis-4602	2	15	station	station	NOUN
fcis-4602	2	16	:	:	PUNCT
fcis-4602	2	17	an	an	DET
fcis-4602	2	18	energy	energy	NOUN
fcis-4602	2	19	efficiency	efficiency	NOUN
fcis-4602	2	20	design	design	NOUN
fcis-4602	2	21	fengyuan	fengyuan	PROPN
fcis-4602	2	22	tian	tian	PROPN
fcis-4602	2	23	department	department	PROPN
fcis-4602	2	24	of	of	ADP
fcis-4602	2	25	engineering	engineering	PROPN
fcis-4602	2	26	,	,	PUNCT
fcis-4602	2	27	king	king	NOUN
fcis-4602	2	28	's	's	PART
fcis-4602	2	29	college	college	PROPN
fcis-4602	2	30	london	london	PROPN
fcis-4602	2	31	,	,	PUNCT
fcis-4602	2	32	london	london	PROPN
fcis-4602	2	33	,	,	PUNCT
fcis-4602	2	34	wc2r	wc2r	NOUN
fcis-4602	2	35	2ls	2ls	NOUN
fcis-4602	2	36	,	,	PUNCT
fcis-4602	2	37	united	united	ADJ
fcis-4602	2	38	kingdom	kingdom	PROPN
fcis-4602	2	39	abstract	abstract	NOUN
fcis-4602	2	40	:	:	PUNCT
fcis-4602	2	41	by	by	ADP
fcis-4602	2	42	optimizing	optimize	VERB
fcis-4602	2	43	the	the	DET
fcis-4602	2	44	energy	energy	NOUN
fcis-4602	2	45	-	-	PUNCT
fcis-4602	2	46	efficient	efficient	ADJ
fcis-4602	2	47	flight	flight	NOUN
fcis-4602	2	48	trajectory	trajectory	NOUN
fcis-4602	2	49	of	of	ADP
fcis-4602	2	50	unmanned	unmanned	ADJ
fcis-4602	2	51	aerial	aerial	ADJ
fcis-4602	2	52	vehicles	vehicle	NOUN
fcis-4602	2	53	(	(	PUNCT
fcis-4602	2	54	uavs	uavs	PROPN
fcis-4602	2	55	)	)	PUNCT
fcis-4602	2	56	,	,	PUNCT
fcis-4602	2	57	uav	uav	PROPN
fcis-4602	2	58	-	-	PUNCT
fcis-4602	2	59	based	base	VERB
fcis-4602	2	60	aerial	aerial	ADJ
fcis-4602	2	61	base	base	NOUN
fcis-4602	2	62	stations	station	NOUN
fcis-4602	2	63	(	(	PUNCT
fcis-4602	2	64	bss	bss	NOUN
fcis-4602	2	65	)	)	PUNCT
fcis-4602	2	66	can	can	AUX
fcis-4602	2	67	provide	provide	VERB
fcis-4602	2	68	longer	long	ADJ
fcis-4602	2	69	communication	communication	NOUN
fcis-4602	2	70	services	service	NOUN
fcis-4602	2	71	to	to	ADP
fcis-4602	2	72	more	more	ADJ
fcis-4602	2	73	ground	ground	NOUN
fcis-4602	2	74	nodes	node	NOUN
fcis-4602	2	75	(	(	PUNCT
fcis-4602	2	76	gns	gns	NOUN
fcis-4602	2	77	)	)	PUNCT
fcis-4602	2	78	under	under	ADP
fcis-4602	2	79	the	the	DET
fcis-4602	2	80	uav	uav	PROPN
fcis-4602	2	81	battery	battery	NOUN
fcis-4602	2	82	limitation	limitation	NOUN
fcis-4602	2	83	.	.	PUNCT
fcis-4602	3	1	path	path	NOUN
fcis-4602	3	2	discretization	discretization	NOUN
fcis-4602	3	3	method	method	NOUN
fcis-4602	3	4	and	and	CCONJ
fcis-4602	3	5	successive	successive	ADJ
fcis-4602	3	6	convex	convex	NOUN
fcis-4602	3	7	approximation	approximation	NOUN
fcis-4602	3	8	(	(	PUNCT
fcis-4602	3	9	sca	sca	NOUN
fcis-4602	3	10	)	)	PUNCT
fcis-4602	3	11	algorithm	algorithm	NOUN
fcis-4602	3	12	have	have	AUX
fcis-4602	3	13	been	be	AUX
fcis-4602	3	14	shown	show	VERB
fcis-4602	3	15	to	to	PART
fcis-4602	3	16	be	be	AUX
fcis-4602	3	17	effective	effective	ADJ
fcis-4602	3	18	techniques	technique	NOUN
fcis-4602	3	19	in	in	ADP
fcis-4602	3	20	the	the	DET
fcis-4602	3	21	design	design	NOUN
fcis-4602	3	22	of	of	ADP
fcis-4602	3	23	the	the	DET
fcis-4602	3	24	energy	energy	NOUN
fcis-4602	3	25	-	-	PUNCT
fcis-4602	3	26	aware	aware	ADJ
fcis-4602	3	27	uav	uav	PROPN
fcis-4602	3	28	one	one	NUM
fcis-4602	3	29	-	-	PUNCT
fcis-4602	3	30	way	way	NOUN
fcis-4602	3	31	trajectory	trajectory	NOUN
fcis-4602	3	32	along	along	ADP
fcis-4602	3	33	a	a	DET
fcis-4602	3	34	few	few	ADJ
fcis-4602	3	35	gns	gns	NOUN
fcis-4602	3	36	.	.	PUNCT
fcis-4602	4	1	compared	compare	VERB
fcis-4602	4	2	with	with	ADP
fcis-4602	4	3	current	current	ADJ
fcis-4602	4	4	studies	study	NOUN
fcis-4602	4	5	,	,	PUNCT
fcis-4602	4	6	this	this	DET
fcis-4602	4	7	paper	paper	NOUN
fcis-4602	4	8	designed	design	VERB
fcis-4602	4	9	and	and	CCONJ
fcis-4602	4	10	compared	compare	VERB
fcis-4602	4	11	different	different	ADJ
fcis-4602	4	12	optimal	optimal	ADJ
fcis-4602	4	13	closed	closed	ADJ
fcis-4602	4	14	uav	uav	PROPN
fcis-4602	4	15	trajectories	trajectory	NOUN
fcis-4602	4	16	among	among	ADP
fcis-4602	4	17	multiple	multiple	ADJ
fcis-4602	4	18	gns	gns	NOUN
fcis-4602	4	19	under	under	ADP
fcis-4602	4	20	a	a	DET
fcis-4602	4	21	wide	wide	ADJ
fcis-4602	4	22	range	range	NOUN
fcis-4602	4	23	of	of	ADP
fcis-4602	4	24	changing	change	VERB
fcis-4602	4	25	communication	communication	NOUN
fcis-4602	4	26	requirements	requirement	NOUN
fcis-4602	4	27	.	.	PUNCT
fcis-4602	5	1	meanwhile	meanwhile	ADV
fcis-4602	5	2	,	,	PUNCT
fcis-4602	5	3	a	a	DET
fcis-4602	5	4	more	more	ADV
fcis-4602	5	5	complex	complex	ADJ
fcis-4602	5	6	and	and	CCONJ
fcis-4602	5	7	realistic	realistic	ADJ
fcis-4602	5	8	scenario	scenario	NOUN
fcis-4602	5	9	is	be	AUX
fcis-4602	5	10	considered	consider	VERB
fcis-4602	5	11	where	where	SCONJ
fcis-4602	5	12	the	the	DET
fcis-4602	5	13	uav	uav	PROPN
fcis-4602	5	14	visits	visit	VERB
fcis-4602	5	15	the	the	DET
fcis-4602	5	16	ground	ground	NOUN
fcis-4602	5	17	nodes	nod	VERB
fcis-4602	5	18	sequentially	sequentially	ADV
fcis-4602	5	19	without	without	ADP
fcis-4602	5	20	repetition	repetition	NOUN
fcis-4602	5	21	from	from	ADP
fcis-4602	5	22	a	a	DET
fcis-4602	5	23	centrally	centrally	ADV
fcis-4602	5	24	located	locate	VERB
fcis-4602	5	25	terrestrial	terrestrial	ADJ
fcis-4602	5	26	base	base	NOUN
fcis-4602	5	27	station	station	NOUN
fcis-4602	5	28	and	and	CCONJ
fcis-4602	5	29	returns	return	NOUN
fcis-4602	5	30	to	to	ADP
fcis-4602	5	31	the	the	DET
fcis-4602	5	32	starting	starting	NOUN
fcis-4602	5	33	point	point	NOUN
fcis-4602	5	34	in	in	ADP
fcis-4602	5	35	the	the	DET
fcis-4602	5	36	end	end	NOUN
fcis-4602	5	37	.	.	PUNCT
fcis-4602	6	1	to	to	PART
fcis-4602	6	2	thoroughly	thoroughly	ADV
fcis-4602	6	3	analyze	analyze	VERB
fcis-4602	6	4	this	this	DET
fcis-4602	6	5	problem	problem	NOUN
fcis-4602	6	6	,	,	PUNCT
fcis-4602	6	7	two	two	NUM
fcis-4602	6	8	uav	uav	PROPN
fcis-4602	6	9	trajectory	trajectory	NOUN
fcis-4602	6	10	designs	design	NOUN
fcis-4602	6	11	are	be	AUX
fcis-4602	6	12	proposed	propose	VERB
fcis-4602	6	13	in	in	ADP
fcis-4602	6	14	this	this	DET
fcis-4602	6	15	paper	paper	NOUN
fcis-4602	6	16	.	.	PUNCT
fcis-4602	7	1	one	one	NUM
fcis-4602	7	2	is	be	AUX
fcis-4602	7	3	to	to	PART
fcis-4602	7	4	use	use	VERB
fcis-4602	7	5	the	the	DET
fcis-4602	7	6	fly	fly	VERB
fcis-4602	7	7	-	-	PUNCT
fcis-4602	7	8	hover	hover	NOUN
fcis-4602	7	9	-	-	PUNCT
fcis-4602	7	10	communicate	communicate	VERB
fcis-4602	7	11	protocol	protocol	NOUN
fcis-4602	7	12	as	as	ADP
fcis-4602	7	13	a	a	DET
fcis-4602	7	14	benchmark	benchmark	NOUN
fcis-4602	7	15	for	for	ADP
fcis-4602	7	16	comparison	comparison	NOUN
fcis-4602	7	17	,	,	PUNCT
fcis-4602	7	18	and	and	CCONJ
fcis-4602	7	19	the	the	DET
fcis-4602	7	20	other	other	ADJ
fcis-4602	7	21	is	be	AUX
fcis-4602	7	22	to	to	PART
fcis-4602	7	23	require	require	VERB
fcis-4602	7	24	that	that	SCONJ
fcis-4602	7	25	the	the	DET
fcis-4602	7	26	uav	uav	PROPN
fcis-4602	7	27	should	should	AUX
fcis-4602	7	28	fly	fly	VERB
fcis-4602	7	29	and	and	CCONJ
fcis-4602	7	30	communicate	communicate	VERB
fcis-4602	7	31	with	with	ADP
fcis-4602	7	32	ground	ground	NOUN
fcis-4602	7	33	nodes	node	NOUN
fcis-4602	7	34	simultaneously	simultaneously	ADV
fcis-4602	7	35	,	,	PUNCT
fcis-4602	7	36	named	name	VERB
fcis-4602	7	37	the	the	DET
fcis-4602	7	38	fly	fly	NOUN
fcis-4602	7	39	-	-	PUNCT
fcis-4602	7	40	over	over	ADP
fcis-4602	7	41	scheme	scheme	NOUN
fcis-4602	7	42	.	.	PUNCT
fcis-4602	8	1	the	the	DET
fcis-4602	8	2	simulation	simulation	NOUN
fcis-4602	8	3	results	result	NOUN
fcis-4602	8	4	show	show	VERB
fcis-4602	8	5	that	that	SCONJ
fcis-4602	8	6	,	,	PUNCT
fcis-4602	8	7	in	in	ADP
fcis-4602	8	8	general	general	ADJ
fcis-4602	8	9	,	,	PUNCT
fcis-4602	8	10	the	the	DET
fcis-4602	8	11	proposed	propose	VERB
fcis-4602	8	12	fly	fly	NOUN
fcis-4602	8	13	-	-	PUNCT
fcis-4602	8	14	over	over	ADP
fcis-4602	8	15	scheme	scheme	NOUN
fcis-4602	8	16	outperforms	outperform	NOUN
fcis-4602	8	17	the	the	DET
fcis-4602	8	18	benchmark	benchmark	NOUN
fcis-4602	8	19	results	result	NOUN
fcis-4602	8	20	,	,	PUNCT
fcis-4602	8	21	while	while	SCONJ
fcis-4602	8	22	in	in	ADP
fcis-4602	8	23	the	the	DET
fcis-4602	8	24	case	case	NOUN
fcis-4602	8	25	of	of	ADP
fcis-4602	8	26	high	high	ADJ
fcis-4602	8	27	and	and	CCONJ
fcis-4602	8	28	low	low	ADJ
fcis-4602	8	29	communication	communication	NOUN
fcis-4602	8	30	demands	demand	NOUN
fcis-4602	8	31	,	,	PUNCT
fcis-4602	8	32	the	the	DET
fcis-4602	8	33	energy	energy	NOUN
fcis-4602	8	34	-	-	PUNCT
fcis-4602	8	35	saving	save	VERB
fcis-4602	8	36	performance	performance	NOUN
fcis-4602	8	37	of	of	ADP
fcis-4602	8	38	both	both	PRON
fcis-4602	8	39	is	be	AUX
fcis-4602	8	40	very	very	ADV
fcis-4602	8	41	similar	similar	ADJ
fcis-4602	8	42	.	.	PUNCT
fcis-4602	9	1	therefore	therefore	ADV
fcis-4602	9	2	,	,	PUNCT
fcis-4602	9	3	advice	advice	NOUN
fcis-4602	9	4	can	can	AUX
fcis-4602	9	5	be	be	AUX
fcis-4602	9	6	given	give	VERB
fcis-4602	9	7	on	on	ADP
fcis-4602	9	8	the	the	DET
fcis-4602	9	9	design	design	NOUN
fcis-4602	9	10	of	of	ADP
fcis-4602	9	11	the	the	DET
fcis-4602	9	12	uav	uav	PROPN
fcis-4602	9	13	trajectory	trajectory	NOUN
fcis-4602	9	14	depending	depend	VERB
fcis-4602	9	15	on	on	ADP
fcis-4602	9	16	different	different	ADJ
fcis-4602	9	17	situations	situation	NOUN
fcis-4602	9	18	.	.	PUNCT
fcis-4602	10	1	keywords	keyword	NOUN
fcis-4602	10	2	:	:	PUNCT
fcis-4602	10	3	uav	uav	PROPN
fcis-4602	10	4	communication	communication	NOUN
fcis-4602	10	5	;	;	PUNCT
fcis-4602	10	6	aerial	aerial	ADJ
fcis-4602	10	7	base	base	NOUN
fcis-4602	10	8	stations	station	NOUN
fcis-4602	10	9	;	;	PUNCT
fcis-4602	10	10	trajectory	trajectory	NOUN
fcis-4602	10	11	optimization	optimization	NOUN
fcis-4602	10	12	.	.	PUNCT
fcis-4602	11	1	1	1	X
fcis-4602	11	2	.	.	X
fcis-4602	11	3	introduction	introduction	NOUN
fcis-4602	11	4	with	with	ADP
fcis-4602	11	5	the	the	DET
fcis-4602	11	6	emerging	emerge	VERB
fcis-4602	11	7	applications	application	NOUN
fcis-4602	11	8	of	of	ADP
fcis-4602	11	9	the	the	DET
fcis-4602	11	10	forthcoming	forthcoming	ADJ
fcis-4602	11	11	beyond	beyond	ADP
fcis-4602	11	12	fifth	fifth	ADJ
fcis-4602	11	13	-	-	PUNCT
fcis-4602	11	14	generation	generation	NOUN
fcis-4602	11	15	(	(	PUNCT
fcis-4602	11	16	b5	b5	PROPN
fcis-4602	11	17	g	g	NOUN
fcis-4602	11	18	)	)	PUNCT
fcis-4602	11	19	and	and	CCONJ
fcis-4602	11	20	sixth	sixth	ADJ
fcis-4602	11	21	-	-	PUNCT
fcis-4602	11	22	generation	generation	NOUN
fcis-4602	11	23	(	(	PUNCT
fcis-4602	11	24	6	6	NUM
fcis-4602	11	25	g	g	NOUN
fcis-4602	11	26	)	)	PUNCT
fcis-4602	11	27	networks	network	NOUN
fcis-4602	11	28	,	,	PUNCT
fcis-4602	11	29	the	the	DET
fcis-4602	11	30	explosion	explosion	NOUN
fcis-4602	11	31	of	of	ADP
fcis-4602	11	32	mobile	mobile	ADJ
fcis-4602	11	33	traffic	traffic	NOUN
fcis-4602	11	34	results	result	NOUN
fcis-4602	11	35	in	in	ADP
fcis-4602	11	36	higher	high	ADJ
fcis-4602	11	37	requirements	requirement	NOUN
fcis-4602	11	38	of	of	ADP
fcis-4602	11	39	existing	exist	VERB
fcis-4602	11	40	equipment	equipment	NOUN
fcis-4602	11	41	for	for	ADP
fcis-4602	11	42	handling	handle	VERB
fcis-4602	11	43	the	the	DET
fcis-4602	11	44	numerous	numerous	ADJ
fcis-4602	11	45	connectivity	connectivity	NOUN
fcis-4602	11	46	demands	demand	NOUN
fcis-4602	11	47	with	with	ADP
fcis-4602	11	48	not	not	PART
fcis-4602	11	49	even	even	ADV
fcis-4602	11	50	low	low	ADJ
fcis-4602	11	51	latency	latency	NOUN
fcis-4602	11	52	but	but	CCONJ
fcis-4602	11	53	also	also	ADV
fcis-4602	11	54	high	high	ADJ
fcis-4602	11	55	speed	speed	NOUN
fcis-4602	11	56	.	.	PUNCT
fcis-4602	12	1	additionally	additionally	ADV
fcis-4602	12	2	,	,	PUNCT
fcis-4602	12	3	the	the	DET
fcis-4602	12	4	further	further	ADJ
fcis-4602	12	5	investment	investment	NOUN
fcis-4602	12	6	and	and	CCONJ
fcis-4602	12	7	operational	operational	ADJ
fcis-4602	12	8	costs	cost	NOUN
fcis-4602	12	9	to	to	PART
fcis-4602	12	10	address	address	VERB
fcis-4602	12	11	this	this	DET
fcis-4602	12	12	problem	problem	NOUN
fcis-4602	12	13	will	will	AUX
fcis-4602	12	14	be	be	AUX
fcis-4602	12	15	a	a	DET
fcis-4602	12	16	significant	significant	ADJ
fcis-4602	12	17	burden	burden	NOUN
fcis-4602	12	18	to	to	ADP
fcis-4602	12	19	telecommunication	telecommunication	NOUN
fcis-4602	12	20	operators	operator	NOUN
fcis-4602	12	21	.	.	PUNCT
fcis-4602	13	1	in	in	ADP
fcis-4602	13	2	current	current	ADJ
fcis-4602	13	3	studies	study	NOUN
fcis-4602	13	4	,	,	PUNCT
fcis-4602	13	5	unmanned	unmanned	ADJ
fcis-4602	13	6	aerial	aerial	ADJ
fcis-4602	13	7	vehicles	vehicle	NOUN
fcis-4602	13	8	(	(	PUNCT
fcis-4602	13	9	uavs	uavs	NOUN
fcis-4602	13	10	)	)	PUNCT
fcis-4602	13	11	are	be	AUX
fcis-4602	13	12	expected	expect	VERB
fcis-4602	13	13	to	to	PART
fcis-4602	13	14	demonstrate	demonstrate	VERB
fcis-4602	13	15	instrumental	instrumental	ADJ
fcis-4602	13	16	abilities	ability	NOUN
fcis-4602	13	17	for	for	ADP
fcis-4602	13	18	public	public	ADJ
fcis-4602	13	19	safety	safety	NOUN
fcis-4602	13	20	and	and	CCONJ
fcis-4602	13	21	disaster	disaster	NOUN
fcis-4602	13	22	management	management	NOUN
fcis-4602	13	23	under	under	ADP
fcis-4602	13	24	the	the	DET
fcis-4602	13	25	heterogeneous	heterogeneous	ADJ
fcis-4602	13	26	network	network	NOUN
fcis-4602	13	27	(	(	PUNCT
fcis-4602	13	28	hetnet	hetnet	NOUN
fcis-4602	13	29	)	)	PUNCT
fcis-4602	13	30	structure	structure	NOUN
fcis-4602	14	1	[	[	X
fcis-4602	14	2	1][3	1][3	X
fcis-4602	14	3	]	]	X
fcis-4602	14	4	.	.	PUNCT
fcis-4602	15	1	due	due	ADP
fcis-4602	15	2	to	to	ADP
fcis-4602	15	3	its	its	PRON
fcis-4602	15	4	inherent	inherent	ADJ
fcis-4602	15	5	high	high	ADJ
fcis-4602	15	6	mobility	mobility	NOUN
fcis-4602	15	7	and	and	CCONJ
fcis-4602	15	8	the	the	DET
fcis-4602	15	9	favorable	favorable	ADJ
fcis-4602	15	10	line	line	NOUN
fcis-4602	15	11	-	-	PUNCT
fcis-4602	15	12	of	of	ADP
fcis-4602	15	13	-	-	PUNCT
fcis-4602	15	14	sight	sight	NOUN
fcis-4602	15	15	(	(	PUNCT
fcis-4602	15	16	los	los	NOUN
fcis-4602	15	17	)	)	PUNCT
fcis-4602	15	18	communication	communication	NOUN
fcis-4602	15	19	circumstances	circumstance	NOUN
fcis-4602	15	20	,	,	PUNCT
fcis-4602	15	21	the	the	DET
fcis-4602	15	22	uav	uav	PROPN
fcis-4602	15	23	can	can	AUX
fcis-4602	15	24	efficiently	efficiently	ADV
fcis-4602	15	25	support	support	VERB
fcis-4602	15	26	areas	area	NOUN
fcis-4602	15	27	with	with	ADP
fcis-4602	15	28	high	high	ADJ
fcis-4602	15	29	connectivity	connectivity	NOUN
fcis-4602	15	30	demands	demand	NOUN
fcis-4602	15	31	or	or	CCONJ
fcis-4602	15	32	system	system	NOUN
fcis-4602	15	33	overload	overload	NOUN
fcis-4602	15	34	in	in	ADP
fcis-4602	15	35	wireless	wireless	ADJ
fcis-4602	15	36	communication	communication	NOUN
fcis-4602	15	37	systems	system	NOUN
fcis-4602	15	38	[	[	X
fcis-4602	15	39	4][6	4][6	X
fcis-4602	15	40	]	]	X
fcis-4602	15	41	.	.	PUNCT
fcis-4602	16	1	in	in	ADP
fcis-4602	16	2	particular	particular	ADJ
fcis-4602	16	3	,	,	PUNCT
fcis-4602	16	4	the	the	DET
fcis-4602	16	5	uav	uav	PROPN
fcis-4602	16	6	-	-	PUNCT
fcis-4602	16	7	based	base	VERB
fcis-4602	16	8	enhanced	enhanced	ADJ
fcis-4602	16	9	mobile	mobile	ADJ
fcis-4602	16	10	broadband	broadband	NOUN
fcis-4602	16	11	(	(	PUNCT
fcis-4602	16	12	embb	embb	ADJ
fcis-4602	16	13	)	)	PUNCT
fcis-4602	16	14	is	be	AUX
fcis-4602	16	15	identified	identify	VERB
fcis-4602	16	16	as	as	ADP
fcis-4602	16	17	a	a	DET
fcis-4602	16	18	great	great	ADJ
fcis-4602	16	19	success	success	NOUN
fcis-4602	16	20	in	in	ADP
fcis-4602	16	21	wireless	wireless	ADJ
fcis-4602	16	22	cellular	cellular	ADJ
fcis-4602	16	23	networks	network	NOUN
fcis-4602	16	24	[	[	X
fcis-4602	16	25	7	7	NUM
fcis-4602	16	26	]	]	PUNCT
fcis-4602	16	27	.	.	PUNCT
fcis-4602	17	1	early	early	ADJ
fcis-4602	17	2	research	research	NOUN
fcis-4602	17	3	focused	focus	VERB
fcis-4602	17	4	on	on	ADP
fcis-4602	17	5	the	the	DET
fcis-4602	17	6	hovering	hover	VERB
fcis-4602	17	7	altitude	altitude	NOUN
fcis-4602	17	8	and	and	CCONJ
fcis-4602	17	9	signal	signal	ADJ
fcis-4602	17	10	coverage	coverage	NOUN
fcis-4602	17	11	of	of	ADP
fcis-4602	17	12	static	static	ADJ
fcis-4602	17	13	flying	flying	NOUN
fcis-4602	17	14	base	base	NOUN
fcis-4602	17	15	stations	station	NOUN
fcis-4602	17	16	(	(	PUNCT
fcis-4602	17	17	fbss	fbss	NOUN
fcis-4602	17	18	)	)	PUNCT
fcis-4602	18	1	[	[	X
fcis-4602	18	2	8][10	8][10	X
fcis-4602	18	3	]	]	X
fcis-4602	18	4	,	,	PUNCT
fcis-4602	18	5	while	while	SCONJ
fcis-4602	18	6	recent	recent	ADJ
fcis-4602	18	7	study	study	NOUN
fcis-4602	18	8	emphasis	emphasis	NOUN
fcis-4602	18	9	has	have	AUX
fcis-4602	18	10	moved	move	VERB
fcis-4602	18	11	to	to	ADP
fcis-4602	18	12	the	the	DET
fcis-4602	18	13	dynamic	dynamic	ADJ
fcis-4602	18	14	uav	uav	PROPN
fcis-4602	18	15	communication	communication	NOUN
fcis-4602	18	16	systems	system	NOUN
fcis-4602	18	17	to	to	PART
fcis-4602	18	18	thoroughly	thoroughly	ADV
fcis-4602	18	19	utilize	utilize	VERB
fcis-4602	18	20	the	the	DET
fcis-4602	18	21	flexibility	flexibility	NOUN
fcis-4602	18	22	of	of	ADP
fcis-4602	18	23	drones	drone	NOUN
fcis-4602	18	24	.	.	PUNCT
fcis-4602	19	1	therefore	therefore	ADV
fcis-4602	19	2	,	,	PUNCT
fcis-4602	19	3	by	by	ADP
fcis-4602	19	4	exploiting	exploit	VERB
fcis-4602	19	5	the	the	DET
fcis-4602	19	6	mobility	mobility	NOUN
fcis-4602	19	7	of	of	ADP
fcis-4602	19	8	uavs	uavs	PROPN
fcis-4602	19	9	,	,	PUNCT
fcis-4602	19	10	uav	uav	PROPN
fcis-4602	19	11	trajectory	trajectory	NOUN
fcis-4602	19	12	design	design	NOUN
fcis-4602	19	13	is	be	AUX
fcis-4602	19	14	significant	significant	ADJ
fcis-4602	19	15	but	but	CCONJ
fcis-4602	19	16	challenging	challenging	ADJ
fcis-4602	19	17	in	in	ADP
fcis-4602	19	18	studying	study	VERB
fcis-4602	19	19	this	this	DET
fcis-4602	19	20	system	system	NOUN
fcis-4602	19	21	,	,	PUNCT
fcis-4602	19	22	as	as	SCONJ
fcis-4602	19	23	it	it	PRON
fcis-4602	19	24	commonly	commonly	ADV
fcis-4602	19	25	requires	require	VERB
fcis-4602	19	26	trade	trade	NOUN
fcis-4602	19	27	-	-	PUNCT
fcis-4602	19	28	offs	off	NOUN
fcis-4602	19	29	among	among	ADP
fcis-4602	19	30	energy	energy	NOUN
fcis-4602	19	31	consumption	consumption	NOUN
fcis-4602	19	32	,	,	PUNCT
fcis-4602	19	33	communication	communication	NOUN
fcis-4602	19	34	throughput	throughput	NOUN
fcis-4602	19	35	,	,	PUNCT
fcis-4602	19	36	and	and	CCONJ
fcis-4602	19	37	delay	delay	VERB
fcis-4602	19	38	[	[	X
fcis-4602	19	39	11	11	NUM
fcis-4602	19	40	]	]	PUNCT
fcis-4602	19	41	.	.	PUNCT
fcis-4602	20	1	some	some	DET
fcis-4602	20	2	studies	study	NOUN
fcis-4602	20	3	in	in	ADP
fcis-4602	20	4	[	[	X
fcis-4602	20	5	12][15	12][15	NUM
fcis-4602	20	6	]	]	PUNCT
fcis-4602	20	7	optimized	optimize	VERB
fcis-4602	20	8	the	the	DET
fcis-4602	20	9	uav	uav	PROPN
fcis-4602	20	10	flight	flight	NOUN
fcis-4602	20	11	trajectory	trajectory	NOUN
fcis-4602	20	12	for	for	ADP
fcis-4602	20	13	maximizing	maximize	VERB
fcis-4602	20	14	the	the	DET
fcis-4602	20	15	transmission	transmission	NOUN
fcis-4602	20	16	rate	rate	NOUN
fcis-4602	20	17	.	.	PUNCT
fcis-4602	21	1	wonseok	wonseok	PROPN
fcis-4602	21	2	lee	lee	PROPN
fcis-4602	21	3	et	et	PROPN
fcis-4602	21	4	al	al	PROPN
fcis-4602	21	5	.	.	PUNCT
fcis-4602	22	1	[	[	X
fcis-4602	22	2	16	16	NUM
fcis-4602	22	3	]	]	PUNCT
fcis-4602	22	4	optimized	optimize	VERB
fcis-4602	22	5	the	the	DET
fcis-4602	22	6	uav	uav	PROPN
fcis-4602	22	7	trajectory	trajectory	NOUN
fcis-4602	22	8	to	to	PART
fcis-4602	22	9	obtain	obtain	VERB
fcis-4602	22	10	the	the	DET
fcis-4602	22	11	optimal	optimal	ADJ
fcis-4602	22	12	deployment	deployment	NOUN
fcis-4602	22	13	where	where	SCONJ
fcis-4602	22	14	mobile	mobile	ADJ
fcis-4602	22	15	ground	ground	NOUN
fcis-4602	22	16	users	user	NOUN
fcis-4602	22	17	were	be	AUX
fcis-4602	22	18	considered	consider	VERB
fcis-4602	22	19	.	.	PUNCT
fcis-4602	23	1	in	in	ADP
fcis-4602	23	2	more	more	ADV
fcis-4602	23	3	practical	practical	ADJ
fcis-4602	23	4	scenarios	scenario	NOUN
fcis-4602	23	5	,	,	PUNCT
fcis-4602	23	6	the	the	DET
fcis-4602	23	7	energy	energy	NOUN
fcis-4602	23	8	consumption	consumption	NOUN
fcis-4602	23	9	of	of	ADP
fcis-4602	23	10	drones	drone	NOUN
fcis-4602	23	11	is	be	AUX
fcis-4602	23	12	quite	quite	ADV
fcis-4602	23	13	vital	vital	ADJ
fcis-4602	23	14	for	for	ADP
fcis-4602	23	15	trajectory	trajectory	NOUN
fcis-4602	23	16	design	design	NOUN
fcis-4602	23	17	because	because	SCONJ
fcis-4602	23	18	the	the	DET
fcis-4602	23	19	amount	amount	NOUN
fcis-4602	23	20	of	of	ADP
fcis-4602	23	21	power	power	NOUN
fcis-4602	23	22	that	that	PRON
fcis-4602	23	23	can	can	AUX
fcis-4602	23	24	support	support	VERB
fcis-4602	23	25	the	the	DET
fcis-4602	23	26	flight	flight	NOUN
fcis-4602	23	27	of	of	ADP
fcis-4602	23	28	a	a	DET
fcis-4602	23	29	uav	uav	PROPN
fcis-4602	23	30	completing	complete	VERB
fcis-4602	23	31	its	its	PRON
fcis-4602	23	32	mission	mission	NOUN
fcis-4602	23	33	is	be	AUX
fcis-4602	23	34	limited	limited	ADJ
fcis-4602	23	35	.	.	PUNCT
fcis-4602	24	1	to	to	PART
fcis-4602	24	2	address	address	VERB
fcis-4602	24	3	this	this	PRON
fcis-4602	24	4	,	,	PUNCT
fcis-4602	24	5	studies	study	NOUN
fcis-4602	24	6	in	in	ADP
fcis-4602	24	7	[	[	X
fcis-4602	24	8	17][19	17][19	X
fcis-4602	24	9	]	]	PUNCT
fcis-4602	24	10	proposed	propose	VERB
fcis-4602	24	11	the	the	DET
fcis-4602	24	12	energy	energy	NOUN
fcis-4602	24	13	-	-	PUNCT
fcis-4602	24	14	efficient	efficient	ADJ
fcis-4602	24	15	uav	uav	PROPN
fcis-4602	24	16	trajectory	trajectory	NOUN
fcis-4602	24	17	for	for	ADP
fcis-4602	24	18	a	a	DET
fcis-4602	24	19	single	single	ADJ
fcis-4602	24	20	uav	uav	NOUN
fcis-4602	24	21	flying	fly	VERB
fcis-4602	24	22	over	over	ADP
fcis-4602	24	23	a	a	DET
fcis-4602	24	24	single	single	ADJ
fcis-4602	24	25	node	node	NOUN
fcis-4602	24	26	under	under	ADP
fcis-4602	24	27	the	the	DET
fcis-4602	24	28	maximum	maximum	ADJ
fcis-4602	24	29	flying	fly	VERB
fcis-4602	24	30	speed	speed	NOUN
fcis-4602	24	31	and	and	CCONJ
fcis-4602	24	32	completion	completion	NOUN
fcis-4602	24	33	time	time	NOUN
fcis-4602	24	34	constraints	constraint	NOUN
fcis-4602	24	35	.	.	PUNCT
fcis-4602	25	1	on	on	ADP
fcis-4602	25	2	this	this	DET
fcis-4602	25	3	basis	basis	NOUN
fcis-4602	25	4	,	,	PUNCT
fcis-4602	25	5	zeng	zeng	PROPN
fcis-4602	25	6	et	et	PROPN
fcis-4602	25	7	al	al	PROPN
fcis-4602	25	8	.	.	PUNCT
fcis-4602	26	1	[	[	X
fcis-4602	26	2	20	20	NUM
fcis-4602	26	3	]	]	PUNCT
fcis-4602	26	4	extended	extend	VERB
fcis-4602	26	5	the	the	DET
fcis-4602	26	6	work	work	NOUN
fcis-4602	26	7	by	by	ADP
fcis-4602	26	8	forming	form	VERB
fcis-4602	26	9	a	a	DET
fcis-4602	26	10	traveling	travel	VERB
fcis-4602	26	11	salesman	salesman	ADJ
fcis-4602	26	12	problem	problem	NOUN
fcis-4602	26	13	(	(	PUNCT
fcis-4602	26	14	tsp	tsp	NOUN
fcis-4602	26	15	)	)	PUNCT
fcis-4602	26	16	where	where	SCONJ
fcis-4602	26	17	the	the	DET
fcis-4602	26	18	uav	uav	PROPN
fcis-4602	26	19	should	should	AUX
fcis-4602	26	20	visit	visit	VERB
fcis-4602	26	21	three	three	NUM
fcis-4602	26	22	ground	ground	NOUN
fcis-4602	26	23	nodes	node	NOUN
fcis-4602	26	24	(	(	PUNCT
fcis-4602	26	25	gns	gns	NOUN
fcis-4602	26	26	)	)	PUNCT
fcis-4602	26	27	sequentially	sequentially	ADV
fcis-4602	26	28	without	without	ADP
fcis-4602	26	29	repetition	repetition	NOUN
fcis-4602	26	30	instead	instead	ADV
fcis-4602	26	31	of	of	ADP
fcis-4602	26	32	a	a	DET
fcis-4602	26	33	single	single	ADJ
fcis-4602	26	34	node	node	NOUN
fcis-4602	26	35	.	.	PUNCT
fcis-4602	27	1	they	they	PRON
fcis-4602	27	2	proposed	propose	VERB
fcis-4602	27	3	a	a	DET
fcis-4602	27	4	one	one	NUM
fcis-4602	27	5	-	-	PUNCT
fcis-4602	27	6	way	way	NOUN
fcis-4602	27	7	trajectory	trajectory	NOUN
fcis-4602	27	8	with	with	ADP
fcis-4602	27	9	the	the	DET
fcis-4602	27	10	minimum	minimum	ADJ
fcis-4602	27	11	energy	energy	NOUN
fcis-4602	27	12	consumption	consumption	NOUN
fcis-4602	27	13	for	for	ADP
fcis-4602	27	14	the	the	DET
fcis-4602	27	15	rotary	rotary	ADJ
fcis-4602	27	16	-	-	PUNCT
fcis-4602	27	17	wing	wing	NOUN
fcis-4602	27	18	uav	uav	NOUN
fcis-4602	27	19	by	by	ADP
fcis-4602	27	20	introducing	introduce	VERB
fcis-4602	27	21	the	the	DET
fcis-4602	27	22	path	path	NOUN
fcis-4602	27	23	discretization	discretization	NOUN
fcis-4602	27	24	method	method	NOUN
fcis-4602	27	25	and	and	CCONJ
fcis-4602	27	26	successive	successive	ADJ
fcis-4602	27	27	convex	convex	NOUN
fcis-4602	27	28	approximation	approximation	NOUN
fcis-4602	27	29	(	(	PUNCT
fcis-4602	27	30	sca	sca	NOUN
fcis-4602	27	31	)	)	PUNCT
fcis-4602	27	32	algorithm	algorithm	NOUN
fcis-4602	27	33	.	.	PUNCT
fcis-4602	28	1	their	their	PRON
fcis-4602	28	2	results	result	NOUN
fcis-4602	28	3	showed	show	VERB
fcis-4602	28	4	that	that	SCONJ
fcis-4602	28	5	it	it	PRON
fcis-4602	28	6	was	be	AUX
fcis-4602	28	7	more	more	ADJ
fcis-4602	28	8	energy	energy	NOUN
fcis-4602	28	9	efficient	efficient	ADJ
fcis-4602	28	10	to	to	PART
fcis-4602	28	11	communicate	communicate	VERB
fcis-4602	28	12	while	while	SCONJ
fcis-4602	28	13	the	the	DET
fcis-4602	28	14	uav	uav	PROPN
fcis-4602	28	15	was	be	AUX
fcis-4602	28	16	in	in	ADP
fcis-4602	28	17	flight	flight	NOUN
fcis-4602	28	18	than	than	SCONJ
fcis-4602	28	19	to	to	PART
fcis-4602	28	20	hover	hover	VERB
fcis-4602	28	21	for	for	ADP
fcis-4602	28	22	communication	communication	NOUN
fcis-4602	28	23	after	after	ADP
fcis-4602	28	24	flying	fly	VERB
fcis-4602	28	25	to	to	ADP
fcis-4602	28	26	the	the	DET
fcis-4602	28	27	corresponding	corresponding	ADJ
fcis-4602	28	28	position	position	NOUN
fcis-4602	28	29	.	.	PUNCT
fcis-4602	29	1	however	however	ADV
fcis-4602	29	2	,	,	PUNCT
fcis-4602	29	3	this	this	DET
fcis-4602	29	4	work	work	NOUN
fcis-4602	29	5	in	in	ADP
fcis-4602	29	6	[	[	X
fcis-4602	29	7	20	20	NUM
fcis-4602	29	8	]	]	PUNCT
fcis-4602	29	9	and	and	CCONJ
fcis-4602	29	10	other	other	ADJ
fcis-4602	29	11	relevant	relevant	ADJ
fcis-4602	29	12	studies	study	NOUN
fcis-4602	29	13	[	[	X
fcis-4602	29	14	21	21	NUM
fcis-4602	29	15	]	]	PUNCT
fcis-4602	29	16	provided	provide	VERB
fcis-4602	29	17	a	a	DET
fcis-4602	29	18	one	one	NUM
fcis-4602	29	19	-	-	PUNCT
fcis-4602	29	20	way	way	NOUN
fcis-4602	29	21	trajectory	trajectory	NOUN
fcis-4602	29	22	along	along	ADP
fcis-4602	29	23	only	only	ADV
fcis-4602	29	24	three	three	NUM
fcis-4602	29	25	gns	gn	NOUN
fcis-4602	29	26	.	.	PUNCT
fcis-4602	30	1	to	to	PART
fcis-4602	30	2	explore	explore	VERB
fcis-4602	30	3	a	a	DET
fcis-4602	30	4	more	more	ADV
fcis-4602	30	5	general	general	ADJ
fcis-4602	30	6	and	and	CCONJ
fcis-4602	30	7	complex	complex	ADJ
fcis-4602	30	8	scenario	scenario	NOUN
fcis-4602	30	9	,	,	PUNCT
fcis-4602	30	10	shavbo	shavbo	PROPN
fcis-4602	30	11	salehi	salehi	X
fcis-4602	30	12	et	et	PROPN
fcis-4602	30	13	al	al	PROPN
fcis-4602	30	14	.	.	PROPN
fcis-4602	30	15	considered	consider	VERB
fcis-4602	30	16	more	more	ADJ
fcis-4602	30	17	gns	gns	NOUN
fcis-4602	30	18	but	but	CCONJ
fcis-4602	30	19	still	still	ADV
fcis-4602	30	20	a	a	DET
fcis-4602	30	21	one	one	NUM
fcis-4602	30	22	-	-	PUNCT
fcis-4602	30	23	way	way	NOUN
fcis-4602	30	24	trajectory	trajectory	NOUN
fcis-4602	30	25	in	in	ADP
fcis-4602	30	26	the	the	DET
fcis-4602	30	27	case	case	NOUN
fcis-4602	30	28	that	that	SCONJ
fcis-4602	30	29	the	the	DET
fcis-4602	30	30	uav	uav	PROPN
fcis-4602	30	31	flew	fly	VERB
fcis-4602	30	32	and	and	CCONJ
fcis-4602	30	33	hovered	hover	VERB
fcis-4602	30	34	above	above	ADP
fcis-4602	30	35	each	each	DET
fcis-4602	30	36	node	node	NOUN
fcis-4602	30	37	[	[	X
fcis-4602	30	38	22	22	NUM
fcis-4602	30	39	]	]	PUNCT
fcis-4602	30	40	,	,	PUNCT
fcis-4602	30	41	[	[	X
fcis-4602	30	42	23	23	NUM
fcis-4602	30	43	]	]	PUNCT
fcis-4602	30	44	.	.	PUNCT
fcis-4602	31	1	tingting	tingte	VERB
fcis-4602	31	2	lan	lan	PROPN
fcis-4602	31	3	et	et	PROPN
fcis-4602	31	4	al	al	PROPN
fcis-4602	31	5	.	.	PUNCT
fcis-4602	32	1	[	[	X
fcis-4602	32	2	24	24	NUM
fcis-4602	32	3	]	]	PUNCT
fcis-4602	32	4	obtained	obtain	VERB
fcis-4602	32	5	the	the	DET
fcis-4602	32	6	one	one	NUM
fcis-4602	32	7	-	-	PUNCT
fcis-4602	32	8	way	way	NOUN
fcis-4602	32	9	energy	energy	NOUN
fcis-4602	32	10	efficiency	efficiency	NOUN
fcis-4602	32	11	trajectory	trajectory	NOUN
fcis-4602	32	12	among	among	ADP
fcis-4602	32	13	a	a	DET
fcis-4602	32	14	large	large	ADJ
fcis-4602	32	15	number	number	NOUN
fcis-4602	32	16	of	of	ADP
fcis-4602	32	17	gns	gns	NOUN
fcis-4602	32	18	under	under	ADP
fcis-4602	32	19	certain	certain	ADJ
fcis-4602	32	20	communication	communication	NOUN
fcis-4602	32	21	demands	demand	NOUN
fcis-4602	32	22	but	but	CCONJ
fcis-4602	32	23	they	they	PRON
fcis-4602	32	24	have	have	AUX
fcis-4602	32	25	not	not	PART
fcis-4602	32	26	analyzed	analyze	VERB
fcis-4602	32	27	the	the	DET
fcis-4602	32	28	effect	effect	NOUN
fcis-4602	32	29	of	of	ADP
fcis-4602	32	30	the	the	DET
fcis-4602	32	31	changing	change	VERB
fcis-4602	32	32	communication	communication	NOUN
fcis-4602	32	33	throughput	throughput	NOUN
fcis-4602	32	34	requirements	requirement	NOUN
fcis-4602	32	35	on	on	ADP
fcis-4602	32	36	the	the	DET
fcis-4602	32	37	trajectory	trajectory	NOUN
fcis-4602	32	38	design	design	NOUN
fcis-4602	32	39	.	.	PUNCT
fcis-4602	33	1	additionally	additionally	ADV
fcis-4602	33	2	,	,	PUNCT
fcis-4602	33	3	authors	author	NOUN
fcis-4602	33	4	in	in	ADP
fcis-4602	33	5	[	[	X
fcis-4602	33	6	25	25	NUM
fcis-4602	33	7	]	]	PUNCT
fcis-4602	33	8	designed	design	VERB
fcis-4602	33	9	a	a	DET
fcis-4602	33	10	closed	closed	ADJ
fcis-4602	33	11	flying	fly	VERB
fcis-4602	33	12	trajectory	trajectory	NOUN
fcis-4602	33	13	with	with	ADP
fcis-4602	33	14	multiple	multiple	ADJ
fcis-4602	33	15	gns	gns	NOUN
fcis-4602	33	16	,	,	PUNCT
fcis-4602	33	17	but	but	CCONJ
fcis-4602	33	18	they	they	PRON
fcis-4602	33	19	focused	focus	VERB
fcis-4602	33	20	on	on	ADP
fcis-4602	33	21	the	the	DET
fcis-4602	33	22	maximum	maximum	ADJ
fcis-4602	33	23	number	number	NOUN
fcis-4602	33	24	of	of	ADP
fcis-4602	33	25	ground	ground	NOUN
fcis-4602	33	26	users	user	NOUN
fcis-4602	33	27	served	serve	VERB
fcis-4602	33	28	under	under	ADP
fcis-4602	33	29	the	the	DET
fcis-4602	33	30	uav	uav	PROPN
fcis-4602	33	31	battery	battery	NOUN
fcis-4602	33	32	limitation	limitation	NOUN
fcis-4602	33	33	.	.	PUNCT
fcis-4602	34	1	nevertheless	nevertheless	ADV
fcis-4602	34	2	,	,	PUNCT
fcis-4602	34	3	the	the	DET
fcis-4602	34	4	closed	closed	ADJ
fcis-4602	34	5	uav	uav	PROPN
fcis-4602	34	6	trajectory	trajectory	NOUN
fcis-4602	34	7	optimization	optimization	NOUN
fcis-4602	34	8	with	with	ADP
fcis-4602	34	9	the	the	DET
fcis-4602	34	10	total	total	ADJ
fcis-4602	34	11	energy	energy	NOUN
fcis-4602	34	12	consumption	consumption	NOUN
fcis-4602	34	13	minimization	minimization	NOUN
fcis-4602	34	14	among	among	ADP
fcis-4602	34	15	multiple	multiple	ADJ
fcis-4602	34	16	gns	gn	NOUN
fcis-4602	34	17	under	under	ADP
fcis-4602	34	18	variant	variant	ADJ
fcis-4602	34	19	transmission	transmission	NOUN
fcis-4602	34	20	demands	demand	NOUN
fcis-4602	34	21	is	be	AUX
fcis-4602	34	22	a	a	DET
fcis-4602	34	23	further	further	ADJ
fcis-4602	34	24	valuable	valuable	ADJ
fcis-4602	34	25	direction	direction	NOUN
fcis-4602	34	26	to	to	PART
fcis-4602	34	27	explore	explore	VERB
fcis-4602	34	28	for	for	ADP
fcis-4602	34	29	the	the	DET
fcis-4602	34	30	uav	uav	PROPN
fcis-4602	34	31	communication	communication	NOUN
fcis-4602	34	32	system	system	NOUN
fcis-4602	34	33	design	design	NOUN
fcis-4602	34	34	,	,	PUNCT
fcis-4602	34	35	which	which	PRON
fcis-4602	34	36	has	have	AUX
fcis-4602	34	37	not	not	PART
fcis-4602	34	38	been	be	AUX
fcis-4602	34	39	discussed	discuss	VERB
fcis-4602	34	40	in	in	ADP
fcis-4602	34	41	detail	detail	NOUN
fcis-4602	34	42	.	.	PUNCT
fcis-4602	35	1	therefore	therefore	ADV
fcis-4602	35	2	,	,	PUNCT
fcis-4602	35	3	the	the	DET
fcis-4602	35	4	energy	energy	NOUN
fcis-4602	35	5	consumption	consumption	NOUN
fcis-4602	35	6	in	in	ADP
fcis-4602	35	7	this	this	DET
fcis-4602	35	8	paper	paper	NOUN
fcis-4602	35	9	is	be	AUX
fcis-4602	35	10	minimized	minimize	VERB
fcis-4602	35	11	under	under	ADP
fcis-4602	35	12	the	the	DET
fcis-4602	35	13	scenario	scenario	NOUN
fcis-4602	35	14	where	where	SCONJ
fcis-4602	35	15	the	the	DET
fcis-4602	35	16	uav	uav	PROPN
fcis-4602	35	17	-	-	PUNCT
fcis-4602	35	18	based	base	VERB
fcis-4602	35	19	fbs	fbs	PROPN
fcis-4602	35	20	departs	depart	VERB
fcis-4602	35	21	from	from	ADP
fcis-4602	35	22	a	a	DET
fcis-4602	35	23	ground	ground	NOUN
fcis-4602	35	24	base	base	NOUN
fcis-4602	35	25	station	station	NOUN
fcis-4602	35	26	that	that	PRON
fcis-4602	35	27	provides	provide	VERB
fcis-4602	35	28	power	power	NOUN
fcis-4602	35	29	charging	charging	NOUN
fcis-4602	35	30	,	,	PUNCT
fcis-4602	35	31	visits	visit	VERB
fcis-4602	35	32	more	more	ADJ
fcis-4602	35	33	gns	gns	NOUN
fcis-4602	35	34	only	only	ADV
fcis-4602	35	35	once	once	ADV
fcis-4602	35	36	,	,	PUNCT
fcis-4602	35	37	and	and	CCONJ
fcis-4602	35	38	returns	return	NOUN
fcis-4602	35	39	to	to	ADP
fcis-4602	35	40	the	the	DET
fcis-4602	35	41	departure	departure	NOUN
fcis-4602	35	42	point	point	NOUN
fcis-4602	35	43	.	.	PUNCT
fcis-4602	36	1	this	this	PRON
fcis-4602	36	2	forms	form	VERB
fcis-4602	36	3	a	a	DET
fcis-4602	36	4	closed	closed	ADJ
fcis-4602	36	5	flight	flight	NOUN
fcis-4602	36	6	trajectory	trajectory	NOUN
fcis-4602	36	7	,	,	PUNCT
fcis-4602	36	8	and	and	CCONJ
fcis-4602	36	9	this	this	DET
fcis-4602	36	10	work	work	NOUN
fcis-4602	36	11	first	first	ADV
fcis-4602	36	12	obtains	obtain	VERB
fcis-4602	36	13	the	the	DET
fcis-4602	36	14	optimal	optimal	ADJ
fcis-4602	36	15	fly	fly	NOUN
fcis-4602	36	16	-	-	PUNCT
fcis-4602	36	17	hovercommunicate	hovercommunicate	NOUN
fcis-4602	36	18	trajectory	trajectory	NOUN
fcis-4602	36	19	as	as	ADP
fcis-4602	36	20	the	the	DET
fcis-4602	36	21	benchmark	benchmark	NOUN
fcis-4602	36	22	.	.	PUNCT
fcis-4602	37	1	next	next	ADV
fcis-4602	37	2	,	,	PUNCT
fcis-4602	37	3	the	the	DET
fcis-4602	37	4	uav	uav	PROPN
fcis-4602	37	5	is	be	AUX
fcis-4602	37	6	considered	consider	VERB
fcis-4602	37	7	to	to	PART
fcis-4602	37	8	fly	fly	VERB
fcis-4602	37	9	over	over	ADP
fcis-4602	37	10	the	the	DET
fcis-4602	37	11	gns	gns	NOUN
fcis-4602	37	12	instead	instead	ADV
fcis-4602	37	13	of	of	ADP
fcis-4602	37	14	hovering	hover	VERB
fcis-4602	37	15	while	while	SCONJ
fcis-4602	37	16	90	90	NUM
fcis-4602	37	17	communicating	communicate	VERB
fcis-4602	37	18	with	with	ADP
fcis-4602	37	19	the	the	DET
fcis-4602	37	20	gns	gns	NOUN
fcis-4602	37	21	,	,	PUNCT
fcis-4602	37	22	which	which	PRON
fcis-4602	37	23	is	be	AUX
fcis-4602	37	24	a	a	DET
fcis-4602	37	25	general	general	ADJ
fcis-4602	37	26	scenario	scenario	NOUN
fcis-4602	37	27	named	name	VERB
fcis-4602	37	28	the	the	DET
fcis-4602	37	29	fly	fly	NOUN
fcis-4602	37	30	-	-	PUNCT
fcis-4602	37	31	over	over	ADP
fcis-4602	37	32	scheme	scheme	NOUN
fcis-4602	37	33	.	.	PUNCT
fcis-4602	38	1	in	in	ADP
fcis-4602	38	2	addition	addition	NOUN
fcis-4602	38	3	,	,	PUNCT
fcis-4602	38	4	this	this	DET
fcis-4602	38	5	paper	paper	NOUN
fcis-4602	38	6	compares	compare	VERB
fcis-4602	38	7	the	the	DET
fcis-4602	38	8	performance	performance	NOUN
fcis-4602	38	9	of	of	ADP
fcis-4602	38	10	these	these	DET
fcis-4602	38	11	two	two	NUM
fcis-4602	38	12	methods	method	NOUN
fcis-4602	38	13	under	under	ADP
fcis-4602	38	14	a	a	DET
fcis-4602	38	15	wider	wide	ADJ
fcis-4602	38	16	range	range	NOUN
fcis-4602	38	17	of	of	ADP
fcis-4602	38	18	various	various	ADJ
fcis-4602	38	19	communication	communication	NOUN
fcis-4602	38	20	requirements	requirement	NOUN
fcis-4602	38	21	.	.	PUNCT
fcis-4602	39	1	the	the	DET
fcis-4602	39	2	results	result	NOUN
fcis-4602	39	3	show	show	VERB
fcis-4602	39	4	that	that	SCONJ
fcis-4602	39	5	the	the	DET
fcis-4602	39	6	fly	fly	VERB
fcis-4602	39	7	-	-	PUNCT
fcis-4602	39	8	over	over	ADP
fcis-4602	39	9	scheme	scheme	NOUN
fcis-4602	39	10	did	do	AUX
fcis-4602	39	11	not	not	PART
fcis-4602	39	12	outperform	outperform	VERB
fcis-4602	39	13	the	the	DET
fcis-4602	39	14	fly	fly	NOUN
fcis-4602	39	15	-	-	PUNCT
fcis-4602	39	16	hover	hover	NOUN
fcis-4602	39	17	protocol	protocol	NOUN
fcis-4602	39	18	under	under	ADP
fcis-4602	39	19	extremely	extremely	ADV
fcis-4602	39	20	high	high	ADJ
fcis-4602	39	21	or	or	CCONJ
fcis-4602	39	22	low	low	ADJ
fcis-4602	39	23	communication	communication	NOUN
fcis-4602	39	24	demands	demand	NOUN
fcis-4602	39	25	.	.	PUNCT
fcis-4602	40	1	based	base	VERB
fcis-4602	40	2	on	on	ADP
fcis-4602	40	3	the	the	DET
fcis-4602	40	4	baseline	baseline	PROPN
fcis-4602	40	5	scenario	scenario	NOUN
fcis-4602	40	6	and	and	CCONJ
fcis-4602	40	7	system	system	NOUN
fcis-4602	40	8	model	model	NOUN
fcis-4602	40	9	designed	design	VERB
fcis-4602	40	10	,	,	PUNCT
fcis-4602	40	11	this	this	DET
fcis-4602	40	12	work	work	NOUN
fcis-4602	40	13	has	have	AUX
fcis-4602	40	14	formulated	formulate	VERB
fcis-4602	40	15	the	the	DET
fcis-4602	40	16	energy	energy	NOUN
fcis-4602	40	17	minimization	minimization	NOUN
fcis-4602	40	18	problem	problem	NOUN
fcis-4602	40	19	with	with	ADP
fcis-4602	40	20	several	several	ADJ
fcis-4602	40	21	constraints	constraint	NOUN
fcis-4602	40	22	.	.	PUNCT
fcis-4602	41	1	the	the	DET
fcis-4602	41	2	goal	goal	NOUN
fcis-4602	41	3	is	be	AUX
fcis-4602	41	4	to	to	PART
fcis-4602	41	5	obtain	obtain	VERB
fcis-4602	41	6	minimal	minimal	ADJ
fcis-4602	41	7	energy	energy	NOUN
fcis-4602	41	8	consumption	consumption	NOUN
fcis-4602	41	9	under	under	ADP
fcis-4602	41	10	the	the	DET
fcis-4602	41	11	optimal	optimal	ADJ
fcis-4602	41	12	communication	communication	NOUN
fcis-4602	41	13	allocation	allocation	NOUN
fcis-4602	41	14	time	time	NOUN
fcis-4602	41	15	,	,	PUNCT
fcis-4602	41	16	the	the	DET
fcis-4602	41	17	uav	uav	PROPN
fcis-4602	41	18	trajectory	trajectory	NOUN
fcis-4602	41	19	,	,	PUNCT
fcis-4602	41	20	and	and	CCONJ
fcis-4602	41	21	the	the	DET
fcis-4602	41	22	total	total	ADJ
fcis-4602	41	23	completion	completion	NOUN
fcis-4602	41	24	time	time	NOUN
fcis-4602	41	25	.	.	PUNCT
fcis-4602	42	1	this	this	DET
fcis-4602	42	2	problem	problem	NOUN
fcis-4602	42	3	is	be	AUX
fcis-4602	42	4	non	non	ADJ
fcis-4602	42	5	-	-	ADJ
fcis-4602	42	6	convex	convex	ADJ
fcis-4602	42	7	which	which	PRON
fcis-4602	42	8	is	be	AUX
fcis-4602	42	9	hard	hard	ADJ
fcis-4602	42	10	to	to	PART
fcis-4602	42	11	solve	solve	VERB
fcis-4602	42	12	efficiently	efficiently	ADV
fcis-4602	42	13	.	.	PUNCT
fcis-4602	43	1	the	the	DET
fcis-4602	43	2	basic	basic	ADJ
fcis-4602	43	3	idea	idea	NOUN
fcis-4602	43	4	is	be	AUX
fcis-4602	43	5	to	to	PART
fcis-4602	43	6	convert	convert	VERB
fcis-4602	43	7	a	a	DET
fcis-4602	43	8	non	non	ADJ
fcis-4602	43	9	-	-	ADJ
fcis-4602	43	10	convex	convex	ADJ
fcis-4602	43	11	optimization	optimization	NOUN
fcis-4602	43	12	problem	problem	NOUN
fcis-4602	43	13	into	into	ADP
fcis-4602	43	14	a	a	DET
fcis-4602	43	15	convex	convex	ADJ
fcis-4602	43	16	optimization	optimization	NOUN
fcis-4602	43	17	problem	problem	NOUN
fcis-4602	43	18	by	by	ADP
fcis-4602	43	19	introducing	introduce	VERB
fcis-4602	43	20	the	the	DET
fcis-4602	43	21	slack	slack	NOUN
fcis-4602	43	22	variable	variable	NOUN
fcis-4602	43	23	,	,	PUNCT
fcis-4602	43	24	applying	apply	VERB
fcis-4602	43	25	genetic	genetic	ADJ
fcis-4602	43	26	algorithm	algorithm	NOUN
fcis-4602	43	27	(	(	PUNCT
fcis-4602	43	28	ga	ga	NOUN
fcis-4602	43	29	)	)	PUNCT
fcis-4602	43	30	and	and	CCONJ
fcis-4602	43	31	sca	sca	PROPN
fcis-4602	43	32	algorithms	algorithm	NOUN
fcis-4602	43	33	,	,	PUNCT
fcis-4602	43	34	as	as	ADV
fcis-4602	43	35	well	well	ADV
fcis-4602	43	36	as	as	ADP
fcis-4602	43	37	using	use	VERB
fcis-4602	43	38	the	the	DET
fcis-4602	43	39	path	path	NOUN
fcis-4602	43	40	discretization	discretization	NOUN
fcis-4602	43	41	technique	technique	NOUN
fcis-4602	43	42	.	.	PUNCT
fcis-4602	44	1	the	the	DET
fcis-4602	44	2	detail	detail	NOUN
fcis-4602	44	3	of	of	ADP
fcis-4602	44	4	the	the	DET
fcis-4602	44	5	solution	solution	NOUN
fcis-4602	44	6	is	be	AUX
fcis-4602	44	7	introduced	introduce	VERB
fcis-4602	44	8	in	in	ADP
fcis-4602	44	9	section	section	NOUN
fcis-4602	44	10	3	3	NUM
fcis-4602	44	11	.	.	NOUN
fcis-4602	44	12	2	2	NUM
fcis-4602	44	13	.	.	X
fcis-4602	44	14	system	system	NOUN
fcis-4602	44	15	model	model	NOUN
fcis-4602	44	16	and	and	CCONJ
fcis-4602	44	17	problem	problem	NOUN
fcis-4602	44	18	formulation	formulation	NOUN
fcis-4602	44	19	2.1	2.1	NUM
fcis-4602	44	20	.	.	PUNCT
fcis-4602	44	21	system	system	NOUN
fcis-4602	44	22	model	model	NOUN
fcis-4602	44	23	in	in	ADP
fcis-4602	44	24	the	the	DET
fcis-4602	44	25	basic	basic	ADJ
fcis-4602	44	26	scenario	scenario	NOUN
fcis-4602	44	27	,	,	PUNCT
fcis-4602	44	28	an	an	DET
fcis-4602	44	29	fbs	fb	VERB
fcis-4602	44	30	-	-	PUNCT
fcis-4602	44	31	equipped	equip	VERB
fcis-4602	44	32	drone	drone	NOUN
fcis-4602	44	33	departs	depart	VERB
fcis-4602	44	34	from	from	ADP
fcis-4602	44	35	a	a	DET
fcis-4602	44	36	ground	ground	NOUN
fcis-4602	44	37	base	base	NOUN
fcis-4602	44	38	and	and	CCONJ
fcis-4602	44	39	visits	visit	VERB
fcis-4602	44	40	different	different	ADJ
fcis-4602	44	41	user	user	NOUN
fcis-4602	44	42	nodes	node	NOUN
fcis-4602	44	43	on	on	ADP
fcis-4602	44	44	the	the	DET
fcis-4602	44	45	ground	ground	NOUN
fcis-4602	44	46	in	in	ADP
fcis-4602	44	47	turn	turn	NOUN
fcis-4602	44	48	,	,	PUNCT
fcis-4602	44	49	and	and	CCONJ
fcis-4602	44	50	each	each	DET
fcis-4602	44	51	user	user	NOUN
fcis-4602	44	52	node	node	NOUN
fcis-4602	44	53	traverses	traverse	NOUN
fcis-4602	44	54	only	only	ADV
fcis-4602	44	55	once	once	ADV
fcis-4602	44	56	and	and	CCONJ
fcis-4602	44	57	finally	finally	ADV
fcis-4602	44	58	returns	return	VERB
fcis-4602	44	59	to	to	ADP
fcis-4602	44	60	the	the	DET
fcis-4602	44	61	ground	ground	NOUN
fcis-4602	44	62	base	base	NOUN
fcis-4602	44	63	.	.	PUNCT
fcis-4602	45	1	this	this	DET
fcis-4602	45	2	paper	paper	NOUN
fcis-4602	45	3	objects	object	NOUN
fcis-4602	45	4	to	to	ADP
fcis-4602	45	5	obtaining	obtain	VERB
fcis-4602	45	6	the	the	DET
fcis-4602	45	7	flight	flight	NOUN
fcis-4602	45	8	trajectory	trajectory	NOUN
fcis-4602	45	9	that	that	PRON
fcis-4602	45	10	consumes	consume	VERB
fcis-4602	45	11	the	the	DET
fcis-4602	45	12	least	least	ADJ
fcis-4602	45	13	energy	energy	NOUN
fcis-4602	45	14	.	.	PUNCT
fcis-4602	46	1	from	from	ADP
fcis-4602	46	2	fig	fig	NOUN
fcis-4602	46	3	.	.	PUNCT
fcis-4602	47	1	1	1	NUM
fcis-4602	47	2	,	,	PUNCT
fcis-4602	47	3	the	the	DET
fcis-4602	47	4	hypothetical	hypothetical	ADJ
fcis-4602	47	5	square	square	NOUN
fcis-4602	47	6	map	map	NOUN
fcis-4602	47	7	with	with	ADP
fcis-4602	47	8	length	length	NOUN
fcis-4602	47	9	l.	l.	PROPN
fcis-4602	47	10	the	the	DET
fcis-4602	47	11	ground	ground	NOUN
fcis-4602	47	12	base	base	NOUN
fcis-4602	47	13	station	station	NOUN
fcis-4602	47	14	is	be	AUX
fcis-4602	47	15	assumed	assume	VERB
fcis-4602	47	16	to	to	PART
fcis-4602	47	17	be	be	AUX
fcis-4602	47	18	located	locate	VERB
fcis-4602	47	19	at	at	ADP
fcis-4602	47	20	the	the	DET
fcis-4602	47	21	map	map	NOUN
fcis-4602	47	22	’s	’s	PART
fcis-4602	47	23	center	center	NOUN
fcis-4602	47	24	with	with	ADP
fcis-4602	47	25	coordinates	coordinate	NOUN
fcis-4602	47	26	[	[	PUNCT
fcis-4602	47	27	,	,	PUNCT
fcis-4602	47	28	]	]	PUNCT
fcis-4602	47	29	.	.	PUNCT
fcis-4602	48	1	also	also	ADV
fcis-4602	48	2	,	,	PUNCT
fcis-4602	48	3	this	this	DET
fcis-4602	48	4	work	work	NOUN
fcis-4602	48	5	currently	currently	ADV
fcis-4602	48	6	considers	consider	VERB
fcis-4602	48	7	a	a	DET
fcis-4602	48	8	set	set	NOUN
fcis-4602	48	9	of	of	ADP
fcis-4602	48	10	n	n	PRON
fcis-4602	48	11	user	user	NOUN
fcis-4602	48	12	nodes	node	NOUN
fcis-4602	48	13	randomly	randomly	ADV
fcis-4602	48	14	distributed	distribute	VERB
fcis-4602	48	15	on	on	ADP
fcis-4602	48	16	the	the	DET
fcis-4602	48	17	map	map	NOUN
fcis-4602	48	18	with	with	ADP
fcis-4602	48	19	their	their	PRON
fcis-4602	48	20	coordinates	coordinate	NOUN
fcis-4602	48	21	[	[	X
fcis-4602	48	22	xn	xn	X
fcis-4602	48	23	,	,	PUNCT
fcis-4602	48	24	yn	yn	X
fcis-4602	48	25	]	]	X
fcis-4602	48	26	(	(	PUNCT
fcis-4602	48	27	n	n	NOUN
fcis-4602	48	28	∈	∈	NOUN
fcis-4602	49	1	[	[	X
fcis-4602	49	2	1	1	NUM
fcis-4602	49	3	,	,	PUNCT
fcis-4602	49	4	n	n	CCONJ
fcis-4602	49	5	]	]	PUNCT
fcis-4602	49	6	)	)	PUNCT
fcis-4602	49	7	,	,	PUNCT
fcis-4602	49	8	which	which	PRON
fcis-4602	49	9	are	be	AUX
fcis-4602	49	10	denoted	denote	VERB
fcis-4602	49	11	by	by	ADP
fcis-4602	49	12	wn	wn	PROPN
fcis-4602	49	13	.	.	PUNCT
fcis-4602	50	1	in	in	ADP
fcis-4602	50	2	this	this	DET
fcis-4602	50	3	system	system	NOUN
fcis-4602	50	4	,	,	PUNCT
fcis-4602	50	5	the	the	DET
fcis-4602	50	6	work	work	NOUN
fcis-4602	50	7	assumes	assume	VERB
fcis-4602	50	8	the	the	DET
fcis-4602	50	9	flying	fly	VERB
fcis-4602	50	10	altitude	altitude	NOUN
fcis-4602	50	11	h	h	NOUN
fcis-4602	50	12	is	be	AUX
fcis-4602	50	13	fixed	fix	VERB
fcis-4602	50	14	and	and	CCONJ
fcis-4602	50	15	the	the	DET
fcis-4602	50	16	total	total	ADJ
fcis-4602	50	17	completion	completion	NOUN
fcis-4602	50	18	time	time	NOUN
fcis-4602	50	19	of	of	ADP
fcis-4602	50	20	the	the	DET
fcis-4602	50	21	whole	whole	ADJ
fcis-4602	50	22	flight	flight	NOUN
fcis-4602	50	23	is	be	AUX
fcis-4602	50	24	tt	tt	PROPN
fcis-4602	50	25	.	.	PUNCT
fcis-4602	51	1	the	the	DET
fcis-4602	51	2	trajectory	trajectory	NOUN
fcis-4602	51	3	of	of	ADP
fcis-4602	51	4	the	the	DET
fcis-4602	51	5	rotary	rotary	NOUN
fcis-4602	51	6	-	-	PUNCT
fcis-4602	51	7	wing	wing	NOUN
fcis-4602	51	8	uav	uav	PROPN
fcis-4602	51	9	is	be	AUX
fcis-4602	51	10	denoted	denote	VERB
fcis-4602	51	11	as	as	ADP
fcis-4602	51	12	q(t	q(t	NOUN
fcis-4602	51	13	)	)	PUNCT
fcis-4602	51	14	with	with	ADP
fcis-4602	51	15	0	0	NUM
fcis-4602	51	16	<	<	X
fcis-4602	51	17	t	t	X
fcis-4602	51	18	<	<	X
fcis-4602	51	19	tt	tt	PROPN
fcis-4602	51	20	,	,	PUNCT
fcis-4602	51	21	which	which	PRON
fcis-4602	51	22	is	be	AUX
fcis-4602	51	23	a	a	DET
fcis-4602	51	24	two	two	NUM
fcis-4602	51	25	-	-	PUNCT
fcis-4602	51	26	dimensional	dimensional	ADJ
fcis-4602	51	27	vector	vector	NOUN
fcis-4602	51	28	representing	represent	VERB
fcis-4602	51	29	the	the	DET
fcis-4602	51	30	position	position	NOUN
fcis-4602	51	31	of	of	ADP
fcis-4602	51	32	the	the	DET
fcis-4602	51	33	uav	uav	PROPN
fcis-4602	51	34	(	(	PUNCT
fcis-4602	51	35	q(t	q(t	PROPN
fcis-4602	51	36	)	)	PUNCT
fcis-4602	51	37	∈	∈	NOUN
fcis-4602	52	1	[	[	X
fcis-4602	52	2	x(t	x(t	PROPN
fcis-4602	52	3	)	)	PUNCT
fcis-4602	52	4	,	,	PUNCT
fcis-4602	52	5	y(t	y(t	NOUN
fcis-4602	52	6	)	)	PUNCT
fcis-4602	52	7	]	]	PUNCT
fcis-4602	52	8	)	)	PUNCT
fcis-4602	52	9	.	.	PUNCT
fcis-4602	53	1	accordingly	accordingly	ADV
fcis-4602	53	2	,	,	PUNCT
fcis-4602	53	3	the	the	DET
fcis-4602	53	4	speed	speed	NOUN
fcis-4602	53	5	of	of	ADP
fcis-4602	53	6	the	the	DET
fcis-4602	53	7	uav	uav	PROPN
fcis-4602	53	8	v(t	v(t	PROPN
fcis-4602	53	9	)	)	PUNCT
fcis-4602	53	10	is	be	AUX
fcis-4602	53	11	the	the	DET
fcis-4602	53	12	derivative	derivative	NOUN
fcis-4602	53	13	of	of	ADP
fcis-4602	53	14	q(t	q(t	NOUN
fcis-4602	53	15	)	)	PUNCT
fcis-4602	53	16	under	under	ADP
fcis-4602	53	17	the	the	DET
fcis-4602	53	18	maximum	maximum	ADJ
fcis-4602	53	19	flying	fly	VERB
fcis-4602	53	20	speed	speed	NOUN
fcis-4602	53	21	constraint	constraint	NOUN
fcis-4602	53	22	vmax	vmax	PROPN
fcis-4602	53	23	.	.	PUNCT
fcis-4602	54	1	at	at	ADP
fcis-4602	54	2	time	time	NOUN
fcis-4602	54	3	t	t	PROPN
fcis-4602	54	4	∈	∈	PROPN
fcis-4602	55	1	[	[	X
fcis-4602	55	2	0	0	NUM
fcis-4602	55	3	,	,	PUNCT
fcis-4602	55	4	tt	tt	PROPN
fcis-4602	55	5	]	]	X
fcis-4602	55	6	,	,	PUNCT
fcis-4602	55	7	the	the	DET
fcis-4602	55	8	distance	distance	NOUN
fcis-4602	55	9	between	between	ADP
fcis-4602	55	10	the	the	DET
fcis-4602	55	11	uav	uav	PROPN
fcis-4602	55	12	and	and	CCONJ
fcis-4602	55	13	gn	gn	PROPN
fcis-4602	55	14	n	n	PROPN
fcis-4602	55	15	is	be	AUX
fcis-4602	55	16	calculated	calculate	VERB
fcis-4602	55	17	as	as	ADP
fcis-4602	55	18	dn(t	dn(t	NOUN
fcis-4602	55	19	)	)	PUNCT
fcis-4602	56	1	=	=	SYM
fcis-4602	56	2	^h2	^h2	X
fcis-4602	56	3	+	+	CCONJ
fcis-4602	56	4	∥q(t	∥q(t	ADJ
fcis-4602	56	5	)	)	PUNCT
fcis-4602	56	6	−	−	NUM
fcis-4602	56	7	wn∥2	wn∥2	NOUN
fcis-4602	56	8	.	.	PUNCT
fcis-4602	57	1	2.1.1	2.1.1	X
fcis-4602	57	2	.	.	PUNCT
fcis-4602	57	3	communication	communication	NOUN
fcis-4602	57	4	model	model	NOUN
fcis-4602	57	5	for	for	ADP
fcis-4602	57	6	simplicity	simplicity	NOUN
fcis-4602	57	7	,	,	PUNCT
fcis-4602	57	8	the	the	DET
fcis-4602	57	9	air	air	NOUN
fcis-4602	57	10	-	-	PUNCT
fcis-4602	57	11	to	to	ADP
fcis-4602	57	12	-	-	PUNCT
fcis-4602	57	13	ground	ground	NOUN
fcis-4602	57	14	(	(	PUNCT
fcis-4602	57	15	atg	atg	PROPN
fcis-4602	57	16	)	)	PUNCT
fcis-4602	57	17	links	link	NOUN
fcis-4602	57	18	are	be	AUX
fcis-4602	57	19	considered	consider	VERB
fcis-4602	57	20	to	to	PART
fcis-4602	57	21	be	be	AUX
fcis-4602	57	22	mainly	mainly	ADV
fcis-4602	57	23	los	los	PROPN
fcis-4602	57	24	links	link	NOUN
fcis-4602	57	25	,	,	PUNCT
fcis-4602	57	26	and	and	CCONJ
fcis-4602	57	27	the	the	DET
fcis-4602	57	28	none	none	NOUN
fcis-4602	57	29	-	-	PUNCT
fcis-4602	57	30	line	line	NOUN
fcis-4602	57	31	-	-	PUNCT
fcis-4602	57	32	of	of	ADP
fcis-4602	57	33	-	-	PUNCT
fcis-4602	57	34	sight	sight	NOUN
fcis-4602	57	35	(	(	PUNCT
fcis-4602	57	36	nlos	nlo	NOUN
fcis-4602	57	37	)	)	PUNCT
fcis-4602	57	38	channels	channel	NOUN
fcis-4602	57	39	in	in	ADP
fcis-4602	57	40	the	the	DET
fcis-4602	57	41	designed	design	VERB
fcis-4602	57	42	system	system	NOUN
fcis-4602	57	43	are	be	AUX
fcis-4602	57	44	ignored	ignore	VERB
fcis-4602	57	45	.	.	PUNCT
fcis-4602	58	1	this	this	PRON
fcis-4602	58	2	is	be	AUX
fcis-4602	58	3	because	because	SCONJ
fcis-4602	58	4	the	the	DET
fcis-4602	58	5	ability	ability	NOUN
fcis-4602	58	6	to	to	PART
fcis-4602	58	7	use	use	VERB
fcis-4602	58	8	los	los	PROPN
fcis-4602	58	9	links	link	NOUN
fcis-4602	58	10	more	more	ADV
fcis-4602	58	11	effectively	effectively	ADV
fcis-4602	58	12	is	be	AUX
fcis-4602	58	13	one	one	NUM
fcis-4602	58	14	of	of	ADP
fcis-4602	58	15	the	the	DET
fcis-4602	58	16	main	main	ADJ
fcis-4602	58	17	reasons	reason	NOUN
fcis-4602	58	18	for	for	ADP
fcis-4602	58	19	deploying	deploy	VERB
fcis-4602	58	20	the	the	DET
fcis-4602	58	21	fbs	fb	NOUN
fcis-4602	58	22	.	.	PUNCT
fcis-4602	59	1	correspondingly	correspondingly	ADV
fcis-4602	59	2	,	,	PUNCT
fcis-4602	59	3	let	let	AUX
fcis-4602	59	4	hn(t	hn(t	PRON
fcis-4602	59	5	)	)	PUNCT
fcis-4602	59	6	denote	denote	VERB
fcis-4602	59	7	the	the	DET
fcis-4602	59	8	path	path	NOUN
fcis-4602	59	9	-	-	PUNCT
fcis-4602	59	10	varying	vary	VERB
fcis-4602	59	11	channel	channel	NOUN
fcis-4602	59	12	for	for	ADP
fcis-4602	59	13	n	n	PROPN
fcis-4602	59	14	−	−	PROPN
fcis-4602	59	15	th	th	INTJ
fcis-4602	59	16	gn	gn	PROPN
fcis-4602	59	17	at	at	ADP
fcis-4602	59	18	time	time	NOUN
fcis-4602	59	19	t	t	PROPN
fcis-4602	59	20	,	,	PUNCT
fcis-4602	59	21	which	which	PRON
fcis-4602	59	22	is	be	AUX
fcis-4602	59	23	given	give	VERB
fcis-4602	59	24	where	where	SCONJ
fcis-4602	59	25	β0	β0	PROPN
fcis-4602	59	26	is	be	AUX
fcis-4602	59	27	the	the	DET
fcis-4602	59	28	channel	channel	NOUN
fcis-4602	59	29	power	power	NOUN
fcis-4602	59	30	when	when	SCONJ
fcis-4602	59	31	the	the	DET
fcis-4602	59	32	distance	distance	NOUN
fcis-4602	59	33	between	between	ADP
fcis-4602	59	34	senders	sender	NOUN
fcis-4602	59	35	and	and	CCONJ
fcis-4602	59	36	receivers	receiver	NOUN
fcis-4602	59	37	is	be	AUX
fcis-4602	59	38	d0	d0	NOUN
fcis-4602	59	39	=	=	SYM
fcis-4602	59	40	1	1	NUM
fcis-4602	59	41	m	m	NOUN
fcis-4602	59	42	and	and	CCONJ
fcis-4602	59	43	means	mean	VERB
fcis-4602	59	44	the	the	DET
fcis-4602	59	45	path	path	NOUN
fcis-4602	59	46	loss	loss	NOUN
fcis-4602	59	47	exponent	exponent	NOUN
fcis-4602	59	48	.	.	PUNCT
fcis-4602	60	1	the	the	DET
fcis-4602	60	2	variable	variable	ADJ
fcis-4602	60	3	gn(t	gn(t	PUNCT
fcis-4602	60	4	)	)	PUNCT
fcis-4602	60	5	is	be	AUX
fcis-4602	60	6	the	the	DET
fcis-4602	60	7	channel	channel	NOUN
fcis-4602	60	8	coefficient	coefficient	NOUN
fcis-4602	60	9	representing	represent	VERB
fcis-4602	60	10	the	the	DET
fcis-4602	60	11	shadowing	shadowing	NOUN
fcis-4602	60	12	and	and	CCONJ
fcis-4602	60	13	the	the	DET
fcis-4602	60	14	small	small	ADJ
fcis-4602	60	15	-	-	PUNCT
fcis-4602	60	16	scale	scale	NOUN
fcis-4602	60	17	fading	fade	VERB
fcis-4602	60	18	effect	effect	NOUN
fcis-4602	60	19	for	for	ADP
fcis-4602	60	20	figure	figure	NOUN
fcis-4602	60	21	1	1	NUM
fcis-4602	60	22	.	.	PUNCT
fcis-4602	60	23	system	system	NOUN
fcis-4602	60	24	model	model	NOUN
fcis-4602	60	25	map	map	VERB
fcis-4602	60	26	the	the	DET
fcis-4602	60	27	n	n	ADV
fcis-4602	60	28	-	-	PUNCT
fcis-4602	60	29	th	th	X
fcis-4602	60	30	gn	gn	NOUN
fcis-4602	60	31	at	at	ADP
fcis-4602	60	32	time	time	NOUN
fcis-4602	60	33	t.	t.	PROPN
fcis-4602	60	34	correspondingly	correspondingly	ADV
fcis-4602	60	35	,	,	PUNCT
fcis-4602	60	36	it	it	PRON
fcis-4602	60	37	is	be	AUX
fcis-4602	60	38	shown	show	VERB
fcis-4602	60	39	that	that	SCONJ
fcis-4602	60	40	e	e	NOUN
fcis-4602	61	1	[	[	X
fcis-4602	61	2	|gn(t)|2	|gn(t)|2	X
fcis-4602	61	3	]	]	X
fcis-4602	61	4	=	=	SYM
fcis-4602	61	5	1	1	NUM
fcis-4602	62	1	[	[	X
fcis-4602	62	2	20	20	NUM
fcis-4602	62	3	]	]	PUNCT
fcis-4602	62	4	.	.	PUNCT
fcis-4602	63	1	accordingly	accordingly	ADV
fcis-4602	63	2	,	,	PUNCT
fcis-4602	63	3	the	the	DET
fcis-4602	63	4	achievable	achievable	ADJ
fcis-4602	63	5	transmission	transmission	NOUN
fcis-4602	63	6	rate	rate	NOUN
fcis-4602	63	7	in	in	ADP
fcis-4602	63	8	bits	bit	NOUN
fcis-4602	63	9	per	per	ADP
fcis-4602	63	10	second	second	ADJ
fcis-4602	63	11	(	(	PUNCT
fcis-4602	63	12	bps	bps	NOUN
fcis-4602	63	13	)	)	PUNCT
fcis-4602	63	14	for	for	ADP
fcis-4602	63	15	the	the	DET
fcis-4602	63	16	uav	uav	PROPN
fcis-4602	63	17	communicating	communicate	VERB
fcis-4602	63	18	to	to	ADP
fcis-4602	63	19	gn	gn	PROPN
fcis-4602	63	20	n	n	PROPN
fcis-4602	63	21	at	at	ADP
fcis-4602	63	22	time	time	NOUN
fcis-4602	63	23	t	t	PROPN
fcis-4602	63	24	can	can	AUX
fcis-4602	63	25	be	be	AUX
fcis-4602	63	26	expressed	express	VERB
fcis-4602	63	27	as	as	ADP
fcis-4602	63	28	where	where	SCONJ
fcis-4602	63	29	b	b	NOUN
fcis-4602	63	30	is	be	AUX
fcis-4602	63	31	the	the	DET
fcis-4602	63	32	channel	channel	NOUN
fcis-4602	63	33	bandwidth	bandwidth	NOUN
fcis-4602	63	34	,	,	PUNCT
fcis-4602	63	35	γ	γ	X
fcis-4602	63	36	>	>	X
fcis-4602	63	37	1	1	NUM
fcis-4602	63	38	represents	represent	VERB
fcis-4602	63	39	the	the	DET
fcis-4602	63	40	gap	gap	NOUN
fcis-4602	63	41	between	between	ADP
fcis-4602	63	42	actual	actual	ADJ
fcis-4602	63	43	and	and	CCONJ
fcis-4602	63	44	ideal	ideal	ADJ
fcis-4602	63	45	channel	channel	NOUN
fcis-4602	63	46	capacity	capacity	NOUN
fcis-4602	63	47	.	.	PUNCT
fcis-4602	64	1	p	p	NOUN
fcis-4602	64	2	denotes	denote	VERB
fcis-4602	64	3	the	the	DET
fcis-4602	64	4	transmission	transmission	NOUN
fcis-4602	64	5	power	power	NOUN
fcis-4602	64	6	of	of	ADP
fcis-4602	64	7	the	the	DET
fcis-4602	64	8	uav	uav	PROPN
fcis-4602	64	9	,	,	PUNCT
fcis-4602	64	10	and	and	CCONJ
fcis-4602	64	11	σ	σ	PROPN
fcis-4602	64	12	2	2	NUM
fcis-4602	64	13	is	be	AUX
fcis-4602	64	14	the	the	DET
fcis-4602	64	15	noise	noise	NOUN
fcis-4602	64	16	power	power	NOUN
fcis-4602	64	17	.	.	PUNCT
fcis-4602	65	1	then	then	ADV
fcis-4602	65	2	a	a	DET
fcis-4602	65	3	binary	binary	ADJ
fcis-4602	65	4	variable	variable	NOUN
fcis-4602	65	5	is	be	AUX
fcis-4602	65	6	considered	consider	VERB
fcis-4602	65	7	as	as	ADP
fcis-4602	65	8	λn(t	λn(t	NUM
fcis-4602	65	9	)	)	PUNCT
fcis-4602	65	10	,	,	PUNCT
fcis-4602	65	11	which	which	PRON
fcis-4602	65	12	indicates	indicate	VERB
fcis-4602	65	13	whether	whether	SCONJ
fcis-4602	65	14	the	the	DET
fcis-4602	65	15	ground	ground	NOUN
fcis-4602	65	16	node	node	NOUN
fcis-4602	65	17	n	n	VERB
fcis-4602	65	18	is	be	AUX
fcis-4602	65	19	scheduled	schedule	VERB
fcis-4602	65	20	at	at	ADP
fcis-4602	65	21	time	time	NOUN
fcis-4602	65	22	t.	t.	PROPN
fcis-4602	65	23	this	this	DET
fcis-4602	65	24	paper	paper	NOUN
fcis-4602	65	25	applies	apply	VERB
fcis-4602	65	26	the	the	DET
fcis-4602	65	27	time	time	NOUN
fcis-4602	65	28	-	-	PUNCT
fcis-4602	65	29	division	division	NOUN
fcis-4602	65	30	multiple	multiple	ADJ
fcis-4602	65	31	access	access	NOUN
fcis-4602	65	32	(	(	PUNCT
fcis-4602	65	33	tdma	tdma	PROPN
fcis-4602	65	34	)	)	PUNCT
fcis-4602	65	35	protocol	protocol	NOUN
fcis-4602	65	36	.	.	PUNCT
fcis-4602	66	1	it	it	PRON
fcis-4602	66	2	requires	require	VERB
fcis-4602	66	3	that	that	SCONJ
fcis-4602	66	4	the	the	DET
fcis-4602	66	5	uav	uav	PROPN
fcis-4602	66	6	can	can	AUX
fcis-4602	66	7	only	only	ADV
fcis-4602	66	8	communicate	communicate	VERB
fcis-4602	66	9	to	to	ADP
fcis-4602	66	10	zero	zero	NUM
fcis-4602	66	11	and	and	CCONJ
fcis-4602	66	12	one	one	NUM
fcis-4602	66	13	gn	gn	INTJ
fcis-4602	66	14	at	at	ADP
fcis-4602	66	15	one	one	NUM
fcis-4602	66	16	time	time	NOUN
fcis-4602	66	17	,	,	PUNCT
fcis-4602	66	18	and	and	CCONJ
fcis-4602	66	19	the	the	DET
fcis-4602	66	20	relevant	relevant	ADJ
fcis-4602	66	21	inequality	inequality	NOUN
fcis-4602	66	22	is	be	AUX
fcis-4602	66	23	written	write	VERB
fcis-4602	66	24	as	as	ADP
fcis-4602	66	25	then	then	ADV
fcis-4602	66	26	,	,	PUNCT
fcis-4602	66	27	the	the	DET
fcis-4602	66	28	function	function	NOUN
fcis-4602	66	29	of	of	ADP
fcis-4602	66	30	the	the	DET
fcis-4602	66	31	aggregated	aggregate	VERB
fcis-4602	66	32	expected	expect	VERB
fcis-4602	66	33	throughput	throughput	NOUN
fcis-4602	66	34	for	for	ADP
fcis-4602	66	35	node	node	NOUN
fcis-4602	66	36	n	n	NUM
fcis-4602	66	37	is	be	AUX
fcis-4602	66	38	however	however	ADV
fcis-4602	66	39	,	,	PUNCT
fcis-4602	66	40	hn(t	hn(t	NUM
fcis-4602	66	41	)	)	PUNCT
fcis-4602	66	42	varies	vary	VERB
fcis-4602	66	43	with	with	ADP
fcis-4602	66	44	time	time	NOUN
fcis-4602	66	45	,	,	PUNCT
fcis-4602	66	46	and	and	CCONJ
fcis-4602	66	47	the	the	DET
fcis-4602	66	48	aggregated	aggregate	VERB
fcis-4602	66	49	expected	expect	VERB
fcis-4602	66	50	throughput	throughput	NOUN
fcis-4602	66	51	is	be	AUX
fcis-4602	66	52	hard	hard	ADJ
fcis-4602	66	53	to	to	PART
fcis-4602	66	54	calculate	calculate	VERB
fcis-4602	66	55	while	while	SCONJ
fcis-4602	66	56	the	the	DET
fcis-4602	66	57	expected	expect	VERB
fcis-4602	66	58	throughput	throughput	NOUN
fcis-4602	66	59	n	n	PRON
fcis-4602	66	60	can	can	AUX
fcis-4602	66	61	be	be	AUX
fcis-4602	66	62	used	use	VERB
fcis-4602	66	63	to	to	PART
fcis-4602	66	64	replace	replace	VERB
fcis-4602	66	65	n.	n.	NOUN
fcis-4602	66	66	it	it	PRON
fcis-4602	66	67	can	can	AUX
fcis-4602	66	68	be	be	AUX
fcis-4602	66	69	given	give	VERB
fcis-4602	66	70	by	by	ADP
fcis-4602	66	71	where	where	SCONJ
fcis-4602	66	72	γ0	γ0	NOUN
fcis-4602	66	73	is	be	AUX
fcis-4602	66	74	the	the	DET
fcis-4602	66	75	signal	signal	NOUN
fcis-4602	66	76	-	-	PUNCT
fcis-4602	66	77	to	to	ADP
fcis-4602	66	78	-	-	PUNCT
fcis-4602	66	79	noise	noise	NOUN
fcis-4602	66	80	ratio	ratio	NOUN
fcis-4602	66	81	(	(	PUNCT
fcis-4602	66	82	snr	snr	NOUN
fcis-4602	66	83	)	)	PUNCT
fcis-4602	66	84	rate	rate	NOUN
fcis-4602	66	85	which	which	PRON
fcis-4602	66	86	is	be	AUX
fcis-4602	66	87	equal	equal	ADJ
fcis-4602	66	88	to	to	ADP
fcis-4602	66	89	,	,	PUNCT
fcis-4602	66	90	and	and	CCONJ
fcis-4602	66	91	α	α	PRON
fcis-4602	66	92	is	be	AUX
fcis-4602	66	93	the	the	DET
fcis-4602	66	94	expected	expect	VERB
fcis-4602	66	95	path	path	NOUN
fcis-4602	66	96	loss	loss	NOUN
fcis-4602	66	97	exponent	exponent	NOUN
fcis-4602	66	98	where	where	SCONJ
fcis-4602	66	99	α	α	NOUN
fcis-4602	66	100	=	=	X
fcis-4602	66	101	.	.	PUNCT
fcis-4602	67	1	2.1.2	2.1.2	X
fcis-4602	67	2	.	.	PUNCT
fcis-4602	67	3	energy	energy	NOUN
fcis-4602	67	4	consumption	consumption	NOUN
fcis-4602	67	5	model	model	NOUN
fcis-4602	67	6	the	the	DET
fcis-4602	67	7	energy	energy	NOUN
fcis-4602	67	8	consumption	consumption	NOUN
fcis-4602	67	9	of	of	ADP
fcis-4602	67	10	the	the	DET
fcis-4602	67	11	rotary	rotary	NOUN
fcis-4602	67	12	-	-	PUNCT
fcis-4602	67	13	wing	wing	NOUN
fcis-4602	67	14	uav	uav	PROPN
fcis-4602	67	15	as	as	SCONJ
fcis-4602	67	16	the	the	DET
fcis-4602	67	17	objective	objective	ADJ
fcis-4602	67	18	function	function	NOUN
fcis-4602	67	19	can	can	AUX
fcis-4602	67	20	be	be	AUX
fcis-4602	67	21	divided	divide	VERB
fcis-4602	67	22	into	into	ADP
fcis-4602	67	23	propulsion	propulsion	NOUN
fcis-4602	67	24	energy	energy	NOUN
fcis-4602	67	25	consumption	consumption	NOUN
fcis-4602	67	26	and	and	CCONJ
fcis-4602	67	27	communication	communication	NOUN
fcis-4602	67	28	energy	energy	NOUN
fcis-4602	67	29	consumption	consumption	NOUN
fcis-4602	67	30	.	.	PUNCT
fcis-4602	68	1	the	the	DET
fcis-4602	68	2	propulsion	propulsion	NOUN
fcis-4602	68	3	power	power	NOUN
fcis-4602	68	4	consumption	consumption	NOUN
fcis-4602	68	5	[	[	X
fcis-4602	68	6	19	19	NUM
fcis-4602	68	7	]	]	PUNCT
fcis-4602	68	8	is	be	AUX
fcis-4602	68	9	where	where	SCONJ
fcis-4602	68	10	p0	p0	NOUN
fcis-4602	68	11	is	be	AUX
fcis-4602	68	12	the	the	DET
fcis-4602	68	13	blade	blade	NOUN
fcis-4602	68	14	profile	profile	NOUN
fcis-4602	68	15	power	power	NOUN
fcis-4602	68	16	and	and	CCONJ
fcis-4602	68	17	pi	pi	NOUN
fcis-4602	68	18	is	be	AUX
fcis-4602	68	19	the	the	DET
fcis-4602	68	20	hovering	hovering	ADJ
fcis-4602	68	21	induced	induced	ADJ
fcis-4602	68	22	power	power	NOUN
fcis-4602	68	23	.	.	PUNCT
fcis-4602	69	1	v0	v0	NOUN
fcis-4602	69	2	is	be	AUX
fcis-4602	69	3	the	the	DET
fcis-4602	69	4	mean	mean	ADJ
fcis-4602	69	5	rotor	rotor	NOUN
fcis-4602	69	6	-	-	PUNCT
fcis-4602	69	7	induced	induce	VERB
fcis-4602	69	8	velocity	velocity	NOUN
fcis-4602	69	9	when	when	SCONJ
fcis-4602	69	10	the	the	DET
fcis-4602	69	11	uav	uav	PROPN
fcis-4602	69	12	is	be	AUX
fcis-4602	69	13	hovering	hover	VERB
fcis-4602	69	14	,	,	PUNCT
fcis-4602	69	15	utip	utip	NOUN
fcis-4602	69	16	is	be	AUX
fcis-4602	69	17	the	the	DET
fcis-4602	69	18	tip	tip	NOUN
fcis-4602	69	19	speed	speed	NOUN
fcis-4602	69	20	of	of	ADP
fcis-4602	69	21	the	the	DET
fcis-4602	69	22	rotor	rotor	NOUN
fcis-4602	69	23	blade	blade	NOUN
fcis-4602	69	24	,	,	PUNCT
fcis-4602	69	25	d0	d0	PROPN
fcis-4602	69	26	is	be	AUX
fcis-4602	69	27	the	the	DET
fcis-4602	69	28	fuselage	fuselage	NOUN
fcis-4602	69	29	drag	drag	NOUN
fcis-4602	69	30	ratio	ratio	NOUN
fcis-4602	69	31	,	,	PUNCT
fcis-4602	69	32	and	and	CCONJ
fcis-4602	69	33	ρ	ρ	NOUN
fcis-4602	69	34	presents	present	VERB
fcis-4602	69	35	the	the	DET
fcis-4602	69	36	air	air	NOUN
fcis-4602	69	37	density	density	NOUN
fcis-4602	69	38	.	.	PUNCT
fcis-4602	70	1	s	s	PART
fcis-4602	70	2	is	be	AUX
fcis-4602	70	3	the	the	DET
fcis-4602	70	4	rotor	rotor	NOUN
fcis-4602	70	5	solidity	solidity	NOUN
fcis-4602	70	6	,	,	PUNCT
fcis-4602	70	7	and	and	CCONJ
fcis-4602	70	8	a	a	DET
fcis-4602	70	9	presents	present	NOUN
fcis-4602	70	10	the	the	DET
fcis-4602	70	11	rotor	rotor	NOUN
fcis-4602	70	12	disc	disc	NOUN
fcis-4602	70	13	area	area	NOUN
fcis-4602	70	14	.	.	PUNCT
fcis-4602	71	1	then	then	ADV
fcis-4602	71	2	,	,	PUNCT
fcis-4602	71	3	the	the	DET
fcis-4602	71	4	communication	communication	NOUN
fcis-4602	71	5	power	power	NOUN
fcis-4602	71	6	consumption	consumption	NOUN
fcis-4602	71	7	is	be	AUX
fcis-4602	71	8	given	give	VERB
fcis-4602	71	9	as	as	ADP
fcis-4602	71	10	a	a	DET
fcis-4602	71	11	fixed	fix	VERB
fcis-4602	71	12	constant	constant	ADJ
fcis-4602	71	13	pc	pc	NOUN
fcis-4602	71	14	.	.	PUNCT
fcis-4602	72	1	additionally	additionally	ADV
fcis-4602	72	2	,	,	PUNCT
fcis-4602	72	3	when	when	SCONJ
fcis-4602	72	4	the	the	DET
fcis-4602	72	5	uav	uav	PROPN
fcis-4602	72	6	is	be	AUX
fcis-4602	72	7	hovering	hover	VERB
fcis-4602	72	8	,	,	PUNCT
fcis-4602	72	9	the	the	DET
fcis-4602	72	10	propulsion	propulsion	NOUN
fcis-4602	72	11	power	power	NOUN
fcis-4602	72	12	consumption	consumption	NOUN
fcis-4602	72	13	of	of	ADP
fcis-4602	72	14	hovering	hover	VERB
fcis-4602	72	15	status	status	NOUN
fcis-4602	72	16	can	can	AUX
fcis-4602	72	17	be	be	AUX
fcis-4602	72	18	obtained	obtain	VERB
fcis-4602	72	19	when	when	SCONJ
fcis-4602	72	20	the	the	DET
fcis-4602	72	21	uav	uav	PROPN
fcis-4602	72	22	speed	speed	NOUN
fcis-4602	72	23	is	be	AUX
fcis-4602	72	24	equal	equal	ADJ
fcis-4602	72	25	to	to	ADP
fcis-4602	72	26	zero	zero	NUM
fcis-4602	72	27	in	in	ADP
fcis-4602	72	28	(	(	PUNCT
fcis-4602	72	29	6	6	NUM
fcis-4602	72	30	)	)	PUNCT
fcis-4602	72	31	,	,	PUNCT
fcis-4602	72	32	which	which	PRON
fcis-4602	72	33	is	be	AUX
fcis-4602	72	34	phover	phover	ADJ
fcis-4602	72	35	=	=	SYM
fcis-4602	72	36	p0	p0	NOUN
fcis-4602	72	37	+	+	CCONJ
fcis-4602	73	1	pi	pi	NOUN
fcis-4602	73	2	.	.	PROPN
fcis-4602	74	1	91	91	NUM
fcis-4602	74	2	to	to	PART
fcis-4602	74	3	be	be	AUX
fcis-4602	74	4	more	more	ADV
fcis-4602	74	5	specific	specific	ADJ
fcis-4602	74	6	,	,	PUNCT
fcis-4602	74	7	p0	p0	NOUN
fcis-4602	74	8	and	and	CCONJ
fcis-4602	74	9	pi	pi	NOUN
fcis-4602	74	10	can	can	AUX
fcis-4602	74	11	be	be	AUX
fcis-4602	74	12	expressed	express	VERB
fcis-4602	74	13	as	as	ADP
fcis-4602	74	14	where	where	SCONJ
fcis-4602	74	15	δ	δ	PROPN
fcis-4602	74	16	is	be	AUX
fcis-4602	74	17	profile	profile	ADP
fcis-4602	74	18	drag	drag	NOUN
fcis-4602	74	19	coefficient	coefficient	NOUN
fcis-4602	74	20	,	,	PUNCT
fcis-4602	74	21	ω	ω	PROPN
fcis-4602	74	22	is	be	AUX
fcis-4602	74	23	the	the	DET
fcis-4602	74	24	blade	blade	NOUN
fcis-4602	74	25	angular	angular	ADJ
fcis-4602	74	26	velocity	velocity	NOUN
fcis-4602	74	27	,	,	PUNCT
fcis-4602	74	28	and	and	CCONJ
fcis-4602	74	29	r	r	NOUN
fcis-4602	74	30	is	be	AUX
fcis-4602	74	31	rotor	rotor	NOUN
fcis-4602	74	32	radius	radius	NOUN
fcis-4602	74	33	in	in	ADP
fcis-4602	74	34	p0	p0	NOUN
fcis-4602	74	35	.	.	PUNCT
fcis-4602	75	1	furthermore	furthermore	ADV
fcis-4602	75	2	,	,	PUNCT
fcis-4602	75	3	in	in	ADP
fcis-4602	75	4	pi	pi	NOUN
fcis-4602	75	5	,	,	PUNCT
fcis-4602	75	6	and	and	CCONJ
fcis-4602	75	7	κ	κ	NOUN
fcis-4602	75	8	is	be	AUX
fcis-4602	75	9	incremental	incremental	ADJ
fcis-4602	75	10	correction	correction	NOUN
fcis-4602	75	11	factor	factor	NOUN
fcis-4602	75	12	to	to	ADP
fcis-4602	75	13	induced	induced	ADJ
fcis-4602	75	14	power	power	NOUN
fcis-4602	75	15	while	while	SCONJ
fcis-4602	75	16	w	w	NOUN
fcis-4602	75	17	is	be	AUX
fcis-4602	75	18	the	the	DET
fcis-4602	75	19	aircraft	aircraft	NOUN
fcis-4602	75	20	weight	weight	NOUN
fcis-4602	75	21	.	.	PUNCT
fcis-4602	76	1	therefore	therefore	ADV
fcis-4602	76	2	,	,	PUNCT
fcis-4602	76	3	the	the	DET
fcis-4602	76	4	total	total	ADJ
fcis-4602	76	5	energy	energy	NOUN
fcis-4602	76	6	consumption	consumption	NOUN
fcis-4602	76	7	is	be	AUX
fcis-4602	76	8	denoted	denote	VERB
fcis-4602	76	9	as	as	ADP
fcis-4602	76	10	e	e	PROPN
fcis-4602	76	11	(	(	PUNCT
fcis-4602	76	12	tt	tt	PROPN
fcis-4602	76	13	,	,	PUNCT
fcis-4602	76	14	{	{	PUNCT
fcis-4602	76	15	q(t	q(t	PROPN
fcis-4602	76	16	)	)	PUNCT
fcis-4602	76	17	,	,	PUNCT
fcis-4602	76	18	{	{	PUNCT
fcis-4602	76	19	λn(t	λn(t	NUM
fcis-4602	76	20	)	)	PUNCT
fcis-4602	76	21	)	)	PUNCT
fcis-4602	76	22	,	,	PUNCT
fcis-4602	76	23	which	which	PRON
fcis-4602	76	24	is	be	AUX
fcis-4602	76	25	then	then	ADV
fcis-4602	76	26	,	,	PUNCT
fcis-4602	76	27	the	the	DET
fcis-4602	76	28	optimization	optimization	NOUN
fcis-4602	76	29	problem	problem	NOUN
fcis-4602	76	30	is	be	AUX
fcis-4602	76	31	formulated	formulate	VERB
fcis-4602	76	32	based	base	VERB
fcis-4602	76	33	on	on	ADP
fcis-4602	76	34	the	the	DET
fcis-4602	76	35	rotary	rotary	NOUN
fcis-4602	76	36	-	-	PUNCT
fcis-4602	76	37	wing	wing	NOUN
fcis-4602	76	38	uav	uav	PROPN
fcis-4602	76	39	energy	energy	NOUN
fcis-4602	76	40	consumption	consumption	NOUN
fcis-4602	76	41	model	model	NOUN
fcis-4602	76	42	,	,	PUNCT
fcis-4602	76	43	subjecting	subject	VERB
fcis-4602	76	44	to	to	ADP
fcis-4602	76	45	the	the	DET
fcis-4602	76	46	required	require	VERB
fcis-4602	76	47	communication	communication	NOUN
fcis-4602	76	48	throughput	throughput	NOUN
fcis-4602	76	49	and	and	CCONJ
fcis-4602	76	50	maximum	maximum	ADJ
fcis-4602	76	51	flying	fly	VERB
fcis-4602	76	52	speed	speed	NOUN
fcis-4602	76	53	limit	limit	NOUN
fcis-4602	76	54	.	.	PUNCT
fcis-4602	77	1	2.2	2.2	NUM
fcis-4602	77	2	.	.	PUNCT
fcis-4602	78	1	problem	problem	NOUN
fcis-4602	78	2	formulation	formulation	NOUN
fcis-4602	78	3	the	the	DET
fcis-4602	78	4	uav	uav	PROPN
fcis-4602	78	5	trajectory	trajectory	PROPN
fcis-4602	78	6	optimization	optimization	NOUN
fcis-4602	78	7	problem	problem	NOUN
fcis-4602	78	8	(	(	PUNCT
fcis-4602	78	9	p	p	NOUN
fcis-4602	78	10	1	1	NUM
fcis-4602	78	11	)	)	PUNCT
fcis-4602	78	12	based	base	VERB
fcis-4602	78	13	on	on	ADP
fcis-4602	78	14	the	the	DET
fcis-4602	78	15	designed	design	VERB
fcis-4602	78	16	system	system	NOUN
fcis-4602	78	17	model	model	NOUN
fcis-4602	78	18	is	be	AUX
fcis-4602	78	19	formed	form	VERB
fcis-4602	78	20	as	as	ADP
fcis-4602	78	21	where	where	SCONJ
fcis-4602	78	22	vmax	vmax	PROPN
fcis-4602	78	23	is	be	AUX
fcis-4602	78	24	the	the	DET
fcis-4602	78	25	maximum	maximum	PROPN
fcis-4602	78	26	uav	uav	PROPN
fcis-4602	78	27	speed	speed	NOUN
fcis-4602	78	28	,	,	PUNCT
fcis-4602	78	29	and	and	CCONJ
fcis-4602	78	30	qn	qn	NOUN
fcis-4602	78	31	is	be	AUX
fcis-4602	78	32	a	a	DET
fcis-4602	78	33	given	give	VERB
fcis-4602	78	34	expected	expect	VERB
fcis-4602	78	35	required	require	VERB
fcis-4602	78	36	communication	communication	NOUN
fcis-4602	78	37	throughput	throughput	NOUN
fcis-4602	78	38	for	for	ADP
fcis-4602	78	39	gn	gn	PROPN
fcis-4602	78	40	n.	n.	PROPN
fcis-4602	78	41	furthermore	furthermore	ADV
fcis-4602	78	42	,	,	PUNCT
fcis-4602	78	43	constraint	constraint	NOUN
fcis-4602	78	44	(	(	PUNCT
fcis-4602	78	45	5c	5c	NUM
fcis-4602	78	46	)	)	PUNCT
fcis-4602	78	47	indicates	indicate	VERB
fcis-4602	78	48	the	the	DET
fcis-4602	78	49	closed	closed	ADJ
fcis-4602	78	50	uav	uav	PROPN
fcis-4602	78	51	trajectory	trajectory	NOUN
fcis-4602	78	52	,	,	PUNCT
fcis-4602	78	53	and	and	CCONJ
fcis-4602	78	54	the	the	DET
fcis-4602	78	55	q0	q0	PROPN
fcis-4602	78	56	is	be	AUX
fcis-4602	78	57	the	the	DET
fcis-4602	78	58	starting	starting	NOUN
fcis-4602	78	59	point	point	NOUN
fcis-4602	78	60	for	for	ADP
fcis-4602	78	61	the	the	DET
fcis-4602	78	62	departure	departure	NOUN
fcis-4602	78	63	of	of	ADP
fcis-4602	78	64	the	the	DET
fcis-4602	78	65	uav	uav	PROPN
fcis-4602	78	66	.	.	PUNCT
fcis-4602	79	1	the	the	DET
fcis-4602	79	2	uav	uav	PROPN
fcis-4602	79	3	is	be	AUX
fcis-4602	79	4	also	also	ADV
fcis-4602	79	5	required	require	VERB
fcis-4602	79	6	to	to	PART
fcis-4602	79	7	fly	fly	VERB
fcis-4602	79	8	within	within	ADP
fcis-4602	79	9	the	the	DET
fcis-4602	79	10	range	range	NOUN
fcis-4602	79	11	of	of	ADP
fcis-4602	79	12	the	the	DET
fcis-4602	79	13	virtual	virtual	ADJ
fcis-4602	79	14	map	map	NOUN
fcis-4602	79	15	shown	show	VERB
fcis-4602	79	16	in	in	ADP
fcis-4602	79	17	constraints	constraint	NOUN
fcis-4602	79	18	(	(	PUNCT
fcis-4602	79	19	10d	10d	NUM
fcis-4602	79	20	)	)	PUNCT
fcis-4602	79	21	and	and	CCONJ
fcis-4602	79	22	(	(	PUNCT
fcis-4602	79	23	10e	10e	NOUN
fcis-4602	79	24	)	)	PUNCT
fcis-4602	79	25	.	.	PUNCT
fcis-4602	80	1	to	to	PART
fcis-4602	80	2	handle	handle	VERB
fcis-4602	80	3	this	this	DET
fcis-4602	80	4	non	non	ADJ
fcis-4602	80	5	-	-	ADJ
fcis-4602	80	6	convex	convex	ADJ
fcis-4602	80	7	continuous	continuous	ADJ
fcis-4602	80	8	optimization	optimization	NOUN
fcis-4602	80	9	problem	problem	NOUN
fcis-4602	80	10	,	,	PUNCT
fcis-4602	80	11	this	this	DET
fcis-4602	80	12	work	work	NOUN
fcis-4602	80	13	applies	apply	VERB
fcis-4602	80	14	two	two	NUM
fcis-4602	80	15	different	different	ADJ
fcis-4602	80	16	uav	uav	PROPN
fcis-4602	80	17	-	-	PUNCT
fcis-4602	80	18	to	to	ADP
fcis-4602	80	19	-	-	PUNCT
fcis-4602	80	20	ground	ground	NOUN
fcis-4602	80	21	com	com	NOUN
fcis-4602	80	22	munication	munication	NOUN
fcis-4602	80	23	schemes	scheme	NOUN
fcis-4602	80	24	from	from	ADP
fcis-4602	80	25	the	the	DET
fcis-4602	80	26	one	one	NUM
fcis-4602	80	27	-	-	PUNCT
fcis-4602	80	28	way	way	NOUN
fcis-4602	80	29	trajectory	trajectory	NOUN
fcis-4602	80	30	design	design	NOUN
fcis-4602	80	31	to	to	ADP
fcis-4602	80	32	the	the	DET
fcis-4602	80	33	proposed	propose	VERB
fcis-4602	80	34	system	system	NOUN
fcis-4602	80	35	model	model	NOUN
fcis-4602	80	36	with	with	ADP
fcis-4602	80	37	a	a	DET
fcis-4602	80	38	closed	closed	ADJ
fcis-4602	80	39	trajectory	trajectory	NOUN
fcis-4602	80	40	.	.	PUNCT
fcis-4602	81	1	the	the	DET
fcis-4602	81	2	first	first	ADJ
fcis-4602	81	3	one	one	NUM
fcis-4602	81	4	is	be	AUX
fcis-4602	81	5	the	the	DET
fcis-4602	81	6	fly	fly	NOUN
fcis-4602	81	7	-	-	PUNCT
fcis-4602	81	8	hover	hover	NOUN
fcis-4602	81	9	-	-	PUNCT
fcis-4602	81	10	communicate	communicate	VERB
fcis-4602	81	11	protocol	protocol	NOUN
fcis-4602	81	12	as	as	ADP
fcis-4602	81	13	the	the	DET
fcis-4602	81	14	benchmark	benchmark	NOUN
fcis-4602	81	15	for	for	ADP
fcis-4602	81	16	comparison	comparison	NOUN
fcis-4602	81	17	.	.	PUNCT
fcis-4602	82	1	this	this	PRON
fcis-4602	82	2	means	mean	VERB
fcis-4602	82	3	the	the	DET
fcis-4602	82	4	uav	uav	PROPN
fcis-4602	82	5	continuously	continuously	ADV
fcis-4602	82	6	visits	visit	VERB
fcis-4602	82	7	the	the	DET
fcis-4602	82	8	same	same	ADJ
fcis-4602	82	9	number	number	NOUN
fcis-4602	82	10	of	of	ADP
fcis-4602	82	11	hover	hover	NOUN
fcis-4602	82	12	locations	location	NOUN
fcis-4602	82	13	as	as	ADP
fcis-4602	82	14	gns	gns	NOUN
fcis-4602	82	15	,	,	PUNCT
fcis-4602	82	16	communicating	communicate	VERB
fcis-4602	82	17	with	with	ADP
fcis-4602	82	18	a	a	DET
fcis-4602	82	19	corresponding	correspond	VERB
fcis-4602	82	20	gn	gn	PROPN
fcis-4602	82	21	at	at	ADP
fcis-4602	82	22	each	each	DET
fcis-4602	82	23	location	location	NOUN
fcis-4602	82	24	as	as	SCONJ
fcis-4602	82	25	it	it	PRON
fcis-4602	82	26	hovers	hover	VERB
fcis-4602	82	27	.	.	PUNCT
fcis-4602	83	1	in	in	ADP
fcis-4602	83	2	this	this	DET
fcis-4602	83	3	way	way	NOUN
fcis-4602	83	4	,	,	PUNCT
fcis-4602	83	5	the	the	DET
fcis-4602	83	6	problem	problem	NOUN
fcis-4602	83	7	can	can	AUX
fcis-4602	83	8	reduce	reduce	VERB
fcis-4602	83	9	to	to	ADP
fcis-4602	83	10	a	a	DET
fcis-4602	83	11	more	more	ADV
fcis-4602	83	12	straightforward	straightforward	ADJ
fcis-4602	83	13	problem	problem	NOUN
fcis-4602	83	14	with	with	ADP
fcis-4602	83	15	finite	finite	ADJ
fcis-4602	83	16	variables	variable	NOUN
fcis-4602	83	17	by	by	ADP
fcis-4602	83	18	jointly	jointly	ADV
fcis-4602	83	19	optimizing	optimize	VERB
fcis-4602	83	20	the	the	DET
fcis-4602	83	21	visiting	visit	VERB
fcis-4602	83	22	order	order	NOUN
fcis-4602	83	23	and	and	CCONJ
fcis-4602	83	24	hover	hover	NOUN
fcis-4602	83	25	locations	location	NOUN
fcis-4602	83	26	.	.	PUNCT
fcis-4602	84	1	the	the	DET
fcis-4602	84	2	other	other	ADJ
fcis-4602	84	3	more	more	ADV
fcis-4602	84	4	general	general	ADJ
fcis-4602	84	5	scheme	scheme	NOUN
fcis-4602	84	6	considers	consider	VERB
fcis-4602	84	7	the	the	DET
fcis-4602	84	8	uav	uav	PROPN
fcis-4602	84	9	communicating	communicate	VERB
fcis-4602	84	10	simultaneously	simultaneously	ADV
fcis-4602	84	11	while	while	SCONJ
fcis-4602	84	12	in	in	ADP
fcis-4602	84	13	flight	flight	NOUN
fcis-4602	84	14	.	.	PUNCT
fcis-4602	85	1	this	this	DET
fcis-4602	85	2	paper	paper	NOUN
fcis-4602	85	3	introduces	introduce	VERB
fcis-4602	85	4	the	the	DET
fcis-4602	85	5	path	path	NOUN
fcis-4602	85	6	discretization	discretization	NOUN
fcis-4602	85	7	method	method	NOUN
fcis-4602	85	8	and	and	CCONJ
fcis-4602	85	9	sca	sca	PROPN
fcis-4602	85	10	algorithm	algorithm	NOUN
fcis-4602	85	11	to	to	PART
fcis-4602	85	12	solve	solve	VERB
fcis-4602	85	13	this	this	DET
fcis-4602	85	14	problem	problem	NOUN
fcis-4602	85	15	.	.	PUNCT
fcis-4602	86	1	3	3	X
fcis-4602	86	2	.	.	X
fcis-4602	86	3	solutions	solution	NOUN
fcis-4602	86	4	to	to	ADP
fcis-4602	86	5	the	the	DET
fcis-4602	86	6	problem	problem	NOUN
fcis-4602	86	7	3.1	3.1	NUM
fcis-4602	86	8	.	.	PUNCT
fcis-4602	86	9	solution	solution	NOUN
fcis-4602	86	10	under	under	ADP
fcis-4602	86	11	fly	fly	NOUN
fcis-4602	86	12	-	-	PUNCT
fcis-4602	86	13	hover	hover	NOUN
fcis-4602	86	14	-	-	PUNCT
fcis-4602	86	15	communicate	communicate	VERB
fcis-4602	86	16	protocol	protocol	NOUN
fcis-4602	86	17	considering	consider	VERB
fcis-4602	86	18	the	the	DET
fcis-4602	86	19	uav	uav	PROPN
fcis-4602	86	20	starts	start	VERB
fcis-4602	86	21	to	to	PART
fcis-4602	86	22	provide	provide	VERB
fcis-4602	86	23	service	service	NOUN
fcis-4602	86	24	to	to	ADP
fcis-4602	86	25	gn	gn	PROPN
fcis-4602	86	26	n	n	PROPN
fcis-4602	86	27	when	when	SCONJ
fcis-4602	86	28	hovering	hover	VERB
fcis-4602	86	29	on	on	ADP
fcis-4602	86	30	one	one	NUM
fcis-4602	86	31	location	location	NOUN
fcis-4602	86	32	,	,	PUNCT
fcis-4602	86	33	the	the	DET
fcis-4602	86	34	problem	problem	NOUN
fcis-4602	86	35	(	(	PUNCT
fcis-4602	86	36	p	p	NOUN
fcis-4602	86	37	1	1	NUM
fcis-4602	86	38	)	)	PUNCT
fcis-4602	86	39	reduces	reduce	VERB
fcis-4602	86	40	to	to	PART
fcis-4602	86	41	optimize	optimize	VERB
fcis-4602	86	42	the	the	DET
fcis-4602	86	43	uav	uav	PROPN
fcis-4602	86	44	visit	visit	NOUN
fcis-4602	86	45	order	order	NOUN
fcis-4602	86	46	among	among	ADP
fcis-4602	86	47	n	n	DET
fcis-4602	86	48	gns	gns	NOUN
fcis-4602	86	49	,	,	PUNCT
fcis-4602	86	50	and	and	CCONJ
fcis-4602	86	51	the	the	DET
fcis-4602	86	52	uav	uav	PROPN
fcis-4602	86	53	flying	fly	VERB
fcis-4602	86	54	speed	speed	NOUN
fcis-4602	86	55	among	among	ADP
fcis-4602	86	56	these	these	DET
fcis-4602	86	57	hover	hover	NOUN
fcis-4602	86	58	locations	location	NOUN
fcis-4602	86	59	.	.	PUNCT
fcis-4602	87	1	the	the	DET
fcis-4602	87	2	q˜n	q˜n	NOUN
fcis-4602	87	3	∈	∈	PROPN
fcis-4602	87	4	r2	r2	PROPN
fcis-4602	87	5	is	be	AUX
fcis-4602	87	6	denoted	denote	VERB
fcis-4602	87	7	as	as	ADP
fcis-4602	87	8	the	the	DET
fcis-4602	87	9	uav	uav	PROPN
fcis-4602	87	10	hovering	hover	VERB
fcis-4602	87	11	location	location	NOUN
fcis-4602	87	12	for	for	ADP
fcis-4602	87	13	communicating	communicate	VERB
fcis-4602	87	14	to	to	ADP
fcis-4602	87	15	gn	gn	PROPN
fcis-4602	87	16	n.	n.	PROPN
fcis-4602	87	17	therefore	therefore	ADV
fcis-4602	87	18	,	,	PUNCT
fcis-4602	87	19	for	for	ADP
fcis-4602	87	20	each	each	DET
fcis-4602	87	21	gn	gn	PROPN
fcis-4602	87	22	n	n	CCONJ
fcis-4602	87	23	,	,	PUNCT
fcis-4602	87	24	the	the	DET
fcis-4602	87	25	total	total	ADJ
fcis-4602	87	26	communication	communication	NOUN
fcis-4602	87	27	time	time	NOUN
fcis-4602	87	28	under	under	ADP
fcis-4602	87	29	the	the	DET
fcis-4602	87	30	throughput	throughput	NOUN
fcis-4602	87	31	requirement	requirement	NOUN
fcis-4602	87	32	can	can	AUX
fcis-4602	87	33	be	be	AUX
fcis-4602	87	34	expressed	express	VERB
fcis-4602	87	35	as	as	ADP
fcis-4602	87	36	accordingly	accordingly	ADV
fcis-4602	87	37	,	,	PUNCT
fcis-4602	87	38	the	the	DET
fcis-4602	87	39	function	function	NOUN
fcis-4602	87	40	of	of	ADP
fcis-4602	87	41	the	the	DET
fcis-4602	87	42	total	total	NOUN
fcis-4602	87	43	required	require	VERB
fcis-4602	87	44	hovering	hovering	NOUN
fcis-4602	87	45	and	and	CCONJ
fcis-4602	87	46	communication	communication	NOUN
fcis-4602	87	47	energy	energy	NOUN
fcis-4602	87	48	for	for	ADP
fcis-4602	87	49	gn	gn	PROPN
fcis-4602	87	50	n	n	PRON
fcis-4602	87	51	can	can	AUX
fcis-4602	87	52	be	be	AUX
fcis-4602	87	53	formulated	formulate	VERB
fcis-4602	87	54	as	as	ADP
fcis-4602	87	55	follow	follow	NOUN
fcis-4602	87	56	where	where	SCONJ
fcis-4602	87	57	ph	ph	NOUN
fcis-4602	87	58	=	=	NOUN
fcis-4602	87	59	p0	p0	NOUN
fcis-4602	87	60	+	+	CCONJ
fcis-4602	87	61	pi	pi	NOUN
fcis-4602	87	62	and	and	CCONJ
fcis-4602	87	63	pc	pc	NOUN
fcis-4602	87	64	denote	denote	NOUN
fcis-4602	87	65	the	the	DET
fcis-4602	87	66	hovering	hover	VERB
fcis-4602	87	67	power	power	NOUN
fcis-4602	87	68	and	and	CCONJ
fcis-4602	87	69	communication	communication	NOUN
fcis-4602	87	70	power	power	NOUN
fcis-4602	87	71	of	of	ADP
fcis-4602	87	72	the	the	DET
fcis-4602	87	73	uav	uav	PROPN
fcis-4602	87	74	,	,	PUNCT
fcis-4602	87	75	respectively	respectively	ADV
fcis-4602	87	76	.	.	PUNCT
fcis-4602	88	1	for	for	ADP
fcis-4602	88	2	the	the	DET
fcis-4602	88	3	propulsion	propulsion	NOUN
fcis-4602	88	4	energy	energy	NOUN
fcis-4602	88	5	consumption	consumption	NOUN
fcis-4602	88	6	of	of	ADP
fcis-4602	88	7	the	the	DET
fcis-4602	88	8	uav	uav	PROPN
fcis-4602	88	9	,	,	PUNCT
fcis-4602	88	10	it	it	PRON
fcis-4602	88	11	is	be	AUX
fcis-4602	88	12	related	relate	VERB
fcis-4602	88	13	to	to	ADP
fcis-4602	88	14	the	the	DET
fcis-4602	88	15	total	total	ADJ
fcis-4602	88	16	uav	uav	PROPN
fcis-4602	88	17	flying	fly	VERB
fcis-4602	88	18	distance	distance	NOUN
fcis-4602	88	19	dtr	dtr	NOUN
fcis-4602	88	20	after	after	ADP
fcis-4602	88	21	visiting	visit	VERB
fcis-4602	88	22	all	all	DET
fcis-4602	88	23	hover	hover	NOUN
fcis-4602	88	24	locations	location	NOUN
fcis-4602	88	25	q˜n	q˜n	VERB
fcis-4602	88	26	with	with	ADP
fcis-4602	88	27	the	the	DET
fcis-4602	88	28	speed	speed	NOUN
fcis-4602	88	29	v	v	NOUN
fcis-4602	88	30	(	(	PUNCT
fcis-4602	88	31	t	t	PROPN
fcis-4602	88	32	)	)	PUNCT
fcis-4602	88	33	.	.	PUNCT
fcis-4602	89	1	referring	refer	VERB
fcis-4602	89	2	to	to	ADP
fcis-4602	89	3	[	[	X
fcis-4602	89	4	20	20	NUM
fcis-4602	89	5	]	]	PUNCT
fcis-4602	89	6	,	,	PUNCT
fcis-4602	89	7	the	the	DET
fcis-4602	89	8	optimal	optimal	ADJ
fcis-4602	89	9	flying	fly	VERB
fcis-4602	89	10	speed	speed	NOUN
fcis-4602	89	11	of	of	ADP
fcis-4602	89	12	the	the	DET
fcis-4602	89	13	uav	uav	PROPN
fcis-4602	89	14	under	under	ADP
fcis-4602	89	15	the	the	DET
fcis-4602	89	16	hover	hover	NOUN
fcis-4602	89	17	trajectory	trajectory	NOUN
fcis-4602	89	18	design	design	NOUN
fcis-4602	89	19	needs	need	VERB
fcis-4602	89	20	to	to	PART
fcis-4602	89	21	keep	keep	VERB
fcis-4602	89	22	at	at	ADP
fcis-4602	89	23	the	the	DET
fcis-4602	89	24	mr	mr	PROPN
fcis-4602	89	25	speed	speed	PROPN
fcis-4602	89	26	vmr	vmr	PROPN
fcis-4602	89	27	.	.	PUNCT
fcis-4602	90	1	accordingly	accordingly	ADV
fcis-4602	90	2	,	,	PUNCT
fcis-4602	90	3	the	the	DET
fcis-4602	90	4	mr	mr	PROPN
fcis-4602	90	5	speed	speed	NOUN
fcis-4602	90	6	is	be	AUX
fcis-4602	90	7	the	the	DET
fcis-4602	90	8	speed	speed	NOUN
fcis-4602	90	9	that	that	PRON
fcis-4602	90	10	minimizes	minimize	VERB
fcis-4602	90	11	the	the	DET
fcis-4602	90	12	consumed	consumed	ADJ
fcis-4602	90	13	energy	energy	NOUN
fcis-4602	90	14	per	per	ADP
fcis-4602	90	15	unit	unit	NOUN
fcis-4602	90	16	of	of	ADP
fcis-4602	90	17	flying	fly	VERB
fcis-4602	90	18	distance	distance	NOUN
fcis-4602	90	19	.	.	PUNCT
fcis-4602	91	1	for	for	ADP
fcis-4602	91	2	the	the	DET
fcis-4602	91	3	formulated	formulated	ADJ
fcis-4602	91	4	problem	problem	NOUN
fcis-4602	91	5	,	,	PUNCT
fcis-4602	91	6	the	the	DET
fcis-4602	91	7	uav	uav	PROPN
fcis-4602	91	8	energy	energy	NOUN
fcis-4602	91	9	consumption	consumption	NOUN
fcis-4602	91	10	per	per	ADP
fcis-4602	91	11	unit	unit	NOUN
fcis-4602	91	12	of	of	ADP
fcis-4602	91	13	flying	fly	VERB
fcis-4602	91	14	distance	distance	NOUN
fcis-4602	91	15	can	can	AUX
fcis-4602	91	16	be	be	AUX
fcis-4602	91	17	defined	define	VERB
fcis-4602	91	18	as	as	ADP
fcis-4602	91	19	therefore	therefore	ADV
fcis-4602	91	20	,	,	PUNCT
fcis-4602	91	21	the	the	DET
fcis-4602	91	22	mr	mr	PROPN
fcis-4602	91	23	speed	speed	NOUN
fcis-4602	91	24	can	can	AUX
fcis-4602	91	25	be	be	AUX
fcis-4602	91	26	obtained	obtain	VERB
fcis-4602	91	27	as	as	ADP
fcis-4602	91	28	vmr	vmr	PROPN
fcis-4602	91	29	=	=	PUNCT
fcis-4602	91	30	arg	arg	NOUN
fcis-4602	91	31	minv	minv	NOUN
fcis-4602	91	32	≥0e0(v	≥0e0(v	PROPN
fcis-4602	91	33	)	)	PUNCT
fcis-4602	91	34	,	,	PUNCT
fcis-4602	91	35	and	and	CCONJ
fcis-4602	91	36	the	the	DET
fcis-4602	91	37	uav	uav	PROPN
fcis-4602	91	38	energy	energy	NOUN
fcis-4602	91	39	consumption	consumption	NOUN
fcis-4602	91	40	per	per	ADP
fcis-4602	91	41	unit	unit	NOUN
fcis-4602	91	42	flying	fly	VERB
fcis-4602	91	43	distance	distance	NOUN
fcis-4602	91	44	with	with	ADP
fcis-4602	91	45	mr	mr	PROPN
fcis-4602	91	46	speed	speed	NOUN
fcis-4602	91	47	is	be	AUX
fcis-4602	91	48	e0∗	e0∗	PROPN
fcis-4602	91	49	=	=	SYM
fcis-4602	91	50	e0	e0	PROPN
fcis-4602	91	51	(	(	PUNCT
fcis-4602	91	52	vmr	vmr	PROPN
fcis-4602	91	53	)	)	PUNCT
fcis-4602	91	54	.	.	PUNCT
fcis-4602	92	1	furthermore	furthermore	ADV
fcis-4602	92	2	,	,	PUNCT
fcis-4602	92	3	the	the	DET
fcis-4602	92	4	total	total	ADJ
fcis-4602	92	5	flying	fly	VERB
fcis-4602	92	6	distance	distance	NOUN
fcis-4602	92	7	dtr	dtr	NOUN
fcis-4602	92	8	is	be	AUX
fcis-4602	92	9	determined	determine	VERB
fcis-4602	92	10	by	by	ADP
fcis-4602	92	11	the	the	DET
fcis-4602	92	12	sequence	sequence	NOUN
fcis-4602	92	13	of	of	ADP
fcis-4602	92	14	accessing	access	VERB
fcis-4602	92	15	each	each	DET
fcis-4602	92	16	gn	gn	PROPN
fcis-4602	92	17	.	.	PUNCT
fcis-4602	93	1	this	this	DET
fcis-4602	93	2	work	work	NOUN
fcis-4602	93	3	defines	define	VERB
fcis-4602	93	4	a	a	DET
fcis-4602	93	5	variable	variable	ADJ
fcis-4602	93	6	ω(n	ω(n	NUM
fcis-4602	93	7	)	)	PUNCT
fcis-4602	93	8	∈	∈	NOUN
fcis-4602	93	9	{	{	PUNCT
fcis-4602	93	10	1	1	NUM
fcis-4602	93	11	,	,	PUNCT
fcis-4602	93	12	.	.	PUNCT
fcis-4602	93	13	.	.	PUNCT
fcis-4602	94	1	.	.	PUNCT
fcis-4602	95	1	,	,	PUNCT
fcis-4602	95	2	n	n	X
fcis-4602	95	3	to	to	PART
fcis-4602	95	4	denote	denote	VERB
fcis-4602	95	5	the	the	DET
fcis-4602	95	6	index	index	NOUN
fcis-4602	95	7	of	of	ADP
fcis-4602	95	8	hover	hover	NOUN
fcis-4602	95	9	location	location	NOUN
fcis-4602	95	10	where	where	SCONJ
fcis-4602	95	11	the	the	DET
fcis-4602	95	12	uav	uav	PROPN
fcis-4602	95	13	is	be	AUX
fcis-4602	95	14	serving	serve	VERB
fcis-4602	95	15	to	to	ADP
fcis-4602	95	16	gn	gn	PROPN
fcis-4602	95	17	n.	n.	PROPN
fcis-4602	95	18	then	then	ADV
fcis-4602	95	19	,	,	PUNCT
fcis-4602	95	20	the	the	DET
fcis-4602	95	21	function	function	NOUN
fcis-4602	95	22	of	of	ADP
fcis-4602	95	23	dtr	dtr	NOUN
fcis-4602	95	24	is	be	AUX
fcis-4602	95	25	given	give	VERB
fcis-4602	95	26	by	by	ADP
fcis-4602	95	27	where	where	SCONJ
fcis-4602	95	28	the	the	DET
fcis-4602	95	29	second	second	ADJ
fcis-4602	95	30	term	term	NOUN
fcis-4602	95	31	and	and	CCONJ
fcis-4602	95	32	third	third	ADJ
fcis-4602	95	33	term	term	NOUN
fcis-4602	95	34	denote	denote	VERB
fcis-4602	95	35	the	the	DET
fcis-4602	95	36	distance	distance	NOUN
fcis-4602	95	37	of	of	ADP
fcis-4602	95	38	the	the	DET
fcis-4602	95	39	first	first	ADJ
fcis-4602	95	40	hover	hover	NOUN
fcis-4602	95	41	location	location	NOUN
fcis-4602	95	42	and	and	CCONJ
fcis-4602	95	43	the	the	DET
fcis-4602	95	44	last	last	ADJ
fcis-4602	95	45	hover	hover	NOUN
fcis-4602	95	46	location	location	NOUN
fcis-4602	95	47	from	from	ADP
fcis-4602	95	48	the	the	DET
fcis-4602	95	49	starting	starting	NOUN
fcis-4602	95	50	point	point	NOUN
fcis-4602	95	51	.	.	PUNCT
fcis-4602	96	1	therefore	therefore	ADV
fcis-4602	96	2	,	,	PUNCT
fcis-4602	96	3	the	the	DET
fcis-4602	96	4	total	total	ADJ
fcis-4602	96	5	uav	uav	PROPN
fcis-4602	96	6	propulsion	propulsion	NOUN
fcis-4602	96	7	energy	energy	NOUN
fcis-4602	96	8	consumption	consumption	NOUN
fcis-4602	96	9	can	can	AUX
fcis-4602	96	10	be	be	AUX
fcis-4602	96	11	given	give	VERB
fcis-4602	96	12	by	by	ADP
fcis-4602	96	13	then	then	ADV
fcis-4602	96	14	,	,	PUNCT
fcis-4602	96	15	the	the	DET
fcis-4602	96	16	total	total	ADJ
fcis-4602	96	17	uav	uav	PROPN
fcis-4602	96	18	energy	energy	NOUN
fcis-4602	96	19	consumption	consumption	NOUN
fcis-4602	96	20	is	be	AUX
fcis-4602	96	21	shown	show	VERB
fcis-4602	96	22	as	as	ADP
fcis-4602	96	23	follow	follow	NOUN
fcis-4602	96	24	above	above	ADP
fcis-4602	96	25	all	all	PRON
fcis-4602	96	26	,	,	PUNCT
fcis-4602	96	27	the	the	DET
fcis-4602	96	28	problem	problem	NOUN
fcis-4602	96	29	(	(	PUNCT
fcis-4602	96	30	p	p	NOUN
fcis-4602	96	31	1	1	NUM
fcis-4602	96	32	)	)	PUNCT
fcis-4602	96	33	can	can	AUX
fcis-4602	96	34	be	be	AUX
fcis-4602	96	35	transferred	transfer	VERB
fcis-4602	96	36	to	to	ADP
fcis-4602	96	37	(	(	PUNCT
fcis-4602	96	38	p2	p2	PROPN
fcis-4602	96	39	)	)	PUNCT
fcis-4602	96	40	as	as	ADP
fcis-4602	96	41	where	where	SCONJ
fcis-4602	96	42	p	p	NOUN
fcis-4602	96	43	means	mean	VERB
fcis-4602	96	44	the	the	DET
fcis-4602	96	45	n	n	NOUN
fcis-4602	96	46	!	!	PUNCT
fcis-4602	97	1	possible	possible	ADJ
fcis-4602	97	2	combinations	combination	NOUN
fcis-4602	97	3	of	of	ADP
fcis-4602	97	4	permutations	permutation	NOUN
fcis-4602	97	5	for	for	ADP
fcis-4602	97	6	n	n	DET
fcis-4602	97	7	gns	gns	NOUN
fcis-4602	97	8	.	.	PUNCT
fcis-4602	98	1	problem	problem	NOUN
fcis-4602	98	2	(	(	PUNCT
fcis-4602	98	3	p2	p2	PROPN
fcis-4602	98	4	)	)	PUNCT
fcis-4602	98	5	is	be	AUX
fcis-4602	98	6	also	also	ADV
fcis-4602	98	7	hard	hard	ADJ
fcis-4602	98	8	to	to	PART
fcis-4602	98	9	solve	solve	VERB
fcis-4602	98	10	as	as	SCONJ
fcis-4602	98	11	it	it	PRON
fcis-4602	98	12	is	be	AUX
fcis-4602	98	13	a	a	DET
fcis-4602	98	14	non	non	ADJ
fcis-4602	98	15	-	-	ADJ
fcis-4602	98	16	convex	convex	ADJ
fcis-4602	98	17	optimization	optimization	NOUN
fcis-4602	98	18	problem	problem	NOUN
fcis-4602	98	19	.	.	PUNCT
fcis-4602	99	1	to	to	PART
fcis-4602	99	2	solve	solve	VERB
fcis-4602	99	3	it	it	PRON
fcis-4602	99	4	,	,	PUNCT
fcis-4602	99	5	this	this	DET
fcis-4602	99	6	work	work	NOUN
fcis-4602	99	7	first	first	ADV
fcis-4602	99	8	solves	solve	VERB
fcis-4602	99	9	the	the	DET
fcis-4602	99	10	tsp	tsp	NOUN
fcis-4602	99	11	with	with	ADP
fcis-4602	99	12	the	the	DET
fcis-4602	99	13	shortest	short	ADJ
fcis-4602	99	14	flight	flight	NOUN
fcis-4602	99	15	distance	distance	NOUN
fcis-4602	99	16	by	by	ADP
fcis-4602	99	17	applying	apply	VERB
fcis-4602	99	18	the	the	DET
fcis-4602	99	19	ga	ga	NOUN
fcis-4602	99	20	when	when	SCONJ
fcis-4602	99	21	fixing	fix	VERB
fcis-4602	99	22	the	the	DET
fcis-4602	99	23	hover	hover	NOUN
fcis-4602	99	24	location	location	NOUN
fcis-4602	99	25	.	.	PUNCT
fcis-4602	100	1	after	after	ADP
fcis-4602	100	2	obtaining	obtain	VERB
fcis-4602	100	3	the	the	DET
fcis-4602	100	4	optimal	optimal	ADJ
fcis-4602	100	5	visit	visit	NOUN
fcis-4602	100	6	order	order	NOUN
fcis-4602	100	7	∗∗	∗∗	X
fcis-4602	100	8	(	(	PUNCT
fcis-4602	100	9	n	n	CCONJ
fcis-4602	100	10	)	)	PUNCT
fcis-4602	100	11	,	,	PUNCT
fcis-4602	100	12	the	the	DET
fcis-4602	100	13	work	work	NOUN
fcis-4602	100	14	then	then	ADV
fcis-4602	100	15	reformulates	reformulate	VERB
fcis-4602	100	16	the	the	DET
fcis-4602	100	17	optimization	optimization	NOUN
fcis-4602	100	18	problem	problem	NOUN
fcis-4602	100	19	to	to	PART
fcis-4602	100	20	optimize	optimize	VERB
fcis-4602	100	21	the	the	DET
fcis-4602	100	22	uav	uav	PROPN
fcis-4602	100	23	hover	hover	PROPN
fcis-4602	100	24	locations	location	NOUN
fcis-4602	100	25	.	.	PUNCT
fcis-4602	101	1	in	in	ADP
fcis-4602	101	2	the	the	DET
fcis-4602	101	3	new	new	ADJ
fcis-4602	101	4	problem	problem	NOUN
fcis-4602	101	5	,	,	PUNCT
fcis-4602	101	6	this	this	DET
fcis-4602	101	7	study	study	NOUN
fcis-4602	101	8	introduces	introduce	VERB
fcis-4602	101	9	the	the	DET
fcis-4602	101	10	slack	slack	NOUN
fcis-4602	101	11	variables	variable	NOUN
fcis-4602	101	12	dtot	dtot	VERB
fcis-4602	101	13	and	and	CCONJ
fcis-4602	101	14	ηn	ηn	ADJ
fcis-4602	101	15	=	=	PUNCT
fcis-4602	101	16	log2	log2	PROPN
fcis-4602	101	17	(	(	PUNCT
fcis-4602	101	18	1	1	NUM
fcis-4602	101	19	+	+	NUM
fcis-4602	101	20	α	α	NOUN
fcis-4602	101	21	)	)	PUNCT
fcis-4602	101	22	and	and	CCONJ
fcis-4602	101	23	adds	add	VERB
fcis-4602	101	24	new	new	ADJ
fcis-4602	101	25	corresponding	corresponding	ADJ
fcis-4602	101	26	constraints	constraint	NOUN
fcis-4602	101	27	.	.	PUNCT
fcis-4602	102	1	therefore	therefore	ADV
fcis-4602	102	2	,	,	PUNCT
fcis-4602	102	3	the	the	DET
fcis-4602	102	4	new	new	ADJ
fcis-4602	102	5	problem	problem	NOUN
fcis-4602	102	6	(	(	PUNCT
fcis-4602	102	7	p2.1	p2.1	NOUN
fcis-4602	102	8	)	)	PUNCT
fcis-4602	102	9	can	can	AUX
fcis-4602	102	10	be	be	AUX
fcis-4602	102	11	given	give	VERB
fcis-4602	102	12	by	by	ADP
fcis-4602	102	13	92	92	NUM
fcis-4602	102	14	in	in	ADP
fcis-4602	102	15	the	the	DET
fcis-4602	102	16	problem	problem	NOUN
fcis-4602	102	17	(	(	PUNCT
fcis-4602	102	18	p2.1	p2.1	NOUN
fcis-4602	102	19	)	)	PUNCT
fcis-4602	102	20	,	,	PUNCT
fcis-4602	102	21	the	the	DET
fcis-4602	102	22	function	function	NOUN
fcis-4602	102	23	(	(	PUNCT
fcis-4602	102	24	18	18	NUM
fcis-4602	102	25	)	)	PUNCT
fcis-4602	102	26	and	and	CCONJ
fcis-4602	102	27	constraints	constraint	NOUN
fcis-4602	102	28	(	(	PUNCT
fcis-4602	102	29	18a)-(18d	18a)-(18d	NUM
fcis-4602	102	30	)	)	PUNCT
fcis-4602	102	31	are	be	AUX
fcis-4602	102	32	all	all	ADV
fcis-4602	102	33	convex	convex	ADJ
fcis-4602	102	34	except	except	SCONJ
fcis-4602	102	35	constraint	constraint	NOUN
fcis-4602	102	36	(	(	PUNCT
fcis-4602	102	37	18e	18e	NOUN
fcis-4602	102	38	)	)	PUNCT
fcis-4602	102	39	.	.	PUNCT
fcis-4602	103	1	this	this	DET
fcis-4602	103	2	nonconvex	nonconvex	NOUN
fcis-4602	103	3	expression	expression	NOUN
fcis-4602	103	4	can	can	AUX
fcis-4602	103	5	be	be	AUX
fcis-4602	103	6	handled	handle	VERB
fcis-4602	103	7	by	by	ADP
fcis-4602	103	8	applying	apply	VERB
fcis-4602	103	9	the	the	DET
fcis-4602	103	10	sca	sca	PROPN
fcis-4602	103	11	algorithm	algorithm	NOUN
fcis-4602	103	12	,	,	PUNCT
fcis-4602	103	13	which	which	PRON
fcis-4602	103	14	replaces	replace	VERB
fcis-4602	103	15	the	the	DET
fcis-4602	103	16	non	non	ADJ
fcis-4602	103	17	-	-	ADJ
fcis-4602	103	18	convex	convex	ADJ
fcis-4602	103	19	function	function	NOUN
fcis-4602	103	20	with	with	ADP
fcis-4602	103	21	a	a	DET
fcis-4602	103	22	convex	convex	ADJ
fcis-4602	103	23	function	function	NOUN
fcis-4602	103	24	in	in	ADP
fcis-4602	103	25	continuous	continuous	ADJ
fcis-4602	103	26	iterations	iteration	NOUN
fcis-4602	103	27	until	until	SCONJ
fcis-4602	103	28	the	the	DET
fcis-4602	103	29	object	object	NOUN
fcis-4602	103	30	value	value	NOUN
fcis-4602	103	31	is	be	AUX
fcis-4602	103	32	below	below	ADP
fcis-4602	103	33	the	the	DET
fcis-4602	103	34	threshold	threshold	NOUN
fcis-4602	103	35	value	value	NOUN
fcis-4602	103	36	[	[	X
fcis-4602	103	37	26	26	NUM
fcis-4602	103	38	]	]	PUNCT
fcis-4602	103	39	.	.	PUNCT
fcis-4602	104	1	for	for	ADP
fcis-4602	104	2	the	the	DET
fcis-4602	104	3	right	right	ADJ
fcis-4602	104	4	-	-	PUNCT
fcis-4602	104	5	hand	hand	NOUN
fcis-4602	104	6	-	-	PUNCT
fcis-4602	104	7	side	side	NOUN
fcis-4602	104	8	(	(	PUNCT
fcis-4602	104	9	rhs	rhs	PROPN
fcis-4602	104	10	)	)	PUNCT
fcis-4602	104	11	of	of	ADP
fcis-4602	104	12	(	(	PUNCT
fcis-4602	104	13	18e	18e	NOUN
fcis-4602	104	14	)	)	PUNCT
fcis-4602	104	15	,	,	PUNCT
fcis-4602	104	16	the	the	DET
fcis-4602	104	17	global	global	ADJ
fcis-4602	104	18	concave	concave	NOUN
fcis-4602	104	19	lower	lower	ADV
fcis-4602	104	20	bound	bind	VERB
fcis-4602	104	21	can	can	AUX
fcis-4602	104	22	be	be	AUX
fcis-4602	104	23	given	give	VERB
fcis-4602	104	24	under	under	ADP
fcis-4602	104	25	the	the	DET
fcis-4602	104	26	local	local	ADJ
fcis-4602	104	27	point	point	NOUN
fcis-4602	104	28	{	{	PUNCT
fcis-4602	104	29	q~	q~	NUM
fcis-4602	104	30	)	)	PUNCT
fcis-4602	104	31	at	at	ADP
fcis-4602	104	32	the	the	DET
fcis-4602	104	33	l	l	NOUN
fcis-4602	104	34	−	−	PUNCT
fcis-4602	104	35	th	th	X
fcis-4602	104	36	iteration	iteration	NOUN
fcis-4602	104	37	as	as	SCONJ
fcis-4602	104	38	follow	follow	VERB
fcis-4602	104	39	then	then	ADV
fcis-4602	104	40	,	,	PUNCT
fcis-4602	104	41	use	use	VERB
fcis-4602	104	42	the	the	DET
fcis-4602	104	43	lower	low	ADJ
fcis-4602	104	44	bound	bind	VERB
fcis-4602	104	45	r	r	NOUN
fcis-4602	104	46	)	)	PUNCT
fcis-4602	104	47	to	to	PART
fcis-4602	104	48	replace	replace	VERB
fcis-4602	104	49	the	the	DET
fcis-4602	104	50	rhs	rhs	PROPN
fcis-4602	104	51	of	of	ADP
fcis-4602	104	52	(	(	PUNCT
fcis-4602	104	53	18e	18e	NOUN
fcis-4602	104	54	)	)	PUNCT
fcis-4602	104	55	.	.	PUNCT
fcis-4602	105	1	there	there	PRON
fcis-4602	105	2	is	be	VERB
fcis-4602	105	3	a	a	DET
fcis-4602	105	4	new	new	ADJ
fcis-4602	105	5	problem	problem	NOUN
fcis-4602	105	6	(	(	PUNCT
fcis-4602	105	7	p2.2	p2.2	X
fcis-4602	105	8	):	):	PUNCT
fcis-4602	105	9	problem	problem	NOUN
fcis-4602	105	10	(	(	PUNCT
fcis-4602	105	11	p2.2	p2.2	X
fcis-4602	105	12	)	)	PUNCT
fcis-4602	105	13	turns	turn	VERB
fcis-4602	105	14	out	out	ADP
fcis-4602	105	15	to	to	PART
fcis-4602	105	16	be	be	AUX
fcis-4602	105	17	convex	convex	ADJ
fcis-4602	105	18	,	,	PUNCT
fcis-4602	105	19	and	and	CCONJ
fcis-4602	105	20	it	it	PRON
fcis-4602	105	21	is	be	AUX
fcis-4602	105	22	solved	solve	VERB
fcis-4602	105	23	by	by	ADP
fcis-4602	105	24	applying	apply	VERB
fcis-4602	105	25	the	the	DET
fcis-4602	105	26	toolbox	toolbox	NOUN
fcis-4602	105	27	cvx	cvx	PROPN
fcis-4602	105	28	.	.	PROPN
fcis-4602	106	1	and	and	CCONJ
fcis-4602	106	2	the	the	DET
fcis-4602	106	3	next	next	ADJ
fcis-4602	106	4	step	step	NOUN
fcis-4602	106	5	is	be	AUX
fcis-4602	106	6	to	to	PART
fcis-4602	106	7	keep	keep	VERB
fcis-4602	106	8	updating	update	VERB
fcis-4602	106	9	q~	q~	NUM
fcis-4602	106	10	)	)	PUNCT
fcis-4602	106	11	until	until	SCONJ
fcis-4602	106	12	the	the	DET
fcis-4602	106	13	object	object	NOUN
fcis-4602	106	14	value	value	NOUN
fcis-4602	106	15	converges	converge	VERB
fcis-4602	106	16	below	below	ADP
fcis-4602	106	17	the	the	DET
fcis-4602	106	18	threshold	threshold	NOUN
fcis-4602	106	19	.	.	PUNCT
fcis-4602	107	1	this	this	DET
fcis-4602	107	2	work	work	NOUN
fcis-4602	107	3	summarizes	summarize	VERB
fcis-4602	107	4	this	this	DET
fcis-4602	107	5	sca	sca	NOUN
fcis-4602	107	6	-	-	PUNCT
fcis-4602	107	7	based	base	VERB
fcis-4602	107	8	algorithm	algorithm	NOUN
fcis-4602	107	9	in	in	ADP
fcis-4602	107	10	algorithm	algorithm	NOUN
fcis-4602	107	11	1	1	NUM
fcis-4602	107	12	.	.	PUNCT
fcis-4602	108	1	according	accord	VERB
fcis-4602	108	2	to	to	ADP
fcis-4602	108	3	[	[	X
fcis-4602	108	4	27	27	NUM
fcis-4602	108	5	]	]	PUNCT
fcis-4602	108	6	,	,	PUNCT
fcis-4602	108	7	the	the	DET
fcis-4602	108	8	results	result	NOUN
fcis-4602	108	9	will	will	AUX
fcis-4602	108	10	finally	finally	ADV
fcis-4602	108	11	converge	converge	VERB
fcis-4602	108	12	to	to	ADP
fcis-4602	108	13	the	the	DET
fcis-4602	108	14	karush	karush	PROPN
fcis-4602	108	15	-	-	PUNCT
fcis-4602	108	16	kuhn	kuhn	PROPN
fcis-4602	108	17	-	-	PUNCT
fcis-4602	108	18	tucker	tucker	PROPN
fcis-4602	108	19	(	(	PUNCT
fcis-4602	108	20	kkt	kkt	PROPN
fcis-4602	108	21	)	)	PUNCT
fcis-4602	108	22	conditions	condition	NOUN
fcis-4602	108	23	,	,	PUNCT
fcis-4602	108	24	and	and	CCONJ
fcis-4602	108	25	the	the	DET
fcis-4602	108	26	optimal	optimal	ADJ
fcis-4602	108	27	trajectory	trajectory	NOUN
fcis-4602	108	28	is	be	AUX
fcis-4602	108	29	obtained	obtain	VERB
fcis-4602	108	30	under	under	ADP
fcis-4602	108	31	the	the	DET
fcis-4602	108	32	hovering	hover	VERB
fcis-4602	108	33	case	case	NOUN
fcis-4602	108	34	as	as	ADP
fcis-4602	108	35	the	the	DET
fcis-4602	108	36	benchmark	benchmark	NOUN
fcis-4602	108	37	.	.	PUNCT
fcis-4602	109	1	table	table	NOUN
fcis-4602	109	2	1	1	NUM
fcis-4602	109	3	.	.	PUNCT
fcis-4602	109	4	iteration	iteration	NOUN
fcis-4602	109	5	process	process	NOUN
fcis-4602	109	6	for	for	ADP
fcis-4602	109	7	p2	p2	PROPN
fcis-4602	109	8	1	1	NUM
fcis-4602	109	9	.	.	X
fcis-4602	110	1	initialize	initialize	NOUN
fcis-4602	110	2	:	:	PUNCT
fcis-4602	110	3	set	set	VERB
fcis-4602	110	4	the	the	DET
fcis-4602	110	5	initial	initial	ADJ
fcis-4602	110	6	hover	hover	NOUN
fcis-4602	110	7	location	location	NOUN
fcis-4602	110	8	q~	q~	NUM
fcis-4602	110	9	)	)	PUNCT
fcis-4602	110	10	,	,	PUNCT
fcis-4602	111	1	where	where	SCONJ
fcis-4602	111	2	l	l	NOUN
fcis-4602	111	3	=	=	SYM
fcis-4602	111	4	0	0	NUM
fcis-4602	111	5	.	.	NOUN
fcis-4602	111	6	2	2	X
fcis-4602	111	7	.	.	X
fcis-4602	111	8	repeat	repeat	NOUN
fcis-4602	111	9	:	:	PUNCT
fcis-4602	111	10	3	3	X
fcis-4602	111	11	.	.	X
fcis-4602	111	12	deal	deal	VERB
fcis-4602	111	13	with	with	ADP
fcis-4602	111	14	the	the	DET
fcis-4602	111	15	convex	convex	ADJ
fcis-4602	111	16	problem	problem	NOUN
fcis-4602	111	17	p2.2	p2.2	PRON
fcis-4602	111	18	and	and	CCONJ
fcis-4602	111	19	obtain	obtain	VERB
fcis-4602	111	20	the	the	DET
fcis-4602	111	21	following	follow	VERB
fcis-4602	111	22	optimal	optimal	ADJ
fcis-4602	111	23	variables	variable	NOUN
fcis-4602	111	24	d	d	PROPN
fcis-4602	111	25	ot	ot	INTJ
fcis-4602	111	26	,	,	PUNCT
fcis-4602	111	27	q	q	PROPN
fcis-4602	111	28	~	~	PUNCT
fcis-4602	111	29	n	n	DET
fcis-4602	111	30	∗	∗	NOUN
fcis-4602	111	31	,	,	PUNCT
fcis-4602	111	32	ηn	ηn	PROPN
fcis-4602	111	33	∗	∗	NOUN
fcis-4602	111	34	.	.	PUNCT
fcis-4602	112	1	4	4	X
fcis-4602	112	2	.	.	X
fcis-4602	112	3	change	change	VERB
fcis-4602	112	4	the	the	DET
fcis-4602	112	5	local	local	ADJ
fcis-4602	112	6	point	point	NOUN
fcis-4602	112	7	as	as	ADP
fcis-4602	112	8	q~	q~	NUM
fcis-4602	112	9	+1	+1	NOUN
fcis-4602	112	10	)	)	PUNCT
fcis-4602	112	11	=	=	PUNCT
fcis-4602	113	1	q	q	PUNCT
fcis-4602	113	2	~	~	PUNCT
fcis-4602	113	3	n	n	PRON
fcis-4602	113	4	∗	∗	NOUN
fcis-4602	113	5	,	,	PUNCT
fcis-4602	113	6	an	an	PRON
fcis-4602	113	7	.	.	NOUN
fcis-4602	113	8	5	5	NUM
fcis-4602	113	9	.	.	PUNCT
fcis-4602	114	1	change	change	NOUN
fcis-4602	114	2	l	l	NOUN
fcis-4602	115	1	=	=	PUNCT
fcis-4602	115	2	l	l	NOUN
fcis-4602	116	1	+	+	NOUN
fcis-4602	116	2	1	1	NUM
fcis-4602	116	3	.	.	NOUN
fcis-4602	116	4	6	6	NUM
fcis-4602	116	5	.	.	NOUN
fcis-4602	117	1	until	until	SCONJ
fcis-4602	117	2	the	the	DET
fcis-4602	117	3	object	object	NOUN
fcis-4602	117	4	value	value	NOUN
fcis-4602	117	5	of	of	ADP
fcis-4602	117	6	p2.2	p2.2	NOUN
fcis-4602	117	7	converges	converge	VERB
fcis-4602	117	8	below	below	ADP
fcis-4602	117	9	the	the	DET
fcis-4602	117	10	threshold	threshold	NOUN
fcis-4602	117	11	ϵ	ϵ	X
fcis-4602	117	12	.	.	PUNCT
fcis-4602	118	1	3.2	3.2	NUM
fcis-4602	118	2	.	.	PUNCT
fcis-4602	119	1	general	general	ADJ
fcis-4602	119	2	solution	solution	NOUN
fcis-4602	119	3	to	to	ADP
fcis-4602	119	4	(	(	PUNCT
fcis-4602	119	5	p1	p1	PROPN
fcis-4602	119	6	)	)	PUNCT
fcis-4602	119	7	this	this	DET
fcis-4602	119	8	section	section	NOUN
fcis-4602	119	9	considers	consider	VERB
fcis-4602	119	10	the	the	DET
fcis-4602	119	11	intuitively	intuitively	ADV
fcis-4602	119	12	more	more	ADV
fcis-4602	119	13	general	general	ADJ
fcis-4602	119	14	fly	fly	VERB
fcis-4602	119	15	-	-	PUNCT
fcis-4602	119	16	over	over	ADP
fcis-4602	119	17	case	case	NOUN
fcis-4602	119	18	where	where	SCONJ
fcis-4602	119	19	the	the	DET
fcis-4602	119	20	uav	uav	PROPN
fcis-4602	119	21	is	be	AUX
fcis-4602	119	22	flying	fly	VERB
fcis-4602	119	23	while	while	SCONJ
fcis-4602	119	24	communicating	communicate	VERB
fcis-4602	119	25	with	with	ADP
fcis-4602	119	26	the	the	DET
fcis-4602	119	27	ground	ground	NOUN
fcis-4602	119	28	node	node	NOUN
fcis-4602	119	29	.	.	PUNCT
fcis-4602	120	1	the	the	DET
fcis-4602	120	2	original	original	ADJ
fcis-4602	120	3	problem	problem	NOUN
fcis-4602	120	4	(	(	PUNCT
fcis-4602	120	5	p	p	NOUN
fcis-4602	120	6	1	1	NUM
fcis-4602	120	7	)	)	PUNCT
fcis-4602	120	8	involves	involve	VERB
fcis-4602	120	9	infinite	infinite	ADJ
fcis-4602	120	10	variables	variable	NOUN
fcis-4602	120	11	as	as	SCONJ
fcis-4602	120	12	it	it	PRON
fcis-4602	120	13	is	be	AUX
fcis-4602	120	14	a	a	DET
fcis-4602	120	15	continuous	continuous	ADJ
fcis-4602	120	16	optimization	optimization	NOUN
fcis-4602	120	17	problem	problem	NOUN
fcis-4602	120	18	.	.	PUNCT
fcis-4602	121	1	the	the	DET
fcis-4602	121	2	other	other	ADJ
fcis-4602	121	3	difficulty	difficulty	NOUN
fcis-4602	121	4	of	of	ADP
fcis-4602	121	5	solving	solve	VERB
fcis-4602	121	6	the	the	DET
fcis-4602	121	7	problem	problem	NOUN
fcis-4602	121	8	(	(	PUNCT
fcis-4602	121	9	p	p	NOUN
fcis-4602	121	10	1	1	NUM
fcis-4602	121	11	)	)	PUNCT
fcis-4602	121	12	is	be	AUX
fcis-4602	121	13	the	the	DET
fcis-4602	121	14	non	non	ADJ
fcis-4602	121	15	-	-	NOUN
fcis-4602	121	16	convexity	convexity	NOUN
fcis-4602	121	17	of	of	ADP
fcis-4602	121	18	the	the	DET
fcis-4602	121	19	uav	uav	PROPN
fcis-4602	121	20	total	total	ADJ
fcis-4602	121	21	energy	energy	NOUN
fcis-4602	121	22	consumption	consumption	NOUN
fcis-4602	121	23	function	function	NOUN
fcis-4602	121	24	and	and	CCONJ
fcis-4602	121	25	required	require	VERB
fcis-4602	121	26	communication	communication	NOUN
fcis-4602	121	27	throughput	throughput	NOUN
fcis-4602	121	28	constraints	constraint	NOUN
fcis-4602	121	29	.	.	PUNCT
fcis-4602	122	1	to	to	PART
fcis-4602	122	2	tackle	tackle	VERB
fcis-4602	122	3	the	the	DET
fcis-4602	122	4	problem	problem	NOUN
fcis-4602	122	5	(	(	PUNCT
fcis-4602	122	6	p	p	NOUN
fcis-4602	122	7	1	1	NUM
fcis-4602	122	8	)	)	PUNCT
fcis-4602	122	9	,	,	PUNCT
fcis-4602	122	10	this	this	DET
fcis-4602	122	11	paper	paper	NOUN
fcis-4602	122	12	first	first	ADV
fcis-4602	122	13	introduces	introduce	VERB
fcis-4602	122	14	the	the	DET
fcis-4602	122	15	path	path	NOUN
fcis-4602	122	16	discretization	discretization	NOUN
fcis-4602	122	17	method	method	NOUN
fcis-4602	122	18	to	to	ADP
fcis-4602	122	19	the	the	DET
fcis-4602	122	20	convert	convert	NOUN
fcis-4602	122	21	problem	problem	NOUN
fcis-4602	122	22	(	(	PUNCT
fcis-4602	122	23	p	p	NOUN
fcis-4602	122	24	1	1	NUM
fcis-4602	122	25	)	)	PUNCT
fcis-4602	122	26	into	into	ADP
fcis-4602	122	27	a	a	DET
fcis-4602	122	28	discrete	discrete	ADJ
fcis-4602	122	29	optimization	optimization	NOUN
fcis-4602	122	30	problem	problem	NOUN
fcis-4602	122	31	.	.	PUNCT
fcis-4602	123	1	then	then	ADV
fcis-4602	123	2	,	,	PUNCT
fcis-4602	123	3	similar	similar	ADJ
fcis-4602	123	4	to	to	ADP
fcis-4602	123	5	the	the	DET
fcis-4602	123	6	solution	solution	NOUN
fcis-4602	123	7	to	to	ADP
fcis-4602	123	8	the	the	DET
fcis-4602	123	9	problem	problem	NOUN
fcis-4602	123	10	(	(	PUNCT
fcis-4602	123	11	p2	p2	PROPN
fcis-4602	123	12	)	)	PUNCT
fcis-4602	123	13	in	in	ADP
fcis-4602	123	14	the	the	DET
fcis-4602	123	15	previous	previous	ADJ
fcis-4602	123	16	discussion	discussion	NOUN
fcis-4602	123	17	,	,	PUNCT
fcis-4602	123	18	the	the	DET
fcis-4602	123	19	slack	slack	NOUN
fcis-4602	123	20	variables	variable	NOUN
fcis-4602	123	21	and	and	CCONJ
fcis-4602	123	22	sca	sca	PROPN
fcis-4602	123	23	algorithm	algorithm	PROPN
fcis-4602	123	24	are	be	AUX
fcis-4602	123	25	proposed	propose	VERB
fcis-4602	123	26	to	to	PART
fcis-4602	123	27	solve	solve	VERB
fcis-4602	123	28	the	the	DET
fcis-4602	123	29	discrete	discrete	ADJ
fcis-4602	123	30	optimization	optimization	NOUN
fcis-4602	123	31	problem	problem	NOUN
fcis-4602	123	32	.	.	PUNCT
fcis-4602	124	1	3.2.1	3.2.1	X
fcis-4602	124	2	.	.	X
fcis-4602	124	3	path	path	NOUN
fcis-4602	124	4	discretization	discretization	VERB
fcis-4602	124	5	the	the	DET
fcis-4602	124	6	problem	problem	NOUN
fcis-4602	124	7	(	(	PUNCT
fcis-4602	124	8	p	p	NOUN
fcis-4602	124	9	1	1	NUM
fcis-4602	124	10	)	)	PUNCT
fcis-4602	124	11	is	be	AUX
fcis-4602	124	12	a	a	DET
fcis-4602	124	13	continuous	continuous	ADJ
fcis-4602	124	14	optimization	optimization	NOUN
fcis-4602	124	15	problem	problem	NOUN
fcis-4602	124	16	,	,	PUNCT
fcis-4602	124	17	meaning	mean	VERB
fcis-4602	124	18	the	the	DET
fcis-4602	124	19	optimized	optimize	VERB
fcis-4602	124	20	variables	variable	NOUN
fcis-4602	124	21	are	be	AUX
fcis-4602	124	22	infinite	infinite	ADJ
fcis-4602	124	23	.	.	PUNCT
fcis-4602	125	1	the	the	DET
fcis-4602	125	2	basic	basic	ADJ
fcis-4602	125	3	idea	idea	NOUN
fcis-4602	125	4	is	be	AUX
fcis-4602	125	5	discretizing	discretize	VERB
fcis-4602	125	6	the	the	DET
fcis-4602	125	7	variables	variable	NOUN
fcis-4602	125	8	q(t	q(t	PROPN
fcis-4602	125	9	)	)	PUNCT
fcis-4602	125	10	and	and	CCONJ
fcis-4602	125	11	λn(t	λn(t	NOUN
fcis-4602	125	12	)	)	PUNCT
fcis-4602	125	13	in	in	ADP
fcis-4602	125	14	order	order	NOUN
fcis-4602	125	15	to	to	PART
fcis-4602	125	16	reformulate	reformulate	VERB
fcis-4602	125	17	(	(	PUNCT
fcis-4602	125	18	p	p	NOUN
fcis-4602	125	19	1	1	NUM
fcis-4602	125	20	)	)	PUNCT
fcis-4602	125	21	as	as	ADP
fcis-4602	125	22	a	a	DET
fcis-4602	125	23	discrete	discrete	ADJ
fcis-4602	125	24	optimization	optimization	NOUN
fcis-4602	125	25	problem	problem	NOUN
fcis-4602	125	26	.	.	PUNCT
fcis-4602	126	1	this	this	DET
fcis-4602	126	2	work	work	NOUN
fcis-4602	126	3	introduces	introduce	VERB
fcis-4602	126	4	the	the	DET
fcis-4602	126	5	path	path	NOUN
fcis-4602	126	6	discretization	discretization	NOUN
fcis-4602	126	7	method	method	NOUN
fcis-4602	126	8	,	,	PUNCT
fcis-4602	126	9	which	which	PRON
fcis-4602	126	10	splits	split	VERB
fcis-4602	126	11	the	the	DET
fcis-4602	126	12	uav	uav	PROPN
fcis-4602	126	13	path	path	NOUN
fcis-4602	126	14	into	into	ADP
fcis-4602	126	15	m	m	PROPN
fcis-4602	126	16	line	line	NOUN
fcis-4602	126	17	segments	segment	NOUN
fcis-4602	126	18	and	and	CCONJ
fcis-4602	126	19	yields	yield	NOUN
fcis-4602	126	20	m	m	VERB
fcis-4602	126	21	+	+	ADJ
fcis-4602	126	22	1	1	NUM
fcis-4602	126	23	waypoints	waypoint	NOUN
fcis-4602	126	24	.	.	PUNCT
fcis-4602	127	1	thus	thus	ADV
fcis-4602	127	2	,	,	PUNCT
fcis-4602	127	3	the	the	DET
fcis-4602	127	4	continuous	continuous	ADJ
fcis-4602	127	5	optimization	optimization	NOUN
fcis-4602	127	6	problem	problem	NOUN
fcis-4602	127	7	can	can	AUX
fcis-4602	127	8	be	be	AUX
fcis-4602	127	9	converted	convert	VERB
fcis-4602	127	10	into	into	ADP
fcis-4602	127	11	a	a	DET
fcis-4602	127	12	discrete	discrete	ADJ
fcis-4602	127	13	optimization	optimization	NOUN
fcis-4602	127	14	problem	problem	NOUN
fcis-4602	127	15	.	.	PUNCT
fcis-4602	128	1	specifically	specifically	ADV
fcis-4602	128	2	,	,	PUNCT
fcis-4602	128	3	the	the	DET
fcis-4602	128	4	uav	uav	PROPN
fcis-4602	128	5	trajectory	trajectory	PROPN
fcis-4602	128	6	variable	variable	PROPN
fcis-4602	128	7	q(t	q(t	PROPN
fcis-4602	128	8	)	)	PUNCT
fcis-4602	128	9	is	be	AUX
fcis-4602	128	10	combined	combine	VERB
fcis-4602	128	11	with	with	ADP
fcis-4602	128	12	the	the	DET
fcis-4602	128	13	uav	uav	PROPN
fcis-4602	128	14	path	path	NOUN
fcis-4602	128	15	and	and	CCONJ
fcis-4602	128	16	the	the	DET
fcis-4602	128	17	time	time	NOUN
fcis-4602	128	18	dimension	dimension	NOUN
fcis-4602	128	19	.	.	PUNCT
fcis-4602	129	1	on	on	ADP
fcis-4602	129	2	the	the	DET
fcis-4602	129	3	one	one	NUM
fcis-4602	129	4	hand	hand	NOUN
fcis-4602	129	5	,	,	PUNCT
fcis-4602	129	6	the	the	DET
fcis-4602	129	7	new	new	ADJ
fcis-4602	129	8	variable	variable	NOUN
fcis-4602	129	9	{	{	PUNCT
fcis-4602	129	10	qm1m+1	qm1m+1	PROPN
fcis-4602	129	11	is	be	AUX
fcis-4602	129	12	defined	define	VERB
fcis-4602	129	13	by	by	ADP
fcis-4602	129	14	discretizing	discretize	VERB
fcis-4602	129	15	the	the	DET
fcis-4602	129	16	uav	uav	PROPN
fcis-4602	129	17	flight	flight	NOUN
fcis-4602	129	18	path	path	NOUN
fcis-4602	129	19	,	,	PUNCT
fcis-4602	129	20	which	which	PRON
fcis-4602	129	21	is	be	AUX
fcis-4602	129	22	the	the	DET
fcis-4602	129	23	uav	uav	PROPN
fcis-4602	129	24	horizontal	horizontal	PROPN
fcis-4602	129	25	coordinates	coordinate	NOUN
fcis-4602	129	26	in	in	ADP
fcis-4602	129	27	the	the	DET
fcis-4602	129	28	flying	fly	VERB
fcis-4602	129	29	process	process	NOUN
fcis-4602	129	30	.	.	PUNCT
fcis-4602	130	1	as	as	ADP
fcis-4602	130	2	the	the	DET
fcis-4602	130	3	need	need	NOUN
fcis-4602	130	4	of	of	ADP
fcis-4602	130	5	a	a	DET
fcis-4602	130	6	closed	closed	ADJ
fcis-4602	130	7	trajectory	trajectory	NOUN
fcis-4602	130	8	,	,	PUNCT
fcis-4602	130	9	q1	q1	PROPN
fcis-4602	130	10	=	=	PUNCT
fcis-4602	130	11	q0	q0	PROPN
fcis-4602	130	12	,	,	PUNCT
fcis-4602	130	13	qm+1	qm+1	PROPN
fcis-4602	131	1	=	=	NOUN
fcis-4602	132	1	q0	q0	PROPN
fcis-4602	132	2	should	should	AUX
fcis-4602	132	3	be	be	AUX
fcis-4602	132	4	satisfied	satisfied	ADJ
fcis-4602	132	5	.	.	PUNCT
fcis-4602	133	1	furthermore	furthermore	ADV
fcis-4602	133	2	,	,	PUNCT
fcis-4602	133	3	it	it	PRON
fcis-4602	133	4	is	be	AUX
fcis-4602	133	5	assumed	assume	VERB
fcis-4602	133	6	that	that	SCONJ
fcis-4602	133	7	the	the	DET
fcis-4602	133	8	uav	uav	PROPN
fcis-4602	133	9	velocity	velocity	NOUN
fcis-4602	133	10	and	and	CCONJ
fcis-4602	133	11	the	the	DET
fcis-4602	133	12	distance	distance	NOUN
fcis-4602	133	13	to	to	ADP
fcis-4602	133	14	each	each	DET
fcis-4602	133	15	gn	gn	PROPN
fcis-4602	133	16	are	be	AUX
fcis-4602	133	17	unchanged	unchanged	ADJ
fcis-4602	133	18	in	in	ADP
fcis-4602	133	19	each	each	DET
fcis-4602	133	20	segment	segment	NOUN
fcis-4602	133	21	qm	qm	PROPN
fcis-4602	133	22	.	.	PUNCT
fcis-4602	134	1	therefore	therefore	ADV
fcis-4602	134	2	,	,	PUNCT
fcis-4602	134	3	the	the	DET
fcis-4602	134	4	new	new	ADJ
fcis-4602	134	5	constraints	constraint	NOUN
fcis-4602	134	6	should	should	AUX
fcis-4602	134	7	be	be	AUX
fcis-4602	134	8	defined	define	VERB
fcis-4602	134	9	as	as	ADP
fcis-4602	134	10	follow	follow	NOUN
fcis-4602	134	11	where	where	SCONJ
fcis-4602	134	12	∆max	∆max	NUM
fcis-4602	134	13	is	be	AUX
fcis-4602	134	14	a	a	DET
fcis-4602	134	15	predetermined	predetermine	VERB
fcis-4602	134	16	value	value	NOUN
fcis-4602	134	17	that	that	PRON
fcis-4602	134	18	should	should	AUX
fcis-4602	134	19	be	be	AUX
fcis-4602	134	20	much	much	ADV
fcis-4602	134	21	smaller	small	ADJ
fcis-4602	134	22	than	than	ADP
fcis-4602	134	23	the	the	DET
fcis-4602	134	24	uav	uav	PROPN
fcis-4602	134	25	flying	fly	VERB
fcis-4602	134	26	altitude	altitude	NOUN
fcis-4602	134	27	to	to	PART
fcis-4602	134	28	satisfy	satisfy	VERB
fcis-4602	134	29	the	the	DET
fcis-4602	134	30	assumption	assumption	NOUN
fcis-4602	134	31	.	.	PUNCT
fcis-4602	135	1	in	in	ADP
fcis-4602	135	2	this	this	DET
fcis-4602	135	3	case	case	NOUN
fcis-4602	135	4	,	,	PUNCT
fcis-4602	135	5	m	m	PRON
fcis-4602	135	6	should	should	AUX
fcis-4602	135	7	also	also	ADV
fcis-4602	135	8	be	be	AUX
fcis-4602	135	9	chosen	choose	VERB
fcis-4602	135	10	efficiently	efficiently	ADV
fcis-4602	135	11	large	large	ADJ
fcis-4602	135	12	so	so	SCONJ
fcis-4602	135	13	that	that	SCONJ
fcis-4602	135	14	the	the	DET
fcis-4602	135	15	length	length	NOUN
fcis-4602	135	16	of	of	ADP
fcis-4602	135	17	each	each	DET
fcis-4602	135	18	segment	segment	NOUN
fcis-4602	135	19	is	be	AUX
fcis-4602	135	20	much	much	ADV
fcis-4602	135	21	less	less	ADJ
fcis-4602	135	22	than	than	ADP
fcis-4602	135	23	the	the	DET
fcis-4602	135	24	total	total	ADJ
fcis-4602	135	25	flying	fly	VERB
fcis-4602	135	26	distance	distance	NOUN
fcis-4602	135	27	.	.	PUNCT
fcis-4602	136	1	on	on	ADP
fcis-4602	136	2	the	the	DET
fcis-4602	136	3	other	other	ADJ
fcis-4602	136	4	hand	hand	NOUN
fcis-4602	136	5	,	,	PUNCT
fcis-4602	136	6	this	this	DET
fcis-4602	136	7	work	work	NOUN
fcis-4602	136	8	denotes	denote	VERB
fcis-4602	136	9	tm	tm	NOUN
fcis-4602	136	10	as	as	ADP
fcis-4602	136	11	the	the	DET
fcis-4602	136	12	duration	duration	NOUN
fcis-4602	136	13	of	of	ADP
fcis-4602	136	14	the	the	DET
fcis-4602	136	15	line	line	NOUN
fcis-4602	136	16	segment	segment	NOUN
fcis-4602	136	17	m	m	PROPN
fcis-4602	136	18	,	,	PUNCT
fcis-4602	136	19	and	and	CCONJ
fcis-4602	136	20	this	this	DET
fcis-4602	136	21	equation	equation	NOUN
fcis-4602	136	22	to	to	PART
fcis-4602	136	23	denote	denote	VERB
fcis-4602	136	24	the	the	DET
fcis-4602	136	25	total	total	ADJ
fcis-4602	136	26	completion	completion	NOUN
fcis-4602	136	27	time	time	NOUN
fcis-4602	136	28	tt	tt	PROPN
fcis-4602	136	29	can	can	AUX
fcis-4602	136	30	be	be	AUX
fcis-4602	136	31	shown	show	VERB
fcis-4602	136	32	as	as	ADP
fcis-4602	136	33	therefore	therefore	ADV
fcis-4602	136	34	,	,	PUNCT
fcis-4602	136	35	the	the	DET
fcis-4602	136	36	trajectory	trajectory	NOUN
fcis-4602	136	37	variable	variable	NOUN
fcis-4602	136	38	q(t	q(t	PROPN
fcis-4602	136	39	)	)	PUNCT
fcis-4602	136	40	can	can	AUX
fcis-4602	136	41	be	be	AUX
fcis-4602	136	42	described	describe	VERB
fcis-4602	136	43	by	by	ADP
fcis-4602	136	44	variable	variable	ADJ
fcis-4602	136	45	qm	qm	PROPN
fcis-4602	136	46	and	and	CCONJ
fcis-4602	136	47	tm	tm	PRON
fcis-4602	136	48	individually	individually	ADV
fcis-4602	136	49	.	.	PUNCT
fcis-4602	137	1	then	then	ADV
fcis-4602	137	2	,	,	PUNCT
fcis-4602	137	3	the	the	DET
fcis-4602	137	4	velocity	velocity	NOUN
fcis-4602	137	5	of	of	ADP
fcis-4602	137	6	the	the	DET
fcis-4602	137	7	uav	uav	PROPN
fcis-4602	137	8	in	in	ADP
fcis-4602	137	9	segment	segment	NOUN
fcis-4602	137	10	m	m	PROPN
fcis-4602	137	11	can	can	AUX
fcis-4602	137	12	be	be	AUX
fcis-4602	137	13	expressed	express	VERB
fcis-4602	137	14	as	as	ADP
fcis-4602	137	15	according	accord	VERB
fcis-4602	137	16	to	to	ADP
fcis-4602	137	17	the	the	DET
fcis-4602	137	18	tdma	tdma	PROPN
fcis-4602	137	19	protocol	protocol	NOUN
fcis-4602	137	20	,	,	PUNCT
fcis-4602	137	21	the	the	DET
fcis-4602	137	22	variable	variable	ADJ
fcis-4602	137	23	τmn	τmn	ADJ
fcis-4602	137	24	≥	≥	NOUN
fcis-4602	137	25	0	0	NUM
fcis-4602	137	26	is	be	AUX
fcis-4602	137	27	defined	define	VERB
fcis-4602	137	28	to	to	PART
fcis-4602	137	29	denote	denote	VERB
fcis-4602	137	30	the	the	DET
fcis-4602	137	31	allocation	allocation	NOUN
fcis-4602	137	32	time	time	NOUN
fcis-4602	137	33	for	for	ADP
fcis-4602	137	34	communication	communication	NOUN
fcis-4602	137	35	in	in	ADP
fcis-4602	137	36	segment	segment	NOUN
fcis-4602	137	37	m	m	VERB
fcis-4602	137	38	with	with	ADP
fcis-4602	137	39	gn	gn	PROPN
fcis-4602	137	40	n.	n.	PROPN
fcis-4602	137	41	in	in	ADP
fcis-4602	137	42	this	this	DET
fcis-4602	137	43	case	case	NOUN
fcis-4602	137	44	,	,	PUNCT
fcis-4602	137	45	this	this	DET
fcis-4602	137	46	study	study	NOUN
fcis-4602	137	47	imposes	impose	VERB
fcis-4602	137	48	constraints	constraint	NOUN
fcis-4602	137	49	之nn=1	之nn=1	PROPN
fcis-4602	137	50	τmn	τmn	ADJ
fcis-4602	137	51	≤	≤	ADJ
fcis-4602	137	52	tm	tm	PROPN
fcis-4602	137	53	,	,	PUNCT
fcis-4602	137	54	am	be	AUX
fcis-4602	137	55	.	.	PUNCT
fcis-4602	138	1	as	as	ADP
fcis-4602	138	2	a	a	DET
fcis-4602	138	3	result	result	NOUN
fcis-4602	138	4	,	,	PUNCT
fcis-4602	138	5	the	the	DET
fcis-4602	138	6	overall	overall	ADJ
fcis-4602	138	7	transmission	transmission	NOUN
fcis-4602	138	8	rate	rate	NOUN
fcis-4602	138	9	for	for	ADP
fcis-4602	138	10	gn	gn	PROPN
fcis-4602	138	11	n	n	PRON
fcis-4602	138	12	can	can	AUX
fcis-4602	138	13	be	be	AUX
fcis-4602	138	14	formed	form	VERB
fcis-4602	138	15	as	as	ADP
fcis-4602	138	16	for	for	ADP
fcis-4602	138	17	the	the	DET
fcis-4602	138	18	uav	uav	PROPN
fcis-4602	138	19	total	total	ADJ
fcis-4602	138	20	energy	energy	NOUN
fcis-4602	138	21	consumption	consumption	NOUN
fcis-4602	138	22	,	,	PUNCT
fcis-4602	138	23	the	the	DET
fcis-4602	138	24	discrete	discrete	ADJ
fcis-4602	138	25	form	form	NOUN
fcis-4602	138	26	can	can	AUX
fcis-4602	138	27	be	be	AUX
fcis-4602	138	28	shown	show	VERB
fcis-4602	138	29	as	as	ADP
fcis-4602	138	30	93	93	NUM
fcis-4602	138	31	where	where	SCONJ
fcis-4602	138	32	the	the	DET
fcis-4602	138	33	constraint	constraint	NOUN
fcis-4602	138	34	(	(	PUNCT
fcis-4602	138	35	28b	28b	NOUN
fcis-4602	138	36	)	)	PUNCT
fcis-4602	138	37	refers	refer	VERB
fcis-4602	138	38	to	to	ADP
fcis-4602	138	39	the	the	DET
fcis-4602	138	40	uav	uav	PROPN
fcis-4602	138	41	’s	’s	PART
fcis-4602	138	42	maximum	maximum	ADJ
fcis-4602	138	43	speed	speed	NOUN
fcis-4602	138	44	and	and	CCONJ
fcis-4602	138	45	the	the	DET
fcis-4602	138	46	maximum	maximum	ADJ
fcis-4602	138	47	segment	segment	NOUN
fcis-4602	138	48	length	length	NOUN
fcis-4602	138	49	,	,	PUNCT
fcis-4602	138	50	which	which	PRON
fcis-4602	138	51	this	this	DET
fcis-4602	138	52	paper	paper	NOUN
fcis-4602	138	53	mentioned	mention	VERB
fcis-4602	138	54	before	before	ADV
fcis-4602	138	55	.	.	PUNCT
fcis-4602	139	1	in	in	ADP
fcis-4602	139	2	the	the	DET
fcis-4602	139	3	end	end	NOUN
fcis-4602	139	4	,	,	PUNCT
fcis-4602	139	5	the	the	DET
fcis-4602	139	6	new	new	ADJ
fcis-4602	139	7	problem	problem	NOUN
fcis-4602	139	8	(	(	PUNCT
fcis-4602	139	9	p3	p3	NOUN
fcis-4602	139	10	)	)	PUNCT
fcis-4602	139	11	is	be	AUX
fcis-4602	139	12	in	in	ADP
fcis-4602	139	13	the	the	DET
fcis-4602	139	14	discrete	discrete	ADJ
fcis-4602	139	15	form	form	NOUN
fcis-4602	139	16	,	,	PUNCT
fcis-4602	139	17	which	which	PRON
fcis-4602	139	18	is	be	AUX
fcis-4602	139	19	more	more	ADV
fcis-4602	139	20	tractable	tractable	ADJ
fcis-4602	139	21	.	.	PUNCT
fcis-4602	140	1	however	however	ADV
fcis-4602	140	2	,	,	PUNCT
fcis-4602	140	3	(	(	PUNCT
fcis-4602	140	4	p3	p3	NOUN
fcis-4602	140	5	)	)	PUNCT
fcis-4602	140	6	is	be	AUX
fcis-4602	140	7	still	still	ADV
fcis-4602	140	8	a	a	DET
fcis-4602	140	9	nonconvex	nonconvex	NOUN
fcis-4602	140	10	problem	problem	NOUN
fcis-4602	140	11	because	because	SCONJ
fcis-4602	140	12	of	of	ADP
fcis-4602	140	13	the	the	DET
fcis-4602	140	14	non	non	NOUN
fcis-4602	140	15	-	-	NOUN
fcis-4602	140	16	convexity	convexity	NOUN
fcis-4602	140	17	of	of	ADP
fcis-4602	140	18	the	the	DET
fcis-4602	140	19	discrete	discrete	ADJ
fcis-4602	140	20	energy	energy	NOUN
fcis-4602	140	21	consumption	consumption	NOUN
fcis-4602	140	22	function	function	NOUN
fcis-4602	140	23	and	and	CCONJ
fcis-4602	140	24	the	the	DET
fcis-4602	140	25	throughput	throughput	NOUN
fcis-4602	140	26	requirement	requirement	NOUN
fcis-4602	140	27	constraint	constraint	NOUN
fcis-4602	140	28	.	.	PUNCT
fcis-4602	141	1	similar	similar	ADJ
fcis-4602	141	2	to	to	ADP
fcis-4602	141	3	section	section	NOUN
fcis-4602	141	4	3	3	NUM
fcis-4602	141	5	.	.	NOUN
fcis-4602	141	6	1	1	NUM
fcis-4602	141	7	,	,	PUNCT
fcis-4602	141	8	the	the	DET
fcis-4602	141	9	slack	slack	NOUN
fcis-4602	141	10	variables	variable	NOUN
fcis-4602	141	11	and	and	CCONJ
fcis-4602	141	12	the	the	DET
fcis-4602	141	13	sca	sca	PROPN
fcis-4602	141	14	algorithm	algorithm	NOUN
fcis-4602	141	15	can	can	AUX
fcis-4602	141	16	be	be	AUX
fcis-4602	141	17	used	use	VERB
fcis-4602	141	18	.	.	PUNCT
fcis-4602	142	1	3.2.2	3.2.2	X
fcis-4602	142	2	.	.	PUNCT
fcis-4602	143	1	uav	uav	PROPN
fcis-4602	143	2	energy	energy	PROPN
fcis-4602	143	3	consumption	consumption	NOUN
fcis-4602	143	4	minimization	minimization	NOUN
fcis-4602	143	5	in	in	ADP
fcis-4602	143	6	(	(	PUNCT
fcis-4602	143	7	p3	p3	PROPN
fcis-4602	143	8	)	)	PUNCT
fcis-4602	143	9	as	as	SCONJ
fcis-4602	143	10	mentioned	mention	VERB
fcis-4602	143	11	before	before	ADV
fcis-4602	143	12	,	,	PUNCT
fcis-4602	143	13	the	the	DET
fcis-4602	143	14	object	object	NOUN
fcis-4602	143	15	function	function	NOUN
fcis-4602	143	16	of	of	ADP
fcis-4602	143	17	the	the	DET
fcis-4602	143	18	problem	problem	NOUN
fcis-4602	143	19	(	(	PUNCT
fcis-4602	143	20	p3	p3	NOUN
fcis-4602	143	21	)	)	PUNCT
fcis-4602	143	22	and	and	CCONJ
fcis-4602	143	23	the	the	DET
fcis-4602	143	24	constraint	constraint	NOUN
fcis-4602	143	25	(	(	PUNCT
fcis-4602	143	26	28a	28a	NOUN
fcis-4602	143	27	)	)	PUNCT
fcis-4602	143	28	are	be	AUX
fcis-4602	143	29	both	both	PRON
fcis-4602	143	30	non	non	ADJ
fcis-4602	143	31	-	-	NOUN
fcis-4602	143	32	convex	convex	ADJ
fcis-4602	143	33	.	.	PUNCT
fcis-4602	144	1	the	the	DET
fcis-4602	144	2	uav	uav	PROPN
fcis-4602	144	3	’s	’s	PART
fcis-4602	144	4	energy	energy	NOUN
fcis-4602	144	5	consumption	consumption	NOUN
fcis-4602	144	6	function	function	NOUN
fcis-4602	144	7	can	can	AUX
fcis-4602	144	8	prove	prove	VERB
fcis-4602	144	9	that	that	SCONJ
fcis-4602	144	10	only	only	ADV
fcis-4602	144	11	the	the	DET
fcis-4602	144	12	second	second	ADJ
fcis-4602	144	13	term	term	NOUN
fcis-4602	144	14	is	be	AUX
fcis-4602	144	15	non	non	ADJ
fcis-4602	144	16	-	-	ADJ
fcis-4602	144	17	convex	convex	ADJ
fcis-4602	144	18	through	through	ADP
fcis-4602	144	19	the	the	DET
fcis-4602	144	20	perspective	perspective	ADJ
fcis-4602	144	21	operation	operation	NOUN
fcis-4602	145	1	[	[	X
fcis-4602	145	2	28	28	NUM
fcis-4602	145	3	]	]	PUNCT
fcis-4602	145	4	.	.	PUNCT
fcis-4602	146	1	therefore	therefore	ADV
fcis-4602	146	2	,	,	PUNCT
fcis-4602	146	3	this	this	DET
fcis-4602	146	4	research	research	NOUN
fcis-4602	146	5	introduces	introduce	VERB
fcis-4602	146	6	the	the	DET
fcis-4602	146	7	slack	slack	NOUN
fcis-4602	146	8	variable	variable	NOUN
fcis-4602	146	9	ym	ym	PROPN
fcis-4602	146	10	≥	≥	NOUN
fcis-4602	146	11	0	0	NUM
fcis-4602	146	12	to	to	PART
fcis-4602	146	13	denote	denote	VERB
fcis-4602	146	14	the	the	DET
fcis-4602	146	15	term	term	NOUN
fcis-4602	146	16	^tm(4	^tm(4	NUM
fcis-4602	146	17	)	)	PUNCT
fcis-4602	147	1	+	+	CCONJ
fcis-4602	147	2	−	−	PROPN
fcis-4602	147	3	.	.	PUNCT
fcis-4602	148	1	then	then	ADV
fcis-4602	148	2	the	the	DET
fcis-4602	148	3	following	follow	VERB
fcis-4602	148	4	relationship	relationship	NOUN
fcis-4602	148	5	is	be	AUX
fcis-4602	148	6	given	give	VERB
fcis-4602	148	7	by	by	ADP
fcis-4602	148	8	then	then	ADV
fcis-4602	148	9	,	,	PUNCT
fcis-4602	148	10	the	the	DET
fcis-4602	148	11	second	second	ADJ
fcis-4602	148	12	term	term	NOUN
fcis-4602	148	13	of	of	ADP
fcis-4602	148	14	the	the	DET
fcis-4602	148	15	uav	uav	PROPN
fcis-4602	148	16	energy	energy	NOUN
fcis-4602	148	17	consumption	consumption	NOUN
fcis-4602	148	18	can	can	AUX
fcis-4602	148	19	be	be	AUX
fcis-4602	148	20	expressed	express	VERB
fcis-4602	148	21	as	as	ADP
fcis-4602	148	22	the	the	DET
fcis-4602	148	23	convex	convex	ADJ
fcis-4602	148	24	linear	linear	ADJ
fcis-4602	148	25	form	form	NOUN
fcis-4602	148	26	p0	p0	NOUN
fcis-4602	148	27	mm	mm	NOUN
fcis-4602	148	28	=	=	SYM
fcis-4602	148	29	1	1	NUM
fcis-4602	148	30	ym	ym	NOUN
fcis-4602	148	31	by	by	ADP
fcis-4602	148	32	imposing	impose	VERB
fcis-4602	148	33	the	the	DET
fcis-4602	148	34	additional	additional	ADJ
fcis-4602	148	35	constraints	constraint	NOUN
fcis-4602	148	36	as	as	SCONJ
fcis-4602	148	37	the	the	DET
fcis-4602	148	38	rhs	rhs	PROPN
fcis-4602	148	39	of	of	ADP
fcis-4602	148	40	(	(	PUNCT
fcis-4602	148	41	31	31	NUM
fcis-4602	148	42	)	)	PUNCT
fcis-4602	148	43	should	should	AUX
fcis-4602	148	44	be	be	AUX
fcis-4602	148	45	transferred	transfer	VERB
fcis-4602	148	46	to	to	ADP
fcis-4602	148	47	the	the	DET
fcis-4602	148	48	concave	concave	ADJ
fcis-4602	148	49	or	or	CCONJ
fcis-4602	148	50	affine	affine	NOUN
fcis-4602	148	51	form	form	NOUN
fcis-4602	148	52	by	by	ADP
fcis-4602	148	53	deriving	derive	VERB
fcis-4602	148	54	the	the	DET
fcis-4602	148	55	first	first	ADJ
fcis-4602	148	56	-	-	PUNCT
fcis-4602	148	57	order	order	NOUN
fcis-4602	148	58	taylor	taylor	NOUN
fcis-4602	148	59	expansion	expansion	NOUN
fcis-4602	148	60	as	as	ADP
fcis-4602	148	61	the	the	DET
fcis-4602	148	62	global	global	ADJ
fcis-4602	148	63	lower	low	ADJ
fcis-4602	148	64	bound	bind	VERB
fcis-4602	148	65	of	of	ADP
fcis-4602	148	66	it	it	PRON
fcis-4602	148	67	as	as	ADP
fcis-4602	148	68	problem	problem	NOUN
fcis-4602	148	69	(	(	PUNCT
fcis-4602	148	70	p3.1	p3.1	PROPN
fcis-4602	148	71	)	)	PUNCT
fcis-4602	148	72	can	can	AUX
fcis-4602	148	73	also	also	ADV
fcis-4602	148	74	be	be	AUX
fcis-4602	148	75	handled	handle	VERB
fcis-4602	148	76	by	by	ADP
fcis-4602	148	77	using	use	VERB
fcis-4602	148	78	the	the	DET
fcis-4602	148	79	cvx	cvx	PROPN
fcis-4602	148	80	toolbox	toolbox	NOUN
fcis-4602	148	81	.	.	PUNCT
fcis-4602	149	1	then	then	ADV
fcis-4602	149	2	,	,	PUNCT
fcis-4602	149	3	this	this	DET
fcis-4602	149	4	work	work	NOUN
fcis-4602	149	5	successively	successively	ADV
fcis-4602	149	6	updates	update	VERB
fcis-4602	149	7	the	the	DET
fcis-4602	149	8	local	local	ADJ
fcis-4602	149	9	pointsq	pointsq	NOUN
fcis-4602	149	10	)	)	PUNCT
fcis-4602	149	11	,	,	PUNCT
fcis-4602	149	12	t	t	X
fcis-4602	149	13	)	)	PUNCT
fcis-4602	149	14	andτ	andτ	NOUN
fcis-4602	149	15	n	n	NOUN
fcis-4602	149	16	by	by	ADP
fcis-4602	149	17	solving	solve	VERB
fcis-4602	149	18	the	the	DET
fcis-4602	149	19	problem	problem	NOUN
fcis-4602	149	20	(	(	PUNCT
fcis-4602	149	21	p3.2	p3.2	NOUN
fcis-4602	149	22	)	)	PUNCT
fcis-4602	149	23	.	.	PUNCT
fcis-4602	150	1	the	the	DET
fcis-4602	150	2	iteration	iteration	NOUN
fcis-4602	150	3	is	be	AUX
fcis-4602	150	4	stopped	stop	VERB
fcis-4602	150	5	when	when	SCONJ
fcis-4602	150	6	the	the	DET
fcis-4602	150	7	object	object	NOUN
fcis-4602	150	8	value	value	NOUN
fcis-4602	150	9	converges	converge	VERB
fcis-4602	150	10	to	to	ADP
fcis-4602	150	11	a	a	DET
fcis-4602	150	12	certain	certain	ADJ
fcis-4602	150	13	threshold	threshold	NOUN
fcis-4602	150	14	.	.	PUNCT
fcis-4602	151	1	this	this	DET
fcis-4602	151	2	sca	sca	PROPN
fcis-4602	151	3	process	process	NOUN
fcis-4602	151	4	is	be	AUX
fcis-4602	151	5	firstly	firstly	ADV
fcis-4602	151	6	doing	do	VERB
fcis-4602	151	7	the	the	DET
fcis-4602	151	8	initialization	initialization	NOUN
fcis-4602	151	9	,	,	PUNCT
fcis-4602	151	10	which	which	PRON
fcis-4602	151	11	obtains	obtain	VERB
fcis-4602	151	12	the	the	DET
fcis-4602	151	13	feasible	feasible	ADJ
fcis-4602	151	14	q	q	NOUN
fcis-4602	151	15	,	,	PUNCT
fcis-4602	151	16	t	t	PROPN
fcis-4602	151	17	andτ	andτ	NOUN
fcis-4602	151	18	n}to	n}to	PROPN
fcis-4602	151	19	(	(	PUNCT
fcis-4602	151	20	p3	p3	PROPN
fcis-4602	151	21	)	)	PUNCT
fcis-4602	151	22	.	.	PUNCT
fcis-4602	152	1	the	the	DET
fcis-4602	152	2	next	next	ADJ
fcis-4602	152	3	step	step	NOUN
fcis-4602	152	4	is	be	AUX
fcis-4602	152	5	starting	start	VERB
fcis-4602	152	6	the	the	DET
fcis-4602	152	7	iteration	iteration	NOUN
fcis-4602	152	8	,	,	PUNCT
fcis-4602	152	9	and	and	CCONJ
fcis-4602	152	10	in	in	ADP
fcis-4602	152	11	the	the	DET
fcis-4602	152	12	loop	loop	NOUN
fcis-4602	152	13	,	,	PUNCT
fcis-4602	152	14	y	y	PROPN
fcis-4602	152	15	)	)	PUNCT
fcis-4602	152	16	and	and	CCONJ
fcis-4602	152	17	a	a	DET
fcis-4602	152	18	n	n	NOUN
fcis-4602	152	19	based	base	VERB
fcis-4602	152	20	on	on	ADP
fcis-4602	152	21	(	(	PUNCT
fcis-4602	152	22	32	32	NUM
fcis-4602	152	23	)	)	PUNCT
fcis-4602	152	24	and	and	CCONJ
fcis-4602	152	25	(	(	PUNCT
fcis-4602	152	26	34	34	NUM
fcis-4602	152	27	)	)	PUNCT
fcis-4602	152	28	are	be	AUX
fcis-4602	152	29	calculated	calculate	VERB
fcis-4602	152	30	.	.	PUNCT
fcis-4602	153	1	then	then	ADV
fcis-4602	153	2	,	,	PUNCT
fcis-4602	153	3	solve	solve	NOUN
fcis-4602	153	4	(	(	PUNCT
fcis-4602	153	5	p3.2	p3.2	NOUN
fcis-4602	153	6	)	)	PUNCT
fcis-4602	153	7	and	and	CCONJ
fcis-4602	153	8	have	have	VERB
fcis-4602	153	9	the	the	DET
fcis-4602	153	10	optimal	optimal	ADJ
fcis-4602	153	11	{	{	PUNCT
fcis-4602	153	12	qm	qm	PROPN
fcis-4602	153	13	*	*	PROPN
fcis-4602	153	14	}	}	PUNCT
fcis-4602	153	15	,	,	PUNCT
fcis-4602	153	16	{	{	PUNCT
fcis-4602	153	17	tm	tm	NOUN
fcis-4602	153	18	*	*	PUNCT
fcis-4602	153	19	}	}	PUNCT
fcis-4602	153	20	and	and	CCONJ
fcis-4602	153	21	{	{	PUNCT
fcis-4602	153	22	τ	τ	PROPN
fcis-4602	153	23	m	m	PROPN
fcis-4602	153	24	*	*	PROPN
fcis-4602	153	25	n	n	CCONJ
fcis-4602	153	26	}	}	PUNCT
fcis-4602	153	27	as	as	ADP
fcis-4602	153	28	the	the	DET
fcis-4602	153	29	updating	update	VERB
fcis-4602	153	30	local	local	ADJ
fcis-4602	153	31	points	point	NOUN
fcis-4602	153	32	.	.	PUNCT
fcis-4602	154	1	the	the	DET
fcis-4602	154	2	following	follow	VERB
fcis-4602	154	3	work	work	NOUN
fcis-4602	154	4	is	be	AUX
fcis-4602	154	5	to	to	PART
fcis-4602	154	6	repeat	repeat	VERB
fcis-4602	154	7	the	the	DET
fcis-4602	154	8	loop	loop	NOUN
fcis-4602	154	9	until	until	ADP
fcis-4602	154	10	reaching	reach	VERB
fcis-4602	154	11	the	the	DET
fcis-4602	154	12	threshold	threshold	NOUN
fcis-4602	154	13	.	.	PUNCT
fcis-4602	155	1	the	the	DET
fcis-4602	155	2	above	above	ADJ
fcis-4602	155	3	process	process	NOUN
fcis-4602	155	4	is	be	AUX
fcis-4602	155	5	concluded	conclude	VERB
fcis-4602	155	6	as	as	ADP
fcis-4602	155	7	algorithm	algorithm	NOUN
fcis-4602	155	8	2	2	NUM
fcis-4602	155	9	.	.	PUNCT
fcis-4602	156	1	finally	finally	ADV
fcis-4602	156	2	,	,	PUNCT
fcis-4602	156	3	the	the	DET
fcis-4602	156	4	obtained	obtain	VERB
fcis-4602	156	5	trajectory	trajectory	NOUN
fcis-4602	156	6	is	be	AUX
fcis-4602	156	7	called	call	VERB
fcis-4602	156	8	the	the	DET
fcis-4602	156	9	fly	fly	NOUN
fcis-4602	156	10	-	-	PUNCT
fcis-4602	156	11	over	over	ADP
fcis-4602	156	12	trajectory	trajectory	NOUN
fcis-4602	156	13	.	.	PUNCT
fcis-4602	157	1	in	in	ADP
fcis-4602	157	2	this	this	DET
fcis-4602	157	3	way	way	NOUN
fcis-4602	157	4	,	,	PUNCT
fcis-4602	157	5	the	the	DET
fcis-4602	157	6	optimal	optimal	ADJ
fcis-4602	157	7	uav	uav	PROPN
fcis-4602	157	8	flight	flight	NOUN
fcis-4602	157	9	trajectory	trajectory	NOUN
fcis-4602	157	10	,	,	PUNCT
fcis-4602	157	11	optimal	optimal	ADJ
fcis-4602	157	12	uav	uav	PROPN
fcis-4602	157	13	communication	communication	NOUN
fcis-4602	157	14	allocation	allocation	NOUN
fcis-4602	157	15	time	time	NOUN
fcis-4602	157	16	,	,	PUNCT
fcis-4602	157	17	and	and	CCONJ
fcis-4602	157	18	minimum	minimum	PROPN
fcis-4602	157	19	uav	uav	PROPN
fcis-4602	157	20	energy	energy	NOUN
fcis-4602	157	21	consumption	consumption	NOUN
fcis-4602	157	22	are	be	AUX
fcis-4602	157	23	obtained	obtain	VERB
fcis-4602	157	24	.	.	PUNCT
fcis-4602	158	1	table	table	NOUN
fcis-4602	158	2	2	2	NUM
fcis-4602	158	3	.	.	PUNCT
fcis-4602	158	4	iteration	iteration	NOUN
fcis-4602	158	5	process	process	NOUN
fcis-4602	158	6	for	for	ADP
fcis-4602	158	7	p	p	PROPN
fcis-4602	158	8	4	4	NUM
fcis-4602	158	9	.	.	PUNCT
fcis-4602	158	10	numerical	numerical	ADJ
fcis-4602	158	11	results	result	NOUN
fcis-4602	158	12	4.1	4.1	NUM
fcis-4602	158	13	.	.	PUNCT
fcis-4602	159	1	parameters	parameter	NOUN
fcis-4602	159	2	setting	set	VERB
fcis-4602	159	3	this	this	DET
fcis-4602	159	4	section	section	NOUN
fcis-4602	159	5	describes	describe	VERB
fcis-4602	159	6	the	the	DET
fcis-4602	159	7	parameters	parameter	NOUN
fcis-4602	159	8	set	set	VERB
fcis-4602	159	9	in	in	ADP
fcis-4602	159	10	the	the	DET
fcis-4602	159	11	system	system	NOUN
fcis-4602	159	12	model	model	NOUN
fcis-4602	159	13	and	and	CCONJ
fcis-4602	159	14	the	the	DET
fcis-4602	159	15	numerical	numerical	ADJ
fcis-4602	159	16	results	result	NOUN
fcis-4602	159	17	ofthe	ofthe	VERB
fcis-4602	159	18	proposed	propose	VERB
fcis-4602	159	19	problem	problem	NOUN
fcis-4602	159	20	.	.	PUNCT
fcis-4602	160	1	in	in	ADP
fcis-4602	160	2	the	the	DET
fcis-4602	160	3	system	system	NOUN
fcis-4602	160	4	model	model	NOUN
fcis-4602	160	5	,	,	PUNCT
fcis-4602	160	6	this	this	DET
fcis-4602	160	7	work	work	NOUN
fcis-4602	160	8	uses	use	VERB
fcis-4602	160	9	the	the	DET
fcis-4602	160	10	rotary	rotary	NOUN
fcis-4602	160	11	-	-	PUNCT
fcis-4602	160	12	wing	wing	NOUN
fcis-4602	160	13	uav	uav	PROPN
fcis-4602	160	14	as	as	ADP
fcis-4602	160	15	the	the	DET
fcis-4602	160	16	fbs	fb	NOUN
fcis-4602	160	17	,	,	PUNCT
fcis-4602	160	18	so	so	SCONJ
fcis-4602	160	19	the	the	DET
fcis-4602	160	20	uav	uav	PROPN
fcis-4602	160	21	-	-	PUNCT
fcis-4602	160	22	related	relate	VERB
fcis-4602	160	23	attributes	attribute	NOUN
fcis-4602	160	24	for	for	ADP
fcis-4602	160	25	the	the	DET
fcis-4602	160	26	uav	uav	PROPN
fcis-4602	160	27	propulsion	propulsion	NOUN
fcis-4602	160	28	power	power	NOUN
fcis-4602	160	29	are	be	AUX
fcis-4602	160	30	set	set	VERB
fcis-4602	160	31	as	as	SCONJ
fcis-4602	160	32	shown	show	VERB
fcis-4602	160	33	in	in	ADP
fcis-4602	160	34	table	table	NOUN
fcis-4602	160	35	1	1	NUM
fcis-4602	160	36	.	.	PUNCT
fcis-4602	161	1	the	the	DET
fcis-4602	161	2	communication	communication	NOUN
fcis-4602	161	3	power	power	NOUN
fcis-4602	161	4	consumption	consumption	NOUN
fcis-4602	161	5	of	of	ADP
fcis-4602	161	6	the	the	DET
fcis-4602	161	7	uav	uav	PROPN
fcis-4602	161	8	is	be	AUX
fcis-4602	161	9	set	set	VERB
fcis-4602	161	10	to	to	PART
fcis-4602	161	11	be	be	AUX
fcis-4602	161	12	a	a	DET
fcis-4602	161	13	constant	constant	ADJ
fcis-4602	161	14	as	as	ADP
fcis-4602	161	15	pc	pc	NOUN
fcis-4602	161	16	=	=	SYM
fcis-4602	161	17	5w	5w	PROPN
fcis-4602	162	1	[	[	X
fcis-4602	162	2	29	29	NUM
fcis-4602	162	3	]	]	PUNCT
fcis-4602	162	4	.	.	PUNCT
fcis-4602	163	1	then	then	ADV
fcis-4602	163	2	,	,	PUNCT
fcis-4602	163	3	the	the	DET
fcis-4602	163	4	maximum	maximum	PROPN
fcis-4602	163	5	uav	uav	PROPN
fcis-4602	163	6	velocity	velocity	NOUN
fcis-4602	163	7	is	be	AUX
fcis-4602	163	8	required	require	VERB
fcis-4602	163	9	that	that	SCONJ
fcis-4602	163	10	vma	vma	NOUN
fcis-4602	163	11	北	北	NOUN
fcis-4602	163	12	=	=	SYM
fcis-4602	163	13	30	30	NUM
fcis-4602	163	14	m/s	m/s	PROPN
fcis-4602	163	15	and	and	CCONJ
fcis-4602	163	16	the	the	DET
fcis-4602	163	17	fixed	fixed	ADJ
fcis-4602	163	18	uav	uav	PROPN
fcis-4602	163	19	flying	fly	VERB
fcis-4602	163	20	altitude	altitude	NOUN
fcis-4602	163	21	h	h	NOUN
fcis-4602	163	22	is	be	AUX
fcis-4602	163	23	100	100	NUM
fcis-4602	163	24	m.	m.	NOUN
fcis-4602	163	25	this	this	PRON
fcis-4602	163	26	is	be	AUX
fcis-4602	163	27	by	by	ADP
fcis-4602	163	28	federal	federal	ADJ
fcis-4602	163	29	aviation	aviation	PROPN
fcis-4602	163	30	administration	administration	PROPN
fcis-4602	163	31	(	(	PUNCT
fcis-4602	163	32	faa	faa	PROPN
fcis-4602	163	33	)	)	PUNCT
fcis-4602	163	34	regulations	regulation	NOUN
fcis-4602	163	35	that	that	PRON
fcis-4602	163	36	small	small	ADJ
fcis-4602	163	37	uavs	uavs	NOUN
fcis-4602	163	38	can	can	AUX
fcis-4602	163	39	not	not	PART
fcis-4602	163	40	fly	fly	VERB
fcis-4602	163	41	above	above	ADP
fcis-4602	163	42	400	400	NUM
fcis-4602	163	43	feet	foot	NOUN
fcis-4602	163	44	in	in	ADP
fcis-4602	163	45	altitude	altitude	NOUN
fcis-4602	163	46	[	[	X
fcis-4602	163	47	30	30	NUM
fcis-4602	163	48	]	]	PUNCT
fcis-4602	163	49	.	.	PUNCT
fcis-4602	164	1	for	for	ADP
fcis-4602	164	2	the	the	DET
fcis-4602	164	3	communication	communication	NOUN
fcis-4602	164	4	system	system	NOUN
fcis-4602	164	5	,	,	PUNCT
fcis-4602	164	6	this	this	DET
fcis-4602	164	7	work	work	NOUN
fcis-4602	164	8	defines	define	VERB
fcis-4602	164	9	the	the	DET
fcis-4602	164	10	communication	communication	NOUN
fcis-4602	164	11	bandwidth	bandwidth	NOUN
fcis-4602	164	12	as	as	ADP
fcis-4602	164	13	b	b	NOUN
fcis-4602	164	14	=	=	SYM
fcis-4602	164	15	1mhz	1mhz	NUM
fcis-4602	164	16	,	,	PUNCT
fcis-4602	164	17	and	and	CCONJ
fcis-4602	164	18	the	the	DET
fcis-4602	164	19	reference	reference	NOUN
fcis-4602	164	20	snr	snr	PROPN
fcis-4602	164	21	is	be	AUX
fcis-4602	164	22	set	set	VERB
fcis-4602	164	23	to	to	PART
fcis-4602	164	24	be	be	AUX
fcis-4602	164	25	γ0	γ0	NOUN
fcis-4602	164	26	=	=	SYM
fcis-4602	164	27	52.5db	52.5db	NOUN
fcis-4602	164	28	with	with	ADP
fcis-4602	164	29	transmit	transmit	ADJ
fcis-4602	164	30	power	power	NOUN
fcis-4602	164	31	p	p	NOUN
fcis-4602	164	32	=	=	NOUN
fcis-4602	164	33	20dbm	20dbm	NOUN
fcis-4602	164	34	.	.	PUNCT
fcis-4602	165	1	for	for	ADP
fcis-4602	165	2	the	the	DET
fcis-4602	165	3	model	model	NOUN
fcis-4602	165	4	scenario	scenario	PROPN
fcis-4602	165	5	,	,	PUNCT
fcis-4602	165	6	the	the	DET
fcis-4602	165	7	length	length	NOUN
fcis-4602	165	8	of	of	ADP
fcis-4602	165	9	the	the	DET
fcis-4602	165	10	hypothetical	hypothetical	ADJ
fcis-4602	165	11	square	square	NOUN
fcis-4602	165	12	map	map	NOUN
fcis-4602	165	13	is	be	AUX
fcis-4602	165	14	l	l	NOUN
fcis-4602	165	15	=	=	SYM
fcis-4602	165	16	1200	1200	NUM
fcis-4602	165	17	m.	m.	NOUN
fcis-4602	165	18	the	the	DET
fcis-4602	165	19	location	location	NOUN
fcis-4602	165	20	of	of	ADP
fcis-4602	165	21	the	the	DET
fcis-4602	165	22	ground	ground	NOUN
fcis-4602	165	23	base	base	NOUN
fcis-4602	165	24	station	station	NOUN
fcis-4602	165	25	is	be	AUX
fcis-4602	165	26	at	at	ADP
fcis-4602	165	27	the	the	DET
fcis-4602	165	28	center	center	NOUN
fcis-4602	165	29	of	of	ADP
fcis-4602	165	30	the	the	DET
fcis-4602	165	31	virtual	virtual	ADJ
fcis-4602	165	32	map	map	NOUN
fcis-4602	165	33	at	at	ADP
fcis-4602	165	34	q0	q0	PROPN
fcis-4602	165	35	=	=	PUNCT
fcis-4602	166	1	[	[	X
fcis-4602	166	2	600	600	NUM
fcis-4602	166	3	m	m	NOUN
fcis-4602	166	4	,	,	PUNCT
fcis-4602	166	5	600	600	NUM
fcis-4602	166	6	m	m	NOUN
fcis-4602	166	7	]	]	X
fcis-4602	166	8	t	t	PROPN
fcis-4602	166	9	,	,	PUNCT
fcis-4602	166	10	and	and	CCONJ
fcis-4602	166	11	this	this	DET
fcis-4602	166	12	research	research	NOUN
fcis-4602	166	13	uses	use	VERB
fcis-4602	166	14	q0	q0	PROPN
fcis-4602	166	15	as	as	ADP
fcis-4602	166	16	the	the	DET
fcis-4602	166	17	initial	initial	ADJ
fcis-4602	166	18	and	and	CCONJ
fcis-4602	166	19	final	final	ADJ
fcis-4602	166	20	location	location	NOUN
fcis-4602	166	21	of	of	ADP
fcis-4602	166	22	the	the	DET
fcis-4602	166	23	uav	uav	PROPN
fcis-4602	166	24	.	.	PUNCT
fcis-4602	167	1	the	the	DET
fcis-4602	167	2	number	number	NOUN
fcis-4602	167	3	of	of	ADP
fcis-4602	167	4	gn	gn	PROPN
fcis-4602	167	5	is	be	AUX
fcis-4602	167	6	set	set	VERB
fcis-4602	167	7	to	to	ADP
fcis-4602	167	8	n	n	NOUN
fcis-4602	167	9	=	=	SYM
fcis-4602	167	10	10	10	NUM
fcis-4602	167	11	.	.	PUNCT
fcis-4602	168	1	additionally	additionally	ADV
fcis-4602	168	2	,	,	PUNCT
fcis-4602	168	3	the	the	DET
fcis-4602	168	4	required	require	VERB
fcis-4602	168	5	communication	communication	NOUN
fcis-4602	168	6	throughput	throughput	NOUN
fcis-4602	168	7	qn	qn	NOUN
fcis-4602	168	8	for	for	ADP
fcis-4602	168	9	gn	gn	PROPN
fcis-4602	168	10	n	n	X
fcis-4602	168	11	is	be	AUX
fcis-4602	168	12	assumed	assume	VERB
fcis-4602	168	13	to	to	PART
fcis-4602	168	14	be	be	AUX
fcis-4602	168	15	identical	identical	ADJ
fcis-4602	168	16	among	among	ADP
fcis-4602	168	17	all	all	DET
fcis-4602	168	18	gns	gns	NOUN
fcis-4602	168	19	where	where	SCONJ
fcis-4602	168	20	qn	qn	NOUN
fcis-4602	168	21	=	=	X
fcis-4602	168	22	.	.	PUNCT
fcis-4602	169	1	furthermore	furthermore	ADV
fcis-4602	169	2	,	,	PUNCT
fcis-4602	169	3	it	it	PRON
fcis-4602	169	4	is	be	AUX
fcis-4602	169	5	defined	define	VERB
fcis-4602	169	6	that	that	SCONJ
fcis-4602	169	7	∆max	∆max	NUM
fcis-4602	169	8	=	=	SYM
fcis-4602	169	9	30	30	NUM
fcis-4602	169	10	m.	m.	NOUN
fcis-4602	169	11	for	for	ADP
fcis-4602	169	12	the	the	DET
fcis-4602	169	13	algorithm	algorithm	NOUN
fcis-4602	169	14	1	1	NUM
fcis-4602	169	15	,	,	PUNCT
fcis-4602	169	16	the	the	DET
fcis-4602	169	17	initial	initial	ADJ
fcis-4602	169	18	hover	hover	NOUN
fcis-4602	169	19	locations	location	NOUN
fcis-4602	169	20	q˜	q˜	PRON
fcis-4602	169	21	is	be	AUX
fcis-4602	169	22	set	set	VERB
fcis-4602	169	23	to	to	PART
fcis-4602	169	24	be	be	AUX
fcis-4602	169	25	the	the	DET
fcis-4602	169	26	gn	gn	PROPN
fcis-4602	169	27	’s	’s	PART
fcis-4602	169	28	locations	location	NOUN
fcis-4602	169	29	wn	wn	INTJ
fcis-4602	169	30	which	which	PRON
fcis-4602	169	31	is	be	AUX
fcis-4602	169	32	q˜	q˜	PROPN
fcis-4602	169	33	=	=	SYM
fcis-4602	169	34	wn	wn	PROPN
fcis-4602	169	35	,	,	PUNCT
fcis-4602	169	36	am	be	AUX
fcis-4602	169	37	.	.	PUNCT
fcis-4602	170	1	for	for	ADP
fcis-4602	170	2	the	the	DET
fcis-4602	170	3	algorithm	algorithm	NOUN
fcis-4602	170	4	2	2	NUM
fcis-4602	170	5	,	,	PUNCT
fcis-4602	170	6	this	this	DET
fcis-4602	170	7	paper	paper	NOUN
fcis-4602	170	8	divides	divide	VERB
fcis-4602	170	9	the	the	DET
fcis-4602	170	10	uav	uav	PROPN
fcis-4602	170	11	trajectory	trajectory	PROPN
fcis-4602	170	12	q(t	q(t	PROPN
fcis-4602	170	13	)	)	PUNCT
fcis-4602	170	14	into	into	ADP
fcis-4602	170	15	m	m	PROPN
fcis-4602	170	16	line	line	NOUN
fcis-4602	170	17	segments	segment	NOUN
fcis-4602	170	18	where	where	SCONJ
fcis-4602	170	19	m	m	VERB
fcis-4602	170	20	=	=	NOUN
fcis-4602	170	21	250	250	NUM
fcis-4602	170	22	.	.	PUNCT
fcis-4602	171	1	the	the	DET
fcis-4602	171	2	initial	initial	ADJ
fcis-4602	171	3	local	local	ADJ
fcis-4602	171	4	point	point	NOUN
fcis-4602	171	5	{	{	PUNCT
fcis-4602	171	6	q	q	NOUN
fcis-4602	171	7	}	}	PUNCT
fcis-4602	171	8	of	of	ADP
fcis-4602	171	9	the	the	DET
fcis-4602	171	10	uav	uav	PROPN
fcis-4602	171	11	discrete	discrete	ADJ
fcis-4602	171	12	path	path	NOUN
fcis-4602	171	13	is	be	AUX
fcis-4602	171	14	set	set	VERB
fcis-4602	171	15	as	as	ADP
fcis-4602	171	16	the	the	DET
fcis-4602	171	17	obtained	obtain	VERB
fcis-4602	171	18	optimal	optimal	ADJ
fcis-4602	171	19	uav	uav	PROPN
fcis-4602	171	20	path	path	NOUN
fcis-4602	171	21	by	by	ADP
fcis-4602	171	22	algorithm	algorithm	NOUN
fcis-4602	171	23	1	1	NUM
fcis-4602	171	24	.	.	PUNCT
fcis-4602	172	1	for	for	ADP
fcis-4602	172	2	the	the	DET
fcis-4602	172	3	other	other	ADJ
fcis-4602	172	4	two	two	NUM
fcis-4602	172	5	local	local	ADJ
fcis-4602	172	6	points	point	NOUN
fcis-4602	172	7	,	,	PUNCT
fcis-4602	172	8	which	which	PRON
fcis-4602	172	9	are	be	AUX
fcis-4602	172	10	initial	initial	ADJ
fcis-4602	172	11	duration	duration	NOUN
fcis-4602	172	12	94	94	NUM
fcis-4602	172	13	time	time	NOUN
fcis-4602	172	14	{	{	PUNCT
fcis-4602	172	15	t	t	NOUN
fcis-4602	172	16	}	}	PUNCT
fcis-4602	172	17	and	and	CCONJ
fcis-4602	172	18	initial	initial	ADJ
fcis-4602	172	19	communicate	communicate	VERB
fcis-4602	172	20	allocation	allocation	NOUN
fcis-4602	172	21	time	time	NOUN
fcis-4602	172	22	{	{	PUNCT
fcis-4602	172	23	τ	τ	PROPN
fcis-4602	172	24	n	n	CCONJ
fcis-4602	172	25	}	}	PUNCT
fcis-4602	172	26	individually	individually	ADV
fcis-4602	172	27	,	,	PUNCT
fcis-4602	172	28	this	this	DET
fcis-4602	172	29	paper	paper	NOUN
fcis-4602	172	30	has	have	VERB
fcis-4602	172	31	t	t	PROPN
fcis-4602	172	32	=	=	PUNCT
fcis-4602	172	33	,	,	PUNCT
fcis-4602	172	34	am	be	AUX
fcis-4602	172	35	,	,	PUNCT
fcis-4602	172	36	and	and	CCONJ
fcis-4602	172	37	τ	τ	PROPN
fcis-4602	172	38	,	,	PUNCT
fcis-4602	172	39	am	be	AUX
fcis-4602	172	40	,	,	PUNCT
fcis-4602	172	41	n.	n.	PROPN
fcis-4602	172	42	is	be	AUX
fcis-4602	172	43	set	set	VERB
fcis-4602	172	44	as	as	ADP
fcis-4602	172	45	the	the	DET
fcis-4602	172	46	minimum	minimum	NOUN
fcis-4602	172	47	value	value	NOUN
fcis-4602	172	48	that	that	PRON
fcis-4602	172	49	makes	make	VERB
fcis-4602	172	50	all	all	DET
fcis-4602	172	51	the	the	DET
fcis-4602	172	52	constraints	constraint	NOUN
fcis-4602	172	53	feasible	feasible	ADJ
fcis-4602	172	54	in	in	ADP
fcis-4602	172	55	(	(	PUNCT
fcis-4602	172	56	p3	p3	PROPN
fcis-4602	172	57	)	)	PUNCT
fcis-4602	172	58	.	.	PUNCT
fcis-4602	173	1	then	then	ADV
fcis-4602	173	2	,	,	PUNCT
fcis-4602	173	3	the	the	DET
fcis-4602	173	4	work	work	NOUN
fcis-4602	173	5	uses	use	VERB
fcis-4602	173	6	the	the	DET
fcis-4602	173	7	scabased	scabase	VERB
fcis-4602	173	8	algorithm	algorithm	NOUN
fcis-4602	173	9	2	2	NUM
fcis-4602	173	10	to	to	PART
fcis-4602	173	11	obtain	obtain	VERB
fcis-4602	173	12	the	the	DET
fcis-4602	173	13	optimal	optimal	ADJ
fcis-4602	173	14	trajectory	trajectory	NOUN
fcis-4602	173	15	in	in	ADP
fcis-4602	173	16	the	the	DET
fcis-4602	173	17	case	case	NOUN
fcis-4602	173	18	that	that	SCONJ
fcis-4602	173	19	the	the	DET
fcis-4602	173	20	uav	uav	PROPN
fcis-4602	173	21	flies	fly	VERB
fcis-4602	173	22	while	while	SCONJ
fcis-4602	173	23	communicating	communicate	VERB
fcis-4602	173	24	with	with	ADP
fcis-4602	173	25	the	the	DET
fcis-4602	173	26	gn	gn	PROPN
fcis-4602	173	27	.	.	PUNCT
fcis-4602	174	1	these	these	DET
fcis-4602	174	2	two	two	NUM
fcis-4602	174	3	schemes	scheme	NOUN
fcis-4602	174	4	will	will	AUX
fcis-4602	174	5	be	be	AUX
fcis-4602	174	6	compared	compare	VERB
fcis-4602	174	7	later	later	ADV
fcis-4602	174	8	at	at	ADP
fcis-4602	174	9	different	different	ADJ
fcis-4602	174	10	required	required	ADJ
fcis-4602	174	11	communication	communication	NOUN
fcis-4602	174	12	throughputs	throughput	NOUN
fcis-4602	174	13	.	.	PUNCT
fcis-4602	175	1	table	table	NOUN
fcis-4602	175	2	3	3	NUM
fcis-4602	175	3	.	.	PUNCT
fcis-4602	176	1	the	the	DET
fcis-4602	176	2	rotary	rotary	NOUN
fcis-4602	176	3	-	-	PUNCT
fcis-4602	176	4	wing	wing	NOUN
fcis-4602	176	5	uav	uav	PROPN
fcis-4602	176	6	attribute	attribute	NOUN
fcis-4602	176	7	4.2	4.2	NUM
fcis-4602	176	8	.	.	PUNCT
fcis-4602	176	9	results	result	NOUN
fcis-4602	176	10	and	and	CCONJ
fcis-4602	176	11	analyses	analyse	VERB
fcis-4602	176	12	the	the	DET
fcis-4602	176	13	simulation	simulation	NOUN
fcis-4602	176	14	results	result	VERB
fcis-4602	176	15	first	first	ADV
fcis-4602	176	16	propose	propose	VERB
fcis-4602	176	17	four	four	NUM
fcis-4602	176	18	different	different	ADJ
fcis-4602	176	19	required	require	VERB
fcis-4602	176	20	communication	communication	NOUN
fcis-4602	176	21	throughputs	throughput	NOUN
fcis-4602	176	22	to	to	ADP
fcis-4602	176	23	the	the	DET
fcis-4602	176	24	formulated	formulate	VERB
fcis-4602	176	25	opti	opti	PROPN
fcis-4602	176	26	mization	mization	NOUN
fcis-4602	176	27	problem	problem	NOUN
fcis-4602	176	28	(	(	PUNCT
fcis-4602	176	29	p	p	NOUN
fcis-4602	176	30	1	1	NUM
fcis-4602	176	31	)	)	PUNCT
fcis-4602	176	32	and	and	CCONJ
fcis-4602	176	33	compare	compare	VERB
fcis-4602	176	34	the	the	DET
fcis-4602	176	35	difference	difference	NOUN
fcis-4602	176	36	between	between	ADP
fcis-4602	176	37	the	the	DET
fcis-4602	176	38	benchmark	benchmark	NOUN
fcis-4602	176	39	solution	solution	NOUN
fcis-4602	176	40	in	in	ADP
fcis-4602	176	41	(	(	PUNCT
fcis-4602	176	42	p2	p2	PROPN
fcis-4602	176	43	)	)	PUNCT
fcis-4602	176	44	and	and	CCONJ
fcis-4602	176	45	the	the	DET
fcis-4602	176	46	more	more	ADV
fcis-4602	176	47	general	general	ADJ
fcis-4602	176	48	fly	fly	VERB
fcis-4602	176	49	-	-	PUNCT
fcis-4602	176	50	over	over	ADP
fcis-4602	176	51	trajectory	trajectory	NOUN
fcis-4602	176	52	in	in	ADP
fcis-4602	176	53	(	(	PUNCT
fcis-4602	176	54	p3	p3	PROPN
fcis-4602	176	55	)	)	PUNCT
fcis-4602	176	56	as	as	SCONJ
fcis-4602	176	57	shown	show	VERB
fcis-4602	176	58	in	in	ADP
fcis-4602	176	59	fig	fig	NOUN
fcis-4602	176	60	.	.	PUNCT
fcis-4602	177	1	3	3	X
fcis-4602	177	2	.	.	X
fcis-4602	177	3	figure	figure	NOUN
fcis-4602	177	4	2	2	NUM
fcis-4602	177	5	.	.	NUM
fcis-4602	177	6	optimized	optimize	VERB
fcis-4602	177	7	uav	uav	PROPN
fcis-4602	177	8	trajectories	trajectory	NOUN
fcis-4602	177	9	with	with	ADP
fcis-4602	177	10	four	four	NUM
fcis-4602	177	11	different	different	ADJ
fcis-4602	177	12	communication	communication	NOUN
fcis-4602	177	13	demands	demand	NOUN
fcis-4602	177	14	when	when	SCONJ
fcis-4602	177	15	the	the	DET
fcis-4602	177	16	required	require	VERB
fcis-4602	177	17	communication	communication	NOUN
fcis-4602	177	18	throughput	throughput	NOUN
fcis-4602	177	19	is	be	AUX
fcis-4602	177	20	extremely	extremely	ADV
fcis-4602	177	21	low	low	ADJ
fcis-4602	177	22	,	,	PUNCT
fcis-4602	177	23	where	where	SCONJ
fcis-4602	177	24	=	=	PROPN
fcis-4602	177	25	100kbits	100kbits	PROPN
fcis-4602	177	26	,	,	PUNCT
fcis-4602	177	27	the	the	DET
fcis-4602	177	28	uav	uav	PROPN
fcis-4602	177	29	hovers	hover	VERB
fcis-4602	177	30	at	at	ADP
fcis-4602	177	31	the	the	DET
fcis-4602	177	32	departure	departure	NOUN
fcis-4602	177	33	point	point	NOUN
fcis-4602	177	34	and	and	CCONJ
fcis-4602	177	35	communicates	communicate	VERB
fcis-4602	177	36	with	with	ADP
fcis-4602	177	37	each	each	DET
fcis-4602	177	38	gn	gn	PROPN
fcis-4602	177	39	regardless	regardless	ADV
fcis-4602	177	40	of	of	ADP
fcis-4602	177	41	the	the	DET
fcis-4602	177	42	design	design	NOUN
fcis-4602	177	43	of	of	ADP
fcis-4602	177	44	the	the	DET
fcis-4602	177	45	uav	uav	PROPN
fcis-4602	177	46	for	for	ADP
fcis-4602	177	47	communication	communication	NOUN
fcis-4602	177	48	.	.	PUNCT
fcis-4602	178	1	it	it	PRON
fcis-4602	178	2	is	be	AUX
fcis-4602	178	3	notable	notable	ADJ
fcis-4602	178	4	that	that	SCONJ
fcis-4602	178	5	as	as	SCONJ
fcis-4602	178	6	the	the	DET
fcis-4602	178	7	uav	uav	PROPN
fcis-4602	178	8	gets	get	VERB
fcis-4602	178	9	closer	close	ADJ
fcis-4602	178	10	to	to	ADP
fcis-4602	178	11	the	the	DET
fcis-4602	178	12	gn	gn	PROPN
fcis-4602	178	13	,	,	PUNCT
fcis-4602	178	14	the	the	DET
fcis-4602	178	15	shorter	short	ADJ
fcis-4602	178	16	the	the	DET
fcis-4602	178	17	distance	distance	NOUN
fcis-4602	178	18	of	of	ADP
fcis-4602	178	19	the	the	DET
fcis-4602	178	20	communication	communication	NOUN
fcis-4602	178	21	link	link	NOUN
fcis-4602	178	22	between	between	ADP
fcis-4602	178	23	them	they	PRON
fcis-4602	178	24	,	,	PUNCT
fcis-4602	178	25	which	which	PRON
fcis-4602	178	26	will	will	AUX
fcis-4602	178	27	consume	consume	VERB
fcis-4602	178	28	less	less	ADJ
fcis-4602	178	29	energy	energy	NOUN
fcis-4602	178	30	generated	generate	VERB
fcis-4602	178	31	by	by	ADP
fcis-4602	178	32	hovering	hover	VERB
fcis-4602	178	33	and	and	CCONJ
fcis-4602	178	34	communication	communication	NOUN
fcis-4602	178	35	.	.	PUNCT
fcis-4602	179	1	however	however	ADV
fcis-4602	179	2	,	,	PUNCT
fcis-4602	179	3	this	this	PRON
fcis-4602	179	4	will	will	AUX
fcis-4602	179	5	also	also	ADV
fcis-4602	179	6	make	make	VERB
fcis-4602	179	7	the	the	DET
fcis-4602	179	8	uav	uav	PROPN
fcis-4602	179	9	fly	fly	VERB
fcis-4602	179	10	longer	long	ADJ
fcis-4602	179	11	distances	distance	NOUN
fcis-4602	179	12	,	,	PUNCT
fcis-4602	179	13	thus	thus	ADV
fcis-4602	179	14	increasing	increase	VERB
fcis-4602	179	15	the	the	DET
fcis-4602	179	16	propulsion	propulsion	NOUN
fcis-4602	179	17	energy	energy	NOUN
fcis-4602	179	18	consumed	consume	VERB
fcis-4602	179	19	by	by	ADP
fcis-4602	179	20	the	the	DET
fcis-4602	179	21	uav	uav	PROPN
fcis-4602	179	22	.	.	PUNCT
fcis-4602	180	1	therefore	therefore	ADV
fcis-4602	180	2	,	,	PUNCT
fcis-4602	180	3	when	when	SCONJ
fcis-4602	180	4	the	the	DET
fcis-4602	180	5	gn	gn	PROPN
fcis-4602	180	6	has	have	VERB
fcis-4602	180	7	low	low	ADJ
fcis-4602	180	8	demand	demand	NOUN
fcis-4602	180	9	for	for	ADP
fcis-4602	180	10	communication	communication	NOUN
fcis-4602	180	11	,	,	PUNCT
fcis-4602	180	12	the	the	DET
fcis-4602	180	13	time	time	NOUN
fcis-4602	180	14	required	require	VERB
fcis-4602	180	15	for	for	ADP
fcis-4602	180	16	the	the	DET
fcis-4602	180	17	uav	uav	PROPN
fcis-4602	180	18	serving	serve	VERB
fcis-4602	180	19	to	to	ADP
fcis-4602	180	20	each	each	DET
fcis-4602	180	21	gn	gn	PROPN
fcis-4602	180	22	is	be	AUX
fcis-4602	180	23	much	much	ADV
fcis-4602	180	24	less	less	ADJ
fcis-4602	180	25	than	than	ADP
fcis-4602	180	26	the	the	DET
fcis-4602	180	27	time	time	NOUN
fcis-4602	180	28	required	require	VERB
fcis-4602	180	29	to	to	PART
fcis-4602	180	30	fly	fly	VERB
fcis-4602	180	31	to	to	ADP
fcis-4602	180	32	each	each	DET
fcis-4602	180	33	gn	gn	PROPN
fcis-4602	180	34	.	.	PUNCT
fcis-4602	181	1	in	in	ADP
fcis-4602	181	2	this	this	DET
fcis-4602	181	3	case	case	NOUN
fcis-4602	181	4	,	,	PUNCT
fcis-4602	181	5	there	there	PRON
fcis-4602	181	6	is	be	VERB
fcis-4602	181	7	no	no	DET
fcis-4602	181	8	need	need	NOUN
fcis-4602	181	9	for	for	SCONJ
fcis-4602	181	10	the	the	DET
fcis-4602	181	11	uav	uav	PROPN
fcis-4602	181	12	to	to	PART
fcis-4602	181	13	fly	fly	VERB
fcis-4602	181	14	toward	toward	ADP
fcis-4602	181	15	the	the	DET
fcis-4602	181	16	gns	gns	NOUN
fcis-4602	181	17	based	base	VERB
fcis-4602	181	18	on	on	ADP
fcis-4602	181	19	the	the	DET
fcis-4602	181	20	fact	fact	NOUN
fcis-4602	181	21	that	that	SCONJ
fcis-4602	181	22	the	the	DET
fcis-4602	181	23	hover	hover	NOUN
fcis-4602	181	24	power	power	NOUN
fcis-4602	181	25	and	and	CCONJ
fcis-4602	181	26	communication	communication	NOUN
fcis-4602	181	27	power	power	NOUN
fcis-4602	181	28	are	be	AUX
fcis-4602	181	29	much	much	ADV
fcis-4602	181	30	less	less	ADJ
fcis-4602	181	31	than	than	ADP
fcis-4602	181	32	the	the	DET
fcis-4602	181	33	uav	uav	PROPN
fcis-4602	181	34	propulsion	propulsion	NOUN
fcis-4602	181	35	power	power	NOUN
fcis-4602	181	36	with	with	ADP
fcis-4602	181	37	a	a	DET
fcis-4602	181	38	short	short	ADJ
fcis-4602	181	39	period	period	NOUN
fcis-4602	181	40	of	of	ADP
fcis-4602	181	41	serving	serve	VERB
fcis-4602	181	42	time	time	NOUN
fcis-4602	181	43	.	.	PUNCT
fcis-4602	182	1	similarly	similarly	ADV
fcis-4602	182	2	,	,	PUNCT
fcis-4602	182	3	when	when	SCONJ
fcis-4602	182	4	the	the	DET
fcis-4602	182	5	demand	demand	NOUN
fcis-4602	182	6	for	for	ADP
fcis-4602	182	7	gns	gns	NOUN
fcis-4602	182	8	is	be	AUX
fcis-4602	182	9	hugely	hugely	ADV
fcis-4602	182	10	high	high	ADJ
fcis-4602	182	11	,	,	PUNCT
fcis-4602	182	12	where	where	SCONJ
fcis-4602	182	13	=	=	PROPN
fcis-4602	182	14	1000mbits	1000mbit	NOUN
fcis-4602	182	15	,	,	PUNCT
fcis-4602	182	16	the	the	DET
fcis-4602	182	17	two	two	NUM
fcis-4602	182	18	trajectories	trajectory	NOUN
fcis-4602	182	19	under	under	ADP
fcis-4602	182	20	different	different	ADJ
fcis-4602	182	21	communication	communication	NOUN
fcis-4602	182	22	designs	design	NOUN
fcis-4602	182	23	are	be	AUX
fcis-4602	182	24	quite	quite	ADV
fcis-4602	182	25	identical	identical	ADJ
fcis-4602	182	26	.	.	PUNCT
fcis-4602	183	1	for	for	ADP
fcis-4602	183	2	the	the	DET
fcis-4602	183	3	fly	fly	NOUN
fcis-4602	183	4	-	-	PUNCT
fcis-4602	183	5	hover	hover	NOUN
fcis-4602	183	6	-	-	PUNCT
fcis-4602	183	7	communicate	communicate	VERB
fcis-4602	183	8	scheme	scheme	NOUN
fcis-4602	183	9	of	of	ADP
fcis-4602	183	10	the	the	DET
fcis-4602	183	11	uav	uav	PROPN
fcis-4602	183	12	,	,	PUNCT
fcis-4602	183	13	it	it	PRON
fcis-4602	183	14	is	be	AUX
fcis-4602	183	15	shown	show	VERB
fcis-4602	183	16	that	that	SCONJ
fcis-4602	183	17	the	the	DET
fcis-4602	183	18	uav	uav	PROPN
fcis-4602	183	19	should	should	AUX
fcis-4602	183	20	hover	hover	VERB
fcis-4602	183	21	precisely	precisely	ADV
fcis-4602	183	22	on	on	ADP
fcis-4602	183	23	the	the	DET
fcis-4602	183	24	location	location	NOUN
fcis-4602	183	25	of	of	ADP
fcis-4602	183	26	each	each	DET
fcis-4602	183	27	gn	gn	PROPN
fcis-4602	183	28	above	above	ADV
fcis-4602	183	29	.	.	PUNCT
fcis-4602	184	1	for	for	ADP
fcis-4602	184	2	the	the	DET
fcis-4602	184	3	general	general	ADJ
fcis-4602	184	4	fly	fly	VERB
fcis-4602	184	5	-	-	PUNCT
fcis-4602	184	6	over	over	ADP
fcis-4602	184	7	case	case	NOUN
fcis-4602	184	8	,	,	PUNCT
fcis-4602	184	9	the	the	DET
fcis-4602	184	10	trajectory	trajectory	NOUN
fcis-4602	184	11	is	be	AUX
fcis-4602	184	12	the	the	DET
fcis-4602	184	13	same	same	ADJ
fcis-4602	184	14	as	as	ADP
fcis-4602	184	15	the	the	DET
fcis-4602	184	16	benchmark	benchmark	NOUN
fcis-4602	184	17	except	except	SCONJ
fcis-4602	184	18	for	for	ADP
fcis-4602	184	19	the	the	DET
fcis-4602	184	20	path	path	NOUN
fcis-4602	184	21	where	where	SCONJ
fcis-4602	184	22	the	the	DET
fcis-4602	184	23	uav	uav	PROPN
fcis-4602	184	24	returns	return	VERB
fcis-4602	184	25	to	to	ADP
fcis-4602	184	26	the	the	DET
fcis-4602	184	27	ground	ground	NOUN
fcis-4602	184	28	base	base	NOUN
fcis-4602	184	29	station	station	NOUN
fcis-4602	184	30	.	.	PUNCT
fcis-4602	185	1	moreover	moreover	ADV
fcis-4602	185	2	,	,	PUNCT
fcis-4602	185	3	it	it	PRON
fcis-4602	185	4	is	be	AUX
fcis-4602	185	5	notable	notable	ADJ
fcis-4602	185	6	that	that	SCONJ
fcis-4602	185	7	from	from	ADP
fcis-4602	185	8	fig	fig	NOUN
fcis-4602	185	9	.	.	PUNCT
fcis-4602	186	1	4(c	4(c	NUM
fcis-4602	186	2	)	)	PUNCT
fcis-4602	187	1	,	,	PUNCT
fcis-4602	187	2	the	the	DET
fcis-4602	187	3	uav	uav	PROPN
fcis-4602	187	4	speed	speed	NOUN
fcis-4602	187	5	of	of	ADP
fcis-4602	187	6	the	the	DET
fcis-4602	187	7	fly	fly	VERB
fcis-4602	187	8	-	-	PUNCT
fcis-4602	187	9	over	over	ADP
fcis-4602	187	10	design	design	NOUN
fcis-4602	187	11	is	be	AUX
fcis-4602	187	12	nearly	nearly	ADV
fcis-4602	187	13	equal	equal	ADJ
fcis-4602	187	14	to	to	ADP
fcis-4602	187	15	zero	zero	NUM
fcis-4602	187	16	for	for	ADP
fcis-4602	187	17	a	a	DET
fcis-4602	187	18	period	period	NOUN
fcis-4602	187	19	when	when	SCONJ
fcis-4602	187	20	the	the	DET
fcis-4602	187	21	uav	uav	PROPN
fcis-4602	187	22	reaches	reach	VERB
fcis-4602	187	23	each	each	DET
fcis-4602	187	24	gn	gn	PROPN
fcis-4602	187	25	.	.	PUNCT
fcis-4602	188	1	this	this	PRON
fcis-4602	188	2	means	mean	VERB
fcis-4602	188	3	that	that	SCONJ
fcis-4602	188	4	when	when	SCONJ
fcis-4602	188	5	the	the	DET
fcis-4602	188	6	required	require	VERB
fcis-4602	188	7	communication	communication	NOUN
fcis-4602	188	8	throughput	throughput	NOUN
fcis-4602	188	9	is	be	AUX
fcis-4602	188	10	exceptionally	exceptionally	ADV
fcis-4602	188	11	high	high	ADJ
fcis-4602	188	12	,	,	PUNCT
fcis-4602	188	13	the	the	DET
fcis-4602	188	14	optimal	optimal	ADJ
fcis-4602	188	15	solution	solution	NOUN
fcis-4602	188	16	to	to	ADP
fcis-4602	188	17	the	the	DET
fcis-4602	188	18	least	least	ADJ
fcis-4602	188	19	energy	energy	NOUN
fcis-4602	188	20	consumption	consumption	NOUN
fcis-4602	188	21	is	be	AUX
fcis-4602	188	22	that	that	SCONJ
fcis-4602	188	23	the	the	DET
fcis-4602	188	24	uav	uav	PROPN
fcis-4602	188	25	still	still	ADV
fcis-4602	188	26	needs	need	VERB
fcis-4602	188	27	to	to	PART
fcis-4602	188	28	hover	hover	VERB
fcis-4602	188	29	on	on	ADP
fcis-4602	188	30	the	the	DET
fcis-4602	188	31	top	top	NOUN
fcis-4602	188	32	of	of	ADP
fcis-4602	188	33	the	the	DET
fcis-4602	188	34	gn	gn	PROPN
fcis-4602	188	35	to	to	PART
fcis-4602	188	36	provide	provide	VERB
fcis-4602	188	37	service	service	NOUN
fcis-4602	188	38	but	but	CCONJ
fcis-4602	188	39	at	at	ADP
fcis-4602	188	40	a	a	DET
fcis-4602	188	41	shorter	short	ADJ
fcis-4602	188	42	flying	flying	NOUN
fcis-4602	188	43	distance	distance	NOUN
fcis-4602	188	44	and	and	CCONJ
fcis-4602	188	45	a	a	DET
fcis-4602	188	46	little	little	ADJ
fcis-4602	188	47	lower	low	ADJ
fcis-4602	188	48	flying	flying	NOUN
fcis-4602	188	49	speed	speed	NOUN
fcis-4602	188	50	.	.	PUNCT
fcis-4602	189	1	it	it	PRON
fcis-4602	189	2	is	be	AUX
fcis-4602	189	3	expected	expect	VERB
fcis-4602	189	4	because	because	SCONJ
fcis-4602	189	5	in	in	ADP
fcis-4602	189	6	this	this	DET
fcis-4602	189	7	case	case	NOUN
fcis-4602	189	8	,	,	PUNCT
fcis-4602	189	9	the	the	DET
fcis-4602	189	10	time	time	NOUN
fcis-4602	189	11	required	require	VERB
fcis-4602	189	12	for	for	ADP
fcis-4602	189	13	communication	communication	NOUN
fcis-4602	189	14	is	be	AUX
fcis-4602	189	15	very	very	ADV
fcis-4602	189	16	long	long	ADJ
fcis-4602	189	17	,	,	PUNCT
fcis-4602	189	18	so	so	ADV
fcis-4602	189	19	reducing	reduce	VERB
fcis-4602	189	20	the	the	DET
fcis-4602	189	21	communication	communication	NOUN
fcis-4602	189	22	time	time	NOUN
fcis-4602	189	23	is	be	AUX
fcis-4602	189	24	more	more	ADV
fcis-4602	189	25	effective	effective	ADJ
fcis-4602	189	26	in	in	ADP
fcis-4602	189	27	saving	save	VERB
fcis-4602	189	28	the	the	DET
fcis-4602	189	29	total	total	ADJ
fcis-4602	189	30	energy	energy	NOUN
fcis-4602	189	31	consumption	consumption	NOUN
fcis-4602	189	32	than	than	ADP
fcis-4602	189	33	reducing	reduce	VERB
fcis-4602	189	34	the	the	DET
fcis-4602	189	35	uav	uav	PROPN
fcis-4602	189	36	flight	flight	NOUN
fcis-4602	189	37	distance	distance	NOUN
fcis-4602	189	38	.	.	PUNCT
fcis-4602	190	1	figure	figure	NOUN
fcis-4602	190	2	3	3	NUM
fcis-4602	190	3	.	.	PUNCT
fcis-4602	190	4	optimized	optimize	VERB
fcis-4602	190	5	uav	uav	PROPN
fcis-4602	190	6	speed	speed	NOUN
fcis-4602	190	7	for	for	ADP
fcis-4602	190	8	different	different	ADJ
fcis-4602	190	9	trajectories	trajectory	NOUN
fcis-4602	190	10	on	on	ADP
fcis-4602	190	11	the	the	DET
fcis-4602	190	12	other	other	ADJ
fcis-4602	190	13	hand	hand	NOUN
fcis-4602	190	14	,	,	PUNCT
fcis-4602	190	15	in	in	ADP
fcis-4602	190	16	terms	term	NOUN
fcis-4602	190	17	of	of	ADP
fcis-4602	190	18	moderate	moderate	ADJ
fcis-4602	190	19	required	require	VERB
fcis-4602	190	20	communication	communication	NOUN
fcis-4602	190	21	throughput	throughput	NOUN
fcis-4602	190	22	where	where	SCONJ
fcis-4602	190	23	=	=	PRON
fcis-4602	190	24	10mbits	10mbits	PROPN
fcis-4602	190	25	and	and	CCONJ
fcis-4602	190	26	=	=	SYM
fcis-4602	190	27	200mbits	200mbits	PROPN
fcis-4602	190	28	,	,	PUNCT
fcis-4602	190	29	the	the	DET
fcis-4602	190	30	optimized	optimize	VERB
fcis-4602	190	31	hover	hover	NOUN
fcis-4602	190	32	locations	location	NOUN
fcis-4602	190	33	are	be	AUX
fcis-4602	190	34	generally	generally	ADV
fcis-4602	190	35	different	different	ADJ
fcis-4602	190	36	from	from	ADP
fcis-4602	190	37	the	the	DET
fcis-4602	190	38	gn	gn	PROPN
fcis-4602	190	39	locations	location	NOUN
fcis-4602	190	40	.	.	PUNCT
fcis-4602	191	1	from	from	ADP
fcis-4602	191	2	fig	fig	NOUN
fcis-4602	191	3	.	.	PUNCT
fcis-4602	192	1	3(b	3(b	NUM
fcis-4602	192	2	)	)	PUNCT
fcis-4602	192	3	(	(	PUNCT
fcis-4602	192	4	=	=	NOUN
fcis-4602	192	5	10mbits	10mbit	NOUN
fcis-4602	192	6	)	)	PUNCT
fcis-4602	192	7	,	,	PUNCT
fcis-4602	192	8	it	it	PRON
fcis-4602	192	9	is	be	AUX
fcis-4602	192	10	notable	notable	ADJ
fcis-4602	192	11	that	that	SCONJ
fcis-4602	192	12	most	most	ADJ
fcis-4602	192	13	of	of	ADP
fcis-4602	192	14	the	the	DET
fcis-4602	192	15	optimized	optimize	VERB
fcis-4602	192	16	hover	hover	NOUN
fcis-4602	192	17	locations	location	NOUN
fcis-4602	192	18	are	be	AUX
fcis-4602	192	19	closer	close	ADJ
fcis-4602	192	20	to	to	ADP
fcis-4602	192	21	the	the	DET
fcis-4602	192	22	centrally	centrally	ADV
fcis-4602	192	23	located	locate	VERB
fcis-4602	192	24	ground	ground	NOUN
fcis-4602	192	25	base	base	NOUN
fcis-4602	192	26	station	station	NOUN
fcis-4602	192	27	than	than	ADP
fcis-4602	192	28	the	the	DET
fcis-4602	192	29	gn	gn	PROPN
fcis-4602	192	30	locations	location	NOUN
fcis-4602	192	31	,	,	PUNCT
fcis-4602	192	32	which	which	PRON
fcis-4602	192	33	means	mean	VERB
fcis-4602	192	34	the	the	DET
fcis-4602	192	35	uav	uav	PROPN
fcis-4602	192	36	flying	fly	VERB
fcis-4602	192	37	distance	distance	NOUN
fcis-4602	192	38	is	be	AUX
fcis-4602	192	39	reduced	reduce	VERB
fcis-4602	192	40	.	.	PUNCT
fcis-4602	193	1	for	for	ADP
fcis-4602	193	2	the	the	DET
fcis-4602	193	3	fly	fly	VERB
fcis-4602	193	4	-	-	PUNCT
fcis-4602	193	5	over	over	ADP
fcis-4602	193	6	scheme	scheme	NOUN
fcis-4602	193	7	,	,	PUNCT
fcis-4602	193	8	the	the	DET
fcis-4602	193	9	distance	distance	NOUN
fcis-4602	193	10	of	of	ADP
fcis-4602	193	11	optimal	optimal	ADJ
fcis-4602	193	12	uav	uav	PROPN
fcis-4602	193	13	trajectory	trajectory	NOUN
fcis-4602	193	14	is	be	AUX
fcis-4602	193	15	even	even	ADV
fcis-4602	193	16	shorter	short	ADJ
fcis-4602	193	17	.	.	PUNCT
fcis-4602	194	1	in	in	ADP
fcis-4602	194	2	this	this	DET
fcis-4602	194	3	case	case	NOUN
fcis-4602	194	4	,	,	PUNCT
fcis-4602	194	5	the	the	DET
fcis-4602	194	6	uav	uav	PROPN
fcis-4602	194	7	keeps	keep	VERB
fcis-4602	194	8	flying	fly	VERB
fcis-4602	194	9	at	at	ADP
fcis-4602	194	10	a	a	DET
fcis-4602	194	11	lower	low	ADJ
fcis-4602	194	12	speed	speed	NOUN
fcis-4602	194	13	throughout	throughout	ADP
fcis-4602	194	14	the	the	DET
fcis-4602	194	15	process	process	NOUN
fcis-4602	194	16	until	until	SCONJ
fcis-4602	194	17	it	it	PRON
fcis-4602	194	18	returns	return	VERB
fcis-4602	194	19	to	to	ADP
fcis-4602	194	20	the	the	DET
fcis-4602	194	21	ground	ground	NOUN
fcis-4602	194	22	base	base	NOUN
fcis-4602	194	23	station	station	NOUN
fcis-4602	194	24	(	(	PUNCT
fcis-4602	194	25	shown	show	VERB
fcis-4602	194	26	in	in	ADP
fcis-4602	194	27	fig	fig	NOUN
fcis-4602	194	28	.	.	PUNCT
fcis-4602	195	1	4(a	4(a	NUM
fcis-4602	195	2	)	)	PUNCT
fcis-4602	195	3	)	)	PUNCT
fcis-4602	195	4	.	.	PUNCT
fcis-4602	196	1	alternatively	alternatively	ADV
fcis-4602	196	2	,	,	PUNCT
fcis-4602	196	3	when	when	SCONJ
fcis-4602	196	4	the	the	DET
fcis-4602	196	5	required	require	VERB
fcis-4602	196	6	throughput	throughput	NOUN
fcis-4602	196	7	increases	increase	VERB
fcis-4602	196	8	to	to	ADP
fcis-4602	196	9	=	=	SYM
fcis-4602	196	10	200mbits	200mbits	PROPN
fcis-4602	196	11	,	,	PUNCT
fcis-4602	196	12	the	the	DET
fcis-4602	196	13	optimized	optimize	VERB
fcis-4602	196	14	hover	hover	NOUN
fcis-4602	196	15	locations	location	NOUN
fcis-4602	196	16	get	get	VERB
fcis-4602	196	17	much	much	ADV
fcis-4602	196	18	closer	close	ADJ
fcis-4602	196	19	to	to	ADP
fcis-4602	196	20	the	the	DET
fcis-4602	196	21	gn	gn	PROPN
fcis-4602	196	22	locations	location	NOUN
fcis-4602	196	23	,	,	PUNCT
fcis-4602	196	24	and	and	CCONJ
fcis-4602	196	25	the	the	DET
fcis-4602	196	26	hover	hover	NOUN
fcis-4602	196	27	time	time	NOUN
fcis-4602	196	28	is	be	AUX
fcis-4602	196	29	correspondingly	correspondingly	ADV
fcis-4602	196	30	increasing	increase	VERB
fcis-4602	196	31	.	.	PUNCT
fcis-4602	197	1	in	in	ADP
fcis-4602	197	2	contrast	contrast	NOUN
fcis-4602	197	3	,	,	PUNCT
fcis-4602	197	4	for	for	ADP
fcis-4602	197	5	the	the	DET
fcis-4602	197	6	fly	fly	VERB
fcis-4602	197	7	-	-	PUNCT
fcis-4602	197	8	over	over	ADP
fcis-4602	197	9	scheme	scheme	NOUN
fcis-4602	197	10	,	,	PUNCT
fcis-4602	197	11	when	when	SCONJ
fcis-4602	197	12	the	the	DET
fcis-4602	197	13	uav	uav	PROPN
fcis-4602	197	14	approaches	approach	VERB
fcis-4602	197	15	the	the	DET
fcis-4602	197	16	gn	gn	PROPN
fcis-4602	197	17	,	,	PUNCT
fcis-4602	197	18	the	the	DET
fcis-4602	197	19	figure	figure	NOUN
fcis-4602	197	20	shows	show	VERB
fcis-4602	197	21	that	that	SCONJ
fcis-4602	197	22	the	the	DET
fcis-4602	197	23	uav	uav	PROPN
fcis-4602	197	24	does	do	AUX
fcis-4602	197	25	not	not	PART
fcis-4602	197	26	hover	hover	VERB
fcis-4602	197	27	above	above	ADP
fcis-4602	197	28	the	the	DET
fcis-4602	197	29	gn	gn	PROPN
fcis-4602	197	30	but	but	CCONJ
fcis-4602	197	31	will	will	AUX
fcis-4602	197	32	maintain	maintain	VERB
fcis-4602	197	33	a	a	DET
fcis-4602	197	34	constant	constant	ADJ
fcis-4602	197	35	speed	speed	NOUN
fcis-4602	197	36	to	to	PART
fcis-4602	197	37	fly	fly	VERB
fcis-4602	197	38	around	around	ADP
fcis-4602	197	39	the	the	DET
fcis-4602	197	40	gn	gn	PROPN
fcis-4602	197	41	.	.	PUNCT
fcis-4602	198	1	this	this	PRON
fcis-4602	198	2	seems	seem	VERB
fcis-4602	198	3	to	to	PART
fcis-4602	198	4	be	be	AUX
fcis-4602	198	5	contrary	contrary	ADJ
fcis-4602	198	6	to	to	ADP
fcis-4602	198	7	the	the	DET
fcis-4602	198	8	previous	previous	ADJ
fcis-4602	198	9	analysis	analysis	NOUN
fcis-4602	198	10	because	because	SCONJ
fcis-4602	198	11	the	the	DET
fcis-4602	198	12	uav	uav	PROPN
fcis-4602	198	13	is	be	AUX
fcis-4602	198	14	flying	fly	VERB
fcis-4602	198	15	around	around	ADP
fcis-4602	198	16	the	the	DET
fcis-4602	198	17	gn	gn	PROPN
fcis-4602	198	18	,	,	PUNCT
fcis-4602	198	19	which	which	PRON
fcis-4602	198	20	would	would	AUX
fcis-4602	198	21	lead	lead	VERB
fcis-4602	198	22	to	to	ADP
fcis-4602	198	23	a	a	DET
fcis-4602	198	24	longer	long	ADJ
fcis-4602	198	25	link	link	NOUN
fcis-4602	198	26	distance	distance	NOUN
fcis-4602	198	27	and	and	CCONJ
fcis-4602	198	28	flight	flight	NOUN
fcis-4602	198	29	distance	distance	NOUN
fcis-4602	198	30	.	.	PUNCT
fcis-4602	199	1	however	however	ADV
fcis-4602	199	2	,	,	PUNCT
fcis-4602	199	3	this	this	PRON
fcis-4602	199	4	is	be	AUX
fcis-4602	199	5	reasonable	reasonable	ADJ
fcis-4602	199	6	because	because	SCONJ
fcis-4602	199	7	keeping	keep	VERB
fcis-4602	199	8	hover	hover	NOUN
fcis-4602	199	9	status	status	NOUN
fcis-4602	199	10	is	be	AUX
fcis-4602	199	11	not	not	PART
fcis-4602	199	12	the	the	DET
fcis-4602	199	13	ideal	ideal	ADJ
fcis-4602	199	14	energy	energy	NOUN
fcis-4602	199	15	-	-	PUNCT
fcis-4602	199	16	conserving	conserve	VERB
fcis-4602	199	17	state	state	NOUN
fcis-4602	199	18	for	for	ADP
fcis-4602	199	19	rotary	rotary	ADJ
fcis-4602	199	20	-	-	PUNCT
fcis-4602	199	21	wing	wing	NOUN
fcis-4602	199	22	uavs	uavs	NOUN
fcis-4602	200	1	[	[	X
fcis-4602	200	2	20	20	NUM
fcis-4602	200	3	]	]	PUNCT
fcis-4602	200	4	.	.	PUNCT
fcis-4602	201	1	therefore	therefore	ADV
fcis-4602	201	2	,	,	PUNCT
fcis-4602	201	3	even	even	ADV
fcis-4602	201	4	if	if	SCONJ
fcis-4602	201	5	the	the	DET
fcis-4602	201	6	uav	uav	PROPN
fcis-4602	201	7	is	be	AUX
fcis-4602	201	8	exactly	exactly	ADV
fcis-4602	201	9	on	on	ADP
fcis-4602	201	10	top	top	NOUN
fcis-4602	201	11	of	of	ADP
fcis-4602	201	12	the	the	DET
fcis-4602	201	13	gn	gn	PROPN
fcis-4602	201	14	,	,	PUNCT
fcis-4602	201	15	it	it	PRON
fcis-4602	201	16	should	should	AUX
fcis-4602	201	17	keep	keep	VERB
fcis-4602	201	18	flying	fly	VERB
fcis-4602	201	19	in	in	ADP
fcis-4602	201	20	order	order	NOUN
fcis-4602	201	21	to	to	PART
fcis-4602	201	22	both	both	PRON
fcis-4602	201	23	minimize	minimize	VERB
fcis-4602	201	24	the	the	DET
fcis-4602	201	25	power	power	NOUN
fcis-4602	201	26	consumption	consumption	NOUN
fcis-4602	201	27	and	and	CCONJ
fcis-4602	201	28	the	the	DET
fcis-4602	201	29	communication	communication	NOUN
fcis-4602	201	30	time	time	NOUN
fcis-4602	201	31	.	.	PUNCT
fcis-4602	202	1	in	in	ADP
fcis-4602	202	2	other	other	ADJ
fcis-4602	202	3	words	word	NOUN
fcis-4602	202	4	,	,	PUNCT
fcis-4602	202	5	this	this	PRON
fcis-4602	202	6	also	also	ADV
fcis-4602	202	7	shows	show	VERB
fcis-4602	202	8	that	that	SCONJ
fcis-4602	202	9	the	the	DET
fcis-4602	202	10	time	time	NOUN
fcis-4602	202	11	required	require	VERB
fcis-4602	202	12	for	for	ADP
fcis-4602	202	13	uav	uav	PROPN
fcis-4602	202	14	communication	communication	NOUN
fcis-4602	202	15	and	and	CCONJ
fcis-4602	202	16	the	the	DET
fcis-4602	202	17	flight	flight	NOUN
fcis-4602	202	18	distance	distance	NOUN
fcis-4602	202	19	have	have	VERB
fcis-4602	202	20	similar	similar	ADJ
fcis-4602	202	21	effects	effect	NOUN
fcis-4602	202	22	on	on	ADP
fcis-4602	202	23	the	the	DET
fcis-4602	202	24	total	total	ADJ
fcis-4602	202	25	energy	energy	NOUN
fcis-4602	202	26	consumption	consumption	NOUN
fcis-4602	202	27	at	at	ADP
fcis-4602	202	28	=	=	PROPN
fcis-4602	202	29	200mbits	200mbits	PROPN
fcis-4602	202	30	.	.	PUNCT
fcis-4602	203	1	in	in	ADP
fcis-4602	203	2	the	the	DET
fcis-4602	203	3	following	following	NOUN
fcis-4602	203	4	,	,	PUNCT
fcis-4602	203	5	the	the	DET
fcis-4602	203	6	energy	energy	NOUN
fcis-4602	203	7	consumption	consumption	NOUN
fcis-4602	203	8	with	with	ADP
fcis-4602	203	9	three	three	NUM
fcis-4602	203	10	uav	uav	PROPN
fcis-4602	203	11	trajectory	trajectory	NOUN
fcis-4602	203	12	designs	design	NOUN
fcis-4602	203	13	under	under	ADP
fcis-4602	203	14	the	the	DET
fcis-4602	203	15	varying	vary	VERB
fcis-4602	203	16	required	require	VERB
fcis-4602	203	17	throughputs	throughput	NOUN
fcis-4602	203	18	is	be	AUX
fcis-4602	203	19	compared	compare	VERB
fcis-4602	203	20	as	as	SCONJ
fcis-4602	203	21	shown	show	VERB
fcis-4602	203	22	in	in	ADP
fcis-4602	203	23	fig	fig	NOUN
fcis-4602	203	24	.	.	PUNCT
fcis-4602	204	1	5	5	X
fcis-4602	204	2	.	.	PUNCT
fcis-4602	204	3	the	the	DET
fcis-4602	204	4	blue	blue	ADJ
fcis-4602	204	5	and	and	CCONJ
fcis-4602	204	6	red	red	ADJ
fcis-4602	204	7	lines	line	NOUN
fcis-4602	204	8	are	be	AUX
fcis-4602	204	9	two	two	NUM
fcis-4602	204	10	schemes	scheme	NOUN
fcis-4602	204	11	this	this	DET
fcis-4602	204	12	work	work	NOUN
fcis-4602	204	13	discussed	discuss	VERB
fcis-4602	204	14	before	before	ADV
fcis-4602	204	15	,	,	PUNCT
fcis-4602	204	16	and	and	CCONJ
fcis-4602	204	17	the	the	DET
fcis-4602	204	18	green	green	ADJ
fcis-4602	204	19	line	line	NOUN
fcis-4602	204	20	95	95	NUM
fcis-4602	204	21	denotes	denote	VERB
fcis-4602	204	22	the	the	DET
fcis-4602	204	23	trajectory	trajectory	NOUN
fcis-4602	204	24	that	that	SCONJ
fcis-4602	204	25	the	the	DET
fcis-4602	204	26	uav	uav	PROPN
fcis-4602	204	27	is	be	AUX
fcis-4602	204	28	required	require	VERB
fcis-4602	204	29	to	to	PART
fcis-4602	204	30	hover	hover	VERB
fcis-4602	204	31	above	above	ADP
fcis-4602	204	32	gns	gns	PROPN
fcis-4602	204	33	.	.	PUNCT
fcis-4602	205	1	from	from	ADP
fcis-4602	205	2	fig	fig	NOUN
fcis-4602	205	3	.	.	PUNCT
fcis-4602	206	1	5	5	NUM
fcis-4602	206	2	,	,	PUNCT
fcis-4602	206	3	it	it	PRON
fcis-4602	206	4	is	be	AUX
fcis-4602	206	5	shown	show	VERB
fcis-4602	206	6	that	that	SCONJ
fcis-4602	206	7	the	the	DET
fcis-4602	206	8	three	three	NUM
fcis-4602	206	9	trajectories	trajectory	NOUN
fcis-4602	206	10	are	be	AUX
fcis-4602	206	11	relatively	relatively	ADV
fcis-4602	206	12	similar	similar	ADJ
fcis-4602	206	13	when	when	SCONJ
fcis-4602	206	14	is	be	AUX
fcis-4602	206	15	particularly	particularly	ADV
fcis-4602	206	16	small	small	ADJ
fcis-4602	206	17	.	.	PUNCT
fcis-4602	207	1	as	as	ADP
fcis-4602	207	2	increases	increase	NOUN
fcis-4602	207	3	,	,	PUNCT
fcis-4602	207	4	the	the	DET
fcis-4602	207	5	trajectory	trajectory	NOUN
fcis-4602	207	6	with	with	ADP
fcis-4602	207	7	the	the	DET
fcis-4602	207	8	fly	fly	VERB
fcis-4602	207	9	-	-	PUNCT
fcis-4602	207	10	over	over	ADP
fcis-4602	207	11	scheme	scheme	NOUN
fcis-4602	207	12	always	always	ADV
fcis-4602	207	13	saves	save	VERB
fcis-4602	207	14	more	more	ADJ
fcis-4602	207	15	energy	energy	NOUN
fcis-4602	207	16	.	.	PUNCT
fcis-4602	208	1	in	in	ADP
fcis-4602	208	2	the	the	DET
fcis-4602	208	3	contrast	contrast	NOUN
fcis-4602	208	4	,	,	PUNCT
fcis-4602	208	5	the	the	DET
fcis-4602	208	6	benchmark	benchmark	NOUN
fcis-4602	208	7	trajectory	trajectory	NOUN
fcis-4602	208	8	under	under	ADP
fcis-4602	208	9	the	the	DET
fcis-4602	208	10	fly	fly	NOUN
fcis-4602	208	11	-	-	PUNCT
fcis-4602	208	12	hover	hover	NOUN
fcis-4602	208	13	-	-	PUNCT
fcis-4602	208	14	communicate	communicate	VERB
fcis-4602	208	15	protocol	protocol	NOUN
fcis-4602	208	16	keeps	keep	VERB
fcis-4602	208	17	the	the	DET
fcis-4602	208	18	same	same	ADJ
fcis-4602	208	19	as	as	ADP
fcis-4602	208	20	that	that	PRON
fcis-4602	208	21	with	with	ADP
fcis-4602	208	22	hover	hover	NOUN
fcis-4602	208	23	on	on	ADP
fcis-4602	208	24	the	the	DET
fcis-4602	208	25	top	top	NOUN
fcis-4602	208	26	of	of	ADP
fcis-4602	208	27	gns	gns	NOUN
fcis-4602	208	28	after	after	SCONJ
fcis-4602	208	29	is	be	AUX
fcis-4602	208	30	larger	large	ADJ
fcis-4602	208	31	than	than	ADP
fcis-4602	208	32	100mbits	100mbits	PROPN
fcis-4602	208	33	.	.	PUNCT
fcis-4602	209	1	figure	figure	NOUN
fcis-4602	209	2	4	4	NUM
fcis-4602	209	3	.	.	PUNCT
fcis-4602	209	4	energy	energy	NOUN
fcis-4602	209	5	consumption	consumption	NOUN
fcis-4602	209	6	versus	versus	ADP
fcis-4602	209	7	required	require	VERB
fcis-4602	209	8	throughput	throughput	NOUN
fcis-4602	209	9	in	in	ADP
fcis-4602	209	10	terms	term	NOUN
fcis-4602	209	11	ofthe	ofthe	ADJ
fcis-4602	209	12	difference	difference	NOUN
fcis-4602	209	13	between	between	ADP
fcis-4602	209	14	the	the	DET
fcis-4602	209	15	benchmark	benchmark	NOUN
fcis-4602	209	16	result	result	NOUN
fcis-4602	209	17	and	and	CCONJ
fcis-4602	209	18	the	the	DET
fcis-4602	209	19	fly	fly	VERB
fcis-4602	209	20	-	-	PUNCT
fcis-4602	209	21	over	over	ADP
fcis-4602	209	22	result	result	NOUN
fcis-4602	209	23	,	,	PUNCT
fcis-4602	209	24	fig	fig	NOUN
fcis-4602	209	25	.	.	PUNCT
fcis-4602	210	1	6	6	NUM
fcis-4602	210	2	gives	give	VERB
fcis-4602	210	3	the	the	DET
fcis-4602	210	4	energy	energy	NOUN
fcis-4602	210	5	-	-	PUNCT
fcis-4602	210	6	saving	save	VERB
fcis-4602	210	7	amount	amount	NOUN
fcis-4602	210	8	and	and	CCONJ
fcis-4602	210	9	rate	rate	NOUN
fcis-4602	210	10	that	that	SCONJ
fcis-4602	210	11	the	the	DET
fcis-4602	210	12	fly	fly	VERB
fcis-4602	210	13	-	-	PUNCT
fcis-4602	210	14	over	over	ADP
fcis-4602	210	15	trajectory	trajectory	NOUN
fcis-4602	210	16	design	design	NOUN
fcis-4602	210	17	can	can	AUX
fcis-4602	210	18	make	make	VERB
fcis-4602	210	19	with	with	ADP
fcis-4602	210	20	the	the	DET
fcis-4602	210	21	increasing	increase	VERB
fcis-4602	210	22	required	require	VERB
fcis-4602	210	23	throughput	throughput	NOUN
fcis-4602	210	24	.	.	PUNCT
fcis-4602	211	1	when	when	SCONJ
fcis-4602	211	2	=	=	SYM
fcis-4602	211	3	200mbits	200mbits	PROPN
fcis-4602	211	4	,	,	PUNCT
fcis-4602	211	5	the	the	DET
fcis-4602	211	6	proposed	propose	VERB
fcis-4602	211	7	fly	fly	NOUN
fcis-4602	211	8	-	-	PUNCT
fcis-4602	211	9	over	over	ADP
fcis-4602	211	10	design	design	NOUN
fcis-4602	211	11	saves	save	VERB
fcis-4602	211	12	the	the	DET
fcis-4602	211	13	most	most	ADJ
fcis-4602	211	14	amount	amount	NOUN
fcis-4602	211	15	of	of	ADP
fcis-4602	211	16	energy	energy	NOUN
fcis-4602	211	17	because	because	SCONJ
fcis-4602	211	18	the	the	DET
fcis-4602	211	19	required	require	VERB
fcis-4602	211	20	communication	communication	NOUN
fcis-4602	211	21	time	time	NOUN
fcis-4602	211	22	and	and	CCONJ
fcis-4602	211	23	the	the	DET
fcis-4602	211	24	flight	flight	NOUN
fcis-4602	211	25	distance	distance	NOUN
fcis-4602	211	26	have	have	VERB
fcis-4602	211	27	an	an	DET
fcis-4602	211	28	equal	equal	ADJ
fcis-4602	211	29	influence	influence	NOUN
fcis-4602	211	30	on	on	ADP
fcis-4602	211	31	the	the	DET
fcis-4602	211	32	energy	energy	NOUN
fcis-4602	211	33	consumption	consumption	NOUN
fcis-4602	211	34	under	under	ADP
fcis-4602	211	35	this	this	DET
fcis-4602	211	36	throughput	throughput	NOUN
fcis-4602	211	37	constraint	constraint	NOUN
fcis-4602	211	38	.	.	PUNCT
fcis-4602	212	1	then	then	ADV
fcis-4602	212	2	,	,	PUNCT
fcis-4602	212	3	under	under	ADP
fcis-4602	212	4	the	the	DET
fcis-4602	212	5	sca	sca	NOUN
fcis-4602	212	6	-	-	PUNCT
fcis-4602	212	7	based	base	VERB
fcis-4602	212	8	algorithm	algorithm	NOUN
fcis-4602	212	9	,	,	PUNCT
fcis-4602	212	10	the	the	DET
fcis-4602	212	11	most	most	ADV
fcis-4602	212	12	optimal	optimal	ADJ
fcis-4602	212	13	status	status	NOUN
fcis-4602	212	14	between	between	ADP
fcis-4602	212	15	the	the	DET
fcis-4602	212	16	two	two	NUM
fcis-4602	212	17	factors	factor	NOUN
fcis-4602	212	18	can	can	AUX
fcis-4602	212	19	be	be	AUX
fcis-4602	212	20	balanced	balance	VERB
fcis-4602	212	21	.	.	PUNCT
fcis-4602	213	1	however	however	ADV
fcis-4602	213	2	,	,	PUNCT
fcis-4602	213	3	the	the	DET
fcis-4602	213	4	saving	saving	NOUN
fcis-4602	213	5	efficiency	efficiency	NOUN
fcis-4602	213	6	is	be	AUX
fcis-4602	213	7	highest	high	ADJ
fcis-4602	213	8	when	when	SCONJ
fcis-4602	213	9	=	=	PRON
fcis-4602	213	10	10mbits	10mbits	NUM
fcis-4602	213	11	from	from	ADP
fcis-4602	213	12	the	the	DET
fcis-4602	213	13	saving	save	VERB
fcis-4602	213	14	rate	rate	NOUN
fcis-4602	213	15	curve	curve	NOUN
fcis-4602	213	16	.	.	PUNCT
fcis-4602	214	1	this	this	PRON
fcis-4602	214	2	is	be	AUX
fcis-4602	214	3	because	because	SCONJ
fcis-4602	214	4	although	although	SCONJ
fcis-4602	214	5	the	the	DET
fcis-4602	214	6	energy	energy	NOUN
fcis-4602	214	7	-	-	PUNCT
fcis-4602	214	8	saving	save	VERB
fcis-4602	214	9	amount	amount	NOUN
fcis-4602	214	10	of	of	ADP
fcis-4602	214	11	the	the	DET
fcis-4602	214	12	fly	fly	VERB
fcis-4602	214	13	-	-	PUNCT
fcis-4602	214	14	over	over	ADP
fcis-4602	214	15	scheme	scheme	NOUN
fcis-4602	214	16	is	be	AUX
fcis-4602	214	17	not	not	PART
fcis-4602	214	18	the	the	DET
fcis-4602	214	19	highest	high	ADJ
fcis-4602	214	20	at	at	ADP
fcis-4602	214	21	=	=	NOUN
fcis-4602	214	22	10mbits	10mbit	NOUN
fcis-4602	214	23	,	,	PUNCT
fcis-4602	214	24	the	the	DET
fcis-4602	214	25	total	total	ADJ
fcis-4602	214	26	energy	energy	NOUN
fcis-4602	214	27	required	require	VERB
fcis-4602	214	28	at	at	ADP
fcis-4602	214	29	this	this	DET
fcis-4602	214	30	point	point	NOUN
fcis-4602	214	31	is	be	AUX
fcis-4602	214	32	lower	low	ADJ
fcis-4602	214	33	,	,	PUNCT
fcis-4602	214	34	resulting	result	VERB
fcis-4602	214	35	in	in	ADP
fcis-4602	214	36	a	a	DET
fcis-4602	214	37	higher	high	ADJ
fcis-4602	214	38	savings	saving	NOUN
fcis-4602	214	39	rate	rate	NOUN
fcis-4602	214	40	.	.	PUNCT
fcis-4602	215	1	also	also	ADV
fcis-4602	215	2	,	,	PUNCT
fcis-4602	215	3	these	these	DET
fcis-4602	215	4	two	two	NUM
fcis-4602	215	5	mountain	mountain	NOUN
fcis-4602	215	6	-	-	PUNCT
fcis-4602	215	7	shaped	shape	VERB
fcis-4602	215	8	curves	curve	NOUN
fcis-4602	215	9	show	show	VERB
fcis-4602	215	10	that	that	SCONJ
fcis-4602	215	11	the	the	DET
fcis-4602	215	12	energy	energy	NOUN
fcis-4602	215	13	-	-	PUNCT
fcis-4602	215	14	saving	save	VERB
fcis-4602	215	15	performance	performance	NOUN
fcis-4602	215	16	of	of	ADP
fcis-4602	215	17	the	the	DET
fcis-4602	215	18	fly	fly	VERB
fcis-4602	215	19	-	-	PUNCT
fcis-4602	215	20	over	over	ADP
fcis-4602	215	21	scheme	scheme	NOUN
fcis-4602	215	22	decreases	decrease	NOUN
fcis-4602	215	23	when	when	SCONJ
fcis-4602	215	24	is	be	AUX
fcis-4602	215	25	particularly	particularly	ADV
fcis-4602	215	26	smaller	small	ADJ
fcis-4602	215	27	and	and	CCONJ
fcis-4602	215	28	larger	large	ADJ
fcis-4602	215	29	.	.	PUNCT
fcis-4602	216	1	more	more	ADV
fcis-4602	216	2	specifically	specifically	ADV
fcis-4602	216	3	,	,	PUNCT
fcis-4602	216	4	the	the	DET
fcis-4602	216	5	uav	uav	PROPN
fcis-4602	216	6	still	still	ADV
fcis-4602	216	7	needs	need	VERB
fcis-4602	216	8	to	to	PART
fcis-4602	216	9	be	be	AUX
fcis-4602	216	10	in	in	ADP
fcis-4602	216	11	static	static	ADJ
fcis-4602	216	12	status	status	NOUN
fcis-4602	216	13	while	while	SCONJ
fcis-4602	216	14	serving	serve	VERB
fcis-4602	216	15	the	the	DET
fcis-4602	216	16	gn	gn	PROPN
fcis-4602	216	17	,	,	PUNCT
fcis-4602	216	18	whether	whether	SCONJ
fcis-4602	216	19	demand	demand	NOUN
fcis-4602	216	20	is	be	AUX
fcis-4602	216	21	too	too	ADV
fcis-4602	216	22	high	high	ADJ
fcis-4602	216	23	or	or	CCONJ
fcis-4602	216	24	low	low	ADJ
fcis-4602	216	25	.	.	PUNCT
fcis-4602	217	1	in	in	ADP
fcis-4602	217	2	general	general	ADJ
fcis-4602	217	3	,	,	PUNCT
fcis-4602	217	4	the	the	DET
fcis-4602	217	5	fly	fly	VERB
fcis-4602	217	6	-	-	PUNCT
fcis-4602	217	7	over	over	ADP
fcis-4602	217	8	scheme	scheme	NOUN
fcis-4602	217	9	is	be	AUX
fcis-4602	217	10	a	a	DET
fcis-4602	217	11	more	more	ADV
fcis-4602	217	12	energy	energy	NOUN
fcis-4602	217	13	-	-	PUNCT
fcis-4602	217	14	efficient	efficient	ADJ
fcis-4602	217	15	trajectory	trajectory	NOUN
fcis-4602	217	16	design	design	NOUN
fcis-4602	217	17	compared	compare	VERB
fcis-4602	217	18	to	to	ADP
fcis-4602	217	19	the	the	DET
fcis-4602	217	20	benchmark	benchmark	NOUN
fcis-4602	217	21	.	.	PUNCT
fcis-4602	218	1	in	in	ADP
fcis-4602	218	2	the	the	DET
fcis-4602	218	3	extreme	extreme	ADJ
fcis-4602	218	4	case	case	NOUN
fcis-4602	218	5	,	,	PUNCT
fcis-4602	218	6	the	the	DET
fcis-4602	218	7	performance	performance	NOUN
fcis-4602	218	8	of	of	ADP
fcis-4602	218	9	the	the	DET
fcis-4602	218	10	two	two	NUM
fcis-4602	218	11	schemes	scheme	NOUN
fcis-4602	218	12	converges	converge	VERB
fcis-4602	218	13	to	to	ADP
fcis-4602	218	14	the	the	DET
fcis-4602	218	15	same	same	ADJ
fcis-4602	218	16	in	in	ADP
fcis-4602	218	17	terms	term	NOUN
fcis-4602	218	18	of	of	ADP
fcis-4602	218	19	total	total	ADJ
fcis-4602	218	20	energy	energy	NOUN
fcis-4602	218	21	consumption	consumption	NOUN
fcis-4602	218	22	figure	figure	NOUN
fcis-4602	218	23	5	5	NUM
fcis-4602	218	24	.	.	PUNCT
fcis-4602	218	25	energy	energy	NOUN
fcis-4602	218	26	-	-	PUNCT
fcis-4602	218	27	saving	save	VERB
fcis-4602	218	28	amount	amount	NOUN
fcis-4602	218	29	(	(	PUNCT
fcis-4602	218	30	rate	rate	NOUN
fcis-4602	218	31	)	)	PUNCT
fcis-4602	218	32	versus	versus	ADP
fcis-4602	218	33	required	require	VERB
fcis-4602	218	34	throughput	throughput	NOUN
fcis-4602	218	35	5	5	NUM
fcis-4602	218	36	.	.	PUNCT
fcis-4602	219	1	conclusion	conclusion	NOUN
fcis-4602	219	2	this	this	DET
fcis-4602	219	3	project	project	NOUN
fcis-4602	219	4	investigates	investigate	VERB
fcis-4602	219	5	the	the	DET
fcis-4602	219	6	design	design	NOUN
fcis-4602	219	7	of	of	ADP
fcis-4602	219	8	closed	closed	ADJ
fcis-4602	219	9	,	,	PUNCT
fcis-4602	219	10	energyefficient	energyefficient	NOUN
fcis-4602	219	11	flight	flight	NOUN
fcis-4602	219	12	trajectories	trajectory	NOUN
fcis-4602	219	13	during	during	ADP
fcis-4602	219	14	uav	uav	PROPN
fcis-4602	219	15	-	-	PUNCT
fcis-4602	219	16	to	to	ADP
fcis-4602	219	17	-	-	PUNCT
fcis-4602	219	18	ground	ground	NOUN
fcis-4602	219	19	communications	communication	NOUN
fcis-4602	219	20	.	.	PUNCT
fcis-4602	220	1	this	this	DET
fcis-4602	220	2	work	work	NOUN
fcis-4602	220	3	uses	use	VERB
fcis-4602	220	4	a	a	DET
fcis-4602	220	5	rotary	rotary	ADJ
fcis-4602	220	6	-	-	PUNCT
fcis-4602	220	7	wing	wing	NOUN
fcis-4602	220	8	uav	uav	PROPN
fcis-4602	220	9	as	as	ADP
fcis-4602	220	10	the	the	DET
fcis-4602	220	11	object	object	NOUN
fcis-4602	220	12	of	of	ADP
fcis-4602	220	13	study	study	NOUN
fcis-4602	220	14	and	and	CCONJ
fcis-4602	220	15	constructs	construct	VERB
fcis-4602	220	16	an	an	DET
fcis-4602	220	17	optimization	optimization	NOUN
fcis-4602	220	18	problem	problem	NOUN
fcis-4602	220	19	with	with	ADP
fcis-4602	220	20	its	its	PRON
fcis-4602	220	21	energy	energy	NOUN
fcis-4602	220	22	consumption	consumption	NOUN
fcis-4602	220	23	model	model	NOUN
fcis-4602	220	24	as	as	ADP
fcis-4602	220	25	the	the	DET
fcis-4602	220	26	objective	objective	ADJ
fcis-4602	220	27	function	function	NOUN
fcis-4602	220	28	.	.	PUNCT
fcis-4602	221	1	two	two	NUM
fcis-4602	221	2	uav	uav	PROPN
fcis-4602	221	3	flight	flight	NOUN
fcis-4602	221	4	modes	mode	NOUN
fcis-4602	221	5	are	be	AUX
fcis-4602	221	6	considered	consider	VERB
fcis-4602	221	7	,	,	PUNCT
fcis-4602	221	8	one	one	NUM
fcis-4602	221	9	is	be	AUX
fcis-4602	221	10	to	to	PART
fcis-4602	221	11	fly	fly	VERB
fcis-4602	221	12	to	to	ADP
fcis-4602	221	13	a	a	DET
fcis-4602	221	14	particular	particular	ADJ
fcis-4602	221	15	position	position	NOUN
fcis-4602	221	16	and	and	CCONJ
fcis-4602	221	17	hover	hover	NOUN
fcis-4602	221	18	to	to	PART
fcis-4602	221	19	communicate	communicate	VERB
fcis-4602	221	20	with	with	ADP
fcis-4602	221	21	gns	gns	NOUN
fcis-4602	221	22	,	,	PUNCT
fcis-4602	221	23	called	call	VERB
fcis-4602	221	24	the	the	DET
fcis-4602	221	25	flyhover	flyhover	ADV
fcis-4602	221	26	-	-	PUNCT
fcis-4602	221	27	communicate	communicate	VERB
fcis-4602	221	28	scheme	scheme	NOUN
fcis-4602	221	29	as	as	ADP
fcis-4602	221	30	the	the	DET
fcis-4602	221	31	benchmark	benchmark	NOUN
fcis-4602	221	32	,	,	PUNCT
fcis-4602	221	33	and	and	CCONJ
fcis-4602	221	34	the	the	DET
fcis-4602	221	35	other	other	ADJ
fcis-4602	221	36	is	be	AUX
fcis-4602	221	37	to	to	PART
fcis-4602	221	38	fly	fly	VERB
fcis-4602	221	39	while	while	SCONJ
fcis-4602	221	40	communicating	communicate	VERB
fcis-4602	221	41	with	with	ADP
fcis-4602	221	42	gns	gns	NOUN
fcis-4602	221	43	,	,	PUNCT
fcis-4602	221	44	named	name	VERB
fcis-4602	221	45	the	the	DET
fcis-4602	221	46	fly	fly	NOUN
fcis-4602	221	47	-	-	PUNCT
fcis-4602	221	48	over	over	ADP
fcis-4602	221	49	scheme	scheme	NOUN
fcis-4602	221	50	.	.	PUNCT
fcis-4602	222	1	the	the	DET
fcis-4602	222	2	results	result	NOUN
fcis-4602	222	3	show	show	VERB
fcis-4602	222	4	that	that	SCONJ
fcis-4602	222	5	the	the	DET
fcis-4602	222	6	second	second	ADJ
fcis-4602	222	7	trajectory	trajectory	NOUN
fcis-4602	222	8	design	design	NOUN
fcis-4602	222	9	scheme	scheme	NOUN
fcis-4602	222	10	is	be	AUX
fcis-4602	222	11	usually	usually	ADV
fcis-4602	222	12	more	more	ADJ
fcis-4602	222	13	energy	energy	NOUN
fcis-4602	222	14	efficient	efficient	ADJ
fcis-4602	222	15	than	than	ADP
fcis-4602	222	16	the	the	DET
fcis-4602	222	17	benchmark	benchmark	NOUN
fcis-4602	222	18	under	under	ADP
fcis-4602	222	19	specific	specific	ADJ
fcis-4602	222	20	communication	communication	NOUN
fcis-4602	222	21	throughput	throughput	NOUN
fcis-4602	222	22	requirements	requirement	NOUN
fcis-4602	222	23	.	.	PUNCT
fcis-4602	223	1	however	however	ADV
fcis-4602	223	2	,	,	PUNCT
fcis-4602	223	3	the	the	DET
fcis-4602	223	4	performance	performance	NOUN
fcis-4602	223	5	for	for	ADP
fcis-4602	223	6	energy	energy	NOUN
fcis-4602	223	7	saving	saving	NOUN
fcis-4602	223	8	tends	tend	VERB
fcis-4602	223	9	to	to	PART
fcis-4602	223	10	be	be	AUX
fcis-4602	223	11	the	the	DET
fcis-4602	223	12	same	same	ADJ
fcis-4602	223	13	when	when	SCONJ
fcis-4602	223	14	the	the	DET
fcis-4602	223	15	user	user	NOUN
fcis-4602	223	16	demand	demand	NOUN
fcis-4602	223	17	is	be	AUX
fcis-4602	223	18	very	very	ADV
fcis-4602	223	19	low	low	ADJ
fcis-4602	223	20	or	or	CCONJ
fcis-4602	223	21	very	very	ADV
fcis-4602	223	22	high	high	ADJ
fcis-4602	223	23	.	.	PUNCT
fcis-4602	224	1	therefore	therefore	ADV
fcis-4602	224	2	,	,	PUNCT
fcis-4602	224	3	a	a	DET
fcis-4602	224	4	reference	reference	NOUN
fcis-4602	224	5	can	can	AUX
fcis-4602	224	6	be	be	AUX
fcis-4602	224	7	given	give	VERB
fcis-4602	224	8	for	for	ADP
fcis-4602	224	9	designing	design	VERB
fcis-4602	224	10	uav	uav	PROPN
fcis-4602	224	11	trajectories	trajectory	NOUN
fcis-4602	224	12	in	in	ADP
fcis-4602	224	13	different	different	ADJ
fcis-4602	224	14	situations	situation	NOUN
fcis-4602	224	15	.	.	PUNCT
fcis-4602	225	1	for	for	ADP
fcis-4602	225	2	instance	instance	NOUN
fcis-4602	225	3	,	,	PUNCT
fcis-4602	225	4	when	when	SCONJ
fcis-4602	225	5	the	the	DET
fcis-4602	225	6	data	data	NOUN
fcis-4602	225	7	transmission	transmission	NOUN
fcis-4602	225	8	rate	rate	NOUN
fcis-4602	225	9	required	require	VERB
fcis-4602	225	10	by	by	ADP
fcis-4602	225	11	the	the	DET
fcis-4602	225	12	regional	regional	ADJ
fcis-4602	225	13	node	node	NOUN
fcis-4602	225	14	is	be	AUX
fcis-4602	225	15	not	not	PART
fcis-4602	225	16	high	high	ADJ
fcis-4602	225	17	,	,	PUNCT
fcis-4602	225	18	the	the	DET
fcis-4602	225	19	uav	uav	PROPN
fcis-4602	225	20	can	can	AUX
fcis-4602	225	21	just	just	ADV
fcis-4602	225	22	hover	hover	VERB
fcis-4602	225	23	at	at	ADP
fcis-4602	225	24	the	the	DET
fcis-4602	225	25	original	original	ADJ
fcis-4602	225	26	location	location	NOUN
fcis-4602	225	27	to	to	PART
fcis-4602	225	28	provide	provide	VERB
fcis-4602	225	29	services	service	NOUN
fcis-4602	225	30	to	to	ADP
fcis-4602	225	31	the	the	DET
fcis-4602	225	32	surrounding	surround	VERB
fcis-4602	225	33	user	user	NOUN
fcis-4602	225	34	community	community	NOUN
fcis-4602	225	35	instead	instead	ADV
fcis-4602	225	36	of	of	ADP
fcis-4602	225	37	letting	let	VERB
fcis-4602	225	38	it	it	PRON
fcis-4602	225	39	fly	fly	VERB
fcis-4602	225	40	.	.	PUNCT
fcis-4602	226	1	when	when	SCONJ
fcis-4602	226	2	the	the	DET
fcis-4602	226	3	demand	demand	NOUN
fcis-4602	226	4	for	for	ADP
fcis-4602	226	5	regional	regional	ADJ
fcis-4602	226	6	nodes	node	NOUN
fcis-4602	226	7	increases	increase	NOUN
fcis-4602	226	8	,	,	PUNCT
fcis-4602	226	9	for	for	ADP
fcis-4602	226	10	example	example	NOUN
fcis-4602	226	11	,	,	PUNCT
fcis-4602	226	12	in	in	ADP
fcis-4602	226	13	a	a	DET
fcis-4602	226	14	post	post	ADJ
fcis-4602	226	15	-	-	ADJ
fcis-4602	226	16	disaster	disaster	ADJ
fcis-4602	226	17	reconstruction	reconstruction	NOUN
fcis-4602	226	18	scenario	scenario	NOUN
fcis-4602	226	19	,	,	PUNCT
fcis-4602	226	20	the	the	DET
fcis-4602	226	21	best	good	ADJ
fcis-4602	226	22	trajectory	trajectory	NOUN
fcis-4602	226	23	can	can	AUX
fcis-4602	226	24	be	be	AUX
fcis-4602	226	25	designed	design	VERB
fcis-4602	226	26	based	base	VERB
fcis-4602	226	27	on	on	ADP
fcis-4602	226	28	the	the	DET
fcis-4602	226	29	fly	fly	VERB
fcis-4602	226	30	-	-	PUNCT
fcis-4602	226	31	over	over	ADP
fcis-4602	226	32	scheme	scheme	NOUN
fcis-4602	226	33	.	.	PUNCT
fcis-4602	227	1	furthermore	furthermore	ADV
fcis-4602	227	2	,	,	PUNCT
fcis-4602	227	3	with	with	ADP
fcis-4602	227	4	the	the	DET
fcis-4602	227	5	development	development	NOUN
fcis-4602	227	6	of	of	ADP
fcis-4602	227	7	the	the	DET
fcis-4602	227	8	internet	internet	NOUN
fcis-4602	227	9	of	of	ADP
fcis-4602	227	10	things	thing	NOUN
fcis-4602	227	11	,	,	PUNCT
fcis-4602	227	12	the	the	DET
fcis-4602	227	13	user	user	NOUN
fcis-4602	227	14	demand	demand	NOUN
fcis-4602	227	15	for	for	ADP
fcis-4602	227	16	communication	communication	NOUN
fcis-4602	227	17	is	be	AUX
fcis-4602	227	18	extremely	extremely	ADV
fcis-4602	227	19	high	high	ADJ
fcis-4602	227	20	when	when	SCONJ
fcis-4602	227	21	a	a	DET
fcis-4602	227	22	simpler	simple	ADJ
fcis-4602	227	23	fly	fly	NOUN
fcis-4602	227	24	-	-	PUNCT
fcis-4602	227	25	hovercommunicate	hovercommunicate	NOUN
fcis-4602	227	26	scheme	scheme	NOUN
fcis-4602	227	27	can	can	AUX
fcis-4602	227	28	be	be	AUX
fcis-4602	227	29	used	use	VERB
fcis-4602	227	30	and	and	CCONJ
fcis-4602	227	31	can	can	AUX
fcis-4602	227	32	be	be	AUX
fcis-4602	227	33	combined	combine	VERB
fcis-4602	227	34	with	with	ADP
fcis-4602	227	35	a	a	DET
fcis-4602	227	36	gripper	gripper	NOUN
fcis-4602	227	37	installed	instal	VERB
fcis-4602	227	38	on	on	ADP
fcis-4602	227	39	the	the	DET
fcis-4602	227	40	hover	hover	NOUN
fcis-4602	227	41	point	point	NOUN
fcis-4602	227	42	[	[	X
fcis-4602	227	43	31	31	NUM
fcis-4602	227	44	]	]	PUNCT
fcis-4602	227	45	to	to	PART
fcis-4602	227	46	reduce	reduce	VERB
fcis-4602	227	47	the	the	DET
fcis-4602	227	48	energy	energy	NOUN
fcis-4602	227	49	consumed	consume	VERB
fcis-4602	227	50	by	by	ADP
fcis-4602	227	51	the	the	DET
fcis-4602	227	52	drone	drone	NOUN
fcis-4602	227	53	hovering	hover	VERB
fcis-4602	227	54	.	.	PUNCT
fcis-4602	228	1	acknowledgements	acknowledgement	NOUN
fcis-4602	228	2	i	i	PRON
fcis-4602	228	3	would	would	AUX
fcis-4602	228	4	like	like	VERB
fcis-4602	228	5	to	to	PART
fcis-4602	228	6	thank	thank	VERB
fcis-4602	228	7	dr.vasilis	dr.vasilis	PROPN
fcis-4602	228	8	friderikos	friderikos	PROPN
fcis-4602	228	9	(	(	PUNCT
fcis-4602	228	10	king	king	PROPN
fcis-4602	228	11	’s	’s	PART
fcis-4602	228	12	college	college	PROPN
fcis-4602	228	13	london	london	PROPN
fcis-4602	228	14	)	)	PUNCT
fcis-4602	228	15	for	for	ADP
fcis-4602	228	16	the	the	DET
fcis-4602	228	17	research	research	NOUN
fcis-4602	228	18	supervision	supervision	NOUN
fcis-4602	228	19	and	and	CCONJ
fcis-4602	228	20	discussions	discussion	NOUN
fcis-4602	228	21	.	.	PUNCT
fcis-4602	229	1	references	reference	NOUN
fcis-4602	229	2	[	[	X
fcis-4602	229	3	1	1	X
fcis-4602	229	4	]	]	PUNCT
fcis-4602	229	5	zeng	zeng	PROPN
fcis-4602	229	6	y	y	PROPN
fcis-4602	229	7	,	,	PUNCT
fcis-4602	229	8	zhang	zhang	PROPN
fcis-4602	229	9	r	r	PROPN
fcis-4602	229	10	,	,	PUNCT
fcis-4602	229	11	lim	lim	PROPN
fcis-4602	229	12	t	t	PROPN
fcis-4602	229	13	j.	j.	PROPN
fcis-4602	229	14	wireless	wireless	PROPN
fcis-4602	229	15	communications	communication	NOUN
fcis-4602	229	16	with	with	ADP
fcis-4602	229	17	unmanned	unmanned	ADJ
fcis-4602	229	18	aerial	aerial	ADJ
fcis-4602	229	19	vehicles	vehicle	NOUN
fcis-4602	229	20	:	:	PUNCT
fcis-4602	229	21	opportunities	opportunity	NOUN
fcis-4602	229	22	and	and	CCONJ
fcis-4602	229	23	chal	chal	NOUN
fcis-4602	229	24	-	-	PUNCT
fcis-4602	229	25	lenges[j	lenges[j	NOUN
fcis-4602	229	26	]	]	PUNCT
fcis-4602	229	27	.	.	PUNCT
fcis-4602	230	1	ieee	ieee	PROPN
fcis-4602	230	2	communications	communications	PROPN
fcis-4602	230	3	magazine	magazine	NOUN
fcis-4602	230	4	,	,	PUNCT
fcis-4602	230	5	2016	2016	NUM
fcis-4602	230	6	,	,	PUNCT
fcis-4602	230	7	54(5	54(5	NUM
fcis-4602	230	8	):	):	PUNCT
fcis-4602	230	9	36	36	NUM
fcis-4602	230	10	-	-	SYM
fcis-4602	230	11	42	42	NUM
fcis-4602	230	12	.	.	PUNCT
fcis-4602	231	1	[	[	X
fcis-4602	231	2	2	2	NUM
fcis-4602	231	3	]	]	PUNCT
fcis-4602	231	4	chakareski	chakareski	PROPN
fcis-4602	231	5	j	j	PROPN
fcis-4602	231	6	,	,	PUNCT
fcis-4602	231	7	naqvi	naqvi	PROPN
fcis-4602	231	8	s	s	PROPN
fcis-4602	231	9	,	,	PUNCT
fcis-4602	231	10	mastronarde	mastronarde	NOUN
fcis-4602	231	11	n	n	CCONJ
fcis-4602	231	12	,	,	PUNCT
fcis-4602	231	13	et	et	PROPN
fcis-4602	231	14	al	al	PROPN
fcis-4602	231	15	.	.	PUNCT
fcis-4602	232	1	an	an	DET
fcis-4602	232	2	energy	energy	NOUN
fcis-4602	232	3	efficient	efficient	ADJ
fcis-4602	232	4	framework	framework	NOUN
fcis-4602	232	5	for	for	ADP
fcis-4602	232	6	uav	uav	PROPN
fcis-4602	232	7	-	-	PUNCT
fcis-4602	232	8	assisted	assist	VERB
fcis-4602	232	9	millimeter	millimeter	NOUN
fcis-4602	232	10	wave	wave	NOUN
fcis-4602	232	11	5	5	NUM
fcis-4602	232	12	g	g	NOUN
fcis-4602	232	13	heterogeneous	heterogeneous	ADJ
fcis-4602	232	14	cellular	cellular	ADJ
fcis-4602	232	15	networks[j	networks[j	PROPN
fcis-4602	232	16	]	]	PUNCT
fcis-4602	232	17	.	.	PUNCT
fcis-4602	233	1	ieee	ieee	NOUN
fcis-4602	233	2	transactions	transaction	NOUN
fcis-4602	233	3	on	on	ADP
fcis-4602	233	4	green	green	ADJ
fcis-4602	233	5	communications	communication	NOUN
fcis-4602	233	6	and	and	CCONJ
fcis-4602	233	7	networking	networking	NOUN
fcis-4602	233	8	,	,	PUNCT
fcis-4602	233	9	2019	2019	NUM
fcis-4602	233	10	,	,	PUNCT
fcis-4602	233	11	3(1	3(1	NUM
fcis-4602	233	12	):	):	PUNCT
fcis-4602	233	13	37	37	NUM
fcis-4602	233	14	-	-	SYM
fcis-4602	233	15	44	44	NUM
fcis-4602	233	16	.	.	PUNCT
fcis-4602	234	1	[	[	X
fcis-4602	234	2	3	3	X
fcis-4602	234	3	]	]	X
fcis-4602	234	4	namuduri	namuduri	PROPN
fcis-4602	234	5	k	k	PROPN
fcis-4602	234	6	,	,	PUNCT
fcis-4602	234	7	wan	wan	PROPN
fcis-4602	234	8	y	y	PROPN
fcis-4602	234	9	,	,	PUNCT
fcis-4602	234	10	gomathisankaran	gomathisankaran	VERB
fcis-4602	234	11	m.	m.	NOUN
fcis-4602	234	12	mobile	mobile	NOUN
fcis-4602	234	13	ad	ad	X
fcis-4602	234	14	hoc	hoc	X
fcis-4602	234	15	networks	network	NOUN
fcis-4602	234	16	in	in	ADP
fcis-4602	234	17	the	the	DET
fcis-4602	234	18	sky	sky	NOUN
fcis-4602	234	19	:	:	PUNCT
fcis-4602	234	20	state	state	NOUN
fcis-4602	234	21	ofthe	ofthe	NOUN
fcis-4602	234	22	art	art	NOUN
fcis-4602	234	23	,	,	PUNCT
fcis-4602	234	24	opportunities	opportunity	NOUN
fcis-4602	234	25	,	,	PUNCT
fcis-4602	234	26	and	and	CCONJ
fcis-4602	234	27	challenges[c]//proceedings	challenges[c]//proceeding	NOUN
fcis-4602	234	28	of	of	ADP
fcis-4602	234	29	the	the	DET
fcis-4602	234	30	second	second	ADJ
fcis-4602	234	31	acm	acm	NOUN
fcis-4602	234	32	mobihoc	mobihoc	NOUN
fcis-4602	234	33	workshop	workshop	NOUN
fcis-4602	234	34	on	on	ADP
fcis-4602	234	35	airborne	airborne	ADJ
fcis-4602	234	36	networks	network	NOUN
fcis-4602	234	37	and	and	CCONJ
fcis-4602	234	38	communications	communication	NOUN
fcis-4602	234	39	.	.	PUNCT
fcis-4602	235	1	2013	2013	NUM
fcis-4602	235	2	:	:	PUNCT
fcis-4602	235	3	25	25	NUM
fcis-4602	235	4	-	-	SYM
fcis-4602	235	5	28	28	NUM
fcis-4602	235	6	.	.	PUNCT
fcis-4602	236	1	[	[	X
fcis-4602	236	2	4	4	X
fcis-4602	236	3	]	]	X
fcis-4602	236	4	mozaffari	mozaffari	ADJ
fcis-4602	236	5	m	m	PROPN
fcis-4602	236	6	,	,	PUNCT
fcis-4602	236	7	saad	saad	PROPN
fcis-4602	236	8	w	w	PROPN
fcis-4602	236	9	,	,	PUNCT
fcis-4602	236	10	bennis	bennis	PROPN
fcis-4602	236	11	m	m	PROPN
fcis-4602	236	12	,	,	PUNCT
fcis-4602	236	13	et	et	PROPN
fcis-4602	236	14	al	al	PROPN
fcis-4602	236	15	.	.	PUNCT
fcis-4602	237	1	a	a	DET
fcis-4602	237	2	tutorial	tutorial	NOUN
fcis-4602	237	3	on	on	ADP
fcis-4602	237	4	uavs	uavs	NOUN
fcis-4602	237	5	for	for	ADP
fcis-4602	237	6	wireless	wireless	ADJ
fcis-4602	237	7	networks	network	NOUN
fcis-4602	237	8	:	:	PUNCT
fcis-4602	237	9	applications	application	NOUN
fcis-4602	237	10	,	,	PUNCT
fcis-4602	237	11	challenges	challenge	NOUN
fcis-4602	237	12	,	,	PUNCT
fcis-4602	237	13	and	and	CCONJ
fcis-4602	237	14	open	open	VERB
fcis-4602	237	15	problems[j	problems[j	NOUN
fcis-4602	237	16	]	]	PUNCT
fcis-4602	237	17	.	.	PUNCT
fcis-4602	238	1	ieee	ieee	NOUN
fcis-4602	238	2	communications	communication	NOUN
fcis-4602	238	3	surveys	survey	NOUN
fcis-4602	238	4	&	&	CCONJ
fcis-4602	238	5	tutorials	tutorial	NOUN
fcis-4602	238	6	,	,	PUNCT
fcis-4602	238	7	2019	2019	NUM
fcis-4602	238	8	,	,	PUNCT
fcis-4602	238	9	21(3	21(3	NUM
fcis-4602	238	10	):	):	PUNCT
fcis-4602	238	11	2334	2334	NUM
fcis-4602	238	12	-	-	SYM
fcis-4602	238	13	2360	2360	NUM
fcis-4602	238	14	.	.	PUNCT
fcis-4602	239	1	[	[	X
fcis-4602	239	2	5	5	X
fcis-4602	239	3	]	]	PUNCT
fcis-4602	239	4	wang	wang	PROPN
fcis-4602	239	5	j	j	PROPN
fcis-4602	239	6	,	,	PUNCT
fcis-4602	239	7	jiang	jiang	PROPN
fcis-4602	239	8	c	c	PROPN
fcis-4602	239	9	,	,	PUNCT
fcis-4602	239	10	han	han	PROPN
fcis-4602	239	11	z	z	PROPN
fcis-4602	239	12	,	,	PUNCT
fcis-4602	239	13	et	et	PROPN
fcis-4602	239	14	al	al	PROPN
fcis-4602	239	15	.	.	PUNCT
fcis-4602	240	1	taking	take	VERB
fcis-4602	240	2	drones	drone	NOUN
fcis-4602	240	3	to	to	ADP
fcis-4602	240	4	the	the	DET
fcis-4602	240	5	next	next	ADJ
fcis-4602	240	6	level	level	NOUN
fcis-4602	240	7	:	:	PUNCT
fcis-4602	240	8	cooperative	cooperative	ADJ
fcis-4602	240	9	distributed	distribute	VERB
fcis-4602	240	10	unmanned	unmanned	ADJ
fcis-4602	240	11	-	-	PUNCT
fcis-4602	240	12	aerial	aerial	ADJ
fcis-4602	240	13	-	-	PUNCT
fcis-4602	240	14	vehicular	vehicular	ADJ
fcis-4602	240	15	networks	network	NOUN
fcis-4602	240	16	for	for	ADP
fcis-4602	240	17	small	small	ADJ
fcis-4602	240	18	and	and	CCONJ
fcis-4602	240	19	mini	mini	ADJ
fcis-4602	240	20	drones[j	drones[j	NOUN
fcis-4602	240	21	]	]	PUNCT
fcis-4602	240	22	.	.	PUNCT
fcis-4602	241	1	ieee	ieee	PROPN
fcis-4602	241	2	vehicular	vehicular	ADJ
fcis-4602	241	3	technology	technology	NOUN
fcis-4602	241	4	magazine	magazine	NOUN
fcis-4602	241	5	,	,	PUNCT
fcis-4602	241	6	2017	2017	NUM
fcis-4602	241	7	,	,	PUNCT
fcis-4602	241	8	12(3	12(3	NUM
fcis-4602	241	9	):	):	PUNCT
fcis-4602	241	10	73	73	NUM
fcis-4602	241	11	-	-	SYM
fcis-4602	241	12	82	82	NUM
fcis-4602	241	13	.	.	PUNCT
fcis-4602	242	1	[	[	X
fcis-4602	242	2	6	6	NUM
fcis-4602	242	3	]	]	PUNCT
fcis-4602	242	4	wang	wang	PROPN
fcis-4602	242	5	j	j	PROPN
fcis-4602	242	6	,	,	PUNCT
fcis-4602	242	7	jiang	jiang	PROPN
fcis-4602	242	8	c	c	PROPN
fcis-4602	242	9	,	,	PUNCT
fcis-4602	242	10	wei	wei	PROPN
fcis-4602	242	11	z	z	PROPN
fcis-4602	242	12	,	,	PUNCT
fcis-4602	242	13	et	et	PROPN
fcis-4602	242	14	al	al	PROPN
fcis-4602	242	15	.	.	PUNCT
fcis-4602	243	1	joint	joint	PROPN
fcis-4602	243	2	uav	uav	PROPN
fcis-4602	243	3	hovering	hover	VERB
fcis-4602	243	4	altitude	altitude	NOUN
fcis-4602	243	5	and	and	CCONJ
fcis-4602	243	6	power	power	NOUN
fcis-4602	243	7	control	control	NOUN
fcis-4602	243	8	for	for	ADP
fcis-4602	243	9	space	space	NOUN
fcis-4602	243	10	-	-	PUNCT
fcis-4602	243	11	air	air	NOUN
fcis-4602	243	12	-	-	PUNCT
fcis-4602	243	13	ground	ground	NOUN
fcis-4602	243	14	iot	iot	ADJ
fcis-4602	243	15	networks[j	networks[j	PROPN
fcis-4602	243	16	]	]	X
fcis-4602	243	17	.	.	PUNCT
fcis-4602	244	1	ieee	ieee	PROPN
fcis-4602	244	2	internet	internet	NOUN
fcis-4602	244	3	ofthings	ofthing	NOUN
fcis-4602	244	4	journal	journal	NOUN
fcis-4602	244	5	,	,	PUNCT
fcis-4602	244	6	2018	2018	NUM
fcis-4602	244	7	,	,	PUNCT
fcis-4602	244	8	6(2	6(2	NUM
fcis-4602	244	9	):	):	PUNCT
fcis-4602	244	10	1741	1741	NUM
fcis-4602	244	11	-	-	SYM
fcis-4602	244	12	1753	1753	NUM
fcis-4602	244	13	.	.	PUNCT
fcis-4602	245	1	[	[	X
fcis-4602	245	2	7	7	X
fcis-4602	245	3	]	]	X
fcis-4602	245	4	huo	huo	PROPN
fcis-4602	245	5	y	y	PROPN
fcis-4602	245	6	,	,	PUNCT
fcis-4602	245	7	dong	dong	PROPN
fcis-4602	245	8	x	x	PROPN
fcis-4602	245	9	,	,	PUNCT
fcis-4602	245	10	lu	lu	PROPN
fcis-4602	245	11	t	t	PROPN
fcis-4602	245	12	,	,	PUNCT
fcis-4602	245	13	et	et	PROPN
fcis-4602	245	14	al	al	PROPN
fcis-4602	245	15	.	.	PROPN
fcis-4602	245	16	distributed	distribute	VERB
fcis-4602	245	17	and	and	CCONJ
fcis-4602	245	18	multi	multi	ADJ
fcis-4602	245	19	-	-	ADJ
fcis-4602	245	20	layer	layer	ADJ
fcis-4602	245	21	uav	uav	PROPN
fcis-4602	245	22	network	network	NOUN
fcis-4602	245	23	for	for	ADP
fcis-4602	245	24	the	the	DET
fcis-4602	245	25	next	next	ADJ
fcis-4602	245	26	-	-	PUNCT
fcis-4602	245	27	generation	generation	NOUN
fcis-4602	245	28	wireless	wireless	ADJ
fcis-4602	245	29	communi	communi	NOUN
fcis-4602	245	30	-	-	PUNCT
fcis-4602	245	31	cation[j	cation[j	VERB
fcis-4602	245	32	]	]	PUNCT
fcis-4602	245	33	.	.	PUNCT
fcis-4602	246	1	arxiv	arxiv	PROPN
fcis-4602	246	2	preprint	preprint	VERB
fcis-4602	246	3	arxiv:1805.01534	arxiv:1805.01534	NUM
fcis-4602	246	4	,	,	PUNCT
fcis-4602	246	5	2018	2018	NUM
fcis-4602	246	6	.	.	PUNCT
fcis-4602	247	1	96	96	NUM
fcis-4602	248	1	[	[	SYM
fcis-4602	248	2	8	8	NUM
fcis-4602	248	3	]	]	X
fcis-4602	248	4	al	al	PROPN
fcis-4602	248	5	-	-	PUNCT
fcis-4602	248	6	hourani	hourani	PROPN
fcis-4602	248	7	a	a	PRON
fcis-4602	248	8	,	,	PUNCT
fcis-4602	248	9	kandeepan	kandeepan	NOUN
fcis-4602	248	10	s	s	PROPN
fcis-4602	248	11	,	,	PUNCT
fcis-4602	248	12	lardner	lardner	NOUN
fcis-4602	248	13	s.	s.	PROPN
fcis-4602	248	14	optimal	optimal	ADJ
fcis-4602	248	15	lap	lap	NOUN
fcis-4602	248	16	altitude	altitude	NOUN
fcis-4602	248	17	for	for	ADP
fcis-4602	248	18	maximum	maximum	ADJ
fcis-4602	248	19	coverage[j	coverage[j	NOUN
fcis-4602	248	20	]	]	PUNCT
fcis-4602	248	21	.	.	PUNCT
fcis-4602	249	1	ieee	ieee	PROPN
fcis-4602	249	2	wireless	wireless	PROPN
fcis-4602	249	3	commu	commu	PROPN
fcis-4602	249	4	-	-	PUNCT
fcis-4602	249	5	nications	nication	NOUN
fcis-4602	249	6	letters	letter	NOUN
fcis-4602	249	7	,	,	PUNCT
fcis-4602	249	8	2014	2014	NUM
fcis-4602	249	9	,	,	PUNCT
fcis-4602	249	10	3(6	3(6	NUM
fcis-4602	249	11	):	):	PUNCT
fcis-4602	249	12	569	569	NUM
fcis-4602	249	13	-	-	SYM
fcis-4602	249	14	572	572	NUM
fcis-4602	249	15	.	.	PUNCT
fcis-4602	250	1	[	[	X
fcis-4602	250	2	9	9	NUM
fcis-4602	250	3	]	]	SYM
fcis-4602	250	4	li	li	PROPN
fcis-4602	250	5	b	b	PROPN
fcis-4602	250	6	,	,	PUNCT
fcis-4602	250	7	chen	chen	PROPN
fcis-4602	250	8	c	c	PROPN
fcis-4602	250	9	,	,	PUNCT
fcis-4602	250	10	zhang	zhang	PROPN
fcis-4602	250	11	r	r	PROPN
fcis-4602	250	12	,	,	PUNCT
fcis-4602	250	13	et	et	PROPN
fcis-4602	250	14	al	al	PROPN
fcis-4602	250	15	.	.	PUNCT
fcis-4602	251	1	the	the	DET
fcis-4602	251	2	energy	energy	NOUN
fcis-4602	251	3	-	-	PUNCT
fcis-4602	251	4	efficient	efficient	ADJ
fcis-4602	251	5	uav	uav	PROPN
fcis-4602	251	6	-	-	PUNCT
fcis-4602	251	7	based	base	VERB
fcis-4602	251	8	bs	bs	PROPN
fcis-4602	251	9	coverage	coverage	NOUN
fcis-4602	251	10	in	in	ADP
fcis-4602	251	11	air	air	NOUN
fcis-4602	251	12	-	-	PUNCT
fcis-4602	251	13	to	to	ADP
fcis-4602	251	14	-	-	PUNCT
fcis-4602	251	15	ground	ground	NOUN
fcis-4602	251	16	communica	communica	PROPN
fcis-4602	251	17	-	-	PUNCT
fcis-4602	251	18	tions[c]//2018	tions[c]//2018	PROPN
fcis-4602	251	19	ieee	ieee	NOUN
fcis-4602	251	20	10th	10th	ADJ
fcis-4602	251	21	sensor	sensor	NOUN
fcis-4602	251	22	array	array	NOUN
fcis-4602	251	23	and	and	CCONJ
fcis-4602	251	24	multichannel	multichannel	NOUN
fcis-4602	251	25	signal	signal	NOUN
fcis-4602	251	26	processing	processing	NOUN
fcis-4602	251	27	workshop	workshop	NOUN
fcis-4602	251	28	(	(	PUNCT
fcis-4602	251	29	sam	sam	PROPN
fcis-4602	251	30	)	)	PUNCT
fcis-4602	251	31	.	.	PUNCT
fcis-4602	252	1	ieee	ieee	PROPN
fcis-4602	252	2	,	,	PUNCT
fcis-4602	252	3	2018	2018	NUM
fcis-4602	252	4	:	:	PUNCT
fcis-4602	252	5	578581	578581	NUM
fcis-4602	252	6	.	.	PUNCT
fcis-4602	253	1	[	[	X
fcis-4602	253	2	10	10	NUM
fcis-4602	253	3	]	]	X
fcis-4602	253	4	mozaffari	mozaffari	PROPN
fcis-4602	253	5	m	m	PROPN
fcis-4602	253	6	,	,	PUNCT
fcis-4602	253	7	saad	saad	PROPN
fcis-4602	253	8	w	w	PROPN
fcis-4602	253	9	,	,	PUNCT
fcis-4602	253	10	bennis	bennis	PROPN
fcis-4602	253	11	m	m	PROPN
fcis-4602	253	12	,	,	PUNCT
fcis-4602	253	13	et	et	PROPN
fcis-4602	253	14	al	al	PROPN
fcis-4602	253	15	.	.	PROPN
fcis-4602	253	16	drone	drone	VERB
fcis-4602	253	17	small	small	ADJ
fcis-4602	253	18	cells	cell	NOUN
fcis-4602	253	19	in	in	ADP
fcis-4602	253	20	the	the	DET
fcis-4602	253	21	clouds	cloud	NOUN
fcis-4602	253	22	:	:	PUNCT
fcis-4602	253	23	design	design	NOUN
fcis-4602	253	24	,	,	PUNCT
fcis-4602	253	25	deployment	deployment	NOUN
fcis-4602	253	26	and	and	CCONJ
fcis-4602	253	27	performance	performance	NOUN
fcis-4602	253	28	analysis[c]//2015	analysis[c]//2015	PROPN
fcis-4602	253	29	ieee	ieee	PROPN
fcis-4602	253	30	global	global	PROPN
fcis-4602	253	31	communications	communications	PROPN
fcis-4602	253	32	conference	conference	NOUN
fcis-4602	253	33	(	(	PUNCT
fcis-4602	253	34	globecom	globecom	PROPN
fcis-4602	253	35	)	)	PUNCT
fcis-4602	253	36	.	.	PUNCT
fcis-4602	254	1	ieee	ieee	PROPN
fcis-4602	254	2	,	,	PUNCT
fcis-4602	254	3	2015	2015	NUM
fcis-4602	254	4	:	:	PUNCT
fcis-4602	254	5	1	1	NUM
fcis-4602	254	6	-	-	SYM
fcis-4602	254	7	6	6	NUM
fcis-4602	254	8	.	.	PUNCT
fcis-4602	255	1	[	[	X
fcis-4602	255	2	11	11	NUM
fcis-4602	255	3	]	]	X
fcis-4602	255	4	wu	wu	PROPN
fcis-4602	255	5	q	q	PROPN
fcis-4602	255	6	,	,	PUNCT
fcis-4602	255	7	liu	liu	PROPN
fcis-4602	255	8	l	l	PROPN
fcis-4602	255	9	,	,	PUNCT
fcis-4602	255	10	zhang	zhang	PROPN
fcis-4602	255	11	r.	r.	PROPN
fcis-4602	255	12	fundamental	fundamental	PROPN
fcis-4602	255	13	trade	trade	NOUN
fcis-4602	255	14	-	-	PUNCT
fcis-4602	255	15	offs	off	NOUN
fcis-4602	255	16	in	in	ADP
fcis-4602	255	17	communication	communication	NOUN
fcis-4602	255	18	and	and	CCONJ
fcis-4602	255	19	trajectory	trajectory	NOUN
fcis-4602	255	20	design	design	NOUN
fcis-4602	255	21	for	for	ADP
fcis-4602	255	22	uav	uav	PROPN
fcis-4602	255	23	-	-	PUNCT
fcis-4602	255	24	enabled	enable	VERB
fcis-4602	255	25	wireless	wireless	ADJ
fcis-4602	255	26	network[j	network[j	NOUN
fcis-4602	255	27	]	]	PUNCT
fcis-4602	255	28	.	.	PUNCT
fcis-4602	256	1	ieee	ieee	PROPN
fcis-4602	256	2	wireless	wireless	PROPN
fcis-4602	256	3	communications	communication	NOUN
fcis-4602	256	4	,	,	PUNCT
fcis-4602	256	5	2019	2019	NUM
fcis-4602	256	6	,	,	PUNCT
fcis-4602	256	7	26(1	26(1	NUM
fcis-4602	256	8	):	):	PUNCT
fcis-4602	256	9	36	36	NUM
fcis-4602	256	10	-	-	SYM
fcis-4602	256	11	44	44	NUM
fcis-4602	256	12	.	.	PUNCT
fcis-4602	257	1	[	[	X
fcis-4602	257	2	12	12	NUM
fcis-4602	257	3	]	]	X
fcis-4602	257	4	zeng	zeng	PROPN
fcis-4602	257	5	y	y	PROPN
fcis-4602	257	6	,	,	PUNCT
fcis-4602	257	7	zhang	zhang	PROPN
fcis-4602	257	8	r	r	PROPN
fcis-4602	257	9	,	,	PUNCT
fcis-4602	257	10	lim	lim	PROPN
fcis-4602	257	11	t	t	PROPN
fcis-4602	257	12	j.	j.	PROPN
fcis-4602	257	13	throughput	throughput	PROPN
fcis-4602	257	14	maximization	maximization	NOUN
fcis-4602	257	15	for	for	ADP
fcis-4602	257	16	uav	uav	PROPN
fcis-4602	257	17	-	-	PUNCT
fcis-4602	257	18	enabled	enable	VERB
fcis-4602	257	19	mobile	mobile	ADJ
fcis-4602	257	20	relaying	relaying	NOUN
fcis-4602	257	21	systems[j	systems[j	PROPN
fcis-4602	257	22	]	]	PUNCT
fcis-4602	257	23	.	.	PUNCT
fcis-4602	258	1	ieee	ieee	PROPN
fcis-4602	258	2	trans	tran	NOUN
fcis-4602	258	3	-	-	NOUN
fcis-4602	258	4	actions	action	NOUN
fcis-4602	258	5	on	on	ADP
fcis-4602	258	6	communications	communication	NOUN
fcis-4602	258	7	,	,	PUNCT
fcis-4602	258	8	2016	2016	NUM
fcis-4602	258	9	,	,	PUNCT
fcis-4602	258	10	64(12	64(12	NUM
fcis-4602	258	11	):	):	PUNCT
fcis-4602	258	12	4983	4983	NUM
fcis-4602	258	13	-	-	SYM
fcis-4602	258	14	4996	4996	NUM
fcis-4602	259	1	.	.	PUNCT
fcis-4602	260	1	[	[	X
fcis-4602	260	2	13	13	NUM
fcis-4602	260	3	]	]	X
fcis-4602	260	4	wu	wu	PROPN
fcis-4602	260	5	q	q	PROPN
fcis-4602	260	6	,	,	PUNCT
fcis-4602	260	7	zeng	zeng	PROPN
fcis-4602	260	8	y	y	PROPN
fcis-4602	260	9	,	,	PUNCT
fcis-4602	260	10	zhang	zhang	PROPN
fcis-4602	260	11	r.	r.	PROPN
fcis-4602	260	12	joint	joint	PROPN
fcis-4602	260	13	trajectory	trajectory	NOUN
fcis-4602	260	14	and	and	CCONJ
fcis-4602	260	15	communication	communication	NOUN
fcis-4602	260	16	design	design	NOUN
fcis-4602	260	17	for	for	ADP
fcis-4602	260	18	multi	multi	ADJ
fcis-4602	260	19	-	-	ADJ
fcis-4602	260	20	uav	uav	PROPN
fcis-4602	260	21	enabled	enable	VERB
fcis-4602	260	22	wireless	wireless	ADJ
fcis-4602	260	23	networks[j	networks[j	PROPN
fcis-4602	260	24	]	]	X
fcis-4602	260	25	.	.	PUNCT
fcis-4602	261	1	ieee	ieee	NOUN
fcis-4602	261	2	transactions	transaction	NOUN
fcis-4602	261	3	on	on	ADP
fcis-4602	261	4	wireless	wireless	ADJ
fcis-4602	261	5	communications	communication	NOUN
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fcis-4602	261	8	,	,	PUNCT
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fcis-4602	261	10	):	):	PUNCT
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fcis-4602	262	3	]	]	PUNCT
fcis-4602	262	4	xu	xu	PROPN
fcis-4602	262	5	j	j	PROPN
fcis-4602	262	6	,	,	PUNCT
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fcis-4602	262	8	y	y	PROPN
fcis-4602	262	9	,	,	PUNCT
fcis-4602	262	10	zhang	zhang	PROPN
fcis-4602	262	11	r.	r.	PROPN
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fcis-4602	262	14	power	power	NOUN
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fcis-4602	262	16	]	]	PUNCT
fcis-4602	262	17	.	.	PUNCT
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fcis-4602	263	4	5	5	NUM
fcis-4602	263	5	g	g	NOUN
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fcis-4602	263	8	:	:	PUNCT
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fcis-4602	263	10	-	-	SYM
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fcis-4602	264	3	]	]	X
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fcis-4602	264	15	.	.	PUNCT
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fcis-4602	265	2	uav	uav	PROPN
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fcis-4602	265	4	via	via	ADP
fcis-4602	265	5	joint	joint	ADJ
fcis-4602	265	6	trajectory	trajectory	NOUN
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fcis-4602	265	10	]	]	PUNCT
fcis-4602	265	11	.	.	PUNCT
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fcis-4602	266	4	wireless	wireless	ADJ
fcis-4602	266	5	communications	communication	NOUN
fcis-4602	266	6	,	,	PUNCT
fcis-4602	266	7	2019	2019	NUM
fcis-4602	266	8	,	,	PUNCT
fcis-4602	266	9	18(2	18(2	NUM
fcis-4602	266	10	):	):	PUNCT
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fcis-4602	266	12	-	-	SYM
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fcis-4602	266	14	.	.	PUNCT
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fcis-4602	267	3	]	]	X
fcis-4602	267	4	lee	lee	PROPN
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fcis-4602	267	6	,	,	PUNCT
fcis-4602	267	7	jeon	jeon	PROPN
fcis-4602	267	8	y	y	PROPN
fcis-4602	267	9	,	,	PUNCT
fcis-4602	267	10	kim	kim	PROPN
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fcis-4602	267	13	et	et	PROPN
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fcis-4602	267	15	.	.	PUNCT
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fcis-4602	268	2	reinforcement	reinforcement	NOUN
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fcis-4602	268	4	for	for	ADP
fcis-4602	268	5	uav	uav	PROPN
fcis-4602	268	6	trajectory	trajectory	NOUN
fcis-4602	268	7	design	design	NOUN
fcis-4602	268	8	considering	consider	VERB
fcis-4602	268	9	mobile	mobile	ADJ
fcis-4602	268	10	ground	ground	NOUN
fcis-4602	268	11	users[j	users[j	PROPN
fcis-4602	268	12	]	]	PUNCT
fcis-4602	268	13	.	.	PUNCT
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fcis-4602	269	2	,	,	PUNCT
fcis-4602	269	3	2021	2021	NUM
fcis-4602	269	4	,	,	PUNCT
fcis-4602	269	5	21(24	21(24	NUM
fcis-4602	269	6	):	):	PUNCT
fcis-4602	269	7	8239	8239	NUM
fcis-4602	269	8	.	.	PUNCT
fcis-4602	270	1	[	[	X
fcis-4602	270	2	17	17	NUM
fcis-4602	270	3	]	]	X
fcis-4602	270	4	zeng	zeng	PROPN
fcis-4602	270	5	y	y	PROPN
fcis-4602	270	6	,	,	PUNCT
fcis-4602	270	7	zhang	zhang	PROPN
fcis-4602	270	8	r.	r.	PROPN
fcis-4602	270	9	energy	energy	PROPN
fcis-4602	270	10	-	-	PUNCT
fcis-4602	270	11	efficient	efficient	ADJ
fcis-4602	270	12	uav	uav	PROPN
fcis-4602	270	13	communication	communication	NOUN
fcis-4602	270	14	with	with	ADP
fcis-4602	270	15	trajectory	trajectory	NOUN
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fcis-4602	270	17	]	]	PUNCT
fcis-4602	270	18	.	.	PUNCT
fcis-4602	271	1	ieee	ieee	NOUN
fcis-4602	271	2	transactions	transaction	NOUN
fcis-4602	271	3	on	on	ADP
fcis-4602	271	4	wireless	wireless	ADJ
fcis-4602	271	5	communications	communication	NOUN
fcis-4602	271	6	,	,	PUNCT
fcis-4602	271	7	2017	2017	NUM
fcis-4602	271	8	,	,	PUNCT
fcis-4602	271	9	16(6	16(6	NUM
fcis-4602	271	10	):	):	PUNCT
fcis-4602	271	11	3747	3747	NUM
fcis-4602	271	12	-	-	SYM
fcis-4602	271	13	3760	3760	NUM
fcis-4602	271	14	[	[	X
fcis-4602	271	15	18	18	NUM
fcis-4602	271	16	]	]	X
fcis-4602	271	17	yang	yang	PROPN
fcis-4602	271	18	d	d	PROPN
fcis-4602	271	19	,	,	PUNCT
fcis-4602	271	20	wu	wu	PROPN
fcis-4602	271	21	q	q	PROPN
fcis-4602	271	22	,	,	PUNCT
fcis-4602	271	23	zeng	zeng	PROPN
fcis-4602	271	24	y	y	PROPN
fcis-4602	271	25	,	,	PUNCT
fcis-4602	271	26	et	et	PROPN
fcis-4602	271	27	al	al	PROPN
fcis-4602	271	28	.	.	PUNCT
fcis-4602	271	29	energy	energy	NOUN
fcis-4602	271	30	tradeoff	tradeoff	NOUN
fcis-4602	271	31	in	in	ADP
fcis-4602	271	32	ground	ground	NOUN
fcis-4602	271	33	-	-	PUNCT
fcis-4602	271	34	touav	touav	NOUN
fcis-4602	271	35	communication	communication	NOUN
fcis-4602	271	36	via	via	ADP
fcis-4602	271	37	trajectory	trajectory	NOUN
fcis-4602	271	38	design[j	design[j	PROPN
fcis-4602	271	39	]	]	PUNCT
fcis-4602	271	40	.	.	PUNCT
fcis-4602	272	1	ieee	ieee	NOUN
fcis-4602	272	2	transactions	transaction	NOUN
fcis-4602	272	3	on	on	ADP
fcis-4602	272	4	vehicular	vehicular	ADJ
fcis-4602	272	5	technology	technology	NOUN
fcis-4602	272	6	,	,	PUNCT
fcis-4602	272	7	2018	2018	NUM
fcis-4602	272	8	,	,	PUNCT
fcis-4602	272	9	67(7	67(7	NUM
fcis-4602	272	10	):	):	PUNCT
fcis-4602	272	11	67216726	67216726	NUM
fcis-4602	272	12	.	.	PUNCT
fcis-4602	273	1	[	[	X
fcis-4602	273	2	19	19	NUM
fcis-4602	273	3	]	]	X
fcis-4602	273	4	hua	hua	PROPN
fcis-4602	273	5	m	m	PROPN
fcis-4602	273	6	,	,	PUNCT
fcis-4602	273	7	wang	wang	PROPN
fcis-4602	273	8	y	y	PROPN
fcis-4602	273	9	,	,	PUNCT
fcis-4602	273	10	zhang	zhang	PROPN
fcis-4602	273	11	z	z	PROPN
fcis-4602	273	12	,	,	PUNCT
fcis-4602	273	13	et	et	PROPN
fcis-4602	273	14	al	al	PROPN
fcis-4602	273	15	.	.	PUNCT
fcis-4602	273	16	power	power	NOUN
fcis-4602	273	17	-	-	PUNCT
fcis-4602	273	18	efficient	efficient	ADJ
fcis-4602	273	19	communication	communication	NOUN
fcis-4602	273	20	in	in	ADP
fcis-4602	273	21	uav	uav	PROPN
fcis-4602	273	22	-	-	PUNCT
fcis-4602	273	23	aided	aid	VERB
fcis-4602	273	24	wireless	wireless	ADJ
fcis-4602	273	25	sensor	sensor	NOUN
fcis-4602	273	26	networks[j	networks[j	PROPN
fcis-4602	273	27	]	]	X
fcis-4602	273	28	.	.	PUNCT
fcis-4602	274	1	ieee	ieee	NOUN
fcis-4602	274	2	communications	communication	NOUN
fcis-4602	274	3	letters	letter	NOUN
fcis-4602	274	4	,	,	PUNCT
fcis-4602	274	5	2018	2018	NUM
fcis-4602	274	6	,	,	PUNCT
fcis-4602	274	7	22(6	22(6	NUM
fcis-4602	274	8	):	):	PUNCT
fcis-4602	274	9	12641267	12641267	NUM
fcis-4602	274	10	.	.	PUNCT
fcis-4602	275	1	[	[	X
fcis-4602	275	2	20	20	NUM
fcis-4602	275	3	]	]	X
fcis-4602	275	4	zeng	zeng	PROPN
fcis-4602	275	5	y	y	PROPN
fcis-4602	275	6	,	,	PUNCT
fcis-4602	275	7	xu	xu	PROPN
fcis-4602	275	8	j	j	PROPN
fcis-4602	275	9	,	,	PUNCT
fcis-4602	275	10	zhang	zhang	PROPN
fcis-4602	275	11	r.	r.	PROPN
fcis-4602	275	12	energy	energy	PROPN
fcis-4602	275	13	minimization	minimization	NOUN
fcis-4602	275	14	for	for	ADP
fcis-4602	275	15	wireless	wireless	ADJ
fcis-4602	275	16	communication	communication	NOUN
fcis-4602	275	17	with	with	ADP
fcis-4602	275	18	rotary	rotary	ADJ
fcis-4602	275	19	-	-	PUNCT
fcis-4602	275	20	wing	wing	NOUN
fcis-4602	275	21	uav[j	uav[j	NOUN
fcis-4602	275	22	]	]	PUNCT
fcis-4602	275	23	.	.	PUNCT
fcis-4602	276	1	ieee	ieee	PROPN
fcis-4602	276	2	trans	tran	NOUN
fcis-4602	276	3	-	-	NOUN
fcis-4602	276	4	actions	action	NOUN
fcis-4602	276	5	on	on	ADP
fcis-4602	276	6	wireless	wireless	ADJ
fcis-4602	276	7	communications	communication	NOUN
fcis-4602	276	8	,	,	PUNCT
fcis-4602	276	9	2019	2019	NUM
fcis-4602	276	10	,	,	PUNCT
fcis-4602	276	11	18(4	18(4	NUM
fcis-4602	276	12	):	):	PUNCT
fcis-4602	276	13	2329	2329	NUM
fcis-4602	276	14	-	-	SYM
fcis-4602	276	15	2345	2345	NUM
fcis-4602	276	16	.	.	PUNCT
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fcis-4602	277	2	21	21	NUM
fcis-4602	277	3	]	]	X
fcis-4602	277	4	lu	lu	NOUN
fcis-4602	277	5	r	r	NOUN
fcis-4602	277	6	r	r	PROPN
fcis-4602	277	7	,	,	PUNCT
fcis-4602	277	8	ma	ma	PROPN
fcis-4602	277	9	y	y	PROPN
fcis-4602	277	10	,	,	PUNCT
fcis-4602	277	11	lin	lin	PROPN
fcis-4602	277	12	s	s	PROPN
fcis-4602	277	13	h	h	NOUN
fcis-4602	277	14	,	,	PUNCT
fcis-4602	277	15	et	et	PROPN
fcis-4602	277	16	al	al	PROPN
fcis-4602	277	17	.	.	PUNCT
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fcis-4602	277	19	-	-	PUNCT
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fcis-4602	277	21	trajectory	trajectory	NOUN
fcis-4602	277	22	optimization	optimization	NOUN
fcis-4602	277	23	for	for	ADP
fcis-4602	277	24	uav	uav	PROPN
fcis-4602	277	25	-	-	PUNCT
fcis-4602	277	26	based	base	VERB
fcis-4602	277	27	hybrid	hybrid	NOUN
fcis-4602	277	28	fso	fso	NOUN
fcis-4602	277	29	/	/	SYM
fcis-4602	277	30	rf	rf	NOUN
fcis-4602	277	31	communica	communica	NOUN
fcis-4602	277	32	-	-	PUNCT
fcis-4602	277	33	tions	tion	NOUN
fcis-4602	277	34	with	with	ADP
fcis-4602	277	35	buffer	buffer	NOUN
fcis-4602	277	36	constraints[j	constraints[j	PROPN
fcis-4602	277	37	]	]	PUNCT
fcis-4602	277	38	.	.	PUNCT
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fcis-4602	278	2	,	,	PUNCT
fcis-4602	278	3	2021	2021	NUM
fcis-4602	278	4	,	,	PUNCT
fcis-4602	278	5	23(12	23(12	NUM
fcis-4602	278	6	):	):	PUNCT
fcis-4602	278	7	1596	1596	NUM
fcis-4602	278	8	.	.	PUNCT
fcis-4602	279	1	[	[	X
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fcis-4602	279	3	]	]	X
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fcis-4602	279	5	s	s	PROPN
fcis-4602	279	6	,	,	PUNCT
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fcis-4602	279	8	a	a	X
fcis-4602	279	9	,	,	PUNCT
fcis-4602	279	10	hassan	hassan	PROPN
fcis-4602	279	11	j	j	PROPN
fcis-4602	279	12	,	,	PUNCT
fcis-4602	279	13	et	et	PROPN
fcis-4602	279	14	al	al	PROPN
fcis-4602	279	15	.	.	PROPN
fcis-4602	279	16	aetd	aetd	PROPN
fcis-4602	279	17	:	:	PUNCT
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fcis-4602	279	20	-	-	PUNCT
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fcis-4602	279	22	,	,	PUNCT
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fcis-4602	279	24	-	-	PUNCT
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fcis-4602	279	26	trajectory	trajectory	NOUN
fcis-4602	279	27	design	design	NOUN
fcis-4602	279	28	for	for	ADP
fcis-4602	279	29	flying	fly	VERB
fcis-4602	279	30	base	base	NOUN
fcis-4602	279	31	stations[c]//2019	stations[c]//2019	PROPN
fcis-4602	279	32	ieee	ieee	NOUN
fcis-4602	279	33	14th	14th	ADJ
fcis-4602	279	34	malaysia	malaysia	PROPN
fcis-4602	279	35	international	international	ADJ
fcis-4602	279	36	conference	conference	NOUN
fcis-4602	279	37	on	on	ADP
fcis-4602	279	38	communication	communication	NOUN
fcis-4602	279	39	(	(	PUNCT
fcis-4602	279	40	micc	micc	NOUN
fcis-4602	279	41	)	)	PUNCT
fcis-4602	279	42	.	.	PUNCT
fcis-4602	280	1	ieee	ieee	PROPN
fcis-4602	280	2	,	,	PUNCT
fcis-4602	280	3	2019	2019	NUM
fcis-4602	280	4	:	:	PUNCT
fcis-4602	280	5	19	19	NUM
fcis-4602	280	6	-	-	SYM
fcis-4602	280	7	24	24	NUM
fcis-4602	280	8	.	.	PUNCT
fcis-4602	281	1	[	[	X
fcis-4602	281	2	23	23	NUM
fcis-4602	281	3	]	]	X
fcis-4602	281	4	salehi	salehi	PROPN
fcis-4602	281	5	s	s	PROPN
fcis-4602	281	6	,	,	PUNCT
fcis-4602	281	7	hassan	hassan	PROPN
fcis-4602	281	8	j	j	PROPN
fcis-4602	281	9	,	,	PUNCT
fcis-4602	281	10	bokani	bokani	VERB
fcis-4602	281	11	a	a	PROPN
fcis-4602	281	12	,	,	PUNCT
fcis-4602	281	13	et	et	PROPN
fcis-4602	281	14	al	al	PROPN
fcis-4602	281	15	.	.	PUNCT
fcis-4602	282	1	a	a	DET
fcis-4602	282	2	qos	qos	NOUN
fcis-4602	282	3	-	-	PUNCT
fcis-4602	282	4	aware	aware	ADJ
fcis-4602	282	5	,	,	PUNCT
fcis-4602	282	6	energyefficient	energyefficient	NOUN
fcis-4602	282	7	trajectory	trajectory	NOUN
fcis-4602	282	8	optimization	optimization	NOUN
fcis-4602	282	9	for	for	ADP
fcis-4602	282	10	uav	uav	PROPN
fcis-4602	282	11	base	base	PROPN
fcis-4602	282	12	stations	station	VERB
fcis-4602	282	13	us	we	PRON
fcis-4602	282	14	-	-	PUNCT
fcis-4602	282	15	ing	ing	ADJ
fcis-4602	282	16	q	q	NOUN
fcis-4602	282	17	-	-	PUNCT
fcis-4602	282	18	learning[c]//2020	learning[c]//2020	VERB
fcis-4602	282	19	19th	19th	ADJ
fcis-4602	282	20	acm	acm	PROPN
fcis-4602	282	21	/	/	SYM
fcis-4602	282	22	ieee	ieee	PROPN
fcis-4602	282	23	international	international	ADJ
fcis-4602	282	24	conference	conference	NOUN
fcis-4602	282	25	on	on	ADP
fcis-4602	282	26	information	information	NOUN
fcis-4602	282	27	processing	processing	NOUN
fcis-4602	282	28	in	in	ADP
fcis-4602	282	29	sensor	sensor	NOUN
fcis-4602	282	30	networks	network	NOUN
fcis-4602	282	31	(	(	PUNCT
fcis-4602	282	32	ipsn	ipsn	PROPN
fcis-4602	282	33	)	)	PUNCT
fcis-4602	282	34	.	.	PUNCT
fcis-4602	283	1	ieee	ieee	PROPN
fcis-4602	283	2	,	,	PUNCT
fcis-4602	283	3	2020	2020	NUM
fcis-4602	283	4	:	:	PUNCT
fcis-4602	283	5	329	329	NUM
fcis-4602	283	6	-	-	SYM
fcis-4602	283	7	330	330	NUM
fcis-4602	283	8	.	.	PUNCT
fcis-4602	284	1	[	[	X
fcis-4602	284	2	24	24	NUM
fcis-4602	284	3	]	]	PUNCT
fcis-4602	284	4	lan	lan	PROPN
fcis-4602	284	5	t	t	PROPN
fcis-4602	284	6	,	,	PUNCT
fcis-4602	284	7	qin	qin	PROPN
fcis-4602	285	1	d	d	X
fcis-4602	285	2	,	,	PUNCT
fcis-4602	285	3	sun	sun	PROPN
fcis-4602	285	4	g.	g.	PROPN
fcis-4602	285	5	joint	joint	ADJ
fcis-4602	285	6	optimization	optimization	NOUN
fcis-4602	285	7	on	on	ADP
fcis-4602	285	8	trajectory	trajectory	NOUN
fcis-4602	285	9	,	,	PUNCT
fcis-4602	285	10	cache	cache	NOUN
fcis-4602	285	11	placement	placement	NOUN
fcis-4602	285	12	,	,	PUNCT
fcis-4602	285	13	and	and	CCONJ
fcis-4602	285	14	transmission	transmission	NOUN
fcis-4602	285	15	power	power	NOUN
fcis-4602	285	16	for	for	ADP
fcis-4602	285	17	minimum	minimum	ADJ
fcis-4602	285	18	mission	mission	NOUN
fcis-4602	285	19	time	time	NOUN
fcis-4602	285	20	in	in	ADP
fcis-4602	285	21	uav	uav	PROPN
fcis-4602	285	22	-	-	PUNCT
fcis-4602	285	23	aided	aid	VERB
fcis-4602	285	24	wireless	wireless	ADJ
fcis-4602	285	25	networks[j	networks[j	PROPN
fcis-4602	285	26	]	]	X
fcis-4602	285	27	.	.	PUNCT
fcis-4602	286	1	isprs	isprs	PROPN
fcis-4602	286	2	international	international	PROPN
fcis-4602	286	3	journal	journal	PROPN
fcis-4602	286	4	of	of	ADP
fcis-4602	286	5	geo	geo	PROPN
fcis-4602	286	6	-	-	PUNCT
fcis-4602	286	7	information	information	NOUN
fcis-4602	286	8	,	,	PUNCT
fcis-4602	286	9	2021	2021	NUM
fcis-4602	286	10	,	,	PUNCT
fcis-4602	286	11	10(7	10(7	NUM
fcis-4602	286	12	):	):	PUNCT
fcis-4602	286	13	426	426	NUM
fcis-4602	286	14	.	.	PUNCT
fcis-4602	287	1	[	[	X
fcis-4602	287	2	25	25	NUM
fcis-4602	287	3	]	]	X
fcis-4602	287	4	jing	je	VERB
fcis-4602	287	5	x	x	X
fcis-4602	287	6	,	,	PUNCT
fcis-4602	287	7	sun	sun	PROPN
fcis-4602	287	8	j	j	PROPN
fcis-4602	287	9	,	,	PUNCT
fcis-4602	287	10	masouros	masouros	PROPN
fcis-4602	287	11	c.	c.	PROPN
fcis-4602	287	12	energy	energy	PROPN
fcis-4602	287	13	aware	aware	ADJ
fcis-4602	287	14	trajectory	trajectory	NOUN
fcis-4602	287	15	optimization	optimization	NOUN
fcis-4602	287	16	for	for	ADP
fcis-4602	287	17	aerial	aerial	ADJ
fcis-4602	287	18	base	base	NOUN
fcis-4602	287	19	stations[j	stations[j	PROPN
fcis-4602	287	20	]	]	PUNCT
fcis-4602	287	21	.	.	PUNCT
fcis-4602	288	1	ieee	ieee	NOUN
fcis-4602	288	2	transactions	transaction	NOUN
fcis-4602	288	3	on	on	ADP
fcis-4602	288	4	communications	communication	NOUN
fcis-4602	288	5	,	,	PUNCT
fcis-4602	288	6	2021	2021	NUM
fcis-4602	288	7	,	,	PUNCT
fcis-4602	288	8	69(5	69(5	NUM
fcis-4602	288	9	):	):	PUNCT
fcis-4602	288	10	3352	3352	NUM
fcis-4602	288	11	-	-	SYM
fcis-4602	288	12	3366	3366	NUM
fcis-4602	288	13	.	.	PUNCT
fcis-4602	289	1	[	[	X
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fcis-4602	289	3	]	]	PUNCT
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fcis-4602	289	5	m.	m.	NOUN
fcis-4602	289	6	successive	successive	ADJ
fcis-4602	289	7	convex	convex	NOUN
fcis-4602	289	8	approximation	approximation	NOUN
fcis-4602	289	9	:	:	PUNCT
fcis-4602	289	10	analysis	analysis	NOUN
fcis-4602	289	11	and	and	CCONJ
fcis-4602	289	12	applications[d	applications[d	NOUN
fcis-4602	289	13	]	]	PUNCT
fcis-4602	289	14	.	.	PUNCT
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fcis-4602	290	4	,	,	PUNCT
fcis-4602	290	5	2014	2014	NUM
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fcis-4602	291	1	[	[	X
fcis-4602	291	2	27	27	NUM
fcis-4602	291	3	]	]	X
fcis-4602	291	4	zappone	zappone	NOUN
fcis-4602	291	5	a	a	X
fcis-4602	291	6	,	,	PUNCT
fcis-4602	291	7	björnson	björnson	ADJ
fcis-4602	291	8	e	e	NOUN
fcis-4602	291	9	,	,	PUNCT
fcis-4602	291	10	sanguinetti	sanguinetti	PROPN
fcis-4602	291	11	l	l	PROPN
fcis-4602	291	12	,	,	PUNCT
fcis-4602	291	13	et	et	PROPN
fcis-4602	291	14	al	al	PROPN
fcis-4602	291	15	.	.	PUNCT
fcis-4602	292	1	globally	globally	ADV
fcis-4602	292	2	optimal	optimal	ADJ
fcis-4602	292	3	energy	energy	NOUN
fcis-4602	292	4	-	-	PUNCT
fcis-4602	292	5	efficient	efficient	ADJ
fcis-4602	292	6	power	power	NOUN
fcis-4602	292	7	control	control	NOUN
fcis-4602	292	8	and	and	CCONJ
fcis-4602	292	9	receiver	receiver	ADJ
fcis-4602	292	10	design	design	NOUN
fcis-4602	292	11	in	in	ADP
fcis-4602	292	12	wireless	wireless	ADJ
fcis-4602	292	13	networks[j	networks[j	PROPN
fcis-4602	292	14	]	]	X
fcis-4602	292	15	.	.	PUNCT
fcis-4602	293	1	ieee	ieee	NOUN
fcis-4602	293	2	transactions	transaction	NOUN
fcis-4602	293	3	on	on	ADP
fcis-4602	293	4	signal	signal	ADJ
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fcis-4602	293	6	,	,	PUNCT
fcis-4602	293	7	2017	2017	NUM
fcis-4602	293	8	,	,	PUNCT
fcis-4602	293	9	65(11	65(11	NUM
fcis-4602	293	10	):	):	PUNCT
fcis-4602	293	11	2844	2844	NUM
fcis-4602	293	12	-	-	SYM
fcis-4602	293	13	2859	2859	NUM
fcis-4602	293	14	.	.	PUNCT
fcis-4602	294	1	[	[	X
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fcis-4602	294	6	,	,	PUNCT
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fcis-4602	294	8	s	s	PROPN
fcis-4602	294	9	p	p	PROPN
fcis-4602	294	10	,	,	PUNCT
fcis-4602	294	11	vandenberghe	vandenberghe	PROPN
fcis-4602	294	12	l.	l.	PROPN
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fcis-4602	294	14	optimization[m	optimization[m	PROPN
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fcis-4602	294	16	.	.	PUNCT
fcis-4602	295	1	cambridge	cambridge	PROPN
fcis-4602	295	2	university	university	PROPN
fcis-4602	295	3	press	press	NOUN
fcis-4602	295	4	,	,	PUNCT
fcis-4602	295	5	2004	2004	NUM
fcis-4602	295	6	.	.	PUNCT
fcis-4602	296	1	[	[	X
fcis-4602	296	2	29	29	NUM
fcis-4602	296	3	]	]	X
fcis-4602	296	4	arnold	arnold	PROPN
fcis-4602	296	5	o	o	PROPN
fcis-4602	296	6	,	,	PUNCT
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fcis-4602	296	9	,	,	PUNCT
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fcis-4602	296	12	,	,	PUNCT
fcis-4602	296	13	et	et	PROPN
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fcis-4602	296	15	.	.	PUNCT
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fcis-4602	296	20	different	different	ADJ
fcis-4602	296	21	base	base	NOUN
fcis-4602	296	22	station	station	NOUN
fcis-4602	296	23	types	type	NOUN
fcis-4602	296	24	in	in	ADP
fcis-4602	296	25	heterogeneous	heterogeneous	ADJ
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fcis-4602	296	28	future	future	ADJ
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fcis-4602	296	31	mobile	mobile	PROPN
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fcis-4602	296	33	.	.	PUNCT
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fcis-4602	297	2	,	,	PUNCT
fcis-4602	297	3	2010	2010	NUM
fcis-4602	297	4	:	:	PUNCT
fcis-4602	297	5	1	1	NUM
fcis-4602	297	6	-	-	SYM
fcis-4602	297	7	8	8	NUM
fcis-4602	297	8	.	.	PUNCT
fcis-4602	298	1	[	[	X
fcis-4602	298	2	30	30	NUM
fcis-4602	298	3	]	]	X
fcis-4602	298	4	faa	faa	PROPN
fcis-4602	298	5	.	.	PROPN
fcis-4602	298	6	summary	summary	NOUN
fcis-4602	298	7	of	of	ADP
fcis-4602	298	8	small	small	ADJ
fcis-4602	298	9	unmanned	unmanned	ADJ
fcis-4602	298	10	aircraft	aircraft	NOUN
fcis-4602	298	11	rule	rule	NOUN
fcis-4602	298	12	.	.	PUNCT
fcis-4602	299	1	accessed	access	VERB
fcis-4602	299	2	:	:	PUNCT
fcis-4602	299	3	feb	feb	PROPN
fcis-4602	299	4	.	.	PROPN
fcis-4602	299	5	18	18	NUM
fcis-4602	299	6	,	,	PUNCT
fcis-4602	299	7	2019	2019	NUM
fcis-4602	299	8	.	.	PUNCT
fcis-4602	300	1	[	[	X
fcis-4602	300	2	online	online	X
fcis-4602	300	3	]	]	X
fcis-4602	300	4	.	.	PUNCT
fcis-4602	301	1	available	available	ADJ
fcis-4602	301	2	:	:	PUNCT
fcis-4602	301	3	https	https	NOUN
fcis-4602	301	4	:	:	PUNCT
fcis-4602	301	5	//	//	PUNCT
fcis-4602	301	6	www.faa.gov	www.faa.gov	NUM
fcis-4602	301	7	/	/	SYM
fcis-4602	301	8	uas	uas	PROPN
fcis-4602	301	9	/	/	SYM
fcis-4602	301	10	media	medium	NOUN
fcis-4602	301	11	/	/	SYM
fcis-4602	301	12	part107summary.pdf	part107summary.pdf	NOUN
fcis-4602	302	1	[	[	X
fcis-4602	302	2	31	31	NUM
fcis-4602	302	3	]	]	PUNCT
fcis-4602	302	4	v.	v.	CCONJ
fcis-4602	302	5	friderikos	friderikos	NOUN
fcis-4602	302	6	,	,	PUNCT
fcis-4602	302	7	”	"	PUNCT
fcis-4602	302	8	airborne	airborne	ADJ
fcis-4602	302	9	urban	urban	ADJ
fcis-4602	302	10	microcells	microcell	NOUN
fcis-4602	302	11	with	with	ADP
fcis-4602	302	12	grasping	grasp	VERB
fcis-4602	302	13	end	end	NOUN
fcis-4602	302	14	effectors	effector	NOUN
fcis-4602	302	15	:	:	PUNCT
fcis-4602	302	16	a	a	DET
fcis-4602	302	17	game	game	NOUN
fcis-4602	302	18	changer	changer	NOUN
fcis-4602	302	19	for	for	ADP
fcis-4602	302	20	6	6	NUM
fcis-4602	302	21	g	g	NOUN
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fcis-4602	302	23	?	?	PUNCT
fcis-4602	302	24	,	,	PUNCT
fcis-4602	302	25	”	"	PUNCT
fcis-4602	302	26	2021	2021	NUM
fcis-4602	302	27	ieee	ieee	PROPN
fcis-4602	302	28	international	international	PROPN
fcis-4602	302	29	mediterranean	mediterranean	PROPN
fcis-4602	302	30	conference	conference	PROPN
fcis-4602	302	31	on	on	ADP
fcis-4602	302	32	communications	communication	NOUN
fcis-4602	302	33	and	and	CCONJ
fcis-4602	302	34	networking	networking	NOUN
fcis-4602	302	35	(	(	PUNCT
fcis-4602	302	36	meditcom	meditcom	PROPN
fcis-4602	302	37	)	)	PUNCT
fcis-4602	302	38	,	,	PUNCT
fcis-4602	302	39	2021	2021	NUM
fcis-4602	302	40	,	,	PUNCT
fcis-4602	302	41	pp	pp	ADJ
fcis-4602	302	42	.	.	PUNCT
fcis-4602	302	43	336	336	NUM
fcis-4602	302	44	-	-	SYM
fcis-4602	302	45	341	341	NUM
fcis-4602	302	46	,	,	PUNCT
fcis-4602	302	47	doi	doi	NOUN
fcis-4602	302	48	:	:	PUNCT
fcis-4602	302	49	10	10	NUM
fcis-4602	302	50	.	.	PUNCT
fcis-4602	303	1	1109	1109	NUM
fcis-4602	303	2	/	/	SYM
fcis-4602	303	3	meditcom49071.2021.9647696	meditcom49071.2021.9647696	NOUN
fcis-4602	303	4	.	.	PUNCT