id	sid	tid	token	lemma	pos
fcis-6029	1	1	frontiers	frontier	NOUN
fcis-6029	1	2	in	in	ADP
fcis-6029	1	3	computing	computing	NOUN
fcis-6029	1	4	and	and	CCONJ
fcis-6029	1	5	intelligent	intelligent	ADJ
fcis-6029	1	6	systems	system	NOUN
fcis-6029	1	7	issn	issn	VERB
fcis-6029	1	8	:	:	PUNCT
fcis-6029	1	9	2832	2832	NUM
fcis-6029	1	10	-	-	SYM
fcis-6029	1	11	6024	6024	NUM
fcis-6029	1	12	|	|	NOUN
fcis-6029	1	13	vol	vol	NOUN
fcis-6029	1	14	.	.	PROPN
fcis-6029	2	1	3	3	NUM
fcis-6029	2	2	,	,	PUNCT
fcis-6029	2	3	no	no	INTJ
fcis-6029	2	4	.	.	NOUN
fcis-6029	2	5	1	1	NUM
fcis-6029	2	6	,	,	PUNCT
fcis-6029	2	7	2023	2023	NUM
fcis-6029	2	8	82	82	NUM
fcis-6029	2	9	research	research	NOUN
fcis-6029	2	10	on	on	ADP
fcis-6029	2	11	multi	multi	ADJ
fcis-6029	2	12	-	-	ADJ
fcis-6029	2	13	unmanned	unmanned	ADJ
fcis-6029	2	14	aerial	aerial	ADJ
fcis-6029	2	15	vehicle	vehicle	NOUN
fcis-6029	2	16	joint	joint	ADJ
fcis-6029	2	17	delivery	delivery	NOUN
fcis-6029	2	18	mission	mission	NOUN
fcis-6029	2	19	assignment	assignment	NOUN
fcis-6029	2	20	based	base	VERB
fcis-6029	2	21	on	on	ADP
fcis-6029	2	22	multiple	multiple	ADJ
fcis-6029	2	23	alliance	alliance	NOUN
fcis-6029	2	24	yueming	yueming	PROPN
fcis-6029	2	25	han1,2	han1,2	PROPN
fcis-6029	2	26	,	,	PUNCT
fcis-6029	2	27	fei	fei	PROPN
fcis-6029	2	28	han3	han3	PROPN
fcis-6029	2	29	,	,	PUNCT
fcis-6029	2	30	darong	darong	ADJ
fcis-6029	2	31	xian4	xian4	PROPN
fcis-6029	2	32	1	1	NUM
fcis-6029	2	33	army	army	NOUN
fcis-6029	2	34	university	university	PROPN
fcis-6029	2	35	of	of	ADP
fcis-6029	2	36	engineering	engineering	PROPN
fcis-6029	2	37	,	,	PUNCT
fcis-6029	2	38	shijiazhuang	shijiazhuang	PROPN
fcis-6029	2	39	050003	050003	NUM
fcis-6029	2	40	,	,	PUNCT
fcis-6029	2	41	china	china	PROPN
fcis-6029	2	42	2	2	NUM
fcis-6029	2	43	unit	unit	NOUN
fcis-6029	2	44	66389	66389	NUM
fcis-6029	2	45	,	,	PUNCT
fcis-6029	2	46	people	people	NOUN
fcis-6029	2	47	’s	’s	PART
fcis-6029	2	48	liberation	liberation	PROPN
fcis-6029	2	49	army	army	PROPN
fcis-6029	2	50	,	,	PUNCT
fcis-6029	2	51	shijiazhuang	shijiazhuang	PROPN
fcis-6029	2	52	050081	050081	NUM
fcis-6029	2	53	,	,	PUNCT
fcis-6029	2	54	china	china	PROPN
fcis-6029	2	55	3	3	NUM
fcis-6029	2	56	unit	unit	NOUN
fcis-6029	2	57	32152	32152	NUM
fcis-6029	2	58	,	,	PUNCT
fcis-6029	2	59	people	people	NOUN
fcis-6029	2	60	’s	’s	PART
fcis-6029	2	61	liberation	liberation	PROPN
fcis-6029	2	62	army	army	PROPN
fcis-6029	2	63	,	,	PUNCT
fcis-6029	2	64	shijiazhuang	shijiazhuang	PROPN
fcis-6029	2	65	050025	050025	NUM
fcis-6029	2	66	,	,	PUNCT
fcis-6029	2	67	china	china	PROPN
fcis-6029	2	68	4	4	NUM
fcis-6029	2	69	unit	unit	NOUN
fcis-6029	2	70	93155	93155	NUM
fcis-6029	2	71	,	,	PUNCT
fcis-6029	2	72	people	people	NOUN
fcis-6029	2	73	’s	’s	PART
fcis-6029	2	74	liberation	liberation	PROPN
fcis-6029	2	75	army	army	NOUN
fcis-6029	2	76	,	,	PUNCT
fcis-6029	2	77	chengdu	chengdu	PROPN
fcis-6029	2	78	610000	610000	NUM
fcis-6029	2	79	,	,	PUNCT
fcis-6029	2	80	china	china	PROPN
fcis-6029	2	81	abstract	abstract	NOUN
fcis-6029	2	82	:	:	PUNCT
fcis-6029	2	83	in	in	ADP
fcis-6029	2	84	order	order	NOUN
fcis-6029	2	85	to	to	PART
fcis-6029	2	86	improve	improve	VERB
fcis-6029	2	87	the	the	DET
fcis-6029	2	88	battlefield	battlefield	NOUN
fcis-6029	2	89	delivery	delivery	NOUN
fcis-6029	2	90	ability	ability	NOUN
fcis-6029	2	91	,	,	PUNCT
fcis-6029	2	92	for	for	SCONJ
fcis-6029	2	93	the	the	DET
fcis-6029	2	94	battlefield	battlefield	NOUN
fcis-6029	2	95	joint	joint	ADJ
fcis-6029	2	96	delivery	delivery	NOUN
fcis-6029	2	97	process	process	NOUN
fcis-6029	2	98	task	task	NOUN
fcis-6029	2	99	is	be	AUX
fcis-6029	2	100	heavy	heavy	ADJ
fcis-6029	2	101	,	,	PUNCT
fcis-6029	2	102	time	time	NOUN
fcis-6029	2	103	,	,	PUNCT
fcis-6029	2	104	traditional	traditional	ADJ
fcis-6029	2	105	iron	iron	NOUN
fcis-6029	2	106	,	,	PUNCT
fcis-6029	2	107	public	public	ADJ
fcis-6029	2	108	,	,	PUNCT
fcis-6029	2	109	water	water	NOUN
fcis-6029	2	110	and	and	CCONJ
fcis-6029	2	111	other	other	ADJ
fcis-6029	2	112	vulnerable	vulnerable	ADJ
fcis-6029	2	113	to	to	ADP
fcis-6029	2	114	terrain	terrain	NOUN
fcis-6029	2	115	,	,	PUNCT
fcis-6029	2	116	transportation	transportation	NOUN
fcis-6029	2	117	conditions	condition	NOUN
fcis-6029	2	118	lead	lead	VERB
fcis-6029	2	119	to	to	ADP
fcis-6029	2	120	low	low	ADJ
fcis-6029	2	121	delivery	delivery	NOUN
fcis-6029	2	122	efficiency	efficiency	NOUN
fcis-6029	2	123	,	,	PUNCT
fcis-6029	2	124	largescale	largescale	NOUN
fcis-6029	2	125	delivery	delivery	NOUN
fcis-6029	2	126	mission	mission	NOUN
fcis-6029	2	127	capacity	capacity	NOUN
fcis-6029	2	128	,	,	PUNCT
fcis-6029	2	129	the	the	DET
fcis-6029	2	130	paper	paper	NOUN
fcis-6029	2	131	considers	consider	VERB
fcis-6029	2	132	to	to	PART
fcis-6029	2	133	use	use	VERB
fcis-6029	2	134	drones	drone	NOUN
fcis-6029	2	135	joint	joint	ADJ
fcis-6029	2	136	delivery	delivery	NOUN
fcis-6029	2	137	task	task	NOUN
fcis-6029	2	138	,	,	PUNCT
fcis-6029	2	139	according	accord	VERB
fcis-6029	2	140	to	to	ADP
fcis-6029	2	141	the	the	DET
fcis-6029	2	142	problem	problem	NOUN
fcis-6029	2	143	,	,	PUNCT
fcis-6029	2	144	summarize	summarize	VERB
fcis-6029	2	145	inspired	inspire	VERB
fcis-6029	2	146	rules	rule	NOUN
fcis-6029	2	147	,	,	PUNCT
fcis-6029	2	148	design	design	VERB
fcis-6029	2	149	fast	fast	ADJ
fcis-6029	2	150	construction	construction	NOUN
fcis-6029	2	151	model	model	NOUN
fcis-6029	2	152	algorithm	algorithm	NOUN
fcis-6029	2	153	,	,	PUNCT
fcis-6029	2	154	using	use	VERB
fcis-6029	2	155	dynamic	dynamic	ADJ
fcis-6029	2	156	comprehensive	comprehensive	ADJ
fcis-6029	2	157	sorting	sorting	NOUN
fcis-6029	2	158	method	method	NOUN
fcis-6029	2	159	,	,	PUNCT
fcis-6029	2	160	improve	improve	VERB
fcis-6029	2	161	the	the	DET
fcis-6029	2	162	task	task	NOUN
fcis-6029	2	163	allocation	allocation	NOUN
fcis-6029	2	164	and	and	CCONJ
fcis-6029	2	165	delivery	delivery	NOUN
fcis-6029	2	166	efficiency	efficiency	NOUN
fcis-6029	2	167	,	,	PUNCT
fcis-6029	2	168	provide	provide	VERB
fcis-6029	2	169	a	a	DET
fcis-6029	2	170	reference	reference	NOUN
fcis-6029	2	171	for	for	ADP
fcis-6029	2	172	enriching	enrich	VERB
fcis-6029	2	173	the	the	DET
fcis-6029	2	174	military	military	ADJ
fcis-6029	2	175	diversified	diversify	VERB
fcis-6029	2	176	delivery	delivery	NOUN
fcis-6029	2	177	mode	mode	NOUN
fcis-6029	2	178	,	,	PUNCT
fcis-6029	2	179	and	and	CCONJ
fcis-6029	2	180	improve	improve	VERB
fcis-6029	2	181	the	the	DET
fcis-6029	2	182	air	air	NOUN
fcis-6029	2	183	delivery	delivery	NOUN
fcis-6029	2	184	ability	ability	NOUN
fcis-6029	2	185	.	.	PUNCT
fcis-6029	3	1	keywords	keyword	NOUN
fcis-6029	3	2	:	:	PUNCT
fcis-6029	3	3	multiple	multiple	ADJ
fcis-6029	3	4	uavs	uavs	NOUN
fcis-6029	3	5	;	;	PUNCT
fcis-6029	3	6	joint	joint	ADJ
fcis-6029	3	7	delivery	delivery	NOUN
fcis-6029	3	8	;	;	PUNCT
fcis-6029	3	9	task	task	NOUN
fcis-6029	3	10	allocation	allocation	NOUN
fcis-6029	3	11	.	.	PUNCT
fcis-6029	4	1	1	1	X
fcis-6029	4	2	.	.	X
fcis-6029	4	3	introduction	introduction	NOUN
fcis-6029	4	4	all	all	ADV
fcis-6029	4	5	along	along	ADV
fcis-6029	4	6	,	,	PUNCT
fcis-6029	4	7	the	the	DET
fcis-6029	4	8	rapid	rapid	ADJ
fcis-6029	4	9	delivery	delivery	NOUN
fcis-6029	4	10	force	force	NOUN
fcis-6029	4	11	has	have	AUX
fcis-6029	4	12	been	be	AUX
fcis-6029	4	13	one	one	NUM
fcis-6029	4	14	of	of	ADP
fcis-6029	4	15	the	the	DET
fcis-6029	4	16	goals	goal	NOUN
fcis-6029	4	17	of	of	ADP
fcis-6029	4	18	the	the	DET
fcis-6029	4	19	armed	armed	ADJ
fcis-6029	4	20	forces	force	NOUN
fcis-6029	4	21	of	of	ADP
fcis-6029	4	22	all	all	DET
fcis-6029	4	23	countries	country	NOUN
fcis-6029	4	24	,	,	PUNCT
fcis-6029	4	25	which	which	PRON
fcis-6029	4	26	is	be	AUX
fcis-6029	4	27	the	the	DET
fcis-6029	4	28	basis	basis	NOUN
fcis-6029	4	29	for	for	ADP
fcis-6029	4	30	concentrating	concentrate	VERB
fcis-6029	4	31	strength	strength	NOUN
fcis-6029	4	32	,	,	PUNCT
fcis-6029	4	33	capturing	capture	VERB
fcis-6029	4	34	fighters	fighter	NOUN
fcis-6029	4	35	,	,	PUNCT
fcis-6029	4	36	getting	getting	AUX
fcis-6029	4	37	rid	rid	VERB
fcis-6029	4	38	of	of	ADP
fcis-6029	4	39	the	the	DET
fcis-6029	4	40	passive	passive	ADJ
fcis-6029	4	41	and	and	CCONJ
fcis-6029	4	42	efficient	efficient	ADJ
fcis-6029	4	43	implementation	implementation	NOUN
fcis-6029	4	44	of	of	ADP
fcis-6029	4	45	equipment	equipment	NOUN
fcis-6029	4	46	and	and	CCONJ
fcis-6029	4	47	material	material	NOUN
fcis-6029	4	48	support	support	NOUN
fcis-6029	4	49	.	.	PUNCT
fcis-6029	5	1	according	accord	VERB
fcis-6029	5	2	to	to	ADP
fcis-6029	5	3	the	the	DET
fcis-6029	5	4	different	different	ADJ
fcis-6029	5	5	mobile	mobile	ADJ
fcis-6029	5	6	space	space	NOUN
fcis-6029	5	7	,	,	PUNCT
fcis-6029	5	8	the	the	DET
fcis-6029	5	9	force	force	NOUN
fcis-6029	5	10	delivery	delivery	NOUN
fcis-6029	5	11	force	force	NOUN
fcis-6029	5	12	can	can	AUX
fcis-6029	5	13	be	be	AUX
fcis-6029	5	14	divided	divide	VERB
fcis-6029	5	15	into	into	ADP
fcis-6029	5	16	air	air	NOUN
fcis-6029	5	17	delivery	delivery	NOUN
fcis-6029	5	18	capability	capability	NOUN
fcis-6029	5	19	,	,	PUNCT
fcis-6029	5	20	water	water	NOUN
fcis-6029	5	21	delivery	delivery	NOUN
fcis-6029	5	22	capacity	capacity	NOUN
fcis-6029	5	23	and	and	CCONJ
fcis-6029	5	24	ground	ground	NOUN
fcis-6029	5	25	delivery	delivery	NOUN
fcis-6029	5	26	capacity	capacity	NOUN
fcis-6029	5	27	.	.	PUNCT
fcis-6029	6	1	among	among	ADP
fcis-6029	6	2	them	they	PRON
fcis-6029	6	3	,	,	PUNCT
fcis-6029	6	4	the	the	DET
fcis-6029	6	5	air	air	NOUN
fcis-6029	6	6	delivery	delivery	NOUN
fcis-6029	6	7	capability	capability	NOUN
fcis-6029	6	8	refers	refer	VERB
fcis-6029	6	9	to	to	ADP
fcis-6029	6	10	the	the	DET
fcis-6029	6	11	air	air	NOUN
fcis-6029	6	12	transport	transport	NOUN
fcis-6029	6	13	capacity	capacity	NOUN
fcis-6029	6	14	of	of	ADP
fcis-6029	6	15	various	various	ADJ
fcis-6029	6	16	aircraft	aircraft	NOUN
fcis-6029	6	17	to	to	PART
fcis-6029	6	18	use	use	VERB
fcis-6029	6	19	the	the	DET
fcis-6029	6	20	support	support	NOUN
fcis-6029	6	21	forces	force	NOUN
fcis-6029	6	22	,	,	PUNCT
fcis-6029	6	23	which	which	PRON
fcis-6029	6	24	is	be	AUX
fcis-6029	6	25	related	relate	VERB
fcis-6029	6	26	to	to	ADP
fcis-6029	6	27	the	the	DET
fcis-6029	6	28	transport	transport	NOUN
fcis-6029	6	29	capacity	capacity	NOUN
fcis-6029	6	30	,	,	PUNCT
fcis-6029	6	31	mobility	mobility	NOUN
fcis-6029	6	32	speed	speed	NOUN
fcis-6029	6	33	,	,	PUNCT
fcis-6029	6	34	endurance	endurance	NOUN
fcis-6029	6	35	and	and	CCONJ
fcis-6029	6	36	meteorological	meteorological	ADJ
fcis-6029	6	37	adaptability	adaptability	NOUN
fcis-6029	6	38	of	of	ADP
fcis-6029	6	39	the	the	DET
fcis-6029	6	40	air	air	NOUN
fcis-6029	6	41	platform	platform	NOUN
fcis-6029	6	42	.	.	PUNCT
fcis-6029	7	1	with	with	ADP
fcis-6029	7	2	the	the	DET
fcis-6029	7	3	continuous	continuous	ADJ
fcis-6029	7	4	progress	progress	NOUN
fcis-6029	7	5	of	of	ADP
fcis-6029	7	6	science	science	NOUN
fcis-6029	7	7	and	and	CCONJ
fcis-6029	7	8	technology	technology	NOUN
fcis-6029	7	9	,	,	PUNCT
fcis-6029	7	10	uav	uav	PROPN
fcis-6029	7	11	has	have	AUX
fcis-6029	7	12	been	be	AUX
fcis-6029	7	13	applied	apply	VERB
fcis-6029	7	14	in	in	ADP
fcis-6029	7	15	various	various	ADJ
fcis-6029	7	16	fields	field	NOUN
fcis-6029	7	17	due	due	ADP
fcis-6029	7	18	to	to	ADP
fcis-6029	7	19	its	its	PRON
fcis-6029	7	20	strong	strong	ADJ
fcis-6029	7	21	mobility	mobility	NOUN
fcis-6029	7	22	,	,	PUNCT
fcis-6029	7	23	convenient	convenient	ADJ
fcis-6029	7	24	deployment	deployment	NOUN
fcis-6029	7	25	and	and	CCONJ
fcis-6029	7	26	low	low	ADJ
fcis-6029	7	27	cost	cost	NOUN
fcis-6029	7	28	.	.	PUNCT
fcis-6029	8	1	joint	joint	ADJ
fcis-6029	8	2	delivery	delivery	NOUN
fcis-6029	8	3	is	be	AUX
fcis-6029	8	4	one	one	NUM
fcis-6029	8	5	of	of	ADP
fcis-6029	8	6	the	the	DET
fcis-6029	8	7	basic	basic	ADJ
fcis-6029	8	8	combat	combat	NOUN
fcis-6029	8	9	operations	operation	NOUN
fcis-6029	8	10	of	of	ADP
fcis-6029	8	11	the	the	DET
fcis-6029	8	12	army	army	NOUN
fcis-6029	8	13	,	,	PUNCT
fcis-6029	8	14	is	be	AUX
fcis-6029	8	15	the	the	DET
fcis-6029	8	16	army	army	NOUN
fcis-6029	8	17	from	from	ADP
fcis-6029	8	18	the	the	DET
fcis-6029	8	19	barracks	barrack	NOUN
fcis-6029	8	20	before	before	ADP
fcis-6029	8	21	entering	enter	VERB
fcis-6029	8	22	the	the	DET
fcis-6029	8	23	combat	combat	NOUN
fcis-6029	8	24	area	area	NOUN
fcis-6029	8	25	.	.	PUNCT
fcis-6029	9	1	traditional	traditional	ADJ
fcis-6029	9	2	land	land	NOUN
fcis-6029	9	3	transportation	transportation	NOUN
fcis-6029	9	4	is	be	AUX
fcis-6029	9	5	not	not	PART
fcis-6029	9	6	the	the	DET
fcis-6029	9	7	only	only	ADJ
fcis-6029	9	8	way	way	NOUN
fcis-6029	9	9	to	to	PART
fcis-6029	9	10	deliver	deliver	VERB
fcis-6029	9	11	,	,	PUNCT
fcis-6029	9	12	the	the	DET
fcis-6029	9	13	current	current	ADJ
fcis-6029	9	14	drones	drone	NOUN
fcis-6029	9	15	as	as	ADP
fcis-6029	9	16	the	the	DET
fcis-6029	9	17	main	main	ADJ
fcis-6029	9	18	body	body	NOUN
fcis-6029	9	19	of	of	ADP
fcis-6029	9	20	multiple	multiple	ADJ
fcis-6029	9	21	agent	agent	NOUN
fcis-6029	9	22	air	air	NOUN
fcis-6029	9	23	delivery	delivery	NOUN
fcis-6029	9	24	way	way	NOUN
fcis-6029	9	25	not	not	PART
fcis-6029	9	26	only	only	ADV
fcis-6029	9	27	can	can	AUX
fcis-6029	9	28	overcome	overcome	VERB
fcis-6029	9	29	the	the	DET
fcis-6029	9	30	terrain	terrain	NOUN
fcis-6029	9	31	,	,	PUNCT
fcis-6029	9	32	climate	climate	NOUN
fcis-6029	9	33	,	,	PUNCT
fcis-6029	9	34	do	do	AUX
fcis-6029	9	35	maneuver	maneuver	NOUN
fcis-6029	9	36	,	,	PUNCT
fcis-6029	9	37	and	and	CCONJ
fcis-6029	9	38	can	can	AUX
fcis-6029	9	39	through	through	ADP
fcis-6029	9	40	the	the	DET
fcis-6029	9	41	introduction	introduction	NOUN
fcis-6029	9	42	of	of	ADP
fcis-6029	9	43	relevant	relevant	ADJ
fcis-6029	9	44	algorithm	algorithm	NOUN
fcis-6029	9	45	,	,	PUNCT
fcis-6029	9	46	based	base	VERB
fcis-6029	9	47	on	on	ADP
fcis-6029	9	48	multiple	multiple	ADJ
fcis-6029	9	49	alliance	alliance	NOUN
fcis-6029	9	50	rules	rule	NOUN
fcis-6029	9	51	,	,	PUNCT
fcis-6029	9	52	intelligent	intelligent	ADJ
fcis-6029	9	53	delivery	delivery	NOUN
fcis-6029	9	54	assignment	assignment	NOUN
fcis-6029	9	55	,	,	PUNCT
fcis-6029	9	56	the	the	DET
fcis-6029	9	57	battlefield	battlefield	NOUN
fcis-6029	9	58	delivery	delivery	NOUN
fcis-6029	9	59	mission	mission	NOUN
fcis-6029	9	60	to	to	PART
fcis-6029	9	61	make	make	VERB
fcis-6029	9	62	rapid	rapid	ADJ
fcis-6029	9	63	response	response	NOUN
fcis-6029	9	64	at	at	ADP
fcis-6029	9	65	the	the	DET
fcis-6029	9	66	same	same	ADJ
fcis-6029	9	67	time	time	NOUN
fcis-6029	9	68	,	,	PUNCT
fcis-6029	9	69	realize	realize	VERB
fcis-6029	9	70	the	the	DET
fcis-6029	9	71	best	good	ADJ
fcis-6029	9	72	cost	cost	NOUN
fcis-6029	9	73	ratio	ratio	NOUN
fcis-6029	9	74	.	.	PUNCT
fcis-6029	10	1	uav	uav	PROPN
fcis-6029	10	2	joint	joint	ADJ
fcis-6029	10	3	delivery	delivery	NOUN
fcis-6029	10	4	can	can	AUX
fcis-6029	10	5	be	be	AUX
fcis-6029	10	6	seen	see	VERB
fcis-6029	10	7	as	as	ADP
fcis-6029	10	8	a	a	DET
fcis-6029	10	9	multi	multi	ADJ
fcis-6029	10	10	-	-	ADJ
fcis-6029	10	11	agent	agent	ADJ
fcis-6029	10	12	joint	joint	ADJ
fcis-6029	10	13	delivery	delivery	NOUN
fcis-6029	10	14	action	action	NOUN
fcis-6029	10	15	,	,	PUNCT
fcis-6029	10	16	each	each	DET
fcis-6029	10	17	agent	agent	NOUN
fcis-6029	10	18	has	have	VERB
fcis-6029	10	19	its	its	PRON
fcis-6029	10	20	own	own	ADJ
fcis-6029	10	21	behavior	behavior	NOUN
fcis-6029	10	22	rules	rule	NOUN
fcis-6029	10	23	,	,	PUNCT
fcis-6029	10	24	so	so	SCONJ
fcis-6029	10	25	it	it	PRON
fcis-6029	10	26	can	can	AUX
fcis-6029	10	27	be	be	AUX
fcis-6029	10	28	modeled	model	VERB
fcis-6029	10	29	using	use	VERB
fcis-6029	10	30	a	a	DET
fcis-6029	10	31	multi	multi	ADJ
fcis-6029	10	32	-	-	ADJ
fcis-6029	10	33	agent	agent	ADJ
fcis-6029	10	34	approach	approach	NOUN
fcis-6029	10	35	.	.	PUNCT
fcis-6029	11	1	the	the	DET
fcis-6029	11	2	multiagent	multiagent	NOUN
fcis-6029	11	3	system	system	NOUN
fcis-6029	11	4	is	be	AUX
fcis-6029	11	5	a	a	DET
fcis-6029	11	6	group	group	NOUN
fcis-6029	11	7	system	system	NOUN
fcis-6029	11	8	composed	compose	VERB
fcis-6029	11	9	of	of	ADP
fcis-6029	11	10	multiple	multiple	ADJ
fcis-6029	11	11	intelligent	intelligent	ADJ
fcis-6029	11	12	autonomous	autonomous	ADJ
fcis-6029	11	13	movements	movement	NOUN
fcis-6029	11	14	with	with	ADP
fcis-6029	11	15	the	the	DET
fcis-6029	11	16	ability	ability	NOUN
fcis-6029	11	17	of	of	ADP
fcis-6029	11	18	perception	perception	NOUN
fcis-6029	11	19	,	,	PUNCT
fcis-6029	11	20	cognition	cognition	NOUN
fcis-6029	11	21	,	,	PUNCT
fcis-6029	11	22	control	control	NOUN
fcis-6029	11	23	and	and	CCONJ
fcis-6029	11	24	operation	operation	NOUN
fcis-6029	11	25	through	through	ADP
fcis-6029	11	26	information	information	NOUN
fcis-6029	11	27	interaction	interaction	NOUN
fcis-6029	11	28	.	.	PUNCT
fcis-6029	12	1	through	through	ADP
fcis-6029	12	2	the	the	DET
fcis-6029	12	3	interaction	interaction	NOUN
fcis-6029	12	4	between	between	ADP
fcis-6029	12	5	individuals	individual	NOUN
fcis-6029	12	6	,	,	PUNCT
fcis-6029	12	7	complex	complex	ADJ
fcis-6029	12	8	and	and	CCONJ
fcis-6029	12	9	powerful	powerful	ADJ
fcis-6029	12	10	intelligent	intelligent	ADJ
fcis-6029	12	11	behaviors	behavior	NOUN
fcis-6029	12	12	emerge	emerge	VERB
fcis-6029	12	13	in	in	ADP
fcis-6029	12	14	the	the	DET
fcis-6029	12	15	whole	whole	ADJ
fcis-6029	12	16	system	system	NOUN
fcis-6029	12	17	at	at	ADP
fcis-6029	12	18	macro	macro	NOUN
fcis-6029	12	19	through	through	ADP
fcis-6029	12	20	interaction	interaction	NOUN
fcis-6029	12	21	[	[	X
fcis-6029	12	22	1	1	NUM
fcis-6029	12	23	]	]	PUNCT
fcis-6029	12	24	.	.	PUNCT
fcis-6029	13	1	2	2	X
fcis-6029	13	2	.	.	X
fcis-6029	13	3	description	description	NOUN
fcis-6029	13	4	of	of	ADP
fcis-6029	13	5	the	the	DET
fcis-6029	13	6	multi	multi	ADJ
fcis-6029	13	7	-	-	ADJ
fcis-6029	13	8	uav	uav	ADJ
fcis-6029	13	9	joint	joint	ADJ
fcis-6029	13	10	delivery	delivery	NOUN
fcis-6029	13	11	mission	mission	NOUN
fcis-6029	13	12	allocation	allocation	NOUN
fcis-6029	13	13	problem	problem	NOUN
fcis-6029	13	14	multi	multi	PROPN
fcis-6029	13	15	-	-	PROPN
fcis-6029	13	16	uav	uav	ADJ
fcis-6029	13	17	multi	multi	ADJ
fcis-6029	13	18	-	-	ADJ
fcis-6029	13	19	task	task	ADJ
fcis-6029	13	20	allocation	allocation	NOUN
fcis-6029	13	21	refers	refer	VERB
fcis-6029	13	22	to	to	ADP
fcis-6029	13	23	the	the	DET
fcis-6029	13	24	allocation	allocation	NOUN
fcis-6029	13	25	and	and	CCONJ
fcis-6029	13	26	processing	processing	NOUN
fcis-6029	13	27	of	of	ADP
fcis-6029	13	28	the	the	DET
fcis-6029	13	29	delivery	delivery	NOUN
fcis-6029	13	30	tasks	task	NOUN
fcis-6029	13	31	assigned	assign	VERB
fcis-6029	13	32	by	by	ADP
fcis-6029	13	33	the	the	DET
fcis-6029	13	34	system	system	NOUN
fcis-6029	13	35	before	before	ADP
fcis-6029	13	36	performing	perform	VERB
fcis-6029	13	37	the	the	DET
fcis-6029	13	38	mission	mission	NOUN
fcis-6029	13	39	,	,	PUNCT
fcis-6029	13	40	so	so	SCONJ
fcis-6029	13	41	that	that	SCONJ
fcis-6029	13	42	the	the	DET
fcis-6029	13	43	multiple	multiple	ADJ
fcis-6029	13	44	uav	uav	PROPN
fcis-6029	13	45	can	can	AUX
fcis-6029	13	46	complete	complete	VERB
fcis-6029	13	47	the	the	DET
fcis-6029	13	48	material	material	NOUN
fcis-6029	13	49	delivery	delivery	NOUN
fcis-6029	13	50	tasks	task	NOUN
fcis-6029	13	51	at	at	ADP
fcis-6029	13	52	the	the	DET
fcis-6029	13	53	lowest	low	ADJ
fcis-6029	13	54	possible	possible	ADJ
fcis-6029	13	55	cost	cost	NOUN
fcis-6029	13	56	.	.	PUNCT
fcis-6029	14	1	this	this	DET
fcis-6029	14	2	paper	paper	NOUN
fcis-6029	14	3	studies	study	NOUN
fcis-6029	14	4	the	the	DET
fcis-6029	14	5	problem	problem	NOUN
fcis-6029	14	6	of	of	ADP
fcis-6029	14	7	multi	multi	ADJ
fcis-6029	14	8	-	-	ADJ
fcis-6029	14	9	uav	uav	ADJ
fcis-6029	14	10	joint	joint	ADJ
fcis-6029	14	11	delivery	delivery	NOUN
fcis-6029	14	12	mission	mission	NOUN
fcis-6029	14	13	assignment	assignment	NOUN
fcis-6029	14	14	,	,	PUNCT
fcis-6029	14	15	which	which	PRON
fcis-6029	14	16	is	be	AUX
fcis-6029	14	17	actually	actually	ADV
fcis-6029	14	18	a	a	DET
fcis-6029	14	19	multi	multi	ADJ
fcis-6029	14	20	-	-	ADJ
fcis-6029	14	21	task	task	ADJ
fcis-6029	14	22	allocation	allocation	NOUN
fcis-6029	14	23	decision	decision	NOUN
fcis-6029	14	24	optimization	optimization	NOUN
fcis-6029	14	25	problem	problem	NOUN
fcis-6029	14	26	.	.	PUNCT
fcis-6029	15	1	whether	whether	SCONJ
fcis-6029	15	2	the	the	DET
fcis-6029	15	3	task	task	NOUN
fcis-6029	15	4	allocation	allocation	NOUN
fcis-6029	15	5	is	be	AUX
fcis-6029	15	6	reasonable	reasonable	ADJ
fcis-6029	15	7	directly	directly	ADV
fcis-6029	15	8	affects	affect	VERB
fcis-6029	15	9	the	the	DET
fcis-6029	15	10	effectiveness	effectiveness	NOUN
fcis-6029	15	11	and	and	CCONJ
fcis-6029	15	12	efficiency	efficiency	NOUN
fcis-6029	15	13	of	of	ADP
fcis-6029	15	14	multi	multi	ADJ
fcis-6029	15	15	-	-	PROPN
fcis-6029	15	16	uav	uav	ADJ
fcis-6029	15	17	delivery[2	delivery[2	PROPN
fcis-6029	15	18	]	]	X
fcis-6029	15	19	。	。	X
fcis-6029	15	20	multi	multi	PROPN
fcis-6029	15	21	-	-	PROPN
fcis-6029	15	22	uav	uav	ADJ
fcis-6029	15	23	and	and	CCONJ
fcis-6029	15	24	multi	multi	ADJ
fcis-6029	15	25	-	-	ADJ
fcis-6029	15	26	task	task	ADJ
fcis-6029	15	27	allocation	allocation	NOUN
fcis-6029	15	28	is	be	AUX
fcis-6029	15	29	a	a	DET
fcis-6029	15	30	complex	complex	ADJ
fcis-6029	15	31	process	process	NOUN
fcis-6029	15	32	[	[	X
fcis-6029	15	33	3	3	NUM
fcis-6029	15	34	]	]	PUNCT
fcis-6029	15	35	.	.	PUNCT
fcis-6029	16	1	when	when	SCONJ
fcis-6029	16	2	multi	multi	ADJ
fcis-6029	16	3	-	-	ADJ
fcis-6029	16	4	uav	uav	PROPN
fcis-6029	16	5	faces	face	VERB
fcis-6029	16	6	multi	multi	ADJ
fcis-6029	16	7	-	-	ADJ
fcis-6029	16	8	delivery	delivery	NOUN
fcis-6029	16	9	tasks	task	NOUN
fcis-6029	16	10	,	,	PUNCT
fcis-6029	16	11	in	in	ADP
fcis-6029	16	12	order	order	NOUN
fcis-6029	16	13	to	to	PART
fcis-6029	16	14	perform	perform	VERB
fcis-6029	16	15	and	and	CCONJ
fcis-6029	16	16	complete	complete	VERB
fcis-6029	16	17	the	the	DET
fcis-6029	16	18	tasks	task	NOUN
fcis-6029	16	19	,	,	PUNCT
fcis-6029	16	20	we	we	PRON
fcis-6029	16	21	need	need	VERB
fcis-6029	16	22	to	to	PART
fcis-6029	16	23	specify	specify	VERB
fcis-6029	16	24	the	the	DET
fcis-6029	16	25	uav	uav	PROPN
fcis-6029	16	26	and	and	CCONJ
fcis-6029	16	27	tasks	task	NOUN
fcis-6029	16	28	one	one	NUM
fcis-6029	16	29	by	by	ADP
fcis-6029	16	30	one	one	NUM
fcis-6029	16	31	,	,	PUNCT
fcis-6029	16	32	that	that	ADV
fcis-6029	16	33	is	is	ADV
fcis-6029	16	34	,	,	PUNCT
fcis-6029	16	35	to	to	PART
fcis-6029	16	36	carry	carry	VERB
fcis-6029	16	37	out	out	ADP
fcis-6029	16	38	multi	multi	ADJ
fcis-6029	16	39	-	-	PROPN
fcis-6029	16	40	uav	uav	ADJ
fcis-6029	16	41	and	and	CCONJ
fcis-6029	16	42	multi	multi	ADJ
fcis-6029	16	43	-	-	ADJ
fcis-6029	16	44	task	task	ADJ
fcis-6029	16	45	dynamic	dynamic	ADJ
fcis-6029	16	46	allocation	allocation	NOUN
fcis-6029	16	47	work	work	NOUN
fcis-6029	16	48	.	.	PUNCT
fcis-6029	17	1	when	when	SCONJ
fcis-6029	17	2	the	the	DET
fcis-6029	17	3	number	number	NOUN
fcis-6029	17	4	of	of	ADP
fcis-6029	17	5	unmanned	unmanned	ADJ
fcis-6029	17	6	aerial	aerial	ADJ
fcis-6029	17	7	vehicles	vehicle	NOUN
fcis-6029	17	8	and	and	CCONJ
fcis-6029	17	9	tasks	task	NOUN
fcis-6029	17	10	is	be	AUX
fcis-6029	17	11	relatively	relatively	ADV
fcis-6029	17	12	large	large	ADJ
fcis-6029	17	13	,	,	PUNCT
fcis-6029	17	14	it	it	PRON
fcis-6029	17	15	is	be	AUX
fcis-6029	17	16	extremely	extremely	ADV
fcis-6029	17	17	difficult	difficult	ADJ
fcis-6029	17	18	to	to	ADP
fcis-6029	17	19	task	task	NOUN
fcis-6029	17	20	-	-	PUNCT
fcis-6029	17	21	assign	assign	NOUN
fcis-6029	17	22	and	and	CCONJ
fcis-6029	17	23	perform	perform	VERB
fcis-6029	17	24	tasks	task	NOUN
fcis-6029	17	25	directly	directly	ADV
fcis-6029	17	26	through	through	ADP
fcis-6029	17	27	the	the	DET
fcis-6029	17	28	uav	uav	PROPN
fcis-6029	17	29	,	,	PUNCT
fcis-6029	17	30	which	which	PRON
fcis-6029	17	31	can	can	AUX
fcis-6029	17	32	easily	easily	ADV
fcis-6029	17	33	lead	lead	VERB
fcis-6029	17	34	to	to	ADP
fcis-6029	17	35	low	low	ADJ
fcis-6029	17	36	distribution	distribution	NOUN
fcis-6029	17	37	efficiency	efficiency	NOUN
fcis-6029	17	38	and	and	CCONJ
fcis-6029	17	39	unreasonable	unreasonable	ADJ
fcis-6029	17	40	distribution	distribution	NOUN
fcis-6029	17	41	results	result	NOUN
fcis-6029	17	42	.	.	PUNCT
fcis-6029	18	1	under	under	ADP
fcis-6029	18	2	the	the	DET
fcis-6029	18	3	control	control	NOUN
fcis-6029	18	4	of	of	ADP
fcis-6029	18	5	the	the	DET
fcis-6029	18	6	ground	ground	NOUN
fcis-6029	18	7	station	station	NOUN
fcis-6029	18	8	,	,	PUNCT
fcis-6029	18	9	each	each	DET
fcis-6029	18	10	drone	drone	NOUN
fcis-6029	18	11	according	accord	VERB
fcis-6029	18	12	to	to	ADP
fcis-6029	18	13	the	the	DET
fcis-6029	18	14	task	task	NOUN
fcis-6029	18	15	allocation	allocation	NOUN
fcis-6029	18	16	results	result	NOUN
fcis-6029	18	17	,	,	PUNCT
fcis-6029	18	18	fly	fly	VERB
fcis-6029	18	19	to	to	ADP
fcis-6029	18	20	different	different	ADJ
fcis-6029	18	21	task	task	NOUN
fcis-6029	18	22	target	target	NOUN
fcis-6029	18	23	point	point	NOUN
fcis-6029	18	24	material	material	NOUN
fcis-6029	18	25	delivery	delivery	NOUN
fcis-6029	18	26	tasks	task	NOUN
fcis-6029	18	27	,	,	PUNCT
fcis-6029	18	28	for	for	ADP
fcis-6029	18	29	the	the	DET
fcis-6029	18	30	number	number	NOUN
fcis-6029	18	31	of	of	ADP
fcis-6029	18	32	drones	drone	NOUN
fcis-6029	18	33	,	,	PUNCT
fcis-6029	18	34	delivery	delivery	NOUN
fcis-6029	18	35	tasks	task	NOUN
fcis-6029	18	36	,	,	PUNCT
fcis-6029	18	37	prone	prone	ADJ
fcis-6029	18	38	to	to	PART
fcis-6029	18	39	repeat	repeat	VERB
fcis-6029	18	40	tasks	task	NOUN
fcis-6029	18	41	,	,	PUNCT
fcis-6029	18	42	mission	mission	NOUN
fcis-6029	18	43	omission	omission	NOUN
fcis-6029	18	44	,	,	PUNCT
fcis-6029	18	45	drones	drone	NOUN
fcis-6029	18	46	ineffective	ineffective	ADJ
fcis-6029	18	47	execution	execution	NOUN
fcis-6029	18	48	,	,	PUNCT
fcis-6029	18	49	in	in	ADP
fcis-6029	18	50	order	order	NOUN
fcis-6029	18	51	to	to	PART
fcis-6029	18	52	avoid	avoid	VERB
fcis-6029	18	53	more	more	ADV
fcis-6029	18	54	collaborative	collaborative	ADJ
fcis-6029	18	55	inefficiency	inefficiency	NOUN
fcis-6029	18	56	,	,	PUNCT
fcis-6029	18	57	need	need	VERB
fcis-6029	18	58	to	to	PART
fcis-6029	18	59	establish	establish	VERB
fcis-6029	18	60	a	a	DET
fcis-6029	18	61	strong	strong	ADJ
fcis-6029	18	62	coupling	coupling	NOUN
fcis-6029	18	63	between	between	ADP
fcis-6029	18	64	delivery	delivery	NOUN
fcis-6029	18	65	mission	mission	NOUN
fcis-6029	18	66	and	and	CCONJ
fcis-6029	18	67	drones	drone	NOUN
fcis-6029	18	68	,	,	PUNCT
fcis-6029	18	69	namely	namely	ADV
fcis-6029	18	70	through	through	ADP
fcis-6029	18	71	the	the	DET
fcis-6029	18	72	task	task	NOUN
fcis-6029	18	73	allocation	allocation	NOUN
fcis-6029	18	74	.	.	PUNCT
fcis-6029	19	1	in	in	ADP
fcis-6029	19	2	the	the	DET
fcis-6029	19	3	task	task	NOUN
fcis-6029	19	4	assignment	assignment	NOUN
fcis-6029	19	5	,	,	PUNCT
fcis-6029	19	6	the	the	DET
fcis-6029	19	7	tasks	task	NOUN
fcis-6029	19	8	assigned	assign	VERB
fcis-6029	19	9	by	by	ADP
fcis-6029	19	10	the	the	DET
fcis-6029	19	11	system	system	NOUN
fcis-6029	19	12	should	should	AUX
fcis-6029	19	13	be	be	AUX
fcis-6029	19	14	divided	divide	VERB
fcis-6029	19	15	into	into	ADP
fcis-6029	19	16	multiple	multiple	ADJ
fcis-6029	19	17	sub	sub	NOUN
fcis-6029	19	18	-	-	NOUN
fcis-6029	19	19	tasks	task	NOUN
fcis-6029	19	20	according	accord	VERB
fcis-6029	19	21	to	to	ADP
fcis-6029	19	22	the	the	DET
fcis-6029	19	23	optimization	optimization	NOUN
fcis-6029	19	24	objectives	objective	NOUN
fcis-6029	19	25	or	or	CCONJ
fcis-6029	19	26	constraints	constraint	NOUN
fcis-6029	19	27	,	,	PUNCT
fcis-6029	19	28	and	and	CCONJ
fcis-6029	19	29	respectively	respectively	ADV
fcis-6029	19	30	distributed	distribute	VERB
fcis-6029	19	31	to	to	ADP
fcis-6029	19	32	the	the	DET
fcis-6029	19	33	corresponding	correspond	VERB
fcis-6029	19	34	uav	uav	PROPN
fcis-6029	19	35	to	to	PART
fcis-6029	19	36	achieve	achieve	VERB
fcis-6029	19	37	the	the	DET
fcis-6029	19	38	optimization	optimization	NOUN
fcis-6029	19	39	objectives	objective	NOUN
fcis-6029	19	40	of	of	ADP
fcis-6029	19	41	the	the	DET
fcis-6029	19	42	task	task	NOUN
fcis-6029	19	43	allocation	allocation	NOUN
fcis-6029	19	44	[	[	X
fcis-6029	19	45	4	4	NUM
fcis-6029	19	46	]	]	PUNCT
fcis-6029	19	47	.	.	PUNCT
fcis-6029	20	1	3	3	X
fcis-6029	20	2	.	.	X
fcis-6029	20	3	multi	multi	ADJ
fcis-6029	20	4	-	-	PROPN
fcis-6029	20	5	uav	uav	ADJ
fcis-6029	20	6	task	task	NOUN
fcis-6029	20	7	assignment	assignment	NOUN
fcis-6029	20	8	modeling	modeling	NOUN
fcis-6029	20	9	based	base	VERB
fcis-6029	20	10	on	on	ADP
fcis-6029	20	11	multi	multi	ADJ
fcis-6029	20	12	-	-	ADJ
fcis-6029	20	13	alliance	alliance	NOUN
fcis-6029	20	14	technolog	technolog	NOUN
fcis-6029	20	15	-	-	PUNCT
fcis-6029	20	16	y	y	NOUN
fcis-6029	20	17	assuming	assume	VERB
fcis-6029	20	18	that	that	SCONJ
fcis-6029	20	19	n	n	CCONJ
fcis-6029	20	20	existing	exist	VERB
fcis-6029	20	21	uavs	uavs	NOUN
fcis-6029	20	22	can	can	AUX
fcis-6029	20	23	be	be	AUX
fcis-6029	20	24	used	use	VERB
fcis-6029	20	25	for	for	ADP
fcis-6029	20	26	delivery	delivery	NOUN
fcis-6029	20	27	mission	mission	NOUN
fcis-6029	20	28	,	,	PUNCT
fcis-6029	20	29	the	the	DET
fcis-6029	20	30	set	set	NOUN
fcis-6029	20	31	is	be	AUX
fcis-6029	20	32	recorded	record	VERB
fcis-6029	20	33	as	as	ADP
fcis-6029	20	34	1	1	NUM
fcis-6029	20	35	[	[	PUNCT
fcis-6029	20	36	]	]	SYM
fcis-6029	20	37	agent	agent	NOUN
fcis-6029	21	1	i	i	PRON
fcis-6029	21	2	nc	nc	VERB
fcis-6029	21	3	a	a	DET
fcis-6029	21	4	=	=	PROPN
fcis-6029	21	5	,	,	PUNCT
fcis-6029	21	6	and	and	CCONJ
fcis-6029	21	7	any	any	DET
fcis-6029	21	8	uav	uav	PROPN
fcis-6029	21	9	ia	ia	PROPN
fcis-6029	21	10	has	have	VERB
fcis-6029	21	11	a	a	DET
fcis-6029	21	12	2r	2r	NUM
fcis-6029	21	13	=	=	SYM
fcis-6029	21	14	dimensional	dimensional	ADJ
fcis-6029	21	15	capability	capability	NOUN
fcis-6029	21	16	vector	vector	NOUN
fcis-6029	21	17	1	1	NUM
fcis-6029	21	18	[	[	PUNCT
fcis-6029	21	19	]	]	X
fcis-6029	21	20	j	j	NOUN
fcis-6029	22	1	i	i	PRON
fcis-6029	22	2	i	i	PRON
fcis-6029	22	3	rb	rb	VERB
fcis-6029	22	4	b	b	PROPN
fcis-6029	22	5	=	=	ADJ
fcis-6029	22	6	mmobility	mmobility	NOUN
fcis-6029	22	7	capability	capability	NOUN
fcis-6029	22	8	,	,	PUNCT
fcis-6029	22	9	transportation	transportation	NOUN
fcis-6029	22	10	capability	capability	NOUN
fcis-6029	22	11	,	,	PUNCT
fcis-6029	22	12	endurance	endurance	NOUN
fcis-6029	22	13	capability	capability	NOUN
fcis-6029	22	14	)	)	PUNCT
fcis-6029	22	15	,	,	PUNCT
fcis-6029	22	16	ib	ib	VERB
fcis-6029	22	17	a	a	DET
fcis-6029	22	18	quantitative	quantitative	ADJ
fcis-6029	22	19	description	description	NOUN
fcis-6029	22	20	of	of	ADP
fcis-6029	22	21	the	the	DET
fcis-6029	22	22	mission	mission	NOUN
fcis-6029	22	23	capability	capability	NOUN
fcis-6029	22	24	of	of	ADP
fcis-6029	22	25	a	a	DET
fcis-6029	22	26	uav	uav	PROPN
fcis-6029	22	27	ia	ia	PROPN
fcis-6029	22	28	,	,	PUNCT
fcis-6029	22	29	0j	0j	NOUN
fcis-6029	22	30	ib	ib	PROPN
fcis-6029	22	31			NUM
fcis-6029	22	32	indicating	indicate	VERB
fcis-6029	22	33	the	the	DET
fcis-6029	22	34	capability	capability	NOUN
fcis-6029	22	35	j	j	NOUN
fcis-6029	22	36	value	value	NOUN
fcis-6029	22	37	of	of	ADP
fcis-6029	22	38	the	the	DET
fcis-6029	22	39	uav	uav	PROPN
fcis-6029	22	40	ia	ia	PROPN
fcis-6029	22	41	;	;	PUNCT
fcis-6029	22	42	the	the	DET
fcis-6029	22	43	83	83	NUM
fcis-6029	22	44	cost	cost	NOUN
fcis-6029	22	45	of	of	ADP
fcis-6029	22	46	the	the	DET
fcis-6029	22	47	uav	uav	PROPN
fcis-6029	22	48	ia	ia	PROPN
fcis-6029	22	49	to	to	PART
fcis-6029	22	50	complete	complete	VERB
fcis-6029	22	51	the	the	DET
fcis-6029	22	52	task	task	NOUN
fcis-6029	22	53	is	be	AUX
fcis-6029	22	54	icost	icost	ADJ
fcis-6029	22	55	,	,	PUNCT
fcis-6029	22	56	specifically	specifically	ADV
fcis-6029	22	57	,	,	PUNCT
fcis-6029	22	58	setting	set	VERB
fcis-6029	22	59	1	1	NUM
fcis-6029	22	60	,	,	PUNCT
fcis-6029	22	61	1,	1,	NUM
fcis-6029	22	62	...	...	PUNCT
fcis-6029	22	63	,icost	,icost	PUNCT
fcis-6029	22	64	i	i	PRON
fcis-6029	22	65	n=	n=	ADJ
fcis-6029	22	66	=	=	PUNCT
fcis-6029	22	67	.	.	PUNCT
fcis-6029	23	1	the	the	DET
fcis-6029	23	2	set	set	NOUN
fcis-6029	23	3	of	of	ADP
fcis-6029	23	4	the	the	DET
fcis-6029	23	5	entire	entire	ADJ
fcis-6029	23	6	task	task	NOUN
fcis-6029	23	7	area	area	NOUN
fcis-6029	23	8	is	be	AUX
fcis-6029	23	9	recorded	record	VERB
fcis-6029	23	10	as	as	ADP
fcis-6029	23	11	1	1	NUM
fcis-6029	23	12	[	[	PUNCT
fcis-6029	23	13	]	]	X
fcis-6029	23	14	k	k	PROPN
fcis-6029	23	15	mt	mt	PROPN
fcis-6029	23	16	t	t	PROPN
fcis-6029	23	17	=	=	PROPN
fcis-6029	23	18	,	,	PUNCT
fcis-6029	23	19	and	and	CCONJ
fcis-6029	23	20	the	the	DET
fcis-6029	23	21	vector	vector	NOUN
fcis-6029	23	22	1	1	NUM
fcis-6029	23	23	[	[	PUNCT
fcis-6029	23	24	]	]	X
fcis-6029	23	25	j	j	PROPN
fcis-6029	24	1	k	k	PROPN
fcis-6029	24	2	k	k	PROPN
fcis-6029	25	1	rp	rp	PROPN
fcis-6029	25	2	p	p	PROPN
fcis-6029	25	3	=	=	PROPN
fcis-6029	25	4	represents	represent	VERB
fcis-6029	25	5	the	the	DET
fcis-6029	25	6	capability	capability	NOUN
fcis-6029	25	7	requirements	requirement	NOUN
fcis-6029	25	8	to	to	PART
fcis-6029	25	9	complete	complete	VERB
fcis-6029	25	10	the	the	DET
fcis-6029	25	11	task	task	NOUN
fcis-6029	25	12	kt	kt	PROPN
fcis-6029	25	13	.	.	PUNCT
fcis-6029	26	1	iigure	iigure	NOUN
fcis-6029	26	2	1	1	NUM
fcis-6029	26	3	establishes	establish	VERB
fcis-6029	26	4	a	a	DET
fcis-6029	26	5	mapping	mapping	NOUN
fcis-6029	26	6	model	model	NOUN
fcis-6029	26	7	between	between	ADP
fcis-6029	26	8	uav	uav	PROPN
fcis-6029	26	9	and	and	CCONJ
fcis-6029	26	10	delivery	delivery	NOUN
fcis-6029	26	11	mission[5	mission[5	PROPN
fcis-6029	26	12	-	-	PUNCT
fcis-6029	26	13	6	6	NUM
fcis-6029	26	14	]	]	PUNCT
fcis-6029	26	15	.	.	PUNCT
fcis-6029	27	1	figure	figure	NOUN
fcis-6029	27	2	1	1	NUM
fcis-6029	27	3	.	.	PUNCT
fcis-6029	28	1	uav	uav	PROPN
fcis-6029	28	2	-	-	PUNCT
fcis-6029	28	3	path	path	NOUN
fcis-6029	28	4	-	-	PUNCT
fcis-6029	28	5	mission	mission	NOUN
fcis-6029	28	6	complex	complex	ADJ
fcis-6029	28	7	mapping	mapping	NOUN
fcis-6029	28	8	relationship	relationship	NOUN
fcis-6029	28	9	according	accord	VERB
fcis-6029	28	10	to	to	ADP
fcis-6029	28	11	the	the	DET
fcis-6029	28	12	characteristics	characteristic	NOUN
fcis-6029	28	13	of	of	ADP
fcis-6029	28	14	multi	multi	ADJ
fcis-6029	28	15	-	-	NOUN
fcis-6029	28	16	task	task	NOUN
fcis-6029	28	17	and	and	CCONJ
fcis-6029	28	18	multialliance	multialliance	NOUN
fcis-6029	28	19	generation	generation	NOUN
fcis-6029	28	20	problems	problem	NOUN
fcis-6029	29	1	,	,	PUNCT
fcis-6029	29	2	the	the	DET
fcis-6029	29	3	uav	uav	PROPN
fcis-6029	29	4	is	be	AUX
fcis-6029	29	5	regarded	regard	VERB
fcis-6029	29	6	as	as	ADP
fcis-6029	29	7	an	an	DET
fcis-6029	29	8	agent	agent	NOUN
fcis-6029	29	9	[	[	X
fcis-6029	29	10	7	7	X
fcis-6029	29	11	]	]	PUNCT
fcis-6029	29	12	summarize	summarize	VERB
fcis-6029	29	13	the	the	DET
fcis-6029	29	14	following	follow	VERB
fcis-6029	29	15	enlightening	enlightening	ADJ
fcis-6029	29	16	rules	rule	NOUN
fcis-6029	29	17	:	:	PUNCT
fcis-6029	29	18	rule	rule	NOUN
fcis-6029	29	19	r1	r1	PROPN
fcis-6029	29	20	:	:	PUNCT
fcis-6029	29	21	maximum	maximum	ADJ
fcis-6029	29	22	task	task	PROPN
fcis-6029	29	23	total	total	NOUN
fcis-6029	29	24	capability	capability	NOUN
fcis-6029	29	25	requirement	requirement	NOUN
fcis-6029	29	26	ratio	ratio	NOUN
fcis-6029	29	27	priority	priority	NOUN
fcis-6029	29	28	principle	principle	NOUN
fcis-6029	29	29	:	:	PUNCT
fcis-6029	29	30	among	among	ADP
fcis-6029	29	31	multiple	multiple	ADJ
fcis-6029	29	32	tasks	task	NOUN
fcis-6029	29	33	,	,	PUNCT
fcis-6029	29	34	the	the	DET
fcis-6029	29	35	ability	ability	NOUN
fcis-6029	29	36	demand	demand	NOUN
fcis-6029	29	37	accounts	account	VERB
fcis-6029	29	38	for	for	ADP
fcis-6029	29	39	the	the	DET
fcis-6029	29	40	largest	large	ADJ
fcis-6029	29	41	proportion	proportion	NOUN
fcis-6029	29	42	of	of	ADP
fcis-6029	29	43	the	the	DET
fcis-6029	29	44	more	more	ADJ
fcis-6029	29	45	priority	priority	NOUN
fcis-6029	29	46	to	to	PART
fcis-6029	29	47	complete	complete	VERB
fcis-6029	29	48	;	;	PUNCT
fcis-6029	29	49	rule	rule	NOUN
fcis-6029	29	50	r2	r2	PROPN
fcis-6029	29	51	:	:	PUNCT
fcis-6029	29	52	the	the	DET
fcis-6029	29	53	sum	sum	NOUN
fcis-6029	29	54	ratio	ratio	NOUN
fcis-6029	29	55	of	of	ADP
fcis-6029	29	56	maximum	maximum	ADJ
fcis-6029	29	57	task	task	NOUN
fcis-6029	29	58	single	single	ADJ
fcis-6029	29	59	capability	capability	NOUN
fcis-6029	29	60	requirement	requirement	NOUN
fcis-6029	29	61	and	and	CCONJ
fcis-6029	29	62	all	all	DET
fcis-6029	29	63	task	task	NOUN
fcis-6029	29	64	single	single	ADJ
fcis-6029	29	65	capability	capability	NOUN
fcis-6029	29	66	requirement	requirement	NOUN
fcis-6029	29	67	priority	priority	NOUN
fcis-6029	29	68	principle	principle	NOUN
fcis-6029	29	69	:	:	PUNCT
fcis-6029	29	70	for	for	SCONJ
fcis-6029	29	71	the	the	DET
fcis-6029	29	72	task	task	NOUN
fcis-6029	29	73	to	to	PART
fcis-6029	29	74	complete	complete	ADJ
fcis-6029	29	75	,	,	PUNCT
fcis-6029	29	76	the	the	PRON
fcis-6029	29	77	greater	great	ADJ
fcis-6029	29	78	the	the	DET
fcis-6029	29	79	proportion	proportion	NOUN
fcis-6029	29	80	of	of	ADP
fcis-6029	29	81	the	the	DET
fcis-6029	29	82	total	total	ADJ
fcis-6029	29	83	capability	capability	NOUN
fcis-6029	29	84	requirement	requirement	NOUN
fcis-6029	29	85	value	value	NOUN
fcis-6029	29	86	of	of	ADP
fcis-6029	29	87	all	all	DET
fcis-6029	29	88	tasks	task	NOUN
fcis-6029	29	89	,	,	PUNCT
fcis-6029	29	90	the	the	DET
fcis-6029	29	91	agent	agent	NOUN
fcis-6029	29	92	with	with	ADP
fcis-6029	29	93	a	a	DET
fcis-6029	29	94	large	large	ADJ
fcis-6029	29	95	capability	capability	NOUN
fcis-6029	29	96	value	value	NOUN
fcis-6029	29	97	will	will	AUX
fcis-6029	29	98	be	be	AUX
fcis-6029	29	99	preferred	prefer	VERB
fcis-6029	29	100	to	to	PART
fcis-6029	29	101	join	join	VERB
fcis-6029	29	102	the	the	DET
fcis-6029	29	103	alliance	alliance	NOUN
fcis-6029	29	104	;	;	PUNCT
fcis-6029	29	105	rule	rule	NOUN
fcis-6029	29	106	r3	r3	PROPN
fcis-6029	29	107	:	:	PUNCT
fcis-6029	29	108	maximum	maximum	ADJ
fcis-6029	29	109	task	task	NOUN
fcis-6029	29	110	sum	sum	NOUN
fcis-6029	29	111	ratio	ratio	NOUN
fcis-6029	29	112	of	of	ADP
fcis-6029	29	113	single	single	ADJ
fcis-6029	29	114	capability	capability	NOUN
fcis-6029	29	115	requirement	requirement	NOUN
fcis-6029	29	116	and	and	CCONJ
fcis-6029	29	117	agent	agent	NOUN
fcis-6029	29	118	individual	individual	ADJ
fcis-6029	29	119	capability	capability	NOUN
fcis-6029	29	120	priority	priority	NOUN
fcis-6029	29	121	principle	principle	NOUN
fcis-6029	29	122	:	:	PUNCT
fcis-6029	29	123	ior	ior	PROPN
fcis-6029	29	124	the	the	DET
fcis-6029	29	125	task	task	NOUN
fcis-6029	29	126	to	to	PART
fcis-6029	29	127	be	be	AUX
fcis-6029	29	128	completed	complete	VERB
fcis-6029	29	129	,	,	PUNCT
fcis-6029	29	130	the	the	PRON
fcis-6029	29	131	greater	great	ADJ
fcis-6029	29	132	the	the	DET
fcis-6029	29	133	proportion	proportion	NOUN
fcis-6029	29	134	of	of	ADP
fcis-6029	29	135	the	the	DET
fcis-6029	29	136	total	total	ADJ
fcis-6029	29	137	capability	capability	NOUN
fcis-6029	29	138	value	value	NOUN
fcis-6029	29	139	of	of	ADP
fcis-6029	29	140	all	all	DET
fcis-6029	29	141	agents	agent	NOUN
fcis-6029	29	142	,	,	PUNCT
fcis-6029	29	143	the	the	DET
fcis-6029	29	144	agent	agent	NOUN
fcis-6029	29	145	with	with	ADP
fcis-6029	29	146	this	this	DET
fcis-6029	29	147	capability	capability	NOUN
fcis-6029	29	148	value	value	NOUN
fcis-6029	29	149	will	will	AUX
fcis-6029	29	150	be	be	AUX
fcis-6029	29	151	preferred	prefer	VERB
fcis-6029	29	152	to	to	PART
fcis-6029	29	153	join	join	VERB
fcis-6029	29	154	the	the	DET
fcis-6029	29	155	alliance	alliance	NOUN
fcis-6029	29	156	;	;	PUNCT
fcis-6029	29	157	rule	rule	NOUN
fcis-6029	29	158	r4	r4	PROPN
fcis-6029	29	159	:	:	PUNCT
fcis-6029	29	160	the	the	DET
fcis-6029	29	161	ratio	ratio	NOUN
fcis-6029	29	162	of	of	ADP
fcis-6029	29	163	the	the	DET
fcis-6029	29	164	maximum	maximum	ADJ
fcis-6029	29	165	single	single	ADJ
fcis-6029	29	166	task	task	NOUN
fcis-6029	29	167	individual	individual	ADJ
fcis-6029	29	168	capability	capability	NOUN
fcis-6029	29	169	to	to	ADP
fcis-6029	29	170	the	the	DET
fcis-6029	29	171	total	total	ADJ
fcis-6029	29	172	capability	capability	NOUN
fcis-6029	29	173	of	of	ADP
fcis-6029	29	174	the	the	DET
fcis-6029	29	175	task	task	NOUN
fcis-6029	29	176	priority	priority	NOUN
fcis-6029	29	177	principle	principle	NOUN
fcis-6029	29	178	:	:	PUNCT
fcis-6029	29	179	for	for	SCONJ
fcis-6029	29	180	the	the	DET
fcis-6029	29	181	task	task	NOUN
fcis-6029	29	182	to	to	PART
fcis-6029	29	183	be	be	AUX
fcis-6029	29	184	completed	complete	VERB
fcis-6029	29	185	,	,	PUNCT
fcis-6029	29	186	the	the	PRON
fcis-6029	29	187	larger	large	ADJ
fcis-6029	29	188	the	the	DET
fcis-6029	29	189	capability	capability	NOUN
fcis-6029	29	190	requirement	requirement	NOUN
fcis-6029	29	191	of	of	ADP
fcis-6029	29	192	the	the	DET
fcis-6029	29	193	task	task	NOUN
fcis-6029	29	194	accounts	account	VERB
fcis-6029	29	195	for	for	ADP
fcis-6029	29	196	the	the	DET
fcis-6029	29	197	total	total	ADJ
fcis-6029	29	198	capability	capability	NOUN
fcis-6029	29	199	and	and	CCONJ
fcis-6029	29	200	proportion	proportion	NOUN
fcis-6029	29	201	of	of	ADP
fcis-6029	29	202	the	the	DET
fcis-6029	29	203	task	task	NOUN
fcis-6029	29	204	,	,	PUNCT
fcis-6029	29	205	the	the	DET
fcis-6029	29	206	agent	agent	NOUN
fcis-6029	29	207	with	with	ADP
fcis-6029	29	208	this	this	DET
fcis-6029	29	209	capability	capability	NOUN
fcis-6029	29	210	value	value	NOUN
fcis-6029	29	211	will	will	AUX
fcis-6029	29	212	be	be	AUX
fcis-6029	29	213	preferred	prefer	VERB
fcis-6029	29	214	to	to	PART
fcis-6029	29	215	join	join	VERB
fcis-6029	29	216	the	the	DET
fcis-6029	29	217	alliance	alliance	NOUN
fcis-6029	29	218	;	;	PUNCT
fcis-6029	30	1	rule	rule	NOUN
fcis-6029	30	2	r5	r5	PROPN
fcis-6029	30	3	:	:	PUNCT
fcis-6029	30	4	maximum	maximum	ADJ
fcis-6029	30	5	completion	completion	NOUN
fcis-6029	30	6	task	task	NOUN
fcis-6029	30	7	expectation	expectation	NOUN
fcis-6029	30	8	priority	priority	NOUN
fcis-6029	30	9	principle	principle	NOUN
fcis-6029	30	10	:	:	PUNCT
fcis-6029	30	11	ior	ior	PROPN
fcis-6029	30	12	the	the	DET
fcis-6029	30	13	task	task	NOUN
fcis-6029	30	14	to	to	PART
fcis-6029	30	15	be	be	AUX
fcis-6029	30	16	completed	complete	VERB
fcis-6029	30	17	,	,	PUNCT
fcis-6029	30	18	the	the	PRON
fcis-6029	30	19	greater	great	ADJ
fcis-6029	30	20	the	the	DET
fcis-6029	30	21	total	total	ADJ
fcis-6029	30	22	capability	capability	NOUN
fcis-6029	30	23	value	value	NOUN
fcis-6029	30	24	of	of	ADP
fcis-6029	30	25	the	the	DET
fcis-6029	30	26	agent	agent	NOUN
fcis-6029	30	27	,	,	PUNCT
fcis-6029	30	28	the	the	DET
fcis-6029	30	29	more	more	ADJ
fcis-6029	30	30	priority	priority	NOUN
fcis-6029	30	31	the	the	DET
fcis-6029	30	32	agent	agent	NOUN
fcis-6029	30	33	is	be	AUX
fcis-6029	30	34	selected	select	VERB
fcis-6029	30	35	to	to	PART
fcis-6029	30	36	join	join	VERB
fcis-6029	30	37	the	the	DET
fcis-6029	30	38	alliance	alliance	NOUN
fcis-6029	30	39	;	;	PUNCT
fcis-6029	30	40	rule	rule	NOUN
fcis-6029	30	41	r6	r6	NOUN
fcis-6029	30	42	:	:	PUNCT
fcis-6029	30	43	minimum	minimum	ADJ
fcis-6029	30	44	agent	agent	NOUN
fcis-6029	30	45	cost	cost	VERB
fcis-6029	30	46	priority	priority	NOUN
fcis-6029	30	47	principle	principle	NOUN
fcis-6029	30	48	:	:	PUNCT
fcis-6029	30	49	ior	ior	NOUN
fcis-6029	30	50	the	the	DET
fcis-6029	30	51	pending	pending	ADJ
fcis-6029	30	52	task	task	NOUN
fcis-6029	30	53	,	,	PUNCT
fcis-6029	30	54	the	the	PRON
fcis-6029	30	55	less	less	ADV
fcis-6029	30	56	expensive	expensive	ADJ
fcis-6029	30	57	the	the	DET
fcis-6029	30	58	agent	agent	NOUN
fcis-6029	30	59	is	be	AUX
fcis-6029	30	60	to	to	PART
fcis-6029	30	61	complete	complete	VERB
fcis-6029	30	62	this	this	DET
fcis-6029	30	63	task	task	NOUN
fcis-6029	30	64	,	,	PUNCT
fcis-6029	30	65	the	the	DET
fcis-6029	30	66	more	more	ADJ
fcis-6029	30	67	priority	priority	NOUN
fcis-6029	30	68	the	the	DET
fcis-6029	30	69	agent	agent	NOUN
fcis-6029	30	70	is	be	AUX
fcis-6029	30	71	selected	select	VERB
fcis-6029	30	72	to	to	PART
fcis-6029	30	73	join	join	VERB
fcis-6029	30	74	the	the	DET
fcis-6029	30	75	alliance	alliance	NOUN
fcis-6029	30	76	.	.	PUNCT
fcis-6029	31	1	combining	combine	VERB
fcis-6029	31	2	the	the	DET
fcis-6029	31	3	enlightening	enlightening	ADJ
fcis-6029	31	4	rules	rule	NOUN
fcis-6029	31	5	r1	r1	PROPN
fcis-6029	31	6	~	~	SYM
fcis-6029	31	7	r6	r6	NOUN
fcis-6029	31	8	proposed	propose	VERB
fcis-6029	31	9	above	above	ADV
fcis-6029	31	10	,	,	PUNCT
fcis-6029	31	11	the	the	DET
fcis-6029	31	12	mathematical	mathematical	ADJ
fcis-6029	31	13	formula	formula	NOUN
fcis-6029	31	14	of	of	ADP
fcis-6029	31	15	the	the	DET
fcis-6029	31	16	rules	rule	NOUN
fcis-6029	31	17	of	of	ADP
fcis-6029	31	18	selecting	select	VERB
fcis-6029	31	19	agents	agent	NOUN
fcis-6029	31	20	to	to	PART
fcis-6029	31	21	join	join	VERB
fcis-6029	31	22	the	the	DET
fcis-6029	31	23	alliance	alliance	NOUN
fcis-6029	31	24	is	be	AUX
fcis-6029	31	25	described	describe	VERB
fcis-6029	31	26	as	as	SCONJ
fcis-6029	31	27	follows	follow	VERB
fcis-6029	31	28	:	:	PUNCT
fcis-6029	32	1	1	1	NUM
fcis-6029	32	2	j	j	NOUN
fcis-6029	32	3	j	j	PROPN
fcis-6029	32	4	k	k	PROPN
fcis-6029	32	5	k	k	PROPN
fcis-6029	32	6	m	m	VERB
fcis-6029	32	7	j	j	PROPN
fcis-6029	32	8	kk	kk	X
fcis-6029	32	9	p	p	PROPN
fcis-6029	32	10	ptt	ptt	PROPN
fcis-6029	32	11	p	p	NOUN
fcis-6029	32	12	=	=	PUNCT
fcis-6029	32	13	=	=	SYM
fcis-6029	32	14			X
fcis-6029	32	15	1	1	NUM
fcis-6029	32	16	j	j	PROPN
fcis-6029	32	17	j	j	PROPN
fcis-6029	32	18	k	k	PROPN
fcis-6029	32	19	k	k	PROPN
fcis-6029	32	20	r	r	X
fcis-6029	32	21	j	j	PROPN
fcis-6029	32	22	kj	kj	PROPN
fcis-6029	32	23	ptt	ptt	PROPN
fcis-6029	32	24	ptt	ptt	PROPN
fcis-6029	32	25	ptt	ptt	NOUN
fcis-6029	32	26	=	=	PUNCT
fcis-6029	32	27	=	=	SYM
fcis-6029	32	28			PROPN
fcis-6029	32	29	m1	m1	NOUN
fcis-6029	32	30	)	)	PUNCT
fcis-6029	32	31	1	1	NUM
fcis-6029	33	1	j	j	PROPN
fcis-6029	33	2	j	j	PROPN
fcis-6029	33	3	k	k	PROPN
fcis-6029	33	4	k	k	PROPN
fcis-6029	34	1	n	n	PROPN
fcis-6029	34	2	j	j	PROPN
fcis-6029	34	3	ii	ii	PROPN
fcis-6029	35	1	p	p	PROPN
fcis-6029	35	2	pta	pta	PROPN
fcis-6029	35	3	b	b	PROPN
fcis-6029	35	4	=	=	SYM
fcis-6029	35	5	=	=	NOUN
fcis-6029	35	6			NUM
fcis-6029	35	7	1	1	NUM
fcis-6029	35	8	j	j	PROPN
fcis-6029	35	9	j	j	PROPN
fcis-6029	35	10	k	k	PROPN
fcis-6029	35	11	k	k	PROPN
fcis-6029	35	12	r	r	X
fcis-6029	35	13	j	j	PROPN
fcis-6029	35	14	kj	kj	PROPN
fcis-6029	35	15	pta	pta	PROPN
fcis-6029	35	16	pta	pta	PROPN
fcis-6029	35	17	pta	pta	NOUN
fcis-6029	35	18	=	=	PUNCT
fcis-6029	35	19	=	=	SYM
fcis-6029	35	20			NUM
fcis-6029	35	21	m2	m2	PROPN
fcis-6029	35	22	)	)	PUNCT
fcis-6029	35	23	1	1	NUM
fcis-6029	35	24	j	j	PROPN
fcis-6029	35	25	j	j	PROPN
fcis-6029	35	26	k	k	PROPN
fcis-6029	35	27	k	k	PROPN
fcis-6029	35	28	r	r	NOUN
fcis-6029	35	29	j	j	PROPN
fcis-6029	35	30	kj	kj	PROPN
fcis-6029	35	31	p	p	PROPN
fcis-6029	35	32	pt	pt	NOUN
fcis-6029	35	33	p	p	NOUN
fcis-6029	35	34	=	=	NOUN
fcis-6029	35	35	=	=	NOUN
fcis-6029	35	36			X
fcis-6029	35	37	1	1	NUM
fcis-6029	35	38	j	j	PROPN
fcis-6029	35	39	j	j	PROPN
fcis-6029	35	40	k	k	PROPN
fcis-6029	35	41	k	k	PROPN
fcis-6029	35	42	r	r	X
fcis-6029	35	43	j	j	PROPN
fcis-6029	35	44	kj	kj	PROPN
fcis-6029	35	45	pt	pt	PROPN
fcis-6029	35	46	pt	pt	INTJ
fcis-6029	35	47	pt	pt	NOUN
fcis-6029	35	48	=	=	SYM
fcis-6029	35	49	=	=	SYM
fcis-6029	35	50			NUM
fcis-6029	35	51	m3	m3	PROPN
fcis-6029	35	52	)	)	PUNCT
fcis-6029	35	53	1	1	NUM
fcis-6029	35	54	1	1	NUM
fcis-6029	35	55	(	(	PUNCT
fcis-6029	35	56	)	)	PUNCT
fcis-6029	36	1	r	r	NOUN
fcis-6029	36	2	m	m	VERB
fcis-6029	36	3	j	j	PROPN
fcis-6029	36	4	j	j	PROPN
fcis-6029	37	1	j	j	PROPN
fcis-6029	37	2	j	j	PROPN
fcis-6029	38	1	i	i	PRON
fcis-6029	38	2	k	k	PROPN
fcis-6029	39	1	k	k	PROPN
fcis-6029	39	2	k	k	PROPN
fcis-6029	40	1	ij	ij	INTJ
fcis-6029	41	1	k	k	PROPN
fcis-6029	41	2	pa	pa	PROPN
fcis-6029	41	3	ptt	ptt	PROPN
fcis-6029	41	4	pta	pta	PROPN
fcis-6029	41	5	pt	pt	PROPN
fcis-6029	41	6	b	b	PROPN
fcis-6029	41	7	=	=	SYM
fcis-6029	41	8	=	=	PUNCT
fcis-6029	42	1	=	=	PUNCT
fcis-6029	43	1	+	+	CCONJ
fcis-6029	43	2	+	+	CCONJ
fcis-6029	43	3			X
fcis-6029	43	4			X
fcis-6029	43	5	m4	m4	PROPN
fcis-6029	43	6	)	)	PUNCT
fcis-6029	44	1	i	i	PRON
fcis-6029	44	2	i	i	PRON
fcis-6029	45	1	i	i	PRON
fcis-6029	45	2	pa	pa	PROPN
fcis-6029	45	3	ps	ps	PROPN
fcis-6029	45	4	cost	cost	NOUN
fcis-6029	45	5	=	=	SYM
fcis-6029	45	6	m5	m5	NOUN
fcis-6029	45	7	)	)	PUNCT
fcis-6029	45	8	where	where	SCONJ
fcis-6029	45	9	,	,	PUNCT
fcis-6029	45	10	[	[	X
fcis-6029	45	11	1	1	NUM
fcis-6029	45	12	,	,	PUNCT
fcis-6029	45	13	]	]	PUNCT
fcis-6029	45	14	i	i	PRON
fcis-6029	45	15	n	n	VERB
fcis-6029	45	16	,	,	PUNCT
fcis-6029	46	1	[	[	X
fcis-6029	46	2	1	1	NUM
fcis-6029	46	3	,	,	PUNCT
fcis-6029	46	4	]	]	PUNCT
fcis-6029	46	5	j	j	PROPN
fcis-6029	46	6	r	r	PROPN
fcis-6029	46	7	,	,	PUNCT
fcis-6029	46	8	[	[	X
fcis-6029	46	9	1	1	NUM
fcis-6029	46	10	,	,	PUNCT
fcis-6029	46	11	]	]	X
fcis-6029	46	12	k	k	X
fcis-6029	47	1	m	m	PROPN
fcis-6029	47	2	,	,	PUNCT
fcis-6029	47	3	j	j	PROPN
fcis-6029	47	4	kp	kp	PROPN
fcis-6029	47	5	represents	represent	VERB
fcis-6029	47	6	the	the	DET
fcis-6029	47	7	ability	ability	NOUN
fcis-6029	47	8	j	j	PROPN
fcis-6029	47	9	requirement	requirement	NOUN
fcis-6029	47	10	of	of	ADP
fcis-6029	47	11	the	the	DET
fcis-6029	47	12	task	task	NOUN
fcis-6029	47	13	k	k	PROPN
fcis-6029	47	14	,	,	PUNCT
fcis-6029	47	15	j	j	PROPN
fcis-6029	47	16	ib	ib	PROPN
fcis-6029	47	17	represents	represent	VERB
fcis-6029	47	18	the	the	DET
fcis-6029	47	19	ability	ability	NOUN
fcis-6029	47	20	j	j	PROPN
fcis-6029	47	21	value	value	NOUN
fcis-6029	47	22	size	size	NOUN
fcis-6029	47	23	of	of	ADP
fcis-6029	47	24	the	the	DET
fcis-6029	47	25	first	first	ADJ
fcis-6029	47	26	agent	agent	NOUN
fcis-6029	47	27	i	i	PRON
fcis-6029	47	28	,	,	PUNCT
fcis-6029	47	29	and	and	CCONJ
fcis-6029	47	30	icost	icost	NOUN
fcis-6029	47	31	represents	represent	VERB
fcis-6029	47	32	the	the	DET
fcis-6029	47	33	cost	cost	NOUN
fcis-6029	47	34	of	of	ADP
fcis-6029	47	35	the	the	DET
fcis-6029	47	36	agent	agent	NOUN
fcis-6029	47	37	i	i	PRON
fcis-6029	47	38	in	in	ADP
fcis-6029	47	39	completing	complete	VERB
fcis-6029	47	40	the	the	DET
fcis-6029	47	41	task	task	NOUN
fcis-6029	47	42	.	.	PUNCT
fcis-6029	48	1	in	in	ADP
fcis-6029	48	2	equation	equation	NOUN
fcis-6029	48	3	m1	m1	PROPN
fcis-6029	48	4	)	)	PUNCT
fcis-6029	48	5	,	,	PUNCT
fcis-6029	48	6	the	the	DET
fcis-6029	48	7	proportion	proportion	NOUN
fcis-6029	48	8	of	of	ADP
fcis-6029	48	9	the	the	DET
fcis-6029	48	10	task	task	NOUN
fcis-6029	48	11	k	k	PROPN
fcis-6029	48	12	capability	capability	NOUN
fcis-6029	48	13	requirement	requirement	NOUN
fcis-6029	48	14	of	of	ADP
fcis-6029	48	15	the	the	DET
fcis-6029	48	16	task	task	PROPN
fcis-6029	48	17	j	j	PROPN
fcis-6029	48	18	in	in	ADP
fcis-6029	48	19	the	the	DET
fcis-6029	48	20	sum	sum	NOUN
fcis-6029	48	21	of	of	ADP
fcis-6029	48	22	all	all	DET
fcis-6029	48	23	the	the	DET
fcis-6029	48	24	task	task	NOUN
fcis-6029	48	25	j	j	PROPN
fcis-6029	48	26	capability	capability	NOUN
fcis-6029	48	27	requirement	requirement	NOUN
fcis-6029	48	28	is	be	AUX
fcis-6029	48	29	expressed	express	VERB
fcis-6029	48	30	j	j	PROPN
fcis-6029	48	31	kptt	kptt	NOUN
fcis-6029	48	32	,	,	PUNCT
fcis-6029	48	33	and	and	CCONJ
fcis-6029	48	34	the	the	DET
fcis-6029	48	35	result	result	NOUN
fcis-6029	48	36	is	be	AUX
fcis-6029	48	37	normalized	normalize	VERB
fcis-6029	48	38	,	,	PUNCT
fcis-6029	48	39	namely	namely	ADV
fcis-6029	48	40	,	,	PUNCT
fcis-6029	48	41	the	the	DET
fcis-6029	48	42	enlightening	enlightening	ADJ
fcis-6029	48	43	rule	rule	NOUN
fcis-6029	48	44	r2	r2	NOUN
fcis-6029	48	45	.	.	PUNCT
fcis-6029	49	1	in	in	ADP
fcis-6029	49	2	equation	equation	NOUN
fcis-6029	49	3	m2	m2	PROPN
fcis-6029	49	4	)	)	PUNCT
fcis-6029	49	5	,	,	PUNCT
fcis-6029	49	6	the	the	DET
fcis-6029	49	7	proportion	proportion	NOUN
fcis-6029	49	8	of	of	ADP
fcis-6029	49	9	the	the	DET
fcis-6029	49	10	capability	capability	NOUN
fcis-6029	49	11	j	j	PROPN
fcis-6029	49	12	requirement	requirement	NOUN
fcis-6029	49	13	of	of	ADP
fcis-6029	49	14	the	the	DET
fcis-6029	49	15	task	task	NOUN
fcis-6029	49	16	k	k	PROPN
fcis-6029	49	17	to	to	ADP
fcis-6029	49	18	the	the	DET
fcis-6029	49	19	total	total	ADJ
fcis-6029	49	20	capability	capability	NOUN
fcis-6029	49	21	j	j	NOUN
fcis-6029	49	22	value	value	NOUN
fcis-6029	49	23	of	of	ADP
fcis-6029	49	24	all	all	DET
fcis-6029	49	25	agents	agent	NOUN
fcis-6029	49	26	is	be	AUX
fcis-6029	49	27	expressed	express	VERB
fcis-6029	49	28	j	j	PROPN
fcis-6029	49	29	kpta	kpta	NOUN
fcis-6029	49	30	,	,	PUNCT
fcis-6029	49	31	and	and	CCONJ
fcis-6029	49	32	the	the	DET
fcis-6029	49	33	result	result	NOUN
fcis-6029	49	34	is	be	AUX
fcis-6029	49	35	normalized	normalize	VERB
fcis-6029	49	36	,	,	PUNCT
fcis-6029	49	37	namely	namely	ADV
fcis-6029	49	38	,	,	PUNCT
fcis-6029	49	39	the	the	DET
fcis-6029	49	40	enlightening	enlightening	ADJ
fcis-6029	49	41	rule	rule	NOUN
fcis-6029	49	42	r3	r3	PROPN
fcis-6029	49	43	.	.	PUNCT
fcis-6029	50	1	equation	equation	NOUN
fcis-6029	50	2	m3	m3	PROPN
fcis-6029	50	3	)	)	PUNCT
fcis-6029	50	4	represents	represent	VERB
fcis-6029	50	5	the	the	DET
fcis-6029	50	6	proportion	proportion	NOUN
fcis-6029	50	7	of	of	ADP
fcis-6029	50	8	the	the	DET
fcis-6029	50	9	capability	capability	NOUN
fcis-6029	50	10	j	j	PROPN
fcis-6029	50	11	requirement	requirement	NOUN
fcis-6029	50	12	of	of	ADP
fcis-6029	50	13	the	the	DET
fcis-6029	50	14	task	task	NOUN
fcis-6029	50	15	k	k	PROPN
fcis-6029	50	16	to	to	ADP
fcis-6029	50	17	the	the	DET
fcis-6029	50	18	respective	respective	ADJ
fcis-6029	50	19	capability	capability	NOUN
fcis-6029	50	20	requirement	requirement	NOUN
fcis-6029	50	21	of	of	ADP
fcis-6029	50	22	the	the	DET
fcis-6029	50	23	task	task	NOUN
fcis-6029	50	24	k	k	PROPN
fcis-6029	50	25	,	,	PUNCT
fcis-6029	50	26	and	and	CCONJ
fcis-6029	50	27	normalizes	normalize	VERB
fcis-6029	50	28	the	the	DET
fcis-6029	50	29	results	result	NOUN
fcis-6029	50	30	,	,	PUNCT
fcis-6029	50	31	namely	namely	ADV
fcis-6029	50	32	,	,	PUNCT
fcis-6029	50	33	the	the	DET
fcis-6029	50	34	enlightening	enlightening	ADJ
fcis-6029	50	35	rule	rule	NOUN
fcis-6029	50	36	r4	r4	NOUN
fcis-6029	50	37	.	.	PUNCT
fcis-6029	51	1	in	in	ADP
fcis-6029	51	2	equation	equation	NOUN
fcis-6029	51	3	m4	m4	PROPN
fcis-6029	51	4	)	)	PUNCT
fcis-6029	51	5	,	,	PUNCT
fcis-6029	51	6	ipa	ipa	PROPN
fcis-6029	51	7	represents	represent	VERB
fcis-6029	51	8	the	the	DET
fcis-6029	51	9	sum	sum	NOUN
fcis-6029	51	10	of	of	ADP
fcis-6029	51	11	the	the	DET
fcis-6029	51	12	agent	agent	NOUN
fcis-6029	51	13	capability	capability	NOUN
fcis-6029	51	14	value	value	NOUN
fcis-6029	51	15	i	i	PRON
fcis-6029	51	16	calculated	calculate	VERB
fcis-6029	51	17	according	accord	VERB
fcis-6029	51	18	to	to	ADP
fcis-6029	51	19	formula	formula	NOUN
fcis-6029	51	20	m1	m1	NOUN
fcis-6029	51	21	)	)	PUNCT
fcis-6029	51	22	,	,	PUNCT
fcis-6029	51	23	formula	formula	NOUN
fcis-6029	51	24	m2	m2	PROPN
fcis-6029	51	25	)	)	PUNCT
fcis-6029	51	26	and	and	CCONJ
fcis-6029	51	27	equation	equation	NOUN
fcis-6029	51	28	m3	m3	PROPN
fcis-6029	51	29	)	)	PUNCT
fcis-6029	51	30	,	,	PUNCT
fcis-6029	51	31	namely	namely	ADV
fcis-6029	51	32	the	the	DET
fcis-6029	51	33	enlightening	enlightening	ADJ
fcis-6029	51	34	rule	rule	NOUN
fcis-6029	51	35	r5	r5	PROPN
fcis-6029	51	36	.	.	PUNCT
fcis-6029	52	1	in	in	ADP
fcis-6029	52	2	equation	equation	NOUN
fcis-6029	52	3	m5	m5	NOUN
fcis-6029	52	4	)	)	PUNCT
fcis-6029	52	5	,	,	PUNCT
fcis-6029	52	6	the	the	DET
fcis-6029	52	7	priority	priority	NOUN
fcis-6029	52	8	of	of	ADP
fcis-6029	52	9	the	the	DET
fcis-6029	52	10	agent	agent	NOUN
fcis-6029	52	11	i	i	PRON
fcis-6029	52	12	is	be	AUX
fcis-6029	52	13	selected	select	VERB
fcis-6029	52	14	is	be	AUX
fcis-6029	52	15	indicated	indicate	VERB
fcis-6029	52	16	ips	ip	NOUN
fcis-6029	52	17	.	.	PUNCT
fcis-6029	53	1	the	the	PRON
fcis-6029	53	2	greater	great	ADJ
fcis-6029	53	3	the	the	DET
fcis-6029	53	4	value	value	NOUN
fcis-6029	53	5	ips	ips	NOUN
fcis-6029	53	6	,	,	PUNCT
fcis-6029	53	7	the	the	DET
fcis-6029	53	8	more	more	ADJ
fcis-6029	53	9	priority	priority	NOUN
fcis-6029	53	10	the	the	DET
fcis-6029	53	11	intelligence	intelligence	NOUN
fcis-6029	53	12	i	i	PRON
fcis-6029	53	13	is	be	AUX
fcis-6029	53	14	to	to	PART
fcis-6029	53	15	join	join	VERB
fcis-6029	53	16	the	the	DET
fcis-6029	53	17	alliance	alliance	NOUN
fcis-6029	53	18	,	,	PUNCT
fcis-6029	53	19	namely	namely	ADV
fcis-6029	53	20	the	the	DET
fcis-6029	53	21	enlightening	enlightening	ADJ
fcis-6029	53	22	rule	rule	NOUN
fcis-6029	53	23	r6	r6	NOUN
fcis-6029	53	24	.	.	PUNCT
fcis-6029	54	1	according	accord	VERB
fcis-6029	54	2	to	to	ADP
fcis-6029	54	3	the	the	DET
fcis-6029	54	4	enlightening	enlightening	ADJ
fcis-6029	54	5	rule	rule	NOUN
fcis-6029	54	6	r1	r1	NOUN
fcis-6029	54	7	proposed	propose	VERB
fcis-6029	54	8	above	above	ADV
fcis-6029	54	9	,	,	PUNCT
fcis-6029	54	10	the	the	DET
fcis-6029	54	11	order	order	NOUN
fcis-6029	54	12	of	of	ADP
fcis-6029	54	13	task	task	NOUN
fcis-6029	54	14	completion	completion	NOUN
fcis-6029	54	15	is	be	AUX
fcis-6029	54	16	calculated	calculate	VERB
fcis-6029	54	17	as	as	SCONJ
fcis-6029	54	18	follows	follow	VERB
fcis-6029	54	19	:	:	PUNCT
fcis-6029	54	20	1	1	NUM
fcis-6029	54	21	r	r	NOUN
fcis-6029	54	22	j	j	PROPN
fcis-6029	54	23	k	k	PROPN
fcis-6029	54	24	kj	kj	PROPN
fcis-6029	54	25	st	st	PROPN
fcis-6029	54	26	ptt	ptt	PROPN
fcis-6029	54	27	=	=	PROPN
fcis-6029	54	28	=	=	PROPN
fcis-6029	54	29			X
fcis-6029	54	30	m6	m6	NUM
fcis-6029	54	31	)	)	PUNCT
fcis-6029	54	32	the	the	DET
fcis-6029	54	33	fast	fast	ADJ
fcis-6029	54	34	configuration	configuration	NOUN
fcis-6029	54	35	algorithm	algorithm	NOUN
fcis-6029	54	36	of	of	ADP
fcis-6029	54	37	multi	multi	ADJ
fcis-6029	54	38	-	-	NOUN
fcis-6029	54	39	task	task	NOUN
fcis-6029	54	40	and	and	CCONJ
fcis-6029	54	41	multialliance	multialliance	NOUN
fcis-6029	54	42	problems	problem	NOUN
fcis-6029	54	43	adopts	adopt	VERB
fcis-6029	54	44	the	the	DET
fcis-6029	54	45	method	method	NOUN
fcis-6029	54	46	of	of	ADP
fcis-6029	54	47	dynamic	dynamic	ADJ
fcis-6029	54	48	comprehensive	comprehensive	ADJ
fcis-6029	54	49	ranking	ranking	NOUN
fcis-6029	54	50	,	,	PUNCT
fcis-6029	54	51	which	which	PRON
fcis-6029	54	52	first	first	ADV
fcis-6029	54	53	judges	judge	VERB
fcis-6029	54	54	the	the	DET
fcis-6029	54	55	order	order	NOUN
fcis-6029	54	56	of	of	ADP
fcis-6029	54	57	completing	complete	VERB
fcis-6029	54	58	the	the	DET
fcis-6029	54	59	task	task	NOUN
fcis-6029	54	60	,	,	PUNCT
fcis-6029	54	61	and	and	CCONJ
fcis-6029	54	62	then	then	ADV
fcis-6029	54	63	comprehensively	comprehensively	ADV
fcis-6029	54	64	sorts	sort	VERB
fcis-6029	54	65	the	the	DET
fcis-6029	54	66	agent	agent	NOUN
fcis-6029	54	67	according	accord	VERB
fcis-6029	54	68	to	to	ADP
fcis-6029	54	69	the	the	DET
fcis-6029	54	70	inspiration	inspiration	NOUN
fcis-6029	54	71	rules	rule	NOUN
fcis-6029	54	72	,	,	PUNCT
fcis-6029	54	73	and	and	CCONJ
fcis-6029	54	74	only	only	ADV
fcis-6029	54	75	selects	select	VERB
fcis-6029	54	76	the	the	DET
fcis-6029	54	77	current	current	ADJ
fcis-6029	54	78	most	most	ADV
fcis-6029	54	79	suitable	suitable	ADJ
fcis-6029	54	80	agent	agent	NOUN
fcis-6029	54	81	to	to	PART
fcis-6029	54	82	join	join	VERB
fcis-6029	54	83	the	the	DET
fcis-6029	54	84	alliance	alliance	NOUN
fcis-6029	54	85	each	each	DET
fcis-6029	54	86	time	time	NOUN
fcis-6029	54	87	[	[	X
fcis-6029	54	88	8	8	NUM
fcis-6029	54	89	]	]	PUNCT
fcis-6029	54	90	.	.	PUNCT
fcis-6029	55	1	task	task	NOUN
fcis-6029	55	2	capabilities	capability	NOUN
fcis-6029	55	3	need	need	VERB
fcis-6029	55	4	to	to	PART
fcis-6029	55	5	be	be	AUX
fcis-6029	55	6	dynamically	dynamically	ADV
fcis-6029	55	7	updated	update	VERB
fcis-6029	55	8	by	by	ADP
fcis-6029	55	9	constraints	constraint	NOUN
fcis-6029	55	10	,	,	PUNCT
fcis-6029	55	11	and	and	CCONJ
fcis-6029	55	12	we	we	PRON
fcis-6029	55	13	will	will	AUX
fcis-6029	55	14	continue	continue	VERB
fcis-6029	55	15	to	to	PART
fcis-6029	55	16	use	use	VERB
fcis-6029	55	17	inspired	inspire	VERB
fcis-6029	55	18	rules	rule	NOUN
fcis-6029	55	19	to	to	PART
fcis-6029	55	20	select	select	VERB
fcis-6029	55	21	the	the	DET
fcis-6029	55	22	next	next	ADJ
fcis-6029	55	23	agent	agent	NOUN
fcis-6029	55	24	to	to	PART
fcis-6029	55	25	join	join	VERB
fcis-6029	55	26	the	the	DET
fcis-6029	55	27	alliance	alliance	NOUN
fcis-6029	55	28	until	until	SCONJ
fcis-6029	55	29	all	all	DET
fcis-6029	55	30	the	the	DET
fcis-6029	55	31	capability	capability	NOUN
fcis-6029	55	32	requirements	requirement	NOUN
fcis-6029	55	33	of	of	ADP
fcis-6029	55	34	the	the	DET
fcis-6029	55	35	current	current	ADJ
fcis-6029	55	36	task	task	NOUN
fcis-6029	55	37	are	be	AUX
fcis-6029	55	38	met	meet	VERB
fcis-6029	55	39	.	.	PUNCT
fcis-6029	56	1	continue	continue	VERB
fcis-6029	56	2	with	with	ADP
fcis-6029	56	3	the	the	DET
fcis-6029	56	4	next	next	ADJ
fcis-6029	56	5	task	task	NOUN
fcis-6029	56	6	and	and	CCONJ
fcis-6029	56	7	repeat	repeat	VERB
fcis-6029	56	8	the	the	DET
fcis-6029	56	9	above	above	ADJ
fcis-6029	56	10	process	process	NOUN
fcis-6029	56	11	with	with	ADP
fcis-6029	56	12	the	the	DET
fcis-6029	56	13	following	follow	VERB
fcis-6029	56	14	implementation	implementation	NOUN
fcis-6029	56	15	steps	step	NOUN
fcis-6029	56	16	:	:	PUNCT
fcis-6029	56	17	step	step	NOUN
fcis-6029	56	18	1	1	NUM
fcis-6029	56	19	:	:	PUNCT
fcis-6029	56	20	calculate	calculate	VERB
fcis-6029	56	21	the	the	DET
fcis-6029	56	22	order	order	NOUN
fcis-6029	56	23	of	of	ADP
fcis-6029	56	24	task	task	NOUN
fcis-6029	56	25	completion	completion	NOUN
fcis-6029	56	26	,	,	PUNCT
fcis-6029	56	27	such	such	ADJ
fcis-6029	56	28	as	as	ADP
fcis-6029	56	29	equation	equation	NOUN
fcis-6029	56	30	m6	m6	NOUN
fcis-6029	56	31	)	)	PUNCT
fcis-6029	56	32	,	,	PUNCT
fcis-6029	56	33	calculate	calculate	VERB
fcis-6029	56	34	the	the	DET
fcis-6029	56	35	corresponding	corresponding	ADJ
fcis-6029	56	36	value	value	NOUN
fcis-6029	56	37	of	of	ADP
fcis-6029	56	38	each	each	DET
fcis-6029	56	39	task	task	NOUN
fcis-6029	56	40	,	,	PUNCT
fcis-6029	56	41	and	and	CCONJ
fcis-6029	56	42	sorted	sort	VERB
fcis-6029	56	43	from	from	ADP
fcis-6029	56	44	large	large	ADJ
fcis-6029	56	45	to	to	ADP
fcis-6029	56	46	small	small	ADJ
fcis-6029	56	47	,	,	PUNCT
fcis-6029	56	48	that	that	ADV
fcis-6029	56	49	is	is	ADV
fcis-6029	56	50	,	,	PUNCT
fcis-6029	56	51	as	as	ADP
fcis-6029	56	52	the	the	DET
fcis-6029	56	53	order	order	NOUN
fcis-6029	56	54	of	of	ADP
fcis-6029	56	55	task	task	NOUN
fcis-6029	56	56	completionorder	completionorder	NOUN
fcis-6029	56	57	.	.	PUNCT
fcis-6029	57	1	step	step	NOUN
fcis-6029	57	2	2	2	NUM
fcis-6029	57	3	:	:	PUNCT
fcis-6029	57	4	1ind	1ind	NUM
fcis-6029	57	5	=	=	NOUN
fcis-6029	57	6	.build	.build	NOUN
fcis-6029	57	7	the	the	DET
fcis-6029	57	8	alliance	alliance	NOUN
fcis-6029	57	9	from	from	ADP
fcis-6029	57	10	the	the	DET
fcis-6029	57	11	first	first	ADJ
fcis-6029	57	12	task	task	NOUN
fcis-6029	57	13	;	;	PUNCT
fcis-6029	57	14	step	step	NOUN
fcis-6029	57	15	3	3	NUM
fcis-6029	57	16	:	:	PUNCT
fcis-6029	57	17	calculate	calculate	VERB
fcis-6029	57	18	the	the	DET
fcis-6029	57	19	priority	priority	NOUN
fcis-6029	57	20	of	of	ADP
fcis-6029	57	21	the	the	DET
fcis-6029	57	22	agent	agent	NOUN
fcis-6029	57	23	being	be	AUX
fcis-6029	57	24	selected	select	VERB
fcis-6029	57	25	according	accord	VERB
fcis-6029	57	26	to	to	ADP
fcis-6029	57	27	the	the	DET
fcis-6029	57	28	capability	capability	NOUN
fcis-6029	57	29	requirements	requirement	NOUN
fcis-6029	57	30	of	of	ADP
fcis-6029	57	31	the	the	DET
fcis-6029	57	32	task	task	NOUN
fcis-6029	57	33	,	,	PUNCT
fcis-6029	57	34	and	and	CCONJ
fcis-6029	57	35	equation	equation	NOUN
fcis-6029	57	36	m1	m1	NOUN
fcis-6029	57	37	)	)	PUNCT
fcis-6029	58	1	~	~	PUNCT
fcis-6029	58	2	equation	equation	NOUN
fcis-6029	58	3	m5	m5	NOUN
fcis-6029	58	4	)	)	PUNCT
fcis-6029	58	5	.	.	PUNCT
fcis-6029	59	1	select	select	VERB
fcis-6029	59	2	the	the	DET
fcis-6029	59	3	most	most	ADV
fcis-6029	59	4	preferred	preferred	ADJ
fcis-6029	59	5	agent	agent	NOUN
fcis-6029	59	6	to	to	PART
fcis-6029	59	7	join	join	VERB
fcis-6029	59	8	the	the	DET
fcis-6029	59	9	alliance	alliance	NOUN
fcis-6029	59	10	corresponding	correspond	VERB
fcis-6029	59	11	to	to	ADP
fcis-6029	59	12	the	the	DET
fcis-6029	59	13	task	task	NOUN
fcis-6029	59	14	;	;	PUNCT
fcis-6029	59	15	step	step	NOUN
fcis-6029	59	16	4	4	NUM
fcis-6029	59	17	:	:	PUNCT
fcis-6029	59	18	update	update	VERB
fcis-6029	59	19	the	the	DET
fcis-6029	59	20	remaining	remain	VERB
fcis-6029	59	21	task	task	NOUN
fcis-6029	59	22	capability	capability	NOUN
fcis-6029	59	23	requirement	requirement	NOUN
fcis-6029	59	24	value	value	NOUN
fcis-6029	59	25	,	,	PUNCT
fcis-6029	59	26	and	and	CCONJ
fcis-6029	59	27	the	the	DET
fcis-6029	59	28	remaining	remain	VERB
fcis-6029	59	29	agent	agent	NOUN
fcis-6029	59	30	capability	capability	NOUN
fcis-6029	59	31	value	value	NOUN
fcis-6029	59	32	;	;	PUNCT
fcis-6029	59	33	step	step	NOUN
fcis-6029	59	34	5	5	NUM
fcis-6029	59	35	:	:	PUNCT
fcis-6029	59	36	determine	determine	VERB
fcis-6029	59	37	whether	whether	SCONJ
fcis-6029	59	38	the	the	DET
fcis-6029	59	39	generated	generate	VERB
fcis-6029	59	40	alliance	alliance	NOUN
fcis-6029	59	41	meets	meet	VERB
fcis-6029	59	42	the	the	DET
fcis-6029	59	43	capability	capability	NOUN
fcis-6029	59	44	requirements	requirement	NOUN
fcis-6029	59	45	to	to	PART
fcis-6029	59	46	complete	complete	VERB
fcis-6029	59	47	the	the	DET
fcis-6029	59	48	task	task	NOUN
fcis-6029	59	49	(	(	PUNCT
fcis-6029	59	50	)	)	PUNCT
fcis-6029	59	51	order	order	NOUN
fcis-6029	59	52	ind	ind	NOUN
fcis-6029	59	53	.	.	PUNCT
fcis-6029	60	1	if	if	SCONJ
fcis-6029	60	2	satisfied	satisfied	ADJ
fcis-6029	60	3	1ind	1ind	NUM
fcis-6029	60	4	ind=	ind=	PROPN
fcis-6029	60	5	+	+	CCONJ
fcis-6029	60	6	,	,	PUNCT
fcis-6029	60	7	then	then	ADV
fcis-6029	60	8	go	go	VERB
fcis-6029	60	9	to	to	PART
fcis-6029	60	10	step	step	VERB
fcis-6029	60	11	6	6	NUM
fcis-6029	60	12	;	;	PUNCT
fcis-6029	60	13	otherwise	otherwise	ADV
fcis-6029	60	14	,	,	PUNCT
fcis-6029	60	15	go	go	VERB
fcis-6029	60	16	to	to	PART
fcis-6029	60	17	step	step	VERB
fcis-6029	60	18	3	3	NUM
fcis-6029	60	19	;	;	PUNCT
fcis-6029	60	20	step	step	NOUN
fcis-6029	60	21	6	6	NUM
fcis-6029	60	22	:	:	PUNCT
fcis-6029	60	23	determine	determine	VERB
fcis-6029	60	24	whether	whether	SCONJ
fcis-6029	60	25	the	the	DET
fcis-6029	60	26	tasks	task	NOUN
fcis-6029	60	27	have	have	AUX
fcis-6029	60	28	all	all	PRON
fcis-6029	60	29	been	be	AUX
fcis-6029	60	30	completed	complete	VERB
fcis-6029	60	31	,	,	PUNCT
fcis-6029	60	32	or	or	CCONJ
fcis-6029	60	33	whether	whether	SCONJ
fcis-6029	60	34	the	the	DET
fcis-6029	60	35	agent	agent	NOUN
fcis-6029	60	36	has	have	AUX
fcis-6029	60	37	all	all	ADV
fcis-6029	60	38	been	be	AUX
fcis-6029	60	39	assigned	assign	VERB
fcis-6029	60	40	to	to	ADP
fcis-6029	60	41	the	the	DET
fcis-6029	60	42	corresponding	corresponding	ADJ
fcis-6029	60	43	alliance	alliance	NOUN
fcis-6029	60	44	,	,	PUNCT
fcis-6029	60	45	and	and	CCONJ
fcis-6029	60	46	if	if	SCONJ
fcis-6029	60	47	so	so	ADV
fcis-6029	60	48	,	,	PUNCT
fcis-6029	60	49	then	then	ADV
fcis-6029	60	50	stop	stop	VERB
fcis-6029	60	51	;	;	PUNCT
fcis-6029	60	52	otherwise	otherwise	ADV
fcis-6029	60	53	,	,	PUNCT
fcis-6029	60	54	go	go	VERB
fcis-6029	60	55	to	to	PART
fcis-6029	60	56	step	step	VERB
fcis-6029	60	57	3	3	NUM
fcis-6029	60	58	.	.	PUNCT
fcis-6029	61	1	j	j	PROPN
fcis-6029	61	2	kpt	kpt	PROPN
fcis-6029	61	3	84	84	NUM
fcis-6029	61	4	4	4	NUM
fcis-6029	61	5	.	.	PUNCT
fcis-6029	61	6	application	application	NOUN
fcis-6029	61	7	instances	instance	NOUN
fcis-6029	61	8	4.1	4.1	NUM
fcis-6029	61	9	.	.	PUNCT
fcis-6029	62	1	establishment	establishment	NOUN
fcis-6029	62	2	of	of	ADP
fcis-6029	62	3	the	the	DET
fcis-6029	62	4	test	test	NOUN
fcis-6029	62	5	and	and	CCONJ
fcis-6029	62	6	simulation	simulation	NOUN
fcis-6029	62	7	environment	environment	NOUN
fcis-6029	62	8	this	this	DET
fcis-6029	62	9	experiment	experiment	NOUN
fcis-6029	62	10	is	be	AUX
fcis-6029	62	11	set	set	VERB
fcis-6029	62	12	as	as	ADP
fcis-6029	62	13	a	a	DET
fcis-6029	62	14	two	two	NUM
fcis-6029	62	15	-	-	PUNCT
fcis-6029	62	16	dimensional	dimensional	ADJ
fcis-6029	62	17	experimental	experimental	ADJ
fcis-6029	62	18	scene	scene	NOUN
fcis-6029	62	19	map	map	NOUN
fcis-6029	62	20	,	,	PUNCT
fcis-6029	62	21	with	with	ADP
fcis-6029	62	22	m	m	PROPN
fcis-6029	62	23	mission	mission	NOUN
fcis-6029	62	24	target	target	NOUN
fcis-6029	62	25	points	point	NOUN
fcis-6029	62	26	distributed	distribute	VERB
fcis-6029	62	27	in	in	ADP
fcis-6029	62	28	the	the	DET
fcis-6029	62	29	task	task	NOUN
fcis-6029	62	30	area	area	NOUN
fcis-6029	62	31	,	,	PUNCT
fcis-6029	62	32	and	and	CCONJ
fcis-6029	62	33	n	n	DET
fcis-6029	62	34	drones	drone	NOUN
fcis-6029	62	35	waiting	wait	VERB
fcis-6029	62	36	for	for	ADP
fcis-6029	62	37	task	task	NOUN
fcis-6029	62	38	assignment	assignment	NOUN
fcis-6029	62	39	.	.	PUNCT
fcis-6029	63	1	the	the	DET
fcis-6029	63	2	resource	resource	NOUN
fcis-6029	63	3	required	require	VERB
fcis-6029	63	4	for	for	ADP
fcis-6029	63	5	each	each	DET
fcis-6029	63	6	mission	mission	NOUN
fcis-6029	63	7	target	target	NOUN
fcis-6029	63	8	point	point	NOUN
fcis-6029	63	9	are	be	AUX
fcis-6029	63	10	represented	represent	VERB
fcis-6029	63	11	as	as	ADP
fcis-6029	63	12	d	d	PROPN
fcis-6029	63	13	,	,	PUNCT
fcis-6029	63	14	and	and	CCONJ
fcis-6029	63	15	the	the	DET
fcis-6029	63	16	mission	mission	NOUN
fcis-6029	63	17	resource	resource	NOUN
fcis-6029	63	18	owned	own	VERB
fcis-6029	63	19	by	by	ADP
fcis-6029	63	20	each	each	DET
fcis-6029	63	21	uav	uav	PROPN
fcis-6029	63	22	is	be	AUX
fcis-6029	63	23	represented	represent	VERB
fcis-6029	63	24	as	as	ADP
fcis-6029	63	25	uav	uav	PROPN
fcis-6029	63	26	d.	d.	PROPN
fcis-6029	63	27	during	during	ADP
fcis-6029	63	28	the	the	DET
fcis-6029	63	29	simulation	simulation	NOUN
fcis-6029	63	30	experiments	experiment	NOUN
fcis-6029	63	31	,	,	PUNCT
fcis-6029	63	32	the	the	DET
fcis-6029	63	33	coordinates	coordinate	NOUN
fcis-6029	63	34	of	of	ADP
fcis-6029	63	35	the	the	DET
fcis-6029	63	36	task	task	NOUN
fcis-6029	63	37	target	target	NOUN
fcis-6029	63	38	points	point	NOUN
fcis-6029	63	39	and	and	CCONJ
fcis-6029	63	40	the	the	DET
fcis-6029	63	41	required	require	VERB
fcis-6029	63	42	resources	resource	NOUN
fcis-6029	63	43	were	be	AUX
fcis-6029	63	44	randomly	randomly	ADV
fcis-6029	63	45	generated	generate	VERB
fcis-6029	63	46	,	,	PUNCT
fcis-6029	63	47	assuming	assume	VERB
fcis-6029	63	48	that	that	SCONJ
fcis-6029	63	49	the	the	DET
fcis-6029	63	50	uav	uav	PROPN
fcis-6029	63	51	has	have	VERB
fcis-6029	63	52	the	the	DET
fcis-6029	63	53	same	same	ADJ
fcis-6029	63	54	starting	starting	NOUN
fcis-6029	63	55	coordinates	coordinate	NOUN
fcis-6029	63	56	.	.	PUNCT
fcis-6029	64	1	4.2	4.2	NUM
fcis-6029	64	2	.	.	PUNCT
fcis-6029	64	3	establishment	establishment	NOUN
fcis-6029	64	4	of	of	ADP
fcis-6029	64	5	the	the	DET
fcis-6029	64	6	test	test	NOUN
fcis-6029	64	7	and	and	CCONJ
fcis-6029	64	8	simulation	simulation	NOUN
fcis-6029	64	9	environment	environment	NOUN
fcis-6029	64	10	in	in	ADP
fcis-6029	64	11	x	x	PROPN
fcis-6029	64	12	,	,	PUNCT
fcis-6029	64	13	x	x	X
fcis-6029	64	14	,	,	PUNCT
fcis-6029	64	15	xx	xx	NUM
fcis-6029	64	16	division	division	NOUN
fcis-6029	64	17	xx	xx	NUM
fcis-6029	64	18	regiment	regiment	NOUN
fcis-6029	64	19	organized	organize	VERB
fcis-6029	64	20	a	a	DET
fcis-6029	64	21	batch	batch	NOUN
fcis-6029	64	22	of	of	ADP
fcis-6029	64	23	materials	material	NOUN
fcis-6029	64	24	from	from	ADP
fcis-6029	64	25	ground	ground	NOUN
fcis-6029	64	26	a	a	PRON
fcis-6029	64	27	to	to	ADP
fcis-6029	64	28	ground	ground	NOUN
fcis-6029	64	29	b.	b.	PROPN
fcis-6029	65	1	if	if	SCONJ
fcis-6029	65	2	there	there	PRON
fcis-6029	65	3	are	be	VERB
fcis-6029	65	4	55	55	NUM
fcis-6029	65	5	delivery	delivery	NOUN
fcis-6029	65	6	mission	mission	NOUN
fcis-6029	65	7	points	point	VERB
fcis-6029	65	8	in	in	ADP
fcis-6029	65	9	ground	ground	NOUN
fcis-6029	65	10	b	b	PROPN
fcis-6029	65	11	,	,	PUNCT
fcis-6029	65	12	it	it	PRON
fcis-6029	65	13	plans	plan	VERB
fcis-6029	65	14	to	to	PART
fcis-6029	65	15	arrange	arrange	VERB
fcis-6029	65	16	4	4	NUM
fcis-6029	65	17	drones	drone	NOUN
fcis-6029	65	18	to	to	PART
fcis-6029	65	19	carry	carry	VERB
fcis-6029	65	20	out	out	ADP
fcis-6029	65	21	joint	joint	ADJ
fcis-6029	65	22	delivery	delivery	NOUN
fcis-6029	65	23	tasks	task	NOUN
fcis-6029	65	24	.	.	PUNCT
fcis-6029	66	1	iirst	iirst	PROPN
fcis-6029	66	2	,	,	PUNCT
fcis-6029	66	3	as	as	SCONJ
fcis-6029	66	4	shown	show	VERB
fcis-6029	66	5	in	in	ADP
fcis-6029	66	6	iigure	iigure	NOUN
fcis-6029	66	7	2	2	NUM
fcis-6029	66	8	,	,	PUNCT
fcis-6029	66	9	55	55	NUM
fcis-6029	66	10	task	task	NOUN
fcis-6029	66	11	target	target	NOUN
fcis-6029	66	12	points	point	NOUN
fcis-6029	66	13	were	be	AUX
fcis-6029	66	14	randomly	randomly	ADV
fcis-6029	66	15	distributed	distribute	VERB
fcis-6029	66	16	on	on	ADP
fcis-6029	66	17	the	the	DET
fcis-6029	66	18	map	map	NOUN
fcis-6029	66	19	,	,	PUNCT
fcis-6029	66	20	and	and	CCONJ
fcis-6029	66	21	the	the	DET
fcis-6029	66	22	tasks	task	NOUN
fcis-6029	66	23	were	be	AUX
fcis-6029	66	24	divided	divide	VERB
fcis-6029	66	25	into	into	ADP
fcis-6029	66	26	four	four	NUM
fcis-6029	66	27	sub	sub	NOUN
fcis-6029	66	28	-	-	NOUN
fcis-6029	66	29	tasks	task	NOUN
fcis-6029	66	30	through	through	ADP
fcis-6029	66	31	the	the	DET
fcis-6029	66	32	inspired	inspire	VERB
fcis-6029	66	33	rules	rule	NOUN
fcis-6029	66	34	of	of	ADP
fcis-6029	66	35	multi	multi	ADJ
fcis-6029	66	36	-	-	NOUN
fcis-6029	66	37	alliance	alliance	NOUN
fcis-6029	66	38	technology	technology	NOUN
fcis-6029	66	39	,	,	PUNCT
fcis-6029	66	40	and	and	CCONJ
fcis-6029	66	41	the	the	DET
fcis-6029	66	42	path	path	NOUN
fcis-6029	66	43	planning	planning	NOUN
fcis-6029	66	44	within	within	ADP
fcis-6029	66	45	the	the	DET
fcis-6029	66	46	subtasks	subtask	NOUN
fcis-6029	66	47	was	be	AUX
fcis-6029	66	48	conducted	conduct	VERB
fcis-6029	66	49	to	to	PART
fcis-6029	66	50	complete	complete	VERB
fcis-6029	66	51	the	the	DET
fcis-6029	66	52	allocation	allocation	NOUN
fcis-6029	66	53	of	of	ADP
fcis-6029	66	54	the	the	DET
fcis-6029	66	55	subtasks	subtask	NOUN
fcis-6029	66	56	.	.	PUNCT
fcis-6029	67	1	the	the	DET
fcis-6029	67	2	allocation	allocation	NOUN
fcis-6029	67	3	results	result	NOUN
fcis-6029	67	4	are	be	AUX
fcis-6029	67	5	shown	show	VERB
fcis-6029	67	6	in	in	ADP
fcis-6029	67	7	iigure	iigure	NOUN
fcis-6029	67	8	3	3	NUM
fcis-6029	67	9	.	.	PUNCT
fcis-6029	67	10	figure	figure	NOUN
fcis-6029	67	11	2	2	NUM
fcis-6029	67	12	.	.	PUNCT
fcis-6029	67	13	distribution	distribution	NOUN
fcis-6029	67	14	diagram	diagram	NOUN
fcis-6029	67	15	of	of	ADP
fcis-6029	67	16	the	the	DET
fcis-6029	67	17	delivery	delivery	NOUN
fcis-6029	67	18	task	task	PROPN
fcis-6029	67	19	points	point	NOUN
fcis-6029	67	20	figure	figure	NOUN
fcis-6029	67	21	3	3	NUM
fcis-6029	67	22	.	.	PUNCT
fcis-6029	67	23	projection	projection	NOUN
fcis-6029	67	24	task	task	PROPN
fcis-6029	67	25	assignment	assignment	NOUN
fcis-6029	67	26	map	map	NOUN
fcis-6029	67	27	as	as	SCONJ
fcis-6029	67	28	can	can	AUX
fcis-6029	67	29	be	be	AUX
fcis-6029	67	30	seen	see	VERB
fcis-6029	67	31	from	from	ADP
fcis-6029	67	32	the	the	DET
fcis-6029	67	33	figure	figure	NOUN
fcis-6029	67	34	above	above	ADV
fcis-6029	67	35	,	,	PUNCT
fcis-6029	67	36	according	accord	VERB
fcis-6029	67	37	to	to	ADP
fcis-6029	67	38	the	the	DET
fcis-6029	67	39	uav	uav	PROPN
fcis-6029	67	40	mobility	mobility	NOUN
fcis-6029	67	41	,	,	PUNCT
fcis-6029	67	42	transportation	transportation	NOUN
fcis-6029	67	43	capacity	capacity	NOUN
fcis-6029	67	44	,	,	PUNCT
fcis-6029	67	45	endurance	endurance	NOUN
fcis-6029	67	46	using	use	VERB
fcis-6029	67	47	rules	rule	NOUN
fcis-6029	67	48	for	for	ADP
fcis-6029	67	49	dynamic	dynamic	ADJ
fcis-6029	67	50	sorting	sorting	NOUN
fcis-6029	67	51	,	,	PUNCT
fcis-6029	67	52	when	when	SCONJ
fcis-6029	67	53	delivery	delivery	NOUN
fcis-6029	67	54	task	task	NOUN
fcis-6029	67	55	more	more	ADV
fcis-6029	67	56	,	,	PUNCT
fcis-6029	67	57	also	also	ADV
fcis-6029	67	58	need	need	VERB
fcis-6029	67	59	to	to	PART
fcis-6029	67	60	consider	consider	VERB
fcis-6029	67	61	delivery	delivery	NOUN
fcis-6029	67	62	mission	mission	NOUN
fcis-6029	67	63	importance	importance	NOUN
fcis-6029	67	64	,	,	PUNCT
fcis-6029	67	65	time	time	NOUN
fcis-6029	67	66	node	node	NOUN
fcis-6029	67	67	requirements	requirement	NOUN
fcis-6029	67	68	,	,	PUNCT
fcis-6029	67	69	path	path	NOUN
fcis-6029	67	70	length	length	NOUN
fcis-6029	67	71	,	,	PUNCT
fcis-6029	67	72	eventually	eventually	ADV
fcis-6029	67	73	get	get	VERB
fcis-6029	67	74	more	more	ADJ
fcis-6029	67	75	drone	drone	NOUN
fcis-6029	67	76	delivery	delivery	NOUN
fcis-6029	67	77	mission	mission	NOUN
fcis-6029	67	78	set	set	NOUN
fcis-6029	67	79	,	,	PUNCT
fcis-6029	67	80	the	the	DET
fcis-6029	67	81	delivery	delivery	NOUN
fcis-6029	67	82	mission	mission	NOUN
fcis-6029	67	83	assignment	assignment	NOUN
fcis-6029	67	84	results	result	NOUN
fcis-6029	67	85	can	can	AUX
fcis-6029	67	86	ensure	ensure	VERB
fcis-6029	67	87	that	that	SCONJ
fcis-6029	67	88	the	the	DET
fcis-6029	67	89	task	task	NOUN
fcis-6029	67	90	effectively	effectively	ADV
fcis-6029	67	91	,	,	PUNCT
fcis-6029	67	92	under	under	ADP
fcis-6029	67	93	the	the	DET
fcis-6029	67	94	premise	premise	NOUN
fcis-6029	67	95	of	of	ADP
fcis-6029	67	96	optimal	optimal	ADJ
fcis-6029	67	97	allocation	allocation	NOUN
fcis-6029	67	98	of	of	ADP
fcis-6029	67	99	resources	resource	NOUN
fcis-6029	67	100	,	,	PUNCT
fcis-6029	67	101	can	can	AUX
fcis-6029	67	102	effectively	effectively	ADV
fcis-6029	67	103	save	save	VERB
fcis-6029	67	104	time	time	NOUN
fcis-6029	67	105	cost	cost	NOUN
fcis-6029	67	106	,	,	PUNCT
fcis-6029	67	107	make	make	VERB
fcis-6029	67	108	efficient	efficient	ADJ
fcis-6029	67	109	and	and	CCONJ
fcis-6029	67	110	flexible	flexible	ADJ
fcis-6029	67	111	delivery	delivery	NOUN
fcis-6029	67	112	on	on	ADP
fcis-6029	67	113	the	the	DET
fcis-6029	67	114	battlefield	battlefield	NOUN
fcis-6029	67	115	[	[	X
fcis-6029	67	116	9	9	NUM
fcis-6029	67	117	]	]	SYM
fcis-6029	67	118	.	.	PUNCT
fcis-6029	68	1	5	5	X
fcis-6029	68	2	.	.	X
fcis-6029	68	3	conclusion	conclusion	NOUN
fcis-6029	68	4	with	with	ADP
fcis-6029	68	5	the	the	DET
fcis-6029	68	6	extensive	extensive	ADJ
fcis-6029	68	7	and	and	CCONJ
fcis-6029	68	8	in	in	ADP
fcis-6029	68	9	-	-	PUNCT
fcis-6029	68	10	depth	depth	NOUN
fcis-6029	68	11	application	application	NOUN
fcis-6029	68	12	of	of	ADP
fcis-6029	68	13	artificial	artificial	ADJ
fcis-6029	68	14	intelligence	intelligence	NOUN
fcis-6029	68	15	in	in	ADP
fcis-6029	68	16	military	military	ADJ
fcis-6029	68	17	field	field	NOUN
fcis-6029	68	18	,	,	PUNCT
fcis-6029	68	19	intelligent	intelligent	ADJ
fcis-6029	68	20	,	,	PUNCT
fcis-6029	68	21	unmanned	unmanned	ADJ
fcis-6029	68	22	combat	combat	NOUN
fcis-6029	68	23	forces	force	NOUN
fcis-6029	68	24	and	and	CCONJ
fcis-6029	68	25	support	support	NOUN
fcis-6029	68	26	forces	force	NOUN
fcis-6029	68	27	have	have	AUX
fcis-6029	68	28	emerged	emerge	VERB
fcis-6029	68	29	in	in	ADP
fcis-6029	68	30	modern	modern	ADJ
fcis-6029	68	31	battlefield	battlefield	NOUN
fcis-6029	68	32	.	.	PUNCT
fcis-6029	69	1	pushing	push	VERB
fcis-6029	69	2	forward	forward	ADV
fcis-6029	69	3	unmanned	unmanned	ADJ
fcis-6029	69	4	equipment	equipment	NOUN
fcis-6029	69	5	support	support	NOUN
fcis-6029	69	6	and	and	CCONJ
fcis-6029	69	7	building	build	VERB
fcis-6029	69	8	unmanned	unmanned	ADJ
fcis-6029	69	9	delivery	delivery	NOUN
fcis-6029	69	10	forces	force	NOUN
fcis-6029	69	11	can	can	AUX
fcis-6029	69	12	overcome	overcome	VERB
fcis-6029	69	13	the	the	DET
fcis-6029	69	14	limitations	limitation	NOUN
fcis-6029	69	15	of	of	ADP
fcis-6029	69	16	human	human	ADJ
fcis-6029	69	17	limits	limit	NOUN
fcis-6029	69	18	,	,	PUNCT
fcis-6029	69	19	restricted	restrict	VERB
fcis-6029	69	20	areas	area	NOUN
fcis-6029	69	21	of	of	ADP
fcis-6029	69	22	life	life	NOUN
fcis-6029	69	23	and	and	CCONJ
fcis-6029	69	24	harsh	harsh	ADJ
fcis-6029	69	25	environments	environment	NOUN
fcis-6029	69	26	,	,	PUNCT
fcis-6029	69	27	and	and	CCONJ
fcis-6029	69	28	implement	implement	VERB
fcis-6029	69	29	accurate	accurate	ADJ
fcis-6029	69	30	,	,	PUNCT
fcis-6029	69	31	fast	fast	ADJ
fcis-6029	69	32	,	,	PUNCT
fcis-6029	69	33	efficient	efficient	ADJ
fcis-6029	69	34	,	,	PUNCT
fcis-6029	69	35	direct	direct	ADJ
fcis-6029	69	36	delivery	delivery	NOUN
fcis-6029	69	37	support	support	NOUN
fcis-6029	69	38	[	[	X
fcis-6029	69	39	10	10	NUM
fcis-6029	69	40	]	]	PUNCT
fcis-6029	69	41	.	.	PUNCT
fcis-6029	70	1	references	reference	NOUN
fcis-6029	70	2	[	[	X
fcis-6029	70	3	1	1	NUM
fcis-6029	70	4	]	]	X
fcis-6029	70	5	gao	gao	PROPN
fcis-6029	70	6	chen	chen	PROPN
fcis-6029	70	7	,	,	PUNCT
fcis-6029	70	8	he	he	PRON
fcis-6029	70	9	xiao	xiao	PROPN
fcis-6029	70	10	.	.	PUNCT
fcis-6029	70	11	multi	multi	ADJ
fcis-6029	70	12	-	-	ADJ
fcis-6029	70	13	agent	agent	ADJ
fcis-6029	70	14	constency	constency	NOUN
fcis-6029	70	15	control	control	NOUN
fcis-6029	71	1	[	[	X
fcis-6029	71	2	j	j	X
fcis-6029	71	3	]	]	X
fcis-6029	71	4	journal	journal	NOUN
fcis-6029	71	5	of	of	ADP
fcis-6029	71	6	aviation	aviation	NOUN
fcis-6029	71	7	,	,	PUNCT
fcis-6029	71	8	2020,41	2020,41	NUM
fcis-6029	71	9	(	(	PUNCT
fcis-6029	71	10	s1	s1	NOUN
fcis-6029	71	11	):	):	PUNCT
fcis-6029	71	12	110	110	NUM
fcis-6029	71	13	-	-	SYM
fcis-6029	71	14	118	118	NUM
fcis-6029	71	15	.	.	PUNCT
fcis-6029	72	1	http	http	PROPN
fcis-6029	72	2	:	:	PUNCT
fcis-6029	72	3	//	//	NUM
fcis-6029	72	4	www.darpa.mil	www.darpa.mil	PROPN
fcis-6029	72	5	/	/	SYM
fcis-6029	72	6	program	program	NOUN
fcis-6029	72	7	/	/	SYM
fcis-6029	72	8	system	system	NOUN
fcis-6029	72	9	-	-	PUNCT
fcis-6029	72	10	of	of	ADP
fcis-6029	72	11	-	-	PUNCT
fcis-6029	72	12	system	system	NOUN
fcis-6029	72	13	-	-	PUNCT
fcis-6029	72	14	integrationtechnology	integrationtechnology	NOUN
fcis-6029	72	15	-	-	PUNCT
fcis-6029	72	16	andexpeimentation	andexpeimentation	NOUN
fcis-6029	72	17	.	.	PUNCT
fcis-6029	73	1	[	[	X
fcis-6029	73	2	2	2	X
fcis-6029	73	3	]	]	X
fcis-6029	73	4	chang	chang	PROPN
fcis-6029	73	5	gang	gang	PROPN
fcis-6029	73	6	,	,	PUNCT
fcis-6029	73	7	liu	liu	PROPN
fcis-6029	73	8	kui	kui	PROPN
fcis-6029	73	9	,	,	PUNCT
fcis-6029	73	10	zhao	zhao	PROPN
fcis-6029	73	11	jie.[j	jie.[j	PROPN
fcis-6029	73	12	]	]	X
fcis-6029	73	13	journal	journal	NOUN
fcis-6029	73	14	of	of	ADP
fcis-6029	73	15	the	the	DET
fcis-6029	73	16	college	college	NOUN
fcis-6029	73	17	of	of	ADP
fcis-6029	73	18	military	military	ADJ
fcis-6029	73	19	transportation	transportation	NOUN
fcis-6029	73	20	,	,	PUNCT
fcis-6029	73	21	2019,21	2019,21	NUM
fcis-6029	73	22	(	(	PUNCT
fcis-6029	73	23	05	05	NUM
fcis-6029	73	24	):	):	PUNCT
fcis-6029	73	25	6	6	NUM
fcis-6029	73	26	-	-	SYM
fcis-6029	73	27	9	9	NUM
fcis-6029	73	28	.	.	PUNCT
fcis-6029	73	29	doi:10.19452	doi:10.19452	NOUN
fcis-6029	73	30	/	/	SYM
fcis-6029	73	31	j.issn1007	j.issn1007	NOUN
fcis-6029	73	32	-	-	PUNCT
fcis-6029	73	33	5453.2022.05.007	5453.2022.05.007	PROPN
fcis-6029	73	34	.	.	PUNCT
fcis-6029	74	1	[	[	X
fcis-6029	74	2	3	3	NUM
fcis-6029	74	3	]	]	X
fcis-6029	74	4	zhousi	zhousi	NOUN
fcis-6029	74	5	.	.	PUNCT
fcis-6029	75	1	problems	problem	NOUN
fcis-6029	75	2	existing	exist	VERB
fcis-6029	75	3	and	and	CCONJ
fcis-6029	75	4	countermeasures	countermeasure	NOUN
fcis-6029	75	5	of	of	ADP
fcis-6029	75	6	urban	urban	ADJ
fcis-6029	75	7	logistics	logistic	NOUN
fcis-6029	75	8	uav	uav	PROPN
fcis-6029	75	9	distribution	distribution	NOUN
fcis-6029	75	10	[	[	X
fcis-6029	75	11	j	j	X
fcis-6029	75	12	]	]	X
fcis-6029	75	13	.	.	PUNCT
fcis-6029	76	1	china	china	PROPN
fcis-6029	76	2	aviation	aviation	PROPN
fcis-6029	76	3	weekly	weekly	NOUN
fcis-6029	76	4	,	,	PUNCT
fcis-6029	76	5	2021	2021	NUM
fcis-6029	76	6	,	,	PUNCT
fcis-6029	76	7	(	(	PUNCT
fcis-6029	76	8	33	33	NUM
fcis-6029	76	9	):	):	PUNCT
fcis-6029	76	10	112-113.http://www.avionicstech.com.cn	112-113.http://www.avionicstech.com.cn	NOUN
fcis-6029	76	11	.	.	PUNCT
fcis-6029	77	1	[	[	X
fcis-6029	77	2	4	4	NUM
fcis-6029	77	3	]	]	X
fcis-6029	77	4	navy	navy	PROPN
fcis-6029	77	5	,	,	PUNCT
fcis-6029	77	6	wang	wang	PROPN
fcis-6029	77	7	shikai	shikai	PROPN
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fcis-6029	78	4	of	of	ADP
fcis-6029	78	5	our	our	PRON
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fcis-6029	78	7	air	air	NOUN
fcis-6029	78	8	transport	transport	NOUN
fcis-6029	78	9	delivery	delivery	NOUN
fcis-6029	78	10	system	system	NOUN
fcis-6029	79	1	[	[	X
fcis-6029	79	2	j	j	X
fcis-6029	79	3	]	]	X
fcis-6029	79	4	.	.	PUNCT
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fcis-6029	80	2	defense	defense	PROPN
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fcis-6029	80	5	and	and	CCONJ
fcis-6029	80	6	technology	technology	NOUN
fcis-6029	80	7	,	,	PUNCT
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fcis-6029	80	10	05	05	NUM
fcis-6029	80	11	):	):	PUNCT
fcis-6029	80	12	1719	1719	NUM
fcis-6029	80	13	.	.	PUNCT
fcis-6029	81	1	https://www.cnki.net/.	https://www.cnki.net/.	NOUN
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fcis-6029	81	3	5	5	NUM
fcis-6029	81	4	]	]	X
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fcis-6029	81	7	,	,	PUNCT
fcis-6029	81	8	hu	hu	PROPN
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fcis-6029	81	10	,	,	PUNCT
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fcis-6029	81	13	.	.	PUNCT
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fcis-6029	82	2	delivery	delivery	NOUN
fcis-6029	82	3	mission	mission	NOUN
fcis-6029	82	4	planning	planning	NOUN
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fcis-6029	83	1	[	[	X
fcis-6029	83	2	j	j	X
fcis-6029	83	3	]	]	X
fcis-6029	83	4	.	.	PUNCT
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fcis-6029	84	2	of	of	ADP
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fcis-6029	84	4	transportation	transportation	NOUN
fcis-6029	84	5	college	college	NOUN
fcis-6029	84	6	,	,	PUNCT
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fcis-6029	84	8	(	(	PUNCT
fcis-6029	84	9	1	1	NUM
fcis-6029	84	10	):	):	PUNCT
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fcis-6029	84	12	:	:	SYM
fcis-6029	84	13	10	10	NUM
fcis-6029	84	14	.	.	NUM
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fcis-6029	84	17	.	.	PUNCT
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fcis-6029	85	3	－	－	PROPN
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fcis-6029	85	5	.	.	PUNCT
fcis-6029	86	1	2017	2017	NUM
fcis-6029	86	2	.	.	PUNCT
fcis-6029	87	1	03	03	NUM
fcis-6029	87	2	.	.	PUNCT
fcis-6029	88	1	12	12	NUM
fcis-6029	88	2	.	.	PUNCT
fcis-6029	89	1	[	[	X
fcis-6029	89	2	6	6	NUM
fcis-6029	89	3	]	]	X
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fcis-6029	89	12	.	.	PUNCT
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fcis-6029	90	2	collaborative	collaborative	PROPN
fcis-6029	90	3	air	air	PROPN
fcis-6029	90	4	combat	combat	PROPN
fcis-6029	90	5	task	task	PROPN
fcis-6029	90	6	assignment	assignment	NOUN
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fcis-6029	90	8	on	on	ADP
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fcis-6029	90	11	-	-	ADJ
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fcis-6029	91	1	[	[	X
fcis-6029	91	2	j	j	X
fcis-6029	91	3	]	]	X
fcis-6029	91	4	.	.	PUNCT
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fcis-6029	92	2	of	of	ADP
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fcis-6029	92	4	university	university	PROPN
fcis-6029	92	5	of	of	ADP
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fcis-6029	92	7	and	and	CCONJ
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fcis-6029	92	9	,	,	PUNCT
fcis-6029	92	10	2014,40	2014,40	NUM
fcis-6029	92	11	(	(	PUNCT
fcis-6029	92	12	09	09	NUM
fcis-6029	92	13	):	):	PUNCT
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fcis-6029	92	15	:	:	PUNCT
fcis-6029	92	16	10	10	NUM
fcis-6029	92	17	,	,	PUNCT
fcis-6029	92	18	16338	16338	NUM
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fcis-6029	92	20	,	,	PUNCT
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fcis-6029	92	24	-	-	SYM
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fcis-6029	92	26	,	,	PUNCT
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fcis-6029	92	28	.	.	PUNCT
fcis-6029	93	1	[	[	X
fcis-6029	93	2	7	7	X
fcis-6029	93	3	]	]	X
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fcis-6029	93	6	,	,	PUNCT
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fcis-6029	93	9	,	,	PUNCT
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fcis-6029	93	12	.	.	PUNCT
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fcis-6029	94	8	-	-	ADJ
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fcis-6029	94	11	formation	formation	NOUN
fcis-6029	95	1	[	[	X
fcis-6029	95	2	j	j	X
fcis-6029	95	3	]	]	X
fcis-6029	95	4	.	.	PUNCT
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fcis-6029	96	5	,	,	PUNCT
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fcis-6029	96	7	,	,	PUNCT
fcis-6029	96	8	(	(	PUNCT
fcis-6029	96	9	05	05	NUM
fcis-6029	96	10	):	):	PUNCT
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fcis-6029	96	12	-	-	SYM
fcis-6029	96	13	856	856	NUM
fcis-6029	96	14	.	.	PUNCT
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fcis-6029	97	2	/	/	SYM
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fcis-6029	97	4	-	-	NOUN
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fcis-6029	98	2	8	8	NUM
fcis-6029	98	3	]	]	SYM
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fcis-6029	98	12	x	x	SYM
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fcis-6029	98	14	,	,	PUNCT
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fcis-6029	98	17	.	.	PUNCT
fcis-6029	99	1	a	a	DET
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fcis-6029	99	4	theory	theory	NOUN
fcis-6029	99	5	-	-	PUNCT
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fcis-6029	100	1	[	[	X
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fcis-6029	100	3	science	science	NOUN
fcis-6029	100	4	and	and	CCONJ
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fcis-6029	100	6	,	,	PUNCT
fcis-6029	100	7	2020	2020	NUM
fcis-6029	100	8	,	,	PUNCT
fcis-6029	100	9	107(1):1	107(1):1	NUM
fcis-6029	100	10	-	-	SYM
fcis-6029	100	11	18	18	NUM
fcis-6029	100	12	.	.	PUNCT
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fcis-6029	102	2	9	9	NUM
fcis-6029	102	3	]	]	SYM
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fcis-6029	103	8	for	for	ADP
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fcis-6029	103	20	.	.	PUNCT
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fcis-6029	104	2	,	,	PUNCT
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fcis-6029	104	4	-	-	SYM
fcis-6029	104	5	55	55	NUM
fcis-6029	104	6	.	.	PUNCT
fcis-6029	105	1	doi:10	doi:10	PROPN
fcis-6029	105	2	.	.	PUNCT
fcis-6029	106	1	3969	3969	NUM
fcis-6029	106	2	/	/	SYM
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fcis-6029	106	5	.	.	PROPN
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fcis-6029	106	7	-	-	SYM
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fcis-6029	106	9	.	.	PUNCT
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fcis-6029	107	2	.	.	PUNCT
fcis-6029	108	1	04	04	NUM
fcis-6029	108	2	.	.	PUNCT
fcis-6029	109	1	005	005	NUM
fcis-6029	109	2	.	.	PUNCT
fcis-6029	110	1	[	[	X
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fcis-6029	110	9	h	h	PROPN
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fcis-6029	110	17	homing	home	VERB
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fcis-6029	110	22	.	.	PUNCT
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fcis-6029	111	5	,	,	PUNCT
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fcis-6029	111	7	,	,	PUNCT
fcis-6029	111	8	70(1	70(1	NUM
fcis-6029	111	9	)	)	PUNCT
fcis-6029	111	10	:	:	PUNCT
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fcis-6029	111	12	-	-	SYM
fcis-6029	111	13	264	264	NUM
fcis-6029	111	14	.	.	PUNCT
fcis-6029	112	1	doi:10.15908	doi:10.15908	PROPN
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fcis-6029	113	2	.	.	PUNCT