id	sid	tid	token	lemma	pos
fcis-7514	1	1	frontiers	frontier	NOUN
fcis-7514	1	2	in	in	ADP
fcis-7514	1	3	computing	computing	NOUN
fcis-7514	1	4	and	and	CCONJ
fcis-7514	1	5	intelligent	intelligent	ADJ
fcis-7514	1	6	systems	system	NOUN
fcis-7514	1	7	issn	issn	VERB
fcis-7514	1	8	:	:	PUNCT
fcis-7514	1	9	2832	2832	NUM
fcis-7514	1	10	-	-	SYM
fcis-7514	1	11	6024	6024	NUM
fcis-7514	1	12	|	|	NOUN
fcis-7514	1	13	vol	vol	NOUN
fcis-7514	1	14	.	.	PROPN
fcis-7514	2	1	3	3	NUM
fcis-7514	2	2	,	,	PUNCT
fcis-7514	2	3	no	no	INTJ
fcis-7514	2	4	.	.	NOUN
fcis-7514	2	5	2	2	NUM
fcis-7514	2	6	,	,	PUNCT
fcis-7514	2	7	2023	2023	NUM
fcis-7514	2	8	74	74	NUM
fcis-7514	2	9	three	three	NUM
fcis-7514	2	10	-	-	PUNCT
fcis-7514	2	11	dimensional	dimensional	ADJ
fcis-7514	2	12	path	path	NOUN
fcis-7514	2	13	planning	planning	NOUN
fcis-7514	2	14	of	of	ADP
fcis-7514	2	15	uav	uav	PROPN
fcis-7514	2	16	in	in	ADP
fcis-7514	2	17	complex	complex	ADJ
fcis-7514	2	18	urban	urban	ADJ
fcis-7514	2	19	environment	environment	NOUN
fcis-7514	2	20	fankai	fankai	PROPN
fcis-7514	2	21	chen	chen	PROPN
fcis-7514	2	22	*	*	PROPN
fcis-7514	2	23	,	,	PUNCT
fcis-7514	2	24	qinyu	qinyu	PROPN
fcis-7514	2	25	liu	liu	PROPN
fcis-7514	2	26	,	,	PUNCT
fcis-7514	2	27	xiaohan	xiaohan	PROPN
fcis-7514	2	28	cong	cong	PROPN
fcis-7514	2	29	,	,	PUNCT
fcis-7514	2	30	xiuhuan	xiuhuan	PROPN
fcis-7514	2	31	dong	dong	PROPN
fcis-7514	2	32	,	,	PUNCT
fcis-7514	2	33	yuanyuan	yuanyuan	PROPN
fcis-7514	2	34	zhang	zhang	PROPN
fcis-7514	2	35	college	college	PROPN
fcis-7514	2	36	of	of	ADP
fcis-7514	2	37	electronic	electronic	ADJ
fcis-7514	2	38	engineering	engineering	NOUN
fcis-7514	2	39	,	,	PUNCT
fcis-7514	2	40	tianjin	tianjin	PROPN
fcis-7514	2	41	university	university	PROPN
fcis-7514	2	42	of	of	ADP
fcis-7514	2	43	technology	technology	NOUN
fcis-7514	2	44	and	and	CCONJ
fcis-7514	2	45	education	education	NOUN
fcis-7514	2	46	,	,	PUNCT
fcis-7514	2	47	tianjin	tianjin	PROPN
fcis-7514	2	48	300222	300222	NUM
fcis-7514	2	49	,	,	PUNCT
fcis-7514	2	50	china	china	PROPN
fcis-7514	2	51	*	*	PUNCT
fcis-7514	2	52	corresponding	correspond	VERB
fcis-7514	2	53	author	author	NOUN
fcis-7514	2	54	:	:	PUNCT
fcis-7514	2	55	fankai	fankai	PROPN
fcis-7514	2	56	chen	chen	PROPN
fcis-7514	2	57	(	(	PUNCT
fcis-7514	2	58	email	email	NOUN
fcis-7514	2	59	:	:	PUNCT
fcis-7514	2	60	1642426596@qq.com	1642426596@qq.com	NUM
fcis-7514	2	61	)	)	PUNCT
fcis-7514	2	62	abstract	abstract	NOUN
fcis-7514	2	63	:	:	PUNCT
fcis-7514	2	64	aiming	aim	VERB
fcis-7514	2	65	at	at	ADP
fcis-7514	2	66	the	the	DET
fcis-7514	2	67	three	three	NUM
fcis-7514	2	68	-	-	PUNCT
fcis-7514	2	69	dimensional	dimensional	ADJ
fcis-7514	2	70	path	path	NOUN
fcis-7514	2	71	planning	planning	NOUN
fcis-7514	2	72	problem	problem	NOUN
fcis-7514	2	73	of	of	ADP
fcis-7514	2	74	uav	uav	PROPN
fcis-7514	2	75	in	in	ADP
fcis-7514	2	76	complex	complex	ADJ
fcis-7514	2	77	urban	urban	ADJ
fcis-7514	2	78	environment	environment	NOUN
fcis-7514	2	79	,	,	PUNCT
fcis-7514	2	80	the	the	DET
fcis-7514	2	81	improved	improved	ADJ
fcis-7514	2	82	grid	grid	NOUN
fcis-7514	2	83	method	method	NOUN
fcis-7514	2	84	is	be	AUX
fcis-7514	2	85	used	use	VERB
fcis-7514	2	86	to	to	PART
fcis-7514	2	87	simulate	simulate	VERB
fcis-7514	2	88	the	the	DET
fcis-7514	2	89	flight	flight	NOUN
fcis-7514	2	90	environment	environment	NOUN
fcis-7514	2	91	,	,	PUNCT
fcis-7514	2	92	and	and	CCONJ
fcis-7514	2	93	the	the	DET
fcis-7514	2	94	safety	safety	NOUN
fcis-7514	2	95	of	of	ADP
fcis-7514	2	96	path	path	NOUN
fcis-7514	2	97	planning	planning	NOUN
fcis-7514	2	98	is	be	AUX
fcis-7514	2	99	improved	improve	VERB
fcis-7514	2	100	by	by	ADP
fcis-7514	2	101	building	build	VERB
fcis-7514	2	102	a	a	DET
fcis-7514	2	103	safe	safe	ADJ
fcis-7514	2	104	flight	flight	NOUN
fcis-7514	2	105	area	area	NOUN
fcis-7514	2	106	and	and	CCONJ
fcis-7514	2	107	introducing	introduce	VERB
fcis-7514	2	108	a	a	DET
fcis-7514	2	109	navigation	navigation	NOUN
fcis-7514	2	110	safety	safety	NOUN
fcis-7514	2	111	cost	cost	NOUN
fcis-7514	2	112	function	function	NOUN
fcis-7514	2	113	.	.	PUNCT
fcis-7514	3	1	in	in	ADP
fcis-7514	3	2	order	order	NOUN
fcis-7514	3	3	to	to	PART
fcis-7514	3	4	solve	solve	VERB
fcis-7514	3	5	the	the	DET
fcis-7514	3	6	problems	problem	NOUN
fcis-7514	3	7	of	of	ADP
fcis-7514	3	8	a	a	PRON
fcis-7514	3	9	*	*	X
fcis-7514	3	10	(	(	PUNCT
fcis-7514	3	11	a_star	a_star	NOUN
fcis-7514	3	12	)	)	PUNCT
fcis-7514	3	13	algorithm	algorithm	NOUN
fcis-7514	3	14	in	in	ADP
fcis-7514	3	15	path	path	NOUN
fcis-7514	3	16	planning	planning	NOUN
fcis-7514	3	17	,	,	PUNCT
fcis-7514	3	18	such	such	ADJ
fcis-7514	3	19	as	as	ADP
fcis-7514	3	20	large	large	ADJ
fcis-7514	3	21	number	number	NOUN
fcis-7514	3	22	of	of	ADP
fcis-7514	3	23	nodes	node	NOUN
fcis-7514	3	24	,	,	PUNCT
fcis-7514	3	25	large	large	ADJ
fcis-7514	3	26	amount	amount	NOUN
fcis-7514	3	27	of	of	ADP
fcis-7514	3	28	computation	computation	NOUN
fcis-7514	3	29	and	and	CCONJ
fcis-7514	3	30	low	low	ADJ
fcis-7514	3	31	planning	planning	NOUN
fcis-7514	3	32	efficiency	efficiency	NOUN
fcis-7514	3	33	,	,	PUNCT
fcis-7514	3	34	we	we	PRON
fcis-7514	3	35	can	can	AUX
fcis-7514	3	36	reduce	reduce	VERB
fcis-7514	3	37	the	the	DET
fcis-7514	3	38	redundant	redundant	ADJ
fcis-7514	3	39	checking	checking	NOUN
fcis-7514	3	40	process	process	NOUN
fcis-7514	3	41	in	in	ADP
fcis-7514	3	42	the	the	DET
fcis-7514	3	43	path	path	NOUN
fcis-7514	3	44	search	search	NOUN
fcis-7514	3	45	process	process	NOUN
fcis-7514	3	46	by	by	ADP
fcis-7514	3	47	expanding	expand	VERB
fcis-7514	3	48	the	the	DET
fcis-7514	3	49	line	line	NOUN
fcis-7514	3	50	of	of	ADP
fcis-7514	3	51	sight	sight	NOUN
fcis-7514	3	52	strategy	strategy	NOUN
fcis-7514	3	53	,	,	PUNCT
fcis-7514	3	54	improve	improve	VERB
fcis-7514	3	55	the	the	DET
fcis-7514	3	56	algorithm	algorithm	NOUN
fcis-7514	3	57	search	search	NOUN
fcis-7514	3	58	efficiency	efficiency	NOUN
fcis-7514	3	59	and	and	CCONJ
fcis-7514	3	60	smooth	smooth	VERB
fcis-7514	3	61	the	the	DET
fcis-7514	3	62	planned	plan	VERB
fcis-7514	3	63	lines	line	NOUN
fcis-7514	3	64	.	.	PUNCT
fcis-7514	4	1	analyze	analyze	VERB
fcis-7514	4	2	the	the	DET
fcis-7514	4	3	characteristics	characteristic	NOUN
fcis-7514	4	4	of	of	ADP
fcis-7514	4	5	each	each	DET
fcis-7514	4	6	stage	stage	NOUN
fcis-7514	4	7	of	of	ADP
fcis-7514	4	8	path	path	NOUN
fcis-7514	4	9	planning	planning	NOUN
fcis-7514	4	10	,	,	PUNCT
fcis-7514	4	11	adaptively	adaptively	ADV
fcis-7514	4	12	adjust	adjust	VERB
fcis-7514	4	13	the	the	DET
fcis-7514	4	14	weight	weight	NOUN
fcis-7514	4	15	factor	factor	NOUN
fcis-7514	4	16	,	,	PUNCT
fcis-7514	4	17	design	design	VERB
fcis-7514	4	18	the	the	DET
fcis-7514	4	19	flight	flight	NOUN
fcis-7514	4	20	cost	cost	NOUN
fcis-7514	4	21	function	function	NOUN
fcis-7514	4	22	,	,	PUNCT
fcis-7514	4	23	shorten	shorten	VERB
fcis-7514	4	24	the	the	DET
fcis-7514	4	25	length	length	NOUN
fcis-7514	4	26	of	of	ADP
fcis-7514	4	27	path	path	NOUN
fcis-7514	4	28	planning	planning	NOUN
fcis-7514	4	29	,	,	PUNCT
fcis-7514	4	30	and	and	CCONJ
fcis-7514	4	31	improve	improve	VERB
fcis-7514	4	32	the	the	DET
fcis-7514	4	33	speed	speed	NOUN
fcis-7514	4	34	of	of	ADP
fcis-7514	4	35	path	path	NOUN
fcis-7514	4	36	planning	planning	NOUN
fcis-7514	4	37	.	.	PUNCT
fcis-7514	5	1	as	as	ADP
fcis-7514	5	2	a	a	DET
fcis-7514	5	3	result	result	NOUN
fcis-7514	5	4	of	of	ADP
fcis-7514	5	5	the	the	DET
fcis-7514	5	6	experiment	experiment	NOUN
fcis-7514	5	7	,	,	PUNCT
fcis-7514	5	8	the	the	DET
fcis-7514	5	9	improved	improved	ADJ
fcis-7514	5	10	a	a	PRON
fcis-7514	5	11	*	*	ADJ
fcis-7514	5	12	algorithm	algorithm	NOUN
fcis-7514	5	13	clearly	clearly	ADV
fcis-7514	5	14	decreased	decrease	VERB
fcis-7514	5	15	over	over	ADP
fcis-7514	5	16	the	the	DET
fcis-7514	5	17	time	time	NOUN
fcis-7514	5	18	of	of	ADP
fcis-7514	5	19	the	the	DET
fcis-7514	5	20	path	path	NOUN
fcis-7514	5	21	planning	planning	NOUN
fcis-7514	5	22	,	,	PUNCT
fcis-7514	5	23	the	the	DET
fcis-7514	5	24	number	number	NOUN
fcis-7514	5	25	of	of	ADP
fcis-7514	5	26	nodes	node	NOUN
fcis-7514	5	27	and	and	CCONJ
fcis-7514	5	28	the	the	DET
fcis-7514	5	29	total	total	ADJ
fcis-7514	5	30	cost	cost	NOUN
fcis-7514	5	31	of	of	ADP
fcis-7514	5	32	the	the	DET
fcis-7514	5	33	flight	flight	NOUN
fcis-7514	5	34	,	,	PUNCT
fcis-7514	5	35	and	and	CCONJ
fcis-7514	5	36	it	it	PRON
fcis-7514	5	37	was	be	AUX
fcis-7514	5	38	clarified	clarify	VERB
fcis-7514	5	39	that	that	SCONJ
fcis-7514	5	40	the	the	DET
fcis-7514	5	41	planned	plan	VERB
fcis-7514	5	42	route	route	NOUN
fcis-7514	5	43	was	be	AUX
fcis-7514	5	44	smoother	smooth	ADJ
fcis-7514	5	45	and	and	CCONJ
fcis-7514	5	46	more	more	ADV
fcis-7514	5	47	feasible	feasible	ADJ
fcis-7514	5	48	than	than	ADP
fcis-7514	5	49	the	the	DET
fcis-7514	5	50	traditional	traditional	ADJ
fcis-7514	5	51	algorithm	algorithm	NOUN
fcis-7514	5	52	.	.	PUNCT
fcis-7514	6	1	the	the	DET
fcis-7514	6	2	performance	performance	NOUN
fcis-7514	6	3	of	of	ADP
fcis-7514	6	4	the	the	DET
fcis-7514	6	5	improved	improved	ADJ
fcis-7514	6	6	algorithm	algorithm	NOUN
fcis-7514	6	7	has	have	AUX
fcis-7514	6	8	been	be	AUX
fcis-7514	6	9	fully	fully	ADV
fcis-7514	6	10	verified	verify	VERB
fcis-7514	6	11	under	under	ADP
fcis-7514	6	12	the	the	DET
fcis-7514	6	13	complexity	complexity	NOUN
fcis-7514	6	14	of	of	ADP
fcis-7514	6	15	different	different	ADJ
fcis-7514	6	16	cities	city	NOUN
fcis-7514	6	17	,	,	PUNCT
fcis-7514	6	18	which	which	PRON
fcis-7514	6	19	provides	provide	VERB
fcis-7514	6	20	a	a	DET
fcis-7514	6	21	reference	reference	NOUN
fcis-7514	6	22	for	for	ADP
fcis-7514	6	23	the	the	DET
fcis-7514	6	24	research	research	NOUN
fcis-7514	6	25	of	of	ADP
fcis-7514	6	26	uav	uav	PROPN
fcis-7514	6	27	path	path	PROPN
fcis-7514	6	28	planning	planning	NOUN
fcis-7514	6	29	in	in	ADP
fcis-7514	6	30	urban	urban	ADJ
fcis-7514	6	31	environment	environment	NOUN
fcis-7514	6	32	.	.	PUNCT
fcis-7514	7	1	keywords	keyword	NOUN
fcis-7514	7	2	:	:	PUNCT
fcis-7514	7	3	uav	uav	PROPN
fcis-7514	7	4	;	;	PUNCT
fcis-7514	7	5	path	path	NOUN
fcis-7514	7	6	planning	planning	NOUN
fcis-7514	7	7	;	;	PUNCT
fcis-7514	7	8	improved	improve	VERB
fcis-7514	7	9	a	a	DET
fcis-7514	7	10	*	*	X
fcis-7514	7	11	algorithm	algorithm	NOUN
fcis-7514	7	12	.	.	PUNCT
fcis-7514	8	1	1	1	X
fcis-7514	8	2	.	.	X
fcis-7514	8	3	introduction	introduction	NOUN
fcis-7514	8	4	with	with	ADP
fcis-7514	8	5	the	the	DET
fcis-7514	8	6	continuous	continuous	ADJ
fcis-7514	8	7	development	development	NOUN
fcis-7514	8	8	of	of	ADP
fcis-7514	8	9	intelligent	intelligent	ADJ
fcis-7514	8	10	manufacturing	manufacturing	NOUN
fcis-7514	8	11	technology	technology	NOUN
fcis-7514	8	12	,	,	PUNCT
fcis-7514	8	13	uav	uav	PROPN
fcis-7514	8	14	have	have	AUX
fcis-7514	8	15	gained	gain	VERB
fcis-7514	8	16	widespread	widespread	ADJ
fcis-7514	8	17	attention	attention	NOUN
fcis-7514	8	18	and	and	CCONJ
fcis-7514	8	19	are	be	AUX
fcis-7514	8	20	used	use	VERB
fcis-7514	8	21	in	in	ADP
fcis-7514	8	22	all	all	DET
fcis-7514	8	23	areas	area	NOUN
fcis-7514	8	24	of	of	ADP
fcis-7514	8	25	life	life	NOUN
fcis-7514	8	26	[	[	X
fcis-7514	8	27	1	1	NUM
fcis-7514	8	28	]	]	PUNCT
fcis-7514	8	29	.	.	PUNCT
fcis-7514	9	1	the	the	DET
fcis-7514	9	2	city	city	NOUN
fcis-7514	9	3	is	be	AUX
fcis-7514	9	4	the	the	DET
fcis-7514	9	5	most	most	ADV
fcis-7514	9	6	frequent	frequent	ADJ
fcis-7514	9	7	site	site	NOUN
fcis-7514	9	8	of	of	ADP
fcis-7514	9	9	people	people	NOUN
fcis-7514	9	10	's	's	PART
fcis-7514	9	11	activities	activity	NOUN
fcis-7514	9	12	,	,	PUNCT
fcis-7514	9	13	dense	dense	ADJ
fcis-7514	9	14	buildings	building	NOUN
fcis-7514	9	15	,	,	PUNCT
fcis-7514	9	16	and	and	CCONJ
fcis-7514	9	17	complex	complex	ADJ
fcis-7514	9	18	transportation	transportation	NOUN
fcis-7514	9	19	networks	network	NOUN
fcis-7514	9	20	,	,	PUNCT
fcis-7514	9	21	so	so	SCONJ
fcis-7514	9	22	some	some	DET
fcis-7514	9	23	smart	smart	ADJ
fcis-7514	9	24	devices	device	NOUN
fcis-7514	9	25	ca	can	AUX
fcis-7514	9	26	n't	not	PART
fcis-7514	9	27	be	be	AUX
fcis-7514	9	28	effectively	effectively	ADV
fcis-7514	9	29	demonstrated	demonstrate	VERB
fcis-7514	9	30	,	,	PUNCT
fcis-7514	9	31	and	and	CCONJ
fcis-7514	9	32	in	in	ADP
fcis-7514	9	33	recent	recent	ADJ
fcis-7514	9	34	years	year	NOUN
fcis-7514	9	35	the	the	DET
fcis-7514	9	36	influence	influence	NOUN
fcis-7514	9	37	of	of	ADP
fcis-7514	9	38	the	the	DET
fcis-7514	9	39	plague	plague	NOUN
fcis-7514	9	40	has	have	AUX
fcis-7514	9	41	faced	face	VERB
fcis-7514	9	42	a	a	DET
fcis-7514	9	43	major	major	ADJ
fcis-7514	9	44	pressure	pressure	NOUN
fcis-7514	9	45	on	on	ADP
fcis-7514	9	46	urban	urban	ADJ
fcis-7514	9	47	logistics	logistic	NOUN
fcis-7514	9	48	.	.	PUNCT
fcis-7514	10	1	it	it	PRON
fcis-7514	10	2	is	be	AUX
fcis-7514	10	3	necessary	necessary	ADJ
fcis-7514	10	4	to	to	PART
fcis-7514	10	5	seek	seek	VERB
fcis-7514	10	6	an	an	DET
fcis-7514	10	7	efficient	efficient	ADJ
fcis-7514	10	8	and	and	CCONJ
fcis-7514	10	9	safe	safe	ADJ
fcis-7514	10	10	contactless	contactless	NOUN
fcis-7514	10	11	delivery	delivery	NOUN
fcis-7514	10	12	system	system	NOUN
fcis-7514	10	13	instead	instead	ADV
fcis-7514	10	14	of	of	ADP
fcis-7514	10	15	artificial	artificial	ADJ
fcis-7514	10	16	transportation	transportation	NOUN
fcis-7514	10	17	.	.	PUNCT
fcis-7514	11	1	the	the	DET
fcis-7514	11	2	use	use	NOUN
fcis-7514	11	3	of	of	ADP
fcis-7514	11	4	land	land	NOUN
fcis-7514	11	5	intelligence	intelligence	NOUN
fcis-7514	11	6	facilities	facility	NOUN
fcis-7514	11	7	such	such	ADJ
fcis-7514	11	8	as	as	ADP
fcis-7514	11	9	unmanned	unmanned	ADJ
fcis-7514	11	10	vehicles	vehicle	NOUN
fcis-7514	11	11	can	can	AUX
fcis-7514	11	12	alleviate	alleviate	VERB
fcis-7514	11	13	the	the	DET
fcis-7514	11	14	pressure	pressure	NOUN
fcis-7514	11	15	of	of	ADP
fcis-7514	11	16	logistics	logistic	NOUN
fcis-7514	11	17	transportation	transportation	NOUN
fcis-7514	11	18	,	,	PUNCT
fcis-7514	11	19	but	but	CCONJ
fcis-7514	11	20	it	it	PRON
fcis-7514	11	21	is	be	AUX
fcis-7514	11	22	likely	likely	ADJ
fcis-7514	11	23	to	to	PART
fcis-7514	11	24	cause	cause	VERB
fcis-7514	11	25	traffic	traffic	NOUN
fcis-7514	11	26	congestion	congestion	NOUN
fcis-7514	11	27	,	,	PUNCT
fcis-7514	11	28	traffic	traffic	NOUN
fcis-7514	11	29	accidents	accident	NOUN
fcis-7514	11	30	,	,	PUNCT
fcis-7514	11	31	and	and	CCONJ
fcis-7514	11	32	it	it	PRON
fcis-7514	11	33	is	be	AUX
fcis-7514	11	34	difficult	difficult	ADJ
fcis-7514	11	35	to	to	PART
fcis-7514	11	36	provide	provide	VERB
fcis-7514	11	37	a	a	DET
fcis-7514	11	38	visit	visit	NOUN
fcis-7514	11	39	delivery	delivery	NOUN
fcis-7514	11	40	service	service	NOUN
fcis-7514	11	41	.	.	PUNCT
fcis-7514	12	1	the	the	DET
fcis-7514	12	2	urban	urban	ADJ
fcis-7514	12	3	airspace	airspace	NOUN
fcis-7514	12	4	environment	environment	NOUN
fcis-7514	12	5	is	be	AUX
fcis-7514	12	6	relatively	relatively	ADV
fcis-7514	12	7	open	open	ADJ
fcis-7514	12	8	.	.	PUNCT
fcis-7514	13	1	as	as	ADP
fcis-7514	13	2	an	an	DET
fcis-7514	13	3	aerial	aerial	ADJ
fcis-7514	13	4	vehicle	vehicle	NOUN
fcis-7514	13	5	,	,	PUNCT
fcis-7514	13	6	uav	uav	PROPN
fcis-7514	13	7	is	be	AUX
fcis-7514	13	8	favored	favor	VERB
fcis-7514	13	9	by	by	ADP
fcis-7514	13	10	people	people	NOUN
fcis-7514	13	11	with	with	ADP
fcis-7514	13	12	its	its	PRON
fcis-7514	13	13	advantages	advantage	NOUN
fcis-7514	13	14	of	of	ADP
fcis-7514	13	15	flexibility	flexibility	NOUN
fcis-7514	13	16	and	and	CCONJ
fcis-7514	13	17	maneuverability	maneuverability	NOUN
fcis-7514	13	18	[	[	X
fcis-7514	13	19	2	2	NUM
fcis-7514	13	20	]	]	PUNCT
fcis-7514	13	21	.	.	PUNCT
fcis-7514	14	1	uav	uav	PROPN
fcis-7514	14	2	will	will	AUX
fcis-7514	14	3	be	be	AUX
fcis-7514	14	4	widely	widely	ADV
fcis-7514	14	5	applied	apply	VERB
fcis-7514	14	6	to	to	ADP
fcis-7514	14	7	various	various	ADJ
fcis-7514	14	8	areas	area	NOUN
fcis-7514	14	9	of	of	ADP
fcis-7514	14	10	the	the	DET
fcis-7514	14	11	city	city	NOUN
fcis-7514	14	12	as	as	ADP
fcis-7514	14	13	a	a	DET
fcis-7514	14	14	main	main	ADJ
fcis-7514	14	15	force	force	NOUN
fcis-7514	14	16	of	of	ADP
fcis-7514	14	17	new	new	ADJ
fcis-7514	14	18	age	age	NOUN
fcis-7514	14	19	smart	smart	ADJ
fcis-7514	14	20	equipment	equipment	NOUN
fcis-7514	14	21	.	.	PUNCT
fcis-7514	15	1	in	in	ADP
fcis-7514	15	2	this	this	DET
fcis-7514	15	3	paper	paper	NOUN
fcis-7514	15	4	,	,	PUNCT
fcis-7514	15	5	the	the	DET
fcis-7514	15	6	technology	technology	NOUN
fcis-7514	15	7	of	of	ADP
fcis-7514	15	8	three	three	NUM
fcis-7514	15	9	-	-	PUNCT
fcis-7514	15	10	dimensional	dimensional	ADJ
fcis-7514	15	11	path	path	NOUN
fcis-7514	15	12	planning	planning	NOUN
fcis-7514	15	13	for	for	ADP
fcis-7514	15	14	uav	uav	PROPN
fcis-7514	15	15	is	be	AUX
fcis-7514	15	16	studied	study	VERB
fcis-7514	15	17	in	in	ADP
fcis-7514	15	18	complex	complex	ADJ
fcis-7514	15	19	urban	urban	ADJ
fcis-7514	15	20	environment	environment	NOUN
fcis-7514	15	21	,	,	PUNCT
fcis-7514	15	22	so	so	SCONJ
fcis-7514	15	23	that	that	SCONJ
fcis-7514	15	24	uav	uav	PROPN
fcis-7514	15	25	can	can	AUX
fcis-7514	15	26	be	be	AUX
fcis-7514	15	27	better	well	ADV
fcis-7514	15	28	used	use	VERB
fcis-7514	15	29	in	in	ADP
fcis-7514	15	30	cities	city	NOUN
fcis-7514	15	31	and	and	CCONJ
fcis-7514	15	32	provide	provide	VERB
fcis-7514	15	33	more	more	ADV
fcis-7514	15	34	convenient	convenient	ADJ
fcis-7514	15	35	and	and	CCONJ
fcis-7514	15	36	comfortable	comfortable	ADJ
fcis-7514	15	37	services	service	NOUN
fcis-7514	15	38	for	for	ADP
fcis-7514	15	39	cities	city	NOUN
fcis-7514	15	40	.	.	PUNCT
fcis-7514	16	1	the	the	DET
fcis-7514	16	2	uav	uav	PROPN
fcis-7514	16	3	path	path	PROPN
fcis-7514	16	4	planning	planning	NOUN
fcis-7514	16	5	technology	technology	NOUN
fcis-7514	16	6	should	should	AUX
fcis-7514	16	7	explore	explore	VERB
fcis-7514	16	8	the	the	DET
fcis-7514	16	9	best	good	ADJ
fcis-7514	16	10	path	path	NOUN
fcis-7514	16	11	to	to	PART
fcis-7514	16	12	reduce	reduce	VERB
fcis-7514	16	13	costs	cost	NOUN
fcis-7514	16	14	on	on	ADP
fcis-7514	16	15	the	the	DET
fcis-7514	16	16	premise	premise	NOUN
fcis-7514	16	17	of	of	ADP
fcis-7514	16	18	ensuring	ensure	VERB
fcis-7514	16	19	the	the	DET
fcis-7514	16	20	safety	safety	NOUN
fcis-7514	16	21	of	of	ADP
fcis-7514	16	22	flight	flight	NOUN
fcis-7514	16	23	missions	mission	NOUN
fcis-7514	16	24	.	.	PUNCT
fcis-7514	17	1	the	the	DET
fcis-7514	17	2	core	core	NOUN
fcis-7514	17	3	of	of	ADP
fcis-7514	17	4	uav	uav	PROPN
fcis-7514	17	5	path	path	PROPN
fcis-7514	17	6	planning	planning	NOUN
fcis-7514	17	7	technology	technology	NOUN
fcis-7514	17	8	is	be	AUX
fcis-7514	17	9	path	path	NOUN
fcis-7514	17	10	planning	planning	NOUN
fcis-7514	17	11	algorithm	algorithm	NOUN
fcis-7514	17	12	.	.	PUNCT
fcis-7514	18	1	in	in	ADP
fcis-7514	18	2	terms	term	NOUN
fcis-7514	18	3	of	of	ADP
fcis-7514	18	4	3d	3d	NUM
fcis-7514	18	5	path	path	NOUN
fcis-7514	18	6	search	search	NOUN
fcis-7514	18	7	algorithms	algorithm	NOUN
fcis-7514	18	8	,	,	PUNCT
fcis-7514	18	9	there	there	PRON
fcis-7514	18	10	are	be	VERB
fcis-7514	18	11	traditional	traditional	ADJ
fcis-7514	18	12	algorithms	algorithm	NOUN
fcis-7514	18	13	such	such	ADJ
fcis-7514	18	14	as	as	ADP
fcis-7514	18	15	artificial	artificial	ADJ
fcis-7514	18	16	potential	potential	ADJ
fcis-7514	18	17	field	field	NOUN
fcis-7514	18	18	method	method	NOUN
fcis-7514	18	19	[	[	X
fcis-7514	18	20	3	3	NUM
fcis-7514	18	21	]	]	PUNCT
fcis-7514	18	22	and	and	CCONJ
fcis-7514	18	23	fuzzy	fuzzy	ADJ
fcis-7514	18	24	logic	logic	NOUN
fcis-7514	18	25	algorithm	algorithm	NOUN
fcis-7514	18	26	[	[	X
fcis-7514	18	27	4	4	NUM
fcis-7514	18	28	]	]	PUNCT
fcis-7514	18	29	,	,	PUNCT
fcis-7514	18	30	heuristic	heuristic	ADJ
fcis-7514	18	31	path	path	NOUN
fcis-7514	18	32	optimization	optimization	NOUN
fcis-7514	18	33	algorithms	algorithm	NOUN
fcis-7514	18	34	such	such	ADJ
fcis-7514	18	35	as	as	ADP
fcis-7514	18	36	a	a	DET
fcis-7514	18	37	*	*	ADJ
fcis-7514	18	38	algorithm	algorithm	NOUN
fcis-7514	18	39	[	[	X
fcis-7514	18	40	5	5	NUM
fcis-7514	18	41	]	]	PUNCT
fcis-7514	18	42	and	and	CCONJ
fcis-7514	18	43	dijkstra	dijkstra	ADJ
fcis-7514	18	44	algorithm	algorithm	NOUN
fcis-7514	18	45	[	[	X
fcis-7514	18	46	6	6	NUM
fcis-7514	18	47	]	]	PUNCT
fcis-7514	18	48	,	,	PUNCT
fcis-7514	18	49	and	and	CCONJ
fcis-7514	18	50	swarm	swarm	NOUN
fcis-7514	18	51	intelligence	intelligence	NOUN
fcis-7514	18	52	simulation	simulation	NOUN
fcis-7514	18	53	optimization	optimization	NOUN
fcis-7514	18	54	algorithms	algorithm	NOUN
fcis-7514	18	55	[	[	X
fcis-7514	18	56	7	7	X
fcis-7514	18	57	]	]	PUNCT
fcis-7514	18	58	such	such	ADJ
fcis-7514	18	59	as	as	ADP
fcis-7514	18	60	genetic	genetic	ADJ
fcis-7514	18	61	algorithm	algorithm	NOUN
fcis-7514	18	62	and	and	CCONJ
fcis-7514	18	63	ant	ant	ADJ
fcis-7514	18	64	colony	colony	NOUN
fcis-7514	18	65	algorithm	algorithm	NOUN
fcis-7514	18	66	[	[	X
fcis-7514	18	67	8	8	NUM
fcis-7514	18	68	]	]	PUNCT
fcis-7514	18	69	.	.	PUNCT
fcis-7514	19	1	based	base	VERB
fcis-7514	19	2	on	on	ADP
fcis-7514	19	3	the	the	DET
fcis-7514	19	4	a	a	PROPN
fcis-7514	19	5	*	*	NOUN
fcis-7514	19	6	algorithm	algorithm	NOUN
fcis-7514	19	7	,	,	PUNCT
fcis-7514	19	8	this	this	DET
fcis-7514	19	9	paper	paper	NOUN
fcis-7514	19	10	improves	improve	VERB
fcis-7514	19	11	and	and	CCONJ
fcis-7514	19	12	optimizes	optimize	VERB
fcis-7514	19	13	the	the	DET
fcis-7514	19	14	existing	exist	VERB
fcis-7514	19	15	algorithm	algorithm	NOUN
fcis-7514	19	16	for	for	ADP
fcis-7514	19	17	complex	complex	ADJ
fcis-7514	19	18	urban	urban	ADJ
fcis-7514	19	19	environments	environment	NOUN
fcis-7514	19	20	,	,	PUNCT
fcis-7514	19	21	adapts	adapt	VERB
fcis-7514	19	22	the	the	DET
fcis-7514	19	23	comprehensive	comprehensive	ADJ
fcis-7514	19	24	flight	flight	NOUN
fcis-7514	19	25	cost	cost	NOUN
fcis-7514	19	26	function	function	NOUN
fcis-7514	19	27	by	by	ADP
fcis-7514	19	28	adaptive	adaptive	ADJ
fcis-7514	19	29	modification	modification	NOUN
fcis-7514	19	30	of	of	ADP
fcis-7514	19	31	algorithm	algorithm	NOUN
fcis-7514	19	32	parameters	parameter	NOUN
fcis-7514	19	33	,	,	PUNCT
fcis-7514	19	34	and	and	CCONJ
fcis-7514	19	35	introduces	introduce	VERB
fcis-7514	19	36	the	the	DET
fcis-7514	19	37	optimization	optimization	NOUN
fcis-7514	19	38	algorithm	algorithm	NOUN
fcis-7514	19	39	model	model	NOUN
fcis-7514	19	40	of	of	ADP
fcis-7514	19	41	the	the	DET
fcis-7514	19	42	line	line	NOUN
fcis-7514	19	43	of	of	ADP
fcis-7514	19	44	sight	sight	NOUN
fcis-7514	19	45	expansion	expansion	NOUN
fcis-7514	19	46	mode	mode	NOUN
fcis-7514	19	47	to	to	PART
fcis-7514	19	48	ensure	ensure	VERB
fcis-7514	19	49	a	a	DET
fcis-7514	19	50	safe	safe	ADJ
fcis-7514	19	51	,	,	PUNCT
fcis-7514	19	52	to	to	PART
fcis-7514	19	53	achieve	achieve	VERB
fcis-7514	19	54	efficient	efficient	ADJ
fcis-7514	19	55	and	and	CCONJ
fcis-7514	19	56	fast	fast	ADJ
fcis-7514	19	57	three	three	NUM
fcis-7514	19	58	-	-	PUNCT
fcis-7514	19	59	dimensional	dimensional	ADJ
fcis-7514	19	60	light	light	ADJ
fcis-7514	19	61	rail	rail	NOUN
fcis-7514	19	62	planning	planning	NOUN
fcis-7514	19	63	.	.	PUNCT
fcis-7514	20	1	2	2	X
fcis-7514	20	2	.	.	X
fcis-7514	20	3	environment	environment	NOUN
fcis-7514	20	4	construction	construction	NOUN
fcis-7514	20	5	the	the	DET
fcis-7514	20	6	urban	urban	ADJ
fcis-7514	20	7	environment	environment	NOUN
fcis-7514	20	8	is	be	AUX
fcis-7514	20	9	mainly	mainly	ADV
fcis-7514	20	10	composed	compose	VERB
fcis-7514	20	11	of	of	ADP
fcis-7514	20	12	closely	closely	ADV
fcis-7514	20	13	connected	connect	VERB
fcis-7514	20	14	high	high	ADJ
fcis-7514	20	15	-	-	PUNCT
fcis-7514	20	16	rise	rise	NOUN
fcis-7514	20	17	buildings	building	NOUN
fcis-7514	20	18	,	,	PUNCT
fcis-7514	20	19	so	so	CCONJ
fcis-7514	20	20	the	the	DET
fcis-7514	20	21	grid	grid	NOUN
fcis-7514	20	22	method	method	NOUN
fcis-7514	20	23	can	can	AUX
fcis-7514	20	24	be	be	AUX
fcis-7514	20	25	used	use	VERB
fcis-7514	20	26	to	to	PART
fcis-7514	20	27	simulate	simulate	VERB
fcis-7514	20	28	the	the	DET
fcis-7514	20	29	urban	urban	ADJ
fcis-7514	20	30	environment	environment	NOUN
fcis-7514	20	31	.	.	PUNCT
fcis-7514	21	1	the	the	DET
fcis-7514	21	2	urban	urban	ADJ
fcis-7514	21	3	space	space	NOUN
fcis-7514	21	4	is	be	AUX
fcis-7514	21	5	divided	divide	VERB
fcis-7514	21	6	into	into	ADP
fcis-7514	21	7	a	a	DET
fcis-7514	21	8	discrete	discrete	ADJ
fcis-7514	21	9	grid	grid	NOUN
fcis-7514	21	10	,	,	PUNCT
fcis-7514	21	11	the	the	DET
fcis-7514	21	12	protruding	protrude	VERB
fcis-7514	21	13	part	part	NOUN
fcis-7514	21	14	represents	represent	VERB
fcis-7514	21	15	the	the	DET
fcis-7514	21	16	obstacle	obstacle	NOUN
fcis-7514	21	17	,	,	PUNCT
fcis-7514	21	18	the	the	DET
fcis-7514	21	19	obstacle	obstacle	NOUN
fcis-7514	21	20	height	height	NOUN
fcis-7514	21	21	simulates	simulate	NOUN
fcis-7514	21	22	the	the	DET
fcis-7514	21	23	height	height	NOUN
fcis-7514	21	24	of	of	ADP
fcis-7514	21	25	the	the	DET
fcis-7514	21	26	building	building	NOUN
fcis-7514	21	27	,	,	PUNCT
fcis-7514	21	28	and	and	CCONJ
fcis-7514	21	29	the	the	DET
fcis-7514	21	30	other	other	ADJ
fcis-7514	21	31	area	area	NOUN
fcis-7514	21	32	represents	represent	VERB
fcis-7514	21	33	the	the	DET
fcis-7514	21	34	free	free	ADJ
fcis-7514	21	35	region	region	NOUN
fcis-7514	21	36	.	.	PUNCT
fcis-7514	22	1	a	a	DET
fcis-7514	22	2	three	three	NUM
fcis-7514	22	3	-	-	PUNCT
fcis-7514	22	4	dimensional	dimensional	ADJ
fcis-7514	22	5	digital	digital	ADJ
fcis-7514	22	6	map	map	NOUN
fcis-7514	22	7	can	can	AUX
fcis-7514	22	8	be	be	AUX
fcis-7514	22	9	formed	form	VERB
fcis-7514	22	10	.	.	PUNCT
fcis-7514	23	1	as	as	SCONJ
fcis-7514	23	2	shown	show	VERB
fcis-7514	23	3	in	in	ADP
fcis-7514	23	4	figure	figure	NOUN
fcis-7514	23	5	1	1	NUM
fcis-7514	23	6	.	.	PUNCT
fcis-7514	23	7	figure	figure	NOUN
fcis-7514	23	8	1	1	NUM
fcis-7514	23	9	.	.	PUNCT
fcis-7514	24	1	urban	urban	ADJ
fcis-7514	24	2	building	building	NOUN
fcis-7514	24	3	map	map	NOUN
fcis-7514	24	4	considering	consider	VERB
fcis-7514	24	5	the	the	DET
fcis-7514	24	6	safety	safety	NOUN
fcis-7514	24	7	of	of	ADP
fcis-7514	24	8	uav	uav	PROPN
fcis-7514	24	9	flight	flight	NOUN
fcis-7514	24	10	,	,	PUNCT
fcis-7514	24	11	the	the	DET
fcis-7514	24	12	standard	standard	ADJ
fcis-7514	24	13	map	map	NOUN
fcis-7514	24	14	is	be	AUX
fcis-7514	24	15	converted	convert	VERB
fcis-7514	24	16	to	to	ADP
fcis-7514	24	17	the	the	DET
fcis-7514	24	18	drone	drone	NOUN
fcis-7514	24	19	flight	flight	NOUN
fcis-7514	24	20	safety	safety	NOUN
fcis-7514	24	21	map	map	NOUN
fcis-7514	24	22	,	,	PUNCT
fcis-7514	24	23	and	and	CCONJ
fcis-7514	24	24	the	the	DET
fcis-7514	24	25	standard	standard	ADJ
fcis-7514	24	26	height	height	NOUN
fcis-7514	24	27	map	map	NOUN
fcis-7514	24	28	of	of	ADP
fcis-7514	24	29	the	the	DET
fcis-7514	24	30	height	height	NOUN
fcis-7514	24	31	and	and	CCONJ
fcis-7514	24	32	width	width	NOUN
fcis-7514	24	33	of	of	ADP
fcis-7514	24	34	the	the	DET
fcis-7514	24	35	building	building	NOUN
fcis-7514	24	36	is	be	AUX
fcis-7514	24	37	increased	increase	VERB
fcis-7514	24	38	.	.	PUNCT
fcis-7514	25	1	the	the	DET
fcis-7514	25	2	external	external	ADJ
fcis-7514	25	3	extension	extension	NOUN
fcis-7514	25	4	area	area	NOUN
fcis-7514	25	5	is	be	AUX
fcis-7514	25	6	the	the	DET
fcis-7514	25	7	drone	drone	NOUN
fcis-7514	25	8	and	and	CCONJ
fcis-7514	25	9	building	building	NOUN
fcis-7514	25	10	buffers	buffer	NOUN
fcis-7514	25	11	.	.	PUNCT
fcis-7514	26	1	set	set	VERB
fcis-7514	26	2	the	the	DET
fcis-7514	26	3	failure	failure	NOUN
fcis-7514	26	4	area	area	NOUN
fcis-7514	26	5	to	to	ADP
fcis-7514	26	6	1	1	NUM
fcis-7514	26	7	,	,	PUNCT
fcis-7514	26	8	buffer	buffer	NOUN
fcis-7514	26	9	area	area	NOUN
fcis-7514	26	10	to	to	ADP
fcis-7514	26	11	0.5	0.5	NUM
fcis-7514	26	12	,	,	PUNCT
fcis-7514	26	13	and	and	CCONJ
fcis-7514	26	14	free	free	ADJ
fcis-7514	26	15	space	space	NOUN
fcis-7514	26	16	to	to	ADP
fcis-7514	26	17	0	0	NUM
fcis-7514	26	18	.	.	PUNCT
fcis-7514	27	1	in	in	ADP
fcis-7514	27	2	the	the	DET
fcis-7514	27	3	trajectory	trajectory	NOUN
fcis-7514	27	4	planning	planning	NOUN
fcis-7514	27	5	stage	stage	NOUN
fcis-7514	27	6	,	,	PUNCT
fcis-7514	27	7	if	if	SCONJ
fcis-7514	27	8	the	the	DET
fcis-7514	27	9	obstacle	obstacle	NOUN
fcis-7514	27	10	is	be	AUX
fcis-7514	27	11	1	1	NUM
fcis-7514	27	12	,	,	PUNCT
fcis-7514	27	13	it	it	PRON
fcis-7514	27	14	means	mean	VERB
fcis-7514	27	15	that	that	SCONJ
fcis-7514	27	16	the	the	DET
fcis-7514	27	17	path	path	NOUN
fcis-7514	27	18	will	will	AUX
fcis-7514	27	19	not	not	PART
fcis-7514	27	20	be	be	AUX
fcis-7514	27	21	flown	fly	VERB
fcis-7514	27	22	strictly	strictly	ADV
fcis-7514	27	23	.	.	PUNCT
fcis-7514	28	1	and	and	CCONJ
fcis-7514	28	2	the	the	DET
fcis-7514	28	3	buffer	buffer	NOUN
fcis-7514	28	4	allocated	allocate	VERB
fcis-7514	28	5	to	to	ADP
fcis-7514	28	6	the	the	DET
fcis-7514	28	7	building	building	NOUN
fcis-7514	28	8	of	of	ADP
fcis-7514	28	9	0.5	0.5	NUM
fcis-7514	28	10	is	be	AUX
fcis-7514	28	11	an	an	DET
fcis-7514	28	12	evolved	evolved	ADJ
fcis-7514	28	13	trajectory	trajectory	NOUN
fcis-7514	28	14	after	after	SCONJ
fcis-7514	28	15	the	the	DET
fcis-7514	28	16	constant	constant	ADJ
fcis-7514	28	17	safety	safety	NOUN
fcis-7514	28	18	cost	cost	NOUN
fcis-7514	28	19	is	be	AUX
fcis-7514	28	20	increased	increase	VERB
fcis-7514	28	21	,	,	PUNCT
fcis-7514	28	22	and	and	CCONJ
fcis-7514	28	23	the	the	DET
fcis-7514	28	24	safety	safety	NOUN
fcis-7514	28	25	flying	fly	VERB
fcis-7514	28	26	buffer	buffer	NOUN
fcis-7514	28	27	can	can	AUX
fcis-7514	28	28	be	be	AUX
fcis-7514	28	29	formed	form	VERB
fcis-7514	28	30	to	to	PART
fcis-7514	28	31	increase	increase	VERB
fcis-7514	28	32	the	the	DET
fcis-7514	28	33	safety	safety	NOUN
fcis-7514	28	34	of	of	ADP
fcis-7514	28	35	the	the	DET
fcis-7514	28	36	flight	flight	NOUN
fcis-7514	28	37	trajectory	trajectory	NOUN
fcis-7514	28	38	.	.	PUNCT
fcis-7514	29	1	the	the	DET
fcis-7514	29	2	improved	improve	VERB
fcis-7514	29	3	grid	grid	NOUN
fcis-7514	29	4	assignment	assignment	NOUN
fcis-7514	29	5	method	method	NOUN
fcis-7514	29	6	is	be	AUX
fcis-7514	29	7	shown	show	VERB
fcis-7514	29	8	in	in	ADP
fcis-7514	29	9	figure	figure	NOUN
fcis-7514	29	10	2	2	NUM
fcis-7514	29	11	.	.	X
fcis-7514	29	12	75	75	NUM
fcis-7514	29	13	figure	figure	NOUN
fcis-7514	29	14	2	2	NUM
fcis-7514	29	15	.	.	PUNCT
fcis-7514	29	16	grid	grid	NOUN
fcis-7514	29	17	assignment	assignment	NOUN
fcis-7514	29	18	method	method	NOUN
fcis-7514	29	19	3	3	NUM
fcis-7514	29	20	.	.	PUNCT
fcis-7514	29	21	algorithm	algorithm	NOUN
fcis-7514	29	22	analysis	analysis	NOUN
fcis-7514	29	23	3.1	3.1	NUM
fcis-7514	29	24	.	.	PUNCT
fcis-7514	30	1	traditional	traditional	ADJ
fcis-7514	30	2	a	a	DET
fcis-7514	30	3	*	*	PUNCT
fcis-7514	30	4	algorithm	algorithm	NOUN
fcis-7514	30	5	a	a	DET
fcis-7514	30	6	*	*	PUNCT
fcis-7514	30	7	algorithm	algorithm	NOUN
fcis-7514	30	8	is	be	AUX
fcis-7514	30	9	one	one	NUM
fcis-7514	30	10	of	of	ADP
fcis-7514	30	11	the	the	DET
fcis-7514	30	12	most	most	ADV
fcis-7514	30	13	common	common	ADJ
fcis-7514	30	14	algorithms	algorithm	NOUN
fcis-7514	30	15	in	in	ADP
fcis-7514	30	16	path	path	NOUN
fcis-7514	30	17	planning	planning	NOUN
fcis-7514	30	18	for	for	ADP
fcis-7514	30	19	better	well	ADJ
fcis-7514	30	20	performance	performance	NOUN
fcis-7514	30	21	and	and	CCONJ
fcis-7514	30	22	accuracy	accuracy	NOUN
fcis-7514	30	23	,	,	PUNCT
fcis-7514	30	24	and	and	CCONJ
fcis-7514	30	25	determines	determine	VERB
fcis-7514	30	26	the	the	DET
fcis-7514	30	27	optimal	optimal	ADJ
fcis-7514	30	28	route	route	NOUN
fcis-7514	30	29	by	by	ADP
fcis-7514	30	30	constantly	constantly	ADV
fcis-7514	30	31	evaluating	evaluate	VERB
fcis-7514	30	32	the	the	DET
fcis-7514	30	33	cost	cost	NOUN
fcis-7514	30	34	of	of	ADP
fcis-7514	30	35	search	search	NOUN
fcis-7514	30	36	nodes	node	NOUN
fcis-7514	30	37	in	in	ADP
fcis-7514	30	38	space	space	NOUN
fcis-7514	30	39	[	[	X
fcis-7514	30	40	9	9	NUM
fcis-7514	30	41	]	]	PUNCT
fcis-7514	30	42	.	.	PUNCT
fcis-7514	31	1	algorithm	algorithm	NOUN
fcis-7514	31	2	expression	expression	NOUN
fcis-7514	31	3	is	be	AUX
fcis-7514	31	4	shown	show	VERB
fcis-7514	31	5	in	in	ADP
fcis-7514	31	6	equation	equation	NOUN
fcis-7514	31	7	(	(	PUNCT
fcis-7514	31	8	1	1	NUM
fcis-7514	31	9	)	)	PUNCT
fcis-7514	31	10	.	.	PUNCT
fcis-7514	32	1	f(n)=g(n)+h(n	f(n)=g(n)+h(n	NOUN
fcis-7514	32	2	)	)	PUNCT
fcis-7514	32	3	(	(	PUNCT
fcis-7514	32	4	1	1	X
fcis-7514	32	5	)	)	PUNCT
fcis-7514	32	6	the	the	DET
fcis-7514	32	7	expression	expression	NOUN
fcis-7514	32	8	represents	represent	VERB
fcis-7514	32	9	the	the	DET
fcis-7514	32	10	actual	actual	ADJ
fcis-7514	32	11	cost	cost	NOUN
fcis-7514	32	12	of	of	ADP
fcis-7514	32	13	the	the	DET
fcis-7514	32	14	trip	trip	NOUN
fcis-7514	32	15	from	from	ADP
fcis-7514	32	16	the	the	DET
fcis-7514	32	17	start	start	NOUN
fcis-7514	32	18	node	node	NOUN
fcis-7514	32	19	to	to	ADP
fcis-7514	32	20	the	the	DET
fcis-7514	32	21	current	current	ADJ
fcis-7514	32	22	node	node	NOUN
fcis-7514	32	23	,	,	PUNCT
fcis-7514	32	24	representing	represent	VERB
fcis-7514	32	25	the	the	DET
fcis-7514	32	26	estimated	estimate	VERB
fcis-7514	32	27	cost	cost	NOUN
fcis-7514	32	28	of	of	ADP
fcis-7514	32	29	trip	trip	NOUN
fcis-7514	32	30	from	from	ADP
fcis-7514	32	31	the	the	DET
fcis-7514	32	32	current	current	ADJ
fcis-7514	32	33	node	node	NOUN
fcis-7514	32	34	to	to	ADP
fcis-7514	32	35	the	the	DET
fcis-7514	32	36	target	target	NOUN
fcis-7514	32	37	node	node	NOUN
fcis-7514	32	38	.	.	PUNCT
fcis-7514	33	1	selecting	select	VERB
fcis-7514	33	2	a	a	DET
fcis-7514	33	3	path	path	NOUN
fcis-7514	33	4	node	node	NOUN
fcis-7514	33	5	is	be	AUX
fcis-7514	33	6	globally	globally	ADV
fcis-7514	33	7	evaluated	evaluate	VERB
fcis-7514	33	8	that	that	SCONJ
fcis-7514	33	9	the	the	DET
fcis-7514	33	10	minimum	minimum	ADJ
fcis-7514	33	11	node	node	NOUN
fcis-7514	33	12	is	be	AUX
fcis-7514	33	13	the	the	DET
fcis-7514	33	14	next	next	ADJ
fcis-7514	33	15	routing	routing	NOUN
fcis-7514	33	16	point	point	NOUN
fcis-7514	33	17	to	to	PART
fcis-7514	33	18	find	find	VERB
fcis-7514	33	19	the	the	DET
fcis-7514	33	20	optimal	optimal	ADJ
fcis-7514	33	21	path	path	NOUN
fcis-7514	33	22	.	.	PUNCT
fcis-7514	34	1	3.2	3.2	NUM
fcis-7514	34	2	.	.	PUNCT
fcis-7514	34	3	algorithm	algorithm	NOUN
fcis-7514	34	4	of	of	ADP
fcis-7514	34	5	this	this	DET
fcis-7514	34	6	paper	paper	NOUN
fcis-7514	34	7	3.2.1	3.2.1	NUM
fcis-7514	34	8	.	.	PUNCT
fcis-7514	35	1	cost	cost	NOUN
fcis-7514	35	2	function	function	NOUN
fcis-7514	35	3	weight	weight	NOUN
fcis-7514	35	4	optimization	optimization	NOUN
fcis-7514	35	5	there	there	PRON
fcis-7514	35	6	are	be	VERB
fcis-7514	35	7	several	several	ADJ
fcis-7514	35	8	drawbacks	drawback	NOUN
fcis-7514	35	9	in	in	ADP
fcis-7514	35	10	the	the	DET
fcis-7514	35	11	cost	cost	NOUN
fcis-7514	35	12	function	function	NOUN
fcis-7514	35	13	of	of	ADP
fcis-7514	35	14	the	the	DET
fcis-7514	35	15	traditional	traditional	ADJ
fcis-7514	35	16	a	a	PRON
fcis-7514	35	17	*	*	X
fcis-7514	35	18	algorithm	algorithm	NOUN
fcis-7514	35	19	,	,	PUNCT
fcis-7514	35	20	and	and	CCONJ
fcis-7514	35	21	the	the	DET
fcis-7514	35	22	grid	grid	NOUN
fcis-7514	35	23	diagram	diagram	NOUN
fcis-7514	35	24	always	always	ADV
fcis-7514	35	25	has	have	VERB
fcis-7514	35	26	a	a	DET
fcis-7514	35	27	relatively	relatively	ADV
fcis-7514	35	28	small	small	ADJ
fcis-7514	35	29	f(n	f(n	PROPN
fcis-7514	35	30	)	)	PUNCT
fcis-7514	35	31	value	value	NOUN
fcis-7514	35	32	and	and	CCONJ
fcis-7514	35	33	has	have	VERB
fcis-7514	35	34	a	a	DET
fcis-7514	35	35	relatively	relatively	ADV
fcis-7514	35	36	small	small	ADJ
fcis-7514	35	37	h(n	h(n	PROPN
fcis-7514	35	38	)	)	PUNCT
fcis-7514	35	39	ratio	ratio	NOUN
fcis-7514	35	40	,	,	PUNCT
fcis-7514	35	41	and	and	CCONJ
fcis-7514	35	42	these	these	DET
fcis-7514	35	43	types	type	NOUN
fcis-7514	35	44	of	of	ADP
fcis-7514	35	45	nodes	node	NOUN
fcis-7514	35	46	depend	depend	VERB
fcis-7514	35	47	primarily	primarily	ADV
fcis-7514	35	48	on	on	ADP
fcis-7514	35	49	the	the	DET
fcis-7514	35	50	actual	actual	ADJ
fcis-7514	35	51	cost	cost	NOUN
fcis-7514	35	52	of	of	ADP
fcis-7514	35	53	the	the	DET
fcis-7514	35	54	trip	trip	NOUN
fcis-7514	35	55	,	,	PUNCT
fcis-7514	35	56	which	which	PRON
fcis-7514	35	57	is	be	AUX
fcis-7514	35	58	blurred	blur	VERB
fcis-7514	35	59	by	by	ADP
fcis-7514	35	60	the	the	DET
fcis-7514	35	61	algorithm	algorithm	NOUN
fcis-7514	35	62	's	's	PART
fcis-7514	35	63	direction	direction	NOUN
fcis-7514	35	64	and	and	CCONJ
fcis-7514	35	65	too	too	ADV
fcis-7514	35	66	many	many	ADJ
fcis-7514	35	67	searches	search	NOUN
fcis-7514	35	68	for	for	ADP
fcis-7514	35	69	invalid	invalid	ADJ
fcis-7514	35	70	nodes	node	NOUN
fcis-7514	35	71	operation	operation	NOUN
fcis-7514	35	72	load	load	NOUN
fcis-7514	35	73	is	be	AUX
fcis-7514	35	74	large	large	ADJ
fcis-7514	35	75	.	.	PUNCT
fcis-7514	36	1	therefore	therefore	ADV
fcis-7514	36	2	,	,	PUNCT
fcis-7514	36	3	this	this	DET
fcis-7514	36	4	paper	paper	NOUN
fcis-7514	36	5	optimizes	optimize	VERB
fcis-7514	36	6	the	the	DET
fcis-7514	36	7	weight	weight	NOUN
fcis-7514	36	8	of	of	ADP
fcis-7514	36	9	the	the	DET
fcis-7514	36	10	cost	cost	NOUN
fcis-7514	36	11	function	function	NOUN
fcis-7514	36	12	of	of	ADP
fcis-7514	36	13	a	a	DET
fcis-7514	36	14	*	*	X
fcis-7514	36	15	algorithm	algorithm	NOUN
fcis-7514	36	16	.	.	PUNCT
fcis-7514	37	1	as	as	SCONJ
fcis-7514	37	2	shown	show	VERB
fcis-7514	37	3	in	in	ADP
fcis-7514	37	4	formula	formula	NOUN
fcis-7514	37	5	(	(	PUNCT
fcis-7514	37	6	2	2	NUM
fcis-7514	37	7	)	)	PUNCT
fcis-7514	37	8	f(n)=α*g(n)+β*h(n	f(n)=α*g(n)+β*h(n	PROPN
fcis-7514	37	9	)	)	PUNCT
fcis-7514	37	10	(	(	PUNCT
fcis-7514	37	11	2	2	X
fcis-7514	37	12	)	)	PUNCT
fcis-7514	37	13	the	the	DET
fcis-7514	37	14	definition	definition	NOUN
fcis-7514	37	15	of	of	ADP
fcis-7514	37	16	g(n	g(n	PROPN
fcis-7514	37	17	)	)	PUNCT
fcis-7514	37	18	and	and	CCONJ
fcis-7514	37	19	h(n	h(n	PROPN
fcis-7514	37	20	)	)	PUNCT
fcis-7514	37	21	determined	determine	VERB
fcis-7514	37	22	the	the	DET
fcis-7514	37	23	effect	effect	NOUN
fcis-7514	37	24	of	of	ADP
fcis-7514	37	25	the	the	DET
fcis-7514	37	26	path	path	NOUN
fcis-7514	37	27	search	search	NOUN
fcis-7514	37	28	,	,	PUNCT
fcis-7514	37	29	and	and	CCONJ
fcis-7514	37	30	analyzed	analyze	VERB
fcis-7514	37	31	whether	whether	SCONJ
fcis-7514	37	32	the	the	DET
fcis-7514	37	33	relatively	relatively	ADV
fcis-7514	37	34	large	large	ADJ
fcis-7514	37	35	algorithm	algorithm	NOUN
fcis-7514	37	36	had	have	VERB
fcis-7514	37	37	a	a	DET
fcis-7514	37	38	better	well	ADJ
fcis-7514	37	39	late	late	ADJ
fcis-7514	37	40	search	search	NOUN
fcis-7514	37	41	effect	effect	NOUN
fcis-7514	37	42	and	and	CCONJ
fcis-7514	37	43	that	that	SCONJ
fcis-7514	37	44	the	the	DET
fcis-7514	37	45	relatively	relatively	ADV
fcis-7514	37	46	large	large	ADJ
fcis-7514	37	47	algorithm	algorithm	NOUN
fcis-7514	37	48	had	have	VERB
fcis-7514	37	49	better	well	ADJ
fcis-7514	37	50	early	early	ADJ
fcis-7514	37	51	search	search	NOUN
fcis-7514	37	52	effects	effect	NOUN
fcis-7514	37	53	.	.	PUNCT
fcis-7514	38	1	the	the	DET
fcis-7514	38	2	minimum	minimum	ADJ
fcis-7514	38	3	value	value	NOUN
fcis-7514	38	4	of	of	ADP
fcis-7514	38	5	the	the	DET
fcis-7514	38	6	weight	weight	NOUN
fcis-7514	38	7	h(n	h(n	PROPN
fcis-7514	38	8	)	)	PUNCT
fcis-7514	38	9	is	be	AUX
fcis-7514	38	10	set	set	VERB
fcis-7514	38	11	,	,	PUNCT
fcis-7514	38	12	and	and	CCONJ
fcis-7514	38	13	the	the	DET
fcis-7514	38	14	direction	direction	NOUN
fcis-7514	38	15	is	be	AUX
fcis-7514	38	16	blurred	blur	VERB
fcis-7514	38	17	while	while	SCONJ
fcis-7514	38	18	the	the	DET
fcis-7514	38	19	algorithm	algorithm	NOUN
fcis-7514	38	20	is	be	AUX
fcis-7514	38	21	too	too	ADV
fcis-7514	38	22	low	low	ADJ
fcis-7514	38	23	and	and	CCONJ
fcis-7514	38	24	the	the	DET
fcis-7514	38	25	direction	direction	NOUN
fcis-7514	38	26	is	be	AUX
fcis-7514	38	27	blurred	blur	VERB
fcis-7514	38	28	while	while	SCONJ
fcis-7514	38	29	searching	search	VERB
fcis-7514	38	30	the	the	DET
fcis-7514	38	31	algorithm	algorithm	NOUN
fcis-7514	38	32	,	,	PUNCT
fcis-7514	38	33	and	and	CCONJ
fcis-7514	38	34	the	the	DET
fcis-7514	38	35	search	search	NOUN
fcis-7514	38	36	node	node	NOUN
fcis-7514	38	37	is	be	AUX
fcis-7514	38	38	too	too	ADV
fcis-7514	38	39	numerous	numerous	ADJ
fcis-7514	38	40	and	and	CCONJ
fcis-7514	38	41	the	the	DET
fcis-7514	38	42	search	search	NOUN
fcis-7514	38	43	time	time	NOUN
fcis-7514	38	44	is	be	AUX
fcis-7514	38	45	too	too	ADV
fcis-7514	38	46	long	long	ADJ
fcis-7514	38	47	.	.	PUNCT
fcis-7514	39	1	adjust	adjust	VERB
fcis-7514	39	2	the	the	DET
fcis-7514	39	3	weight	weight	NOUN
fcis-7514	39	4	of	of	ADP
fcis-7514	39	5	g(n	g(n	PROPN
fcis-7514	39	6	)	)	PUNCT
fcis-7514	39	7	and	and	CCONJ
fcis-7514	39	8	h(n	h(n	PROPN
fcis-7514	39	9	)	)	PUNCT
fcis-7514	39	10	,	,	PUNCT
fcis-7514	39	11	as	as	SCONJ
fcis-7514	39	12	shown	show	VERB
fcis-7514	39	13	in	in	ADP
fcis-7514	39	14	formula	formula	NOUN
fcis-7514	39	15	(	(	PUNCT
fcis-7514	39	16	3	3	NUM
fcis-7514	39	17	)	)	PUNCT
fcis-7514	39	18	{	{	PUNCT
fcis-7514	39	19	𝛼(𝑛	𝛼(𝑛	PROPN
fcis-7514	39	20	)	)	PUNCT
fcis-7514	40	1	=	=	SYM
fcis-7514	40	2	𝛼0	𝛼0	PROPN
fcis-7514	40	3	(	(	PUNCT
fcis-7514	40	4	1−	1−	NUM
fcis-7514	40	5	𝐻(𝑛	𝐻(𝑛	NOUN
fcis-7514	40	6	)	)	PUNCT
fcis-7514	40	7	𝐷	𝐷	PROPN
fcis-7514	40	8	)	)	PUNCT
fcis-7514	40	9	𝛼(𝑛	𝛼(𝑛	PROPN
fcis-7514	40	10	)	)	PUNCT
fcis-7514	40	11	<	<	X
fcis-7514	40	12	𝛼𝑚𝑎𝑥	𝛼𝑚𝑎𝑥	PROPN
fcis-7514	40	13	𝛽(𝑛	𝛽(𝑛	PROPN
fcis-7514	40	14	)	)	PUNCT
fcis-7514	40	15	=	=	SYM
fcis-7514	40	16	𝛽0	𝛽0	NOUN
fcis-7514	40	17	(	(	PUNCT
fcis-7514	40	18	𝐻(𝑛	𝐻(𝑛	NOUN
fcis-7514	40	19	)	)	PUNCT
fcis-7514	40	20	𝐷	𝐷	NOUN
fcis-7514	40	21	)	)	PUNCT
fcis-7514	40	22	𝛽(𝑛	𝛽(𝑛	PROPN
fcis-7514	40	23	)	)	PUNCT
fcis-7514	40	24	>	>	X
fcis-7514	40	25	𝛽𝑚𝑖𝑛	𝛽𝑚𝑖𝑛	NOUN
fcis-7514	40	26	(	(	PUNCT
fcis-7514	40	27	3	3	NUM
fcis-7514	40	28	)	)	PUNCT
fcis-7514	40	29	indicates	indicate	VERB
fcis-7514	40	30	that	that	SCONJ
fcis-7514	40	31	the	the	DET
fcis-7514	40	32	initial	initial	ADJ
fcis-7514	40	33	value	value	NOUN
fcis-7514	40	34	of	of	ADP
fcis-7514	40	35	the	the	DET
fcis-7514	40	36	expression	expression	NOUN
fcis-7514	40	37	is	be	AUX
fcis-7514	40	38	greater	great	ADJ
fcis-7514	40	39	than	than	ADP
fcis-7514	40	40	1	1	NUM
fcis-7514	40	41	,	,	PUNCT
fcis-7514	40	42	indicating	indicate	VERB
fcis-7514	40	43	the	the	DET
fcis-7514	40	44	weight	weight	NOUN
fcis-7514	40	45	of	of	ADP
fcis-7514	40	46	the	the	DET
fcis-7514	40	47	current	current	ADJ
fcis-7514	40	48	node	node	NOUN
fcis-7514	40	49	's	's	PART
fcis-7514	40	50	cost	cost	NOUN
fcis-7514	40	51	function	function	NOUN
fcis-7514	40	52	.	.	PUNCT
fcis-7514	41	1	the	the	DET
fcis-7514	41	2	algorithm	algorithm	NOUN
fcis-7514	41	3	gradually	gradually	ADV
fcis-7514	41	4	increases	increase	VERB
fcis-7514	41	5	and	and	CCONJ
fcis-7514	41	6	decreases	decrease	VERB
fcis-7514	41	7	gradually	gradually	ADV
fcis-7514	41	8	during	during	ADP
fcis-7514	41	9	search	search	NOUN
fcis-7514	41	10	.	.	PUNCT
fcis-7514	42	1	d	d	NOUN
fcis-7514	42	2	represents	represent	VERB
fcis-7514	42	3	the	the	DET
fcis-7514	42	4	euclidean	euclidean	ADJ
fcis-7514	42	5	distance	distance	NOUN
fcis-7514	42	6	between	between	ADP
fcis-7514	42	7	the	the	DET
fcis-7514	42	8	start	start	NOUN
fcis-7514	42	9	point	point	NOUN
fcis-7514	42	10	and	and	CCONJ
fcis-7514	42	11	the	the	DET
fcis-7514	42	12	target	target	NOUN
fcis-7514	42	13	node	node	VERB
fcis-7514	42	14	.	.	PUNCT
fcis-7514	43	1	the	the	DET
fcis-7514	43	2	rationality	rationality	NOUN
fcis-7514	43	3	of	of	ADP
fcis-7514	43	4	the	the	DET
fcis-7514	43	5	algorithm	algorithm	NOUN
fcis-7514	43	6	execution	execution	NOUN
fcis-7514	43	7	and	and	CCONJ
fcis-7514	43	8	the	the	DET
fcis-7514	43	9	route	route	NOUN
fcis-7514	43	10	search	search	NOUN
fcis-7514	43	11	efficiency	efficiency	NOUN
fcis-7514	43	12	are	be	AUX
fcis-7514	43	13	improved	improve	VERB
fcis-7514	43	14	by	by	ADP
fcis-7514	43	15	changing	change	VERB
fcis-7514	43	16	the	the	DET
fcis-7514	43	17	weight	weight	NOUN
fcis-7514	43	18	.	.	PUNCT
fcis-7514	44	1	3.2.2	3.2.2	X
fcis-7514	44	2	.	.	PUNCT
fcis-7514	45	1	introducing	introduce	VERB
fcis-7514	45	2	the	the	DET
fcis-7514	45	3	cost	cost	NOUN
fcis-7514	45	4	function	function	NOUN
fcis-7514	45	5	of	of	ADP
fcis-7514	45	6	navigation	navigation	NOUN
fcis-7514	45	7	safety	safety	NOUN
fcis-7514	45	8	there	there	PRON
fcis-7514	45	9	is	be	VERB
fcis-7514	45	10	a	a	DET
fcis-7514	45	11	flight	flight	NOUN
fcis-7514	45	12	area	area	NOUN
fcis-7514	45	13	near	near	ADP
fcis-7514	45	14	the	the	DET
fcis-7514	45	15	obstacle	obstacle	NOUN
fcis-7514	45	16	in	in	ADP
fcis-7514	45	17	planning	plan	VERB
fcis-7514	45	18	a	a	DET
fcis-7514	45	19	trajectory	trajectory	NOUN
fcis-7514	45	20	,	,	PUNCT
fcis-7514	45	21	but	but	CCONJ
fcis-7514	45	22	there	there	PRON
fcis-7514	45	23	is	be	VERB
fcis-7514	45	24	a	a	DET
fcis-7514	45	25	certain	certain	ADJ
fcis-7514	45	26	risk	risk	NOUN
fcis-7514	45	27	in	in	ADP
fcis-7514	45	28	the	the	DET
fcis-7514	45	29	flight	flight	NOUN
fcis-7514	45	30	of	of	ADP
fcis-7514	45	31	the	the	DET
fcis-7514	45	32	area	area	NOUN
fcis-7514	45	33	,	,	PUNCT
fcis-7514	45	34	and	and	CCONJ
fcis-7514	45	35	the	the	DET
fcis-7514	45	36	safety	safety	NOUN
fcis-7514	45	37	cost	cost	NOUN
fcis-7514	45	38	evaluation	evaluation	NOUN
fcis-7514	45	39	of	of	ADP
fcis-7514	45	40	different	different	ADJ
fcis-7514	45	41	areas	area	NOUN
fcis-7514	45	42	is	be	AUX
fcis-7514	45	43	combined	combine	VERB
fcis-7514	45	44	with	with	ADP
fcis-7514	45	45	the	the	DET
fcis-7514	45	46	above	above	ADJ
fcis-7514	45	47	described	describe	VERB
fcis-7514	45	48	mesh	mesh	NOUN
fcis-7514	45	49	allocation	allocation	NOUN
fcis-7514	45	50	method	method	NOUN
fcis-7514	45	51	,	,	PUNCT
fcis-7514	45	52	and	and	CCONJ
fcis-7514	45	53	the	the	DET
fcis-7514	45	54	trajectory	trajectory	NOUN
fcis-7514	45	55	safety	safety	NOUN
fcis-7514	45	56	cost	cost	NOUN
fcis-7514	45	57	function	function	NOUN
fcis-7514	45	58	is	be	AUX
fcis-7514	45	59	designed	design	VERB
fcis-7514	45	60	as	as	ADP
fcis-7514	45	61	the	the	DET
fcis-7514	45	62	expression	expression	NOUN
fcis-7514	45	63	(	(	PUNCT
fcis-7514	45	64	4	4	NUM
fcis-7514	45	65	)	)	PUNCT
fcis-7514	45	66	.	.	PUNCT
fcis-7514	46	1	s(n)=md	s(n)=md	PROPN
fcis-7514	46	2	(	(	PUNCT
fcis-7514	46	3	4	4	NUM
fcis-7514	46	4	)	)	PUNCT
fcis-7514	46	5	here	here	ADV
fcis-7514	46	6	,	,	PUNCT
fcis-7514	46	7	m	m	VERB
fcis-7514	46	8	represents	represent	VERB
fcis-7514	46	9	the	the	DET
fcis-7514	46	10	safety	safety	NOUN
fcis-7514	46	11	of	of	ADP
fcis-7514	46	12	the	the	DET
fcis-7514	46	13	region	region	NOUN
fcis-7514	46	14	in	in	ADP
fcis-7514	46	15	which	which	PRON
fcis-7514	46	16	the	the	DET
fcis-7514	46	17	node	node	NOUN
fcis-7514	46	18	is	be	AUX
fcis-7514	46	19	present	present	ADJ
fcis-7514	46	20	,	,	PUNCT
fcis-7514	46	21	the	the	DET
fcis-7514	46	22	free	free	ADJ
fcis-7514	46	23	area	area	NOUN
fcis-7514	46	24	,	,	PUNCT
fcis-7514	46	25	the	the	DET
fcis-7514	46	26	buffer	buffer	NOUN
fcis-7514	46	27	area	area	NOUN
fcis-7514	46	28	and	and	CCONJ
fcis-7514	46	29	the	the	DET
fcis-7514	46	30	fault	fault	NOUN
fcis-7514	46	31	area	area	NOUN
fcis-7514	46	32	,	,	PUNCT
fcis-7514	46	33	and	and	CCONJ
fcis-7514	46	34	m	m	VERB
fcis-7514	46	35	takes	take	VERB
fcis-7514	46	36	0	0	NUM
fcis-7514	46	37	,	,	PUNCT
fcis-7514	46	38	0.5	0.5	NUM
fcis-7514	46	39	and	and	CCONJ
fcis-7514	46	40	infinity	infinity	NOUN
fcis-7514	46	41	values	value	NOUN
fcis-7514	46	42	,	,	PUNCT
fcis-7514	46	43	so	so	SCONJ
fcis-7514	46	44	that	that	SCONJ
fcis-7514	46	45	the	the	DET
fcis-7514	46	46	safety	safety	NOUN
fcis-7514	46	47	cost	cost	NOUN
fcis-7514	46	48	of	of	ADP
fcis-7514	46	49	each	each	DET
fcis-7514	46	50	position	position	NOUN
fcis-7514	46	51	is	be	AUX
fcis-7514	46	52	0	0	NUM
fcis-7514	46	53	,	,	PUNCT
fcis-7514	46	54	s(n	s(n	PROPN
fcis-7514	46	55	)	)	PUNCT
fcis-7514	46	56	,	,	PUNCT
fcis-7514	46	57	infinity	infinity	NOUN
fcis-7514	46	58	,	,	PUNCT
fcis-7514	46	59	and	and	CCONJ
fcis-7514	46	60	the	the	DET
fcis-7514	46	61	path	path	NOUN
fcis-7514	46	62	planning	planning	NOUN
fcis-7514	46	63	option	option	NOUN
fcis-7514	46	64	is	be	AUX
fcis-7514	46	65	enhanced	enhance	VERB
fcis-7514	46	66	.	.	PUNCT
fcis-7514	47	1	3.2.3	3.2.3	X
fcis-7514	47	2	.	.	X
fcis-7514	47	3	improvement	improvement	NOUN
fcis-7514	47	4	of	of	ADP
fcis-7514	47	5	comprehensive	comprehensive	ADJ
fcis-7514	47	6	evaluation	evaluation	NOUN
fcis-7514	47	7	function	function	NOUN
fcis-7514	47	8	since	since	SCONJ
fcis-7514	47	9	the	the	DET
fcis-7514	47	10	safety	safety	NOUN
fcis-7514	47	11	cost	cost	NOUN
fcis-7514	47	12	of	of	ADP
fcis-7514	47	13	each	each	DET
fcis-7514	47	14	point	point	NOUN
fcis-7514	47	15	is	be	AUX
fcis-7514	47	16	calculated	calculate	VERB
fcis-7514	47	17	at	at	ADP
fcis-7514	47	18	the	the	DET
fcis-7514	47	19	total	total	ADJ
fcis-7514	47	20	orbital	orbital	ADJ
fcis-7514	47	21	cost	cost	NOUN
fcis-7514	47	22	,	,	PUNCT
fcis-7514	47	23	the	the	DET
fcis-7514	47	24	global	global	ADJ
fcis-7514	47	25	evaluation	evaluation	NOUN
fcis-7514	47	26	function	function	NOUN
fcis-7514	47	27	is	be	AUX
fcis-7514	47	28	improved	improve	VERB
fcis-7514	47	29	to	to	PART
fcis-7514	47	30	balance	balance	VERB
fcis-7514	47	31	the	the	DET
fcis-7514	47	32	impact	impact	NOUN
fcis-7514	47	33	of	of	ADP
fcis-7514	47	34	the	the	DET
fcis-7514	47	35	actual	actual	ADJ
fcis-7514	47	36	navigation	navigation	NOUN
fcis-7514	47	37	cost	cost	NOUN
fcis-7514	47	38	function	function	NOUN
fcis-7514	47	39	,	,	PUNCT
fcis-7514	47	40	the	the	DET
fcis-7514	47	41	estimated	estimate	VERB
fcis-7514	47	42	navigation	navigation	NOUN
fcis-7514	47	43	cost	cost	NOUN
fcis-7514	47	44	function	function	NOUN
fcis-7514	47	45	and	and	CCONJ
fcis-7514	47	46	the	the	DET
fcis-7514	47	47	safety	safety	NOUN
fcis-7514	47	48	cost	cost	NOUN
fcis-7514	47	49	function	function	NOUN
fcis-7514	47	50	on	on	ADP
fcis-7514	47	51	the	the	DET
fcis-7514	47	52	orbit	orbit	NOUN
fcis-7514	47	53	search	search	NOUN
fcis-7514	47	54	,	,	PUNCT
fcis-7514	47	55	and	and	CCONJ
fcis-7514	47	56	the	the	DET
fcis-7514	47	57	drone	drone	NOUN
fcis-7514	47	58	specific	specific	ADJ
fcis-7514	47	59	elements	element	NOUN
fcis-7514	47	60	and	and	CCONJ
fcis-7514	47	61	environmental	environmental	ADJ
fcis-7514	47	62	conditions	condition	NOUN
fcis-7514	47	63	are	be	AUX
fcis-7514	47	64	taken	take	VERB
fcis-7514	47	65	into	into	ADP
fcis-7514	47	66	consideration	consideration	NOUN
fcis-7514	47	67	as	as	SCONJ
fcis-7514	47	68	shown	show	VERB
fcis-7514	47	69	in	in	ADP
fcis-7514	47	70	equation	equation	NOUN
fcis-7514	47	71	(	(	PUNCT
fcis-7514	47	72	5	5	NUM
fcis-7514	47	73	)	)	PUNCT
fcis-7514	47	74	.	.	PUNCT
fcis-7514	48	1	f(n)=α*g(n)+β*h(n)+γ*s(n	f(n)=α*g(n)+β*h(n)+γ*s(n	VERB
fcis-7514	48	2	)	)	PUNCT
fcis-7514	48	3	(	(	PUNCT
fcis-7514	48	4	5	5	X
fcis-7514	48	5	)	)	PUNCT
fcis-7514	48	6	there	there	PRON
fcis-7514	48	7	is	be	VERB
fcis-7514	48	8	the	the	DET
fcis-7514	48	9	weight	weight	NOUN
fcis-7514	48	10	coefficient	coefficient	NOUN
fcis-7514	48	11	of	of	ADP
fcis-7514	48	12	safety	safety	NOUN
fcis-7514	48	13	cost	cost	NOUN
fcis-7514	48	14	.	.	PUNCT
fcis-7514	49	1	3.2.4	3.2.4	NUM
fcis-7514	49	2	.	.	PUNCT
fcis-7514	49	3	line	line	NOUN
fcis-7514	49	4	of	of	ADP
fcis-7514	49	5	sight	sight	NOUN
fcis-7514	49	6	search	search	NOUN
fcis-7514	49	7	strategy	strategy	NOUN
fcis-7514	49	8	optimization	optimization	NOUN
fcis-7514	49	9	figure	figure	NOUN
fcis-7514	49	10	3	3	NUM
fcis-7514	49	11	.	.	PUNCT
fcis-7514	49	12	schematic	schematic	ADJ
fcis-7514	49	13	diagram	diagram	NOUN
fcis-7514	49	14	of	of	ADP
fcis-7514	49	15	line	line	NOUN
fcis-7514	49	16	of	of	ADP
fcis-7514	49	17	sight	sight	NOUN
fcis-7514	49	18	expansion	expansion	NOUN
fcis-7514	49	19	for	for	ADP
fcis-7514	49	20	path	path	NOUN
fcis-7514	49	21	node	node	NOUN
fcis-7514	49	22	search	search	NOUN
fcis-7514	49	23	,	,	PUNCT
fcis-7514	49	24	the	the	DET
fcis-7514	49	25	existing	exist	VERB
fcis-7514	49	26	a	a	DET
fcis-7514	49	27	*	*	ADJ
fcis-7514	49	28	algorithm	algorithm	NOUN
fcis-7514	49	29	uses	use	VERB
fcis-7514	49	30	the	the	DET
fcis-7514	49	31	path	path	NOUN
fcis-7514	49	32	search	search	NOUN
fcis-7514	49	33	between	between	ADP
fcis-7514	49	34	the	the	DET
fcis-7514	49	35	current	current	ADJ
fcis-7514	49	36	node	node	NOUN
fcis-7514	49	37	and	and	CCONJ
fcis-7514	49	38	adjacent	adjacent	ADJ
fcis-7514	49	39	nodes	node	NOUN
fcis-7514	49	40	[	[	X
fcis-7514	49	41	10	10	NUM
fcis-7514	49	42	]	]	PUNCT
fcis-7514	49	43	.	.	PUNCT
fcis-7514	50	1	this	this	DET
fcis-7514	50	2	search	search	NOUN
fcis-7514	50	3	method	method	NOUN
fcis-7514	50	4	easily	easily	ADV
fcis-7514	50	5	leads	lead	VERB
fcis-7514	50	6	to	to	ADP
fcis-7514	50	7	a	a	DET
fcis-7514	50	8	large	large	ADJ
fcis-7514	50	9	number	number	NOUN
fcis-7514	50	10	of	of	ADP
fcis-7514	50	11	calculations	calculation	NOUN
fcis-7514	50	12	,	,	PUNCT
fcis-7514	50	13	multi	multi	ADJ
fcis-7514	50	14	-	-	ADJ
fcis-7514	50	15	path	path	ADJ
fcis-7514	50	16	nodes	node	NOUN
fcis-7514	50	17	,	,	PUNCT
fcis-7514	50	18	frequent	frequent	ADJ
fcis-7514	50	19	direction	direction	NOUN
fcis-7514	50	20	changes	change	NOUN
fcis-7514	50	21	,	,	PUNCT
fcis-7514	50	22	76	76	NUM
fcis-7514	50	23	high	high	PROPN
fcis-7514	50	24	uav	uav	PROPN
fcis-7514	50	25	flight	flight	NOUN
fcis-7514	50	26	costs	cost	NOUN
fcis-7514	50	27	and	and	CCONJ
fcis-7514	50	28	high	high	ADJ
fcis-7514	50	29	risks[11].the	risks[11].the	ADJ
fcis-7514	50	30	algorithm	algorithm	NOUN
fcis-7514	50	31	in	in	ADP
fcis-7514	50	32	this	this	DET
fcis-7514	50	33	paper	paper	NOUN
fcis-7514	50	34	not	not	PART
fcis-7514	50	35	only	only	ADV
fcis-7514	50	36	limits	limit	VERB
fcis-7514	50	37	the	the	DET
fcis-7514	50	38	flight	flight	NOUN
fcis-7514	50	39	line	line	NOUN
fcis-7514	50	40	of	of	ADP
fcis-7514	50	41	sight	sight	NOUN
fcis-7514	50	42	around	around	ADP
fcis-7514	50	43	the	the	DET
fcis-7514	50	44	current	current	ADJ
fcis-7514	50	45	node	node	NOUN
fcis-7514	50	46	,	,	PUNCT
fcis-7514	50	47	but	but	CCONJ
fcis-7514	50	48	also	also	ADV
fcis-7514	50	49	adopts	adopt	VERB
fcis-7514	50	50	the	the	DET
fcis-7514	50	51	line	line	NOUN
fcis-7514	50	52	of	of	ADP
fcis-7514	50	53	sight	sight	NOUN
fcis-7514	50	54	expansion	expansion	NOUN
fcis-7514	50	55	strategy	strategy	NOUN
fcis-7514	50	56	considering	consider	VERB
fcis-7514	50	57	the	the	DET
fcis-7514	50	58	visibility	visibility	NOUN
fcis-7514	50	59	of	of	ADP
fcis-7514	50	60	the	the	DET
fcis-7514	50	61	previous	previous	ADJ
fcis-7514	50	62	node	node	NOUN
fcis-7514	50	63	,	,	PUNCT
fcis-7514	50	64	which	which	PRON
fcis-7514	50	65	can	can	AUX
fcis-7514	50	66	reduce	reduce	VERB
fcis-7514	50	67	the	the	DET
fcis-7514	50	68	trajectory	trajectory	NOUN
fcis-7514	50	69	navigation	navigation	NOUN
fcis-7514	50	70	nodes	node	NOUN
fcis-7514	50	71	,	,	PUNCT
fcis-7514	50	72	greatly	greatly	ADV
fcis-7514	50	73	reduce	reduce	VERB
fcis-7514	50	74	the	the	DET
fcis-7514	50	75	frequency	frequency	NOUN
fcis-7514	50	76	of	of	ADP
fcis-7514	50	77	flight	flight	NOUN
fcis-7514	50	78	direction	direction	NOUN
fcis-7514	50	79	changes	change	NOUN
fcis-7514	50	80	of	of	ADP
fcis-7514	50	81	uavs	uavs	NOUN
fcis-7514	50	82	,	,	PUNCT
fcis-7514	50	83	and	and	CCONJ
fcis-7514	50	84	make	make	VERB
fcis-7514	50	85	the	the	DET
fcis-7514	50	86	flight	flight	NOUN
fcis-7514	50	87	trajectory	trajectory	NOUN
fcis-7514	50	88	more	more	ADV
fcis-7514	50	89	smooth	smooth	ADJ
fcis-7514	50	90	and	and	CCONJ
fcis-7514	50	91	safe	safe	ADJ
fcis-7514	50	92	.	.	PUNCT
fcis-7514	51	1	its	its	PRON
fcis-7514	51	2	principle	principle	NOUN
fcis-7514	51	3	is	be	AUX
fcis-7514	51	4	shown	show	VERB
fcis-7514	51	5	in	in	ADP
fcis-7514	51	6	figure	figure	NOUN
fcis-7514	51	7	3	3	NUM
fcis-7514	51	8	.	.	PUNCT
fcis-7514	52	1	here	here	ADV
fcis-7514	52	2	,	,	PUNCT
fcis-7514	52	3	the	the	DET
fcis-7514	52	4	blue	blue	ADJ
fcis-7514	52	5	area	area	NOUN
fcis-7514	52	6	is	be	AUX
fcis-7514	52	7	the	the	DET
fcis-7514	52	8	obstacle	obstacle	NOUN
fcis-7514	52	9	area	area	NOUN
fcis-7514	52	10	,	,	PUNCT
fcis-7514	52	11	the	the	DET
fcis-7514	52	12	white	white	ADJ
fcis-7514	52	13	area	area	NOUN
fcis-7514	52	14	is	be	AUX
fcis-7514	52	15	the	the	DET
fcis-7514	52	16	free	free	ADJ
fcis-7514	52	17	area	area	NOUN
fcis-7514	52	18	,	,	PUNCT
fcis-7514	52	19	the	the	DET
fcis-7514	52	20	path	path	NOUN
fcis-7514	52	21	search	search	NOUN
fcis-7514	52	22	from	from	ADP
fcis-7514	52	23	the	the	DET
fcis-7514	52	24	start	start	NOUN
fcis-7514	52	25	node	node	NOUN
fcis-7514	52	26	,	,	PUNCT
fcis-7514	52	27	the	the	DET
fcis-7514	52	28	search	search	NOUN
fcis-7514	52	29	direction	direction	NOUN
fcis-7514	52	30	as	as	SCONJ
fcis-7514	52	31	shown	show	VERB
fcis-7514	52	32	in	in	ADP
fcis-7514	52	33	figure	figure	NOUN
fcis-7514	52	34	3(a	3(a	NUM
fcis-7514	52	35	)	)	PUNCT
fcis-7514	52	36	;	;	PUNCT
fcis-7514	52	37	find	find	VERB
fcis-7514	52	38	the	the	DET
fcis-7514	52	39	nearest	near	ADJ
fcis-7514	52	40	point	point	NOUN
fcis-7514	52	41	b2	b2	NOUN
fcis-7514	52	42	at	at	ADP
fcis-7514	52	43	the	the	DET
fcis-7514	52	44	end	end	NOUN
fcis-7514	52	45	of	of	ADP
fcis-7514	52	46	the	the	DET
fcis-7514	52	47	path	path	NOUN
fcis-7514	52	48	as	as	ADP
fcis-7514	52	49	an	an	DET
fcis-7514	52	50	extension	extension	NOUN
fcis-7514	52	51	node	node	NOUN
fcis-7514	52	52	,	,	PUNCT
fcis-7514	52	53	with	with	ADP
fcis-7514	52	54	this	this	DET
fcis-7514	52	55	node	node	NOUN
fcis-7514	52	56	to	to	ADP
fcis-7514	52	57	reachability	reachability	NOUN
fcis-7514	52	58	search	search	NOUN
fcis-7514	52	59	as	as	SCONJ
fcis-7514	52	60	shown	show	VERB
fcis-7514	52	61	in	in	ADP
fcis-7514	52	62	figure	figure	NOUN
fcis-7514	52	63	3(b	3(b	NUM
fcis-7514	52	64	)	)	PUNCT
fcis-7514	52	65	;	;	PUNCT
fcis-7514	52	66	so	so	SCONJ
fcis-7514	52	67	as	as	SCONJ
fcis-7514	52	68	to	to	PART
fcis-7514	52	69	find	find	VERB
fcis-7514	52	70	the	the	DET
fcis-7514	52	71	next	next	ADJ
fcis-7514	52	72	extension	extension	NOUN
fcis-7514	52	73	point	point	NOUN
fcis-7514	52	74	b3	b3	NOUN
fcis-7514	52	75	,	,	PUNCT
fcis-7514	52	76	as	as	SCONJ
fcis-7514	52	77	shown	show	VERB
fcis-7514	52	78	in	in	ADP
fcis-7514	52	79	figure	figure	NOUN
fcis-7514	52	80	3(c	3(c	NUM
fcis-7514	52	81	)	)	PUNCT
fcis-7514	52	82	;	;	PUNCT
fcis-7514	52	83	as	as	ADP
fcis-7514	52	84	the	the	DET
fcis-7514	52	85	next	next	ADJ
fcis-7514	52	86	extension	extension	NOUN
fcis-7514	52	87	point	point	NOUN
fcis-7514	52	88	c4	c4	NOUN
fcis-7514	52	89	and	and	CCONJ
fcis-7514	52	90	the	the	DET
fcis-7514	52	91	start	start	NOUN
fcis-7514	52	92	node	node	NOUN
fcis-7514	52	93	between	between	ADP
fcis-7514	52	94	the	the	DET
fcis-7514	52	95	possible	possible	ADJ
fcis-7514	52	96	route	route	NOUN
fcis-7514	52	97	obstacle	obstacle	NOUN
fcis-7514	52	98	region	region	NOUN
fcis-7514	52	99	,	,	PUNCT
fcis-7514	52	100	so	so	CCONJ
fcis-7514	52	101	the	the	DET
fcis-7514	52	102	path	path	NOUN
fcis-7514	52	103	is	be	AUX
fcis-7514	52	104	adjusted	adjust	VERB
fcis-7514	52	105	to	to	PART
fcis-7514	52	106	route	route	VERB
fcis-7514	52	107	a1	a1	NOUN
fcis-7514	52	108	-	-	PUNCT
fcis-7514	52	109	b3c4	b3c4	NOUN
fcis-7514	52	110	from	from	ADP
fcis-7514	52	111	the	the	DET
fcis-7514	52	112	free	free	ADJ
fcis-7514	52	113	area	area	NOUN
fcis-7514	52	114	,	,	PUNCT
fcis-7514	52	115	while	while	SCONJ
fcis-7514	52	116	the	the	DET
fcis-7514	52	117	c4	c4	NOUN
fcis-7514	52	118	node	node	VERB
fcis-7514	52	119	as	as	ADP
fcis-7514	52	120	a	a	DET
fcis-7514	52	121	new	new	ADJ
fcis-7514	52	122	realization	realization	NOUN
fcis-7514	52	123	of	of	ADP
fcis-7514	52	124	the	the	DET
fcis-7514	52	125	expandable	expandable	ADJ
fcis-7514	52	126	node	node	NOUN
fcis-7514	52	127	as	as	SCONJ
fcis-7514	52	128	shown	show	VERB
fcis-7514	52	129	in	in	ADP
fcis-7514	52	130	figure	figure	NOUN
fcis-7514	52	131	3(d	3(d	NUM
fcis-7514	52	132	)	)	PUNCT
fcis-7514	52	133	;	;	PUNCT
fcis-7514	52	134	and	and	CCONJ
fcis-7514	52	135	so	so	ADV
fcis-7514	52	136	on	on	ADV
fcis-7514	52	137	,	,	PUNCT
fcis-7514	52	138	until	until	SCONJ
fcis-7514	52	139	the	the	DET
fcis-7514	52	140	search	search	NOUN
fcis-7514	52	141	to	to	ADP
fcis-7514	52	142	the	the	DET
fcis-7514	52	143	end	end	NOUN
fcis-7514	52	144	,	,	PUNCT
fcis-7514	52	145	avoiding	avoid	VERB
fcis-7514	52	146	the	the	DET
fcis-7514	52	147	obstacle	obstacle	NOUN
fcis-7514	52	148	area	area	NOUN
fcis-7514	52	149	encountered	encounter	VERB
fcis-7514	52	150	,	,	PUNCT
fcis-7514	52	151	the	the	DET
fcis-7514	52	152	planned	plan	VERB
fcis-7514	52	153	path	path	NOUN
fcis-7514	52	154	is	be	AUX
fcis-7514	52	155	a1	a1	NOUN
fcis-7514	52	156	-	-	PUNCT
fcis-7514	52	157	b2	b2	NOUN
fcis-7514	52	158	-	-	PUNCT
fcis-7514	52	159	b3	b3	NOUN
fcis-7514	52	160	-	-	PUNCT
fcis-7514	52	161	c4	c4	NOUN
fcis-7514	52	162	-	-	PUNCT
fcis-7514	52	163	d5	d5	NOUN
fcis-7514	52	164	,	,	PUNCT
fcis-7514	52	165	as	as	SCONJ
fcis-7514	52	166	shown	show	VERB
fcis-7514	52	167	in	in	ADP
fcis-7514	52	168	figure	figure	NOUN
fcis-7514	52	169	3(e	3(e	NUM
fcis-7514	52	170	)	)	PUNCT
fcis-7514	52	171	;	;	PUNCT
fcis-7514	52	172	at	at	ADP
fcis-7514	52	173	this	this	DET
fcis-7514	52	174	point	point	NOUN
fcis-7514	52	175	is	be	AUX
fcis-7514	52	176	not	not	PART
fcis-7514	52	177	the	the	DET
fcis-7514	52	178	shortest	short	ADJ
fcis-7514	52	179	path	path	NOUN
fcis-7514	52	180	,	,	PUNCT
fcis-7514	52	181	on	on	ADP
fcis-7514	52	182	the	the	DET
fcis-7514	52	183	basis	basis	NOUN
fcis-7514	52	184	of	of	ADP
fcis-7514	52	185	which	which	PRON
fcis-7514	52	186	the	the	DET
fcis-7514	52	187	line	line	NOUN
fcis-7514	52	188	of	of	ADP
fcis-7514	52	189	sight	sight	NOUN
fcis-7514	52	190	between	between	ADP
fcis-7514	52	191	the	the	DET
fcis-7514	52	192	nodes	node	NOUN
fcis-7514	52	193	is	be	AUX
fcis-7514	52	194	judged	judge	VERB
fcis-7514	52	195	permeability	permeability	NOUN
fcis-7514	52	196	,	,	PUNCT
fcis-7514	52	197	the	the	DET
fcis-7514	52	198	route	route	NOUN
fcis-7514	52	199	is	be	AUX
fcis-7514	52	200	optimized	optimize	VERB
fcis-7514	52	201	,	,	PUNCT
fcis-7514	52	202	and	and	CCONJ
fcis-7514	52	203	the	the	DET
fcis-7514	52	204	optimal	optimal	ADJ
fcis-7514	52	205	path	path	NOUN
fcis-7514	52	206	is	be	AUX
fcis-7514	52	207	a1	a1	NOUN
fcis-7514	52	208	-	-	PUNCT
fcis-7514	52	209	b3	b3	NOUN
fcis-7514	52	210	-	-	PUNCT
fcis-7514	52	211	d5	d5	NOUN
fcis-7514	52	212	,	,	PUNCT
fcis-7514	52	213	as	as	ADP
fcis-7514	52	214	in	in	ADP
fcis-7514	52	215	figure	figure	NOUN
fcis-7514	52	216	3(f	3(f	NUM
fcis-7514	52	217	)	)	PUNCT
fcis-7514	52	218	.	.	PUNCT
fcis-7514	53	1	by	by	ADP
fcis-7514	53	2	using	use	VERB
fcis-7514	53	3	the	the	DET
fcis-7514	53	4	line	line	NOUN
fcis-7514	53	5	-	-	PUNCT
fcis-7514	53	6	of	of	ADP
fcis-7514	53	7	-	-	PUNCT
fcis-7514	53	8	sight	sight	NOUN
fcis-7514	53	9	expansion	expansion	NOUN
fcis-7514	53	10	strategy	strategy	NOUN
fcis-7514	53	11	,	,	PUNCT
fcis-7514	53	12	the	the	DET
fcis-7514	53	13	path	path	NOUN
fcis-7514	53	14	planning	planning	NOUN
fcis-7514	53	15	route	route	NOUN
fcis-7514	53	16	nodes	node	NOUN
fcis-7514	53	17	are	be	AUX
fcis-7514	53	18	reduced	reduce	VERB
fcis-7514	53	19	,	,	PUNCT
fcis-7514	53	20	and	and	CCONJ
fcis-7514	53	21	the	the	DET
fcis-7514	53	22	problem	problem	NOUN
fcis-7514	53	23	of	of	ADP
fcis-7514	53	24	too	too	ADV
fcis-7514	53	25	many	many	ADJ
fcis-7514	53	26	flight	flight	NOUN
fcis-7514	53	27	direction	direction	NOUN
fcis-7514	53	28	shifts	shift	NOUN
fcis-7514	53	29	is	be	AUX
fcis-7514	53	30	improved	improve	VERB
fcis-7514	53	31	.	.	PUNCT
fcis-7514	54	1	3.2.5	3.2.5	X
fcis-7514	54	2	.	.	PUNCT
fcis-7514	55	1	algorithm	algorithm	NOUN
fcis-7514	55	2	implementation	implementation	NOUN
fcis-7514	55	3	steps	step	NOUN
fcis-7514	55	4	step	step	VERB
fcis-7514	55	5	1	1	NUM
fcis-7514	55	6	:	:	PUNCT
fcis-7514	55	7	initialize	initialize	VERB
fcis-7514	55	8	the	the	DET
fcis-7514	55	9	algorithm	algorithm	NOUN
fcis-7514	55	10	,	,	PUNCT
fcis-7514	55	11	the	the	DET
fcis-7514	55	12	starting	starting	NOUN
fcis-7514	55	13	point	point	NOUN
fcis-7514	55	14	and	and	CCONJ
fcis-7514	55	15	the	the	DET
fcis-7514	55	16	end	end	NOUN
fcis-7514	55	17	point	point	NOUN
fcis-7514	55	18	are	be	AUX
fcis-7514	55	19	set	set	VERB
fcis-7514	55	20	,	,	PUNCT
fcis-7514	55	21	the	the	DET
fcis-7514	55	22	parameter	parameter	NOUN
fcis-7514	55	23	weight	weight	NOUN
fcis-7514	55	24	is	be	AUX
fcis-7514	55	25	set	set	VERB
fcis-7514	55	26	,	,	PUNCT
fcis-7514	55	27	the	the	DET
fcis-7514	55	28	open	open	ADJ
fcis-7514	55	29	and	and	CCONJ
fcis-7514	55	30	close	close	ADJ
fcis-7514	55	31	tables	table	NOUN
fcis-7514	55	32	are	be	AUX
fcis-7514	55	33	established	establish	VERB
fcis-7514	55	34	,	,	PUNCT
fcis-7514	55	35	and	and	CCONJ
fcis-7514	55	36	the	the	DET
fcis-7514	55	37	start	start	NOUN
fcis-7514	55	38	node	node	NOUN
fcis-7514	55	39	is	be	AUX
fcis-7514	55	40	put	put	VERB
fcis-7514	55	41	in	in	ADP
fcis-7514	55	42	the	the	DET
fcis-7514	55	43	open	open	ADJ
fcis-7514	55	44	table	table	NOUN
fcis-7514	55	45	.	.	PUNCT
fcis-7514	56	1	step	step	NOUN
fcis-7514	56	2	2	2	NUM
fcis-7514	56	3	:	:	PUNCT
fcis-7514	56	4	determine	determine	VERB
fcis-7514	56	5	whether	whether	SCONJ
fcis-7514	56	6	the	the	DET
fcis-7514	56	7	open	open	ADJ
fcis-7514	56	8	table	table	NOUN
fcis-7514	56	9	is	be	AUX
fcis-7514	56	10	empty	empty	ADJ
fcis-7514	56	11	and	and	CCONJ
fcis-7514	56	12	determine	determine	VERB
fcis-7514	56	13	if	if	SCONJ
fcis-7514	56	14	the	the	DET
fcis-7514	56	15	search	search	NOUN
fcis-7514	56	16	fails	fail	VERB
fcis-7514	56	17	,	,	PUNCT
fcis-7514	56	18	and	and	CCONJ
fcis-7514	56	19	the	the	DET
fcis-7514	56	20	program	program	NOUN
fcis-7514	56	21	is	be	AUX
fcis-7514	56	22	terminated	terminate	VERB
fcis-7514	56	23	.	.	PUNCT
fcis-7514	57	1	step	step	NOUN
fcis-7514	57	2	3	3	NUM
fcis-7514	57	3	:	:	PUNCT
fcis-7514	57	4	update	update	VERB
fcis-7514	57	5	the	the	DET
fcis-7514	57	6	close	close	ADJ
fcis-7514	57	7	table	table	NOUN
fcis-7514	57	8	by	by	ADP
fcis-7514	57	9	removing	remove	VERB
fcis-7514	57	10	the	the	DET
fcis-7514	57	11	lowest	low	ADJ
fcis-7514	57	12	node	node	ADJ
fcis-7514	57	13	cost	cost	NOUN
fcis-7514	57	14	from	from	ADP
fcis-7514	57	15	the	the	DET
fcis-7514	57	16	open	open	ADJ
fcis-7514	57	17	table	table	NOUN
fcis-7514	57	18	(	(	PUNCT
fcis-7514	57	19	n	n	CCONJ
fcis-7514	57	20	)	)	PUNCT
fcis-7514	57	21	to	to	ADP
fcis-7514	57	22	the	the	DET
fcis-7514	57	23	close	close	ADJ
fcis-7514	57	24	table	table	NOUN
fcis-7514	57	25	.	.	PUNCT
fcis-7514	58	1	step	step	NOUN
fcis-7514	58	2	4	4	NUM
fcis-7514	58	3	:	:	PUNCT
fcis-7514	58	4	whether	whether	SCONJ
fcis-7514	58	5	or	or	CCONJ
fcis-7514	58	6	not	not	PART
fcis-7514	58	7	the	the	DET
fcis-7514	58	8	current	current	ADJ
fcis-7514	58	9	section	section	NOUN
fcis-7514	58	10	is	be	AUX
fcis-7514	58	11	the	the	DET
fcis-7514	58	12	target	target	NOUN
fcis-7514	58	13	node	node	NOUN
fcis-7514	58	14	,	,	PUNCT
fcis-7514	58	15	and	and	CCONJ
fcis-7514	58	16	if	if	SCONJ
fcis-7514	58	17	it	it	PRON
fcis-7514	58	18	is	be	AUX
fcis-7514	58	19	a	a	DET
fcis-7514	58	20	return	return	NOUN
fcis-7514	58	21	path	path	NOUN
fcis-7514	58	22	,	,	PUNCT
fcis-7514	58	23	go	go	VERB
fcis-7514	58	24	to	to	PART
fcis-7514	58	25	step	step	VERB
fcis-7514	58	26	7	7	NUM
fcis-7514	58	27	,	,	PUNCT
fcis-7514	58	28	and	and	CCONJ
fcis-7514	58	29	if	if	SCONJ
fcis-7514	58	30	not	not	PART
fcis-7514	58	31	,	,	PUNCT
fcis-7514	58	32	perform	perform	VERB
fcis-7514	58	33	a	a	DET
fcis-7514	58	34	line	line	NOUN
fcis-7514	58	35	of	of	ADP
fcis-7514	58	36	sight	sight	NOUN
fcis-7514	58	37	inspection	inspection	NOUN
fcis-7514	58	38	and	and	CCONJ
fcis-7514	58	39	proceed	proceed	VERB
fcis-7514	58	40	to	to	PART
fcis-7514	58	41	step	step	VERB
fcis-7514	58	42	5	5	NUM
fcis-7514	58	43	.	.	PUNCT
fcis-7514	58	44	step	step	NOUN
fcis-7514	58	45	5	5	NUM
fcis-7514	58	46	:	:	PUNCT
fcis-7514	58	47	the	the	DET
fcis-7514	58	48	line	line	NOUN
fcis-7514	58	49	of	of	ADP
fcis-7514	58	50	sight	sight	NOUN
fcis-7514	58	51	detection	detection	NOUN
fcis-7514	58	52	determines	determine	VERB
fcis-7514	58	53	whether	whether	SCONJ
fcis-7514	58	54	there	there	PRON
fcis-7514	58	55	is	be	VERB
fcis-7514	58	56	an	an	DET
fcis-7514	58	57	executable	executable	ADJ
fcis-7514	58	58	space	space	NOUN
fcis-7514	58	59	(	(	PUNCT
fcis-7514	58	60	if	if	SCONJ
fcis-7514	58	61	any	any	PRON
fcis-7514	58	62	)	)	PUNCT
fcis-7514	58	63	,	,	PUNCT
fcis-7514	58	64	closes	close	VERB
fcis-7514	58	65	the	the	DET
fcis-7514	58	66	table	table	NOUN
fcis-7514	58	67	directly	directly	ADV
fcis-7514	58	68	,	,	PUNCT
fcis-7514	58	69	otherwise	otherwise	ADV
fcis-7514	58	70	searches	search	VERB
fcis-7514	58	71	for	for	ADP
fcis-7514	58	72	all	all	DET
fcis-7514	58	73	nodes	node	NOUN
fcis-7514	58	74	around	around	ADP
fcis-7514	58	75	that	that	DET
fcis-7514	58	76	point	point	NOUN
fcis-7514	58	77	,	,	PUNCT
fcis-7514	58	78	the	the	DET
fcis-7514	58	79	adjacent	adjacent	ADJ
fcis-7514	58	80	node	node	NOUN
fcis-7514	58	81	n	n	PRON
fcis-7514	58	82	closes	close	VERB
fcis-7514	58	83	the	the	DET
fcis-7514	58	84	table	table	NOUN
fcis-7514	58	85	,	,	PUNCT
fcis-7514	58	86	ignores	ignore	VERB
fcis-7514	58	87	the	the	DET
fcis-7514	58	88	visibility	visibility	NOUN
fcis-7514	58	89	,	,	PUNCT
fcis-7514	58	90	and	and	CCONJ
fcis-7514	58	91	opens	open	VERB
fcis-7514	58	92	the	the	DET
fcis-7514	58	93	table	table	NOUN
fcis-7514	58	94	.	.	PUNCT
fcis-7514	59	1	step	step	NOUN
fcis-7514	59	2	6	6	NUM
fcis-7514	59	3	:	:	PUNCT
fcis-7514	59	4	the	the	DET
fcis-7514	59	5	table	table	NOUN
fcis-7514	59	6	is	be	AUX
fcis-7514	59	7	updated	update	VERB
fcis-7514	59	8	,	,	PUNCT
fcis-7514	59	9	the	the	DET
fcis-7514	59	10	cost	cost	NOUN
fcis-7514	59	11	function	function	NOUN
fcis-7514	59	12	is	be	AUX
fcis-7514	59	13	calculated	calculate	VERB
fcis-7514	59	14	,	,	PUNCT
fcis-7514	59	15	sorted	sorted	ADJ
fcis-7514	59	16	and	and	CCONJ
fcis-7514	59	17	advanced	advanced	ADJ
fcis-7514	59	18	to	to	PART
fcis-7514	59	19	step	step	VERB
fcis-7514	59	20	3	3	NUM
fcis-7514	59	21	.	.	PUNCT
fcis-7514	60	1	step	step	NOUN
fcis-7514	60	2	7	7	NUM
fcis-7514	60	3	:	:	PUNCT
fcis-7514	60	4	merge	merge	VERB
fcis-7514	60	5	the	the	DET
fcis-7514	60	6	path	path	NOUN
fcis-7514	60	7	and	and	CCONJ
fcis-7514	60	8	examine	examine	VERB
fcis-7514	60	9	the	the	DET
fcis-7514	60	10	path	path	NOUN
fcis-7514	60	11	information	information	NOUN
fcis-7514	60	12	and	and	CCONJ
fcis-7514	60	13	output	output	VERB
fcis-7514	60	14	the	the	DET
fcis-7514	60	15	result	result	NOUN
fcis-7514	60	16	.	.	PUNCT
fcis-7514	61	1	4	4	X
fcis-7514	61	2	.	.	X
fcis-7514	61	3	simulation	simulation	NOUN
fcis-7514	61	4	analysis	analysis	NOUN
fcis-7514	61	5	in	in	ADP
fcis-7514	61	6	order	order	NOUN
fcis-7514	61	7	to	to	PART
fcis-7514	61	8	analyze	analyze	VERB
fcis-7514	61	9	the	the	DET
fcis-7514	61	10	feasibility	feasibility	NOUN
fcis-7514	61	11	and	and	CCONJ
fcis-7514	61	12	effectiveness	effectiveness	NOUN
fcis-7514	61	13	of	of	ADP
fcis-7514	61	14	the	the	DET
fcis-7514	61	15	algorithm	algorithm	NOUN
fcis-7514	61	16	,	,	PUNCT
fcis-7514	61	17	the	the	DET
fcis-7514	61	18	controlled	control	VERB
fcis-7514	61	19	comparison	comparison	NOUN
fcis-7514	61	20	method	method	NOUN
fcis-7514	61	21	was	be	AUX
fcis-7514	61	22	used	use	VERB
fcis-7514	61	23	to	to	PART
fcis-7514	61	24	verify	verify	VERB
fcis-7514	61	25	the	the	DET
fcis-7514	61	26	experiment	experiment	NOUN
fcis-7514	61	27	,	,	PUNCT
fcis-7514	61	28	and	and	CCONJ
fcis-7514	61	29	the	the	DET
fcis-7514	61	30	experimental	experimental	ADJ
fcis-7514	61	31	simulation	simulation	NOUN
fcis-7514	61	32	was	be	AUX
fcis-7514	61	33	carried	carry	VERB
fcis-7514	61	34	out	out	ADP
fcis-7514	61	35	using	use	VERB
fcis-7514	61	36	a	a	DET
fcis-7514	61	37	three	three	NUM
fcis-7514	61	38	-	-	PUNCT
fcis-7514	61	39	dimensional	dimensional	ADJ
fcis-7514	61	40	grid	grid	NOUN
fcis-7514	61	41	map	map	NOUN
fcis-7514	61	42	with	with	ADP
fcis-7514	61	43	100	100	NUM
fcis-7514	61	44	*	*	SYM
fcis-7514	61	45	100	100	NUM
fcis-7514	61	46	*	*	SYM
fcis-7514	61	47	20	20	NUM
fcis-7514	61	48	experimental	experimental	ADJ
fcis-7514	61	49	area	area	NOUN
fcis-7514	61	50	and	and	CCONJ
fcis-7514	61	51	different	different	ADJ
fcis-7514	61	52	obstacle	obstacle	NOUN
fcis-7514	61	53	densities	density	NOUN
fcis-7514	61	54	.	.	PUNCT
fcis-7514	62	1	in	in	ADP
fcis-7514	62	2	this	this	DET
fcis-7514	62	3	experiment	experiment	NOUN
fcis-7514	62	4	,	,	PUNCT
fcis-7514	62	5	matlab	matlab	PROPN
fcis-7514	62	6	r2019a	r2019a	PROPN
fcis-7514	62	7	simulation	simulation	NOUN
fcis-7514	62	8	algorithm	algorithm	NOUN
fcis-7514	62	9	is	be	AUX
fcis-7514	62	10	used	use	VERB
fcis-7514	62	11	.	.	PUNCT
fcis-7514	63	1	the	the	DET
fcis-7514	63	2	relevant	relevant	ADJ
fcis-7514	63	3	weights	weight	NOUN
fcis-7514	63	4	are	be	AUX
fcis-7514	63	5	𝛼	𝛼	X
fcis-7514	63	6	=	=	NOUN
fcis-7514	63	7	1.5	1.5	NUM
fcis-7514	63	8	,	,	PUNCT
fcis-7514	63	9	𝛽	𝛽	NOUN
fcis-7514	63	10	=	=	SYM
fcis-7514	63	11	1.5	1.5	NUM
fcis-7514	63	12	,	,	PUNCT
fcis-7514	63	13	𝛾	𝛾	NOUN
fcis-7514	63	14	=	=	SYM
fcis-7514	63	15	1	1	NUM
fcis-7514	63	16	,	,	PUNCT
fcis-7514	63	17	and	and	CCONJ
fcis-7514	63	18	the	the	DET
fcis-7514	63	19	density	density	NOUN
fcis-7514	63	20	of	of	ADP
fcis-7514	63	21	obstacles	obstacle	NOUN
fcis-7514	63	22	on	on	ADP
fcis-7514	63	23	the	the	DET
fcis-7514	63	24	map	map	NOUN
fcis-7514	63	25	is	be	AUX
fcis-7514	63	26	set	set	VERB
fcis-7514	63	27	to	to	ADP
fcis-7514	63	28	5	5	NUM
fcis-7514	63	29	%	%	NOUN
fcis-7514	63	30	,	,	PUNCT
fcis-7514	63	31	10	10	NUM
fcis-7514	63	32	%	%	NOUN
fcis-7514	63	33	,	,	PUNCT
fcis-7514	63	34	15	15	NUM
fcis-7514	63	35	%	%	NOUN
fcis-7514	63	36	,	,	PUNCT
fcis-7514	63	37	20	20	NUM
fcis-7514	63	38	%	%	NOUN
fcis-7514	63	39	,	,	PUNCT
fcis-7514	63	40	25	25	NUM
fcis-7514	63	41	%	%	NOUN
fcis-7514	63	42	,	,	PUNCT
fcis-7514	63	43	etc	etc	X
fcis-7514	63	44	.	.	X
fcis-7514	63	45	to	to	PART
fcis-7514	63	46	avoid	avoid	VERB
fcis-7514	63	47	the	the	DET
fcis-7514	63	48	contingency	contingency	NOUN
fcis-7514	63	49	of	of	ADP
fcis-7514	63	50	experimental	experimental	ADJ
fcis-7514	63	51	data	datum	NOUN
fcis-7514	63	52	,	,	PUNCT
fcis-7514	63	53	for	for	ADP
fcis-7514	63	54	different	different	ADJ
fcis-7514	63	55	maps	map	NOUN
fcis-7514	63	56	,	,	PUNCT
fcis-7514	63	57	the	the	DET
fcis-7514	63	58	traditional	traditional	ADJ
fcis-7514	63	59	algorithm	algorithm	NOUN
fcis-7514	63	60	and	and	CCONJ
fcis-7514	63	61	the	the	DET
fcis-7514	63	62	improved	improved	ADJ
fcis-7514	63	63	algorithm	algorithm	NOUN
fcis-7514	63	64	are	be	AUX
fcis-7514	63	65	simulated	simulate	VERB
fcis-7514	63	66	10	10	NUM
fcis-7514	63	67	times	time	NOUN
fcis-7514	63	68	each	each	DET
fcis-7514	63	69	,	,	PUNCT
fcis-7514	63	70	and	and	CCONJ
fcis-7514	63	71	the	the	DET
fcis-7514	63	72	data	datum	NOUN
fcis-7514	63	73	with	with	ADP
fcis-7514	63	74	the	the	DET
fcis-7514	63	75	best	good	ADJ
fcis-7514	63	76	effect	effect	NOUN
fcis-7514	63	77	are	be	AUX
fcis-7514	63	78	taken	take	VERB
fcis-7514	63	79	as	as	ADP
fcis-7514	63	80	the	the	DET
fcis-7514	63	81	analysis	analysis	NOUN
fcis-7514	63	82	data	datum	NOUN
fcis-7514	63	83	of	of	ADP
fcis-7514	63	84	the	the	DET
fcis-7514	63	85	experiment	experiment	NOUN
fcis-7514	63	86	.	.	PUNCT
fcis-7514	64	1	the	the	DET
fcis-7514	64	2	experimental	experimental	ADJ
fcis-7514	64	3	results	result	NOUN
fcis-7514	64	4	are	be	AUX
fcis-7514	64	5	recorded	record	VERB
fcis-7514	64	6	in	in	ADP
fcis-7514	64	7	table	table	NOUN
fcis-7514	64	8	1	1	NUM
fcis-7514	64	9	,	,	PUNCT
fcis-7514	64	10	and	and	CCONJ
fcis-7514	64	11	25	25	NUM
fcis-7514	64	12	%	%	NOUN
fcis-7514	64	13	of	of	ADP
fcis-7514	64	14	the	the	DET
fcis-7514	64	15	experimental	experimental	ADJ
fcis-7514	64	16	guidance	guidance	NOUN
fcis-7514	64	17	tracks	track	NOUN
fcis-7514	64	18	are	be	AUX
fcis-7514	64	19	planned	plan	VERB
fcis-7514	64	20	as	as	SCONJ
fcis-7514	64	21	shown	show	VERB
fcis-7514	64	22	in	in	ADP
fcis-7514	64	23	figure	figure	NOUN
fcis-7514	64	24	4	4	NUM
fcis-7514	64	25	(	(	PUNCT
fcis-7514	64	26	a	a	NOUN
fcis-7514	64	27	)	)	PUNCT
fcis-7514	64	28	and	and	CCONJ
fcis-7514	64	29	figure	figure	VERB
fcis-7514	64	30	4	4	NUM
fcis-7514	64	31	(	(	PUNCT
fcis-7514	64	32	b	b	NOUN
fcis-7514	64	33	)	)	PUNCT
fcis-7514	64	34	.	.	PUNCT
fcis-7514	65	1	the	the	DET
fcis-7514	65	2	altitude	altitude	NOUN
fcis-7514	65	3	and	and	CCONJ
fcis-7514	65	4	flight	flight	NOUN
fcis-7514	65	5	distance	distance	NOUN
fcis-7514	65	6	are	be	AUX
fcis-7514	65	7	shown	show	VERB
fcis-7514	65	8	in	in	ADP
fcis-7514	65	9	figure	figure	NOUN
fcis-7514	65	10	4	4	NUM
fcis-7514	65	11	(	(	PUNCT
fcis-7514	65	12	c	c	NOUN
fcis-7514	65	13	)	)	PUNCT
fcis-7514	65	14	.	.	PUNCT
fcis-7514	66	1	table	table	NOUN
fcis-7514	66	2	1	1	NUM
fcis-7514	66	3	.	.	PUNCT
fcis-7514	66	4	test	test	NOUN
fcis-7514	66	5	record	record	NOUN
fcis-7514	66	6	of	of	ADP
fcis-7514	66	7	two	two	NUM
fcis-7514	66	8	algorithms	algorithm	NOUN
fcis-7514	66	9	under	under	ADP
fcis-7514	66	10	different	different	ADJ
fcis-7514	66	11	urban	urban	ADJ
fcis-7514	66	12	building	building	NOUN
fcis-7514	66	13	densities	density	NOUN
fcis-7514	66	14	type	type	NOUN
fcis-7514	66	15	of	of	ADP
fcis-7514	66	16	algorithm	algorithm	NOUN
fcis-7514	66	17	building	building	NOUN
fcis-7514	66	18	density	density	NOUN
fcis-7514	66	19	number	number	NOUN
fcis-7514	66	20	of	of	ADP
fcis-7514	66	21	path	path	NOUN
fcis-7514	66	22	nodes	node	NOUN
fcis-7514	66	23	path	path	VERB
fcis-7514	66	24	length	length	NOUN
fcis-7514	66	25	/	/	SYM
fcis-7514	66	26	m	m	AUX
fcis-7514	66	27	planning	planning	NOUN
fcis-7514	66	28	time	time	NOUN
fcis-7514	66	29	/	/	SYM
fcis-7514	66	30	s	s	VERB
fcis-7514	66	31	a	a	NOUN
fcis-7514	66	32	*	*	NUM
fcis-7514	66	33	5	5	NUM
fcis-7514	66	34	%	%	NOUN
fcis-7514	66	35	85	85	NUM
fcis-7514	66	36	118.9477	118.9477	NUM
fcis-7514	66	37	5.4797	5.4797	NUM
fcis-7514	66	38	10	10	NUM
fcis-7514	66	39	%	%	NOUN
fcis-7514	66	40	85	85	NUM
fcis-7514	66	41	118.9477	118.9477	NUM
fcis-7514	66	42	5.0338	5.0338	NUM
fcis-7514	66	43	15	15	NUM
fcis-7514	66	44	%	%	NOUN
fcis-7514	66	45	85	85	NUM
fcis-7514	66	46	119.5834	119.5834	NUM
fcis-7514	66	47	8.9334	8.9334	NUM
fcis-7514	66	48	20	20	NUM
fcis-7514	66	49	%	%	NOUN
fcis-7514	66	50	85	85	NUM
fcis-7514	66	51	120.2191	120.2191	NUM
fcis-7514	66	52	8.4649	8.4649	NUM
fcis-7514	66	53	25	25	NUM
fcis-7514	66	54	%	%	NOUN
fcis-7514	66	55	85	85	NUM
fcis-7514	66	56	120.8548	120.8548	NUM
fcis-7514	66	57	14.5524	14.5524	NUM
fcis-7514	66	58	improve	improve	VERB
fcis-7514	66	59	a	a	PRON
fcis-7514	66	60	*	*	NUM
fcis-7514	66	61	5	5	NUM
fcis-7514	66	62	%	%	NOUN
fcis-7514	66	63	7	7	NUM
fcis-7514	66	64	115.8948	115.8948	NUM
fcis-7514	66	65	0.2404	0.2404	NUM
fcis-7514	66	66	10	10	NUM
fcis-7514	66	67	%	%	NOUN
fcis-7514	66	68	8	8	NUM
fcis-7514	66	69	116.0125	116.0125	NUM
fcis-7514	66	70	0.5037	0.5037	NUM
fcis-7514	66	71	15	15	NUM
fcis-7514	66	72	%	%	NOUN
fcis-7514	66	73	7	7	NUM
fcis-7514	66	74	116.0844	116.0844	NUM
fcis-7514	66	75	1.1005	1.1005	NUM
fcis-7514	66	76	20	20	NUM
fcis-7514	66	77	%	%	NOUN
fcis-7514	66	78	11	11	NUM
fcis-7514	66	79	116.6239	116.6239	NUM
fcis-7514	66	80	1.4091	1.4091	NUM
fcis-7514	66	81	25	25	NUM
fcis-7514	66	82	%	%	NOUN
fcis-7514	66	83	11	11	NUM
fcis-7514	66	84	116.6689	116.6689	NUM
fcis-7514	66	85	0.4349	0.4349	NUM
fcis-7514	66	86	(	(	PUNCT
fcis-7514	66	87	a	a	NOUN
fcis-7514	66	88	)	)	PUNCT
fcis-7514	66	89	(	(	PUNCT
fcis-7514	66	90	b	b	X
fcis-7514	66	91	)	)	PUNCT
fcis-7514	66	92	(	(	PUNCT
fcis-7514	66	93	c	c	X
fcis-7514	66	94	)	)	PUNCT
fcis-7514	66	95	figure	figure	NOUN
fcis-7514	66	96	4	4	NUM
fcis-7514	66	97	.	.	PUNCT
fcis-7514	66	98	route	route	NOUN
fcis-7514	66	99	planning	planning	NOUN
fcis-7514	66	100	when	when	SCONJ
fcis-7514	66	101	the	the	DET
fcis-7514	66	102	urban	urban	ADJ
fcis-7514	66	103	building	building	NOUN
fcis-7514	66	104	density	density	NOUN
fcis-7514	66	105	is	be	AUX
fcis-7514	66	106	25	25	NUM
fcis-7514	66	107	%	%	NOUN
fcis-7514	66	108	:	:	PUNCT
fcis-7514	66	109	figure(a	figure(a	ADJ
fcis-7514	66	110	)	)	PUNCT
fcis-7514	66	111	uav	uav	PROPN
fcis-7514	66	112	path	path	PROPN
fcis-7514	66	113	planning	planning	PROPN
fcis-7514	66	114	diagram	diagram	PROPN
fcis-7514	66	115	;	;	PUNCT
fcis-7514	66	116	figure(b	figure(b	ADJ
fcis-7514	66	117	)	)	PUNCT
fcis-7514	66	118	top	top	ADJ
fcis-7514	66	119	view	view	NOUN
fcis-7514	66	120	of	of	ADP
fcis-7514	66	121	path	path	NOUN
fcis-7514	66	122	planning	planning	NOUN
fcis-7514	66	123	;	;	PUNCT
fcis-7514	66	124	figure(c	figure(c	NOUN
fcis-7514	66	125	)	)	PUNCT
fcis-7514	66	126	variation	variation	NOUN
fcis-7514	66	127	of	of	ADP
fcis-7514	66	128	flight	flight	NOUN
fcis-7514	66	129	altitude	altitude	NOUN
fcis-7514	66	130	and	and	CCONJ
fcis-7514	66	131	distance	distance	NOUN
fcis-7514	66	132	77	77	NUM
fcis-7514	66	133	as	as	ADP
fcis-7514	66	134	a	a	DET
fcis-7514	66	135	result	result	NOUN
fcis-7514	66	136	of	of	ADP
fcis-7514	66	137	the	the	DET
fcis-7514	66	138	experiment	experiment	NOUN
fcis-7514	66	139	,	,	PUNCT
fcis-7514	66	140	the	the	DET
fcis-7514	66	141	improved	improved	ADJ
fcis-7514	66	142	a	a	DET
fcis-7514	66	143	*	*	ADJ
fcis-7514	66	144	algorithm	algorithm	NOUN
fcis-7514	66	145	can	can	AUX
fcis-7514	66	146	complete	complete	VERB
fcis-7514	66	147	the	the	DET
fcis-7514	66	148	path	path	NOUN
fcis-7514	66	149	plan	plan	NOUN
fcis-7514	66	150	from	from	ADP
fcis-7514	66	151	the	the	DET
fcis-7514	66	152	beginning	beginning	NOUN
fcis-7514	66	153	to	to	ADP
fcis-7514	66	154	the	the	DET
fcis-7514	66	155	end	end	NOUN
fcis-7514	66	156	,	,	PUNCT
fcis-7514	66	157	and	and	CCONJ
fcis-7514	66	158	proved	prove	VERB
fcis-7514	66	159	the	the	DET
fcis-7514	66	160	feasibility	feasibility	NOUN
fcis-7514	66	161	of	of	ADP
fcis-7514	66	162	the	the	DET
fcis-7514	66	163	improved	improve	VERB
fcis-7514	66	164	a	a	DET
fcis-7514	66	165	*	*	PUNCT
fcis-7514	66	166	algorithm	algorithm	NOUN
fcis-7514	66	167	.	.	PUNCT
fcis-7514	67	1	as	as	SCONJ
fcis-7514	67	2	shown	show	VERB
fcis-7514	67	3	in	in	ADP
fcis-7514	67	4	table	table	NOUN
fcis-7514	67	5	1	1	NUM
fcis-7514	67	6	,	,	PUNCT
fcis-7514	67	7	with	with	ADP
fcis-7514	67	8	the	the	DET
fcis-7514	67	9	increase	increase	NOUN
fcis-7514	67	10	in	in	ADP
fcis-7514	67	11	urban	urban	ADJ
fcis-7514	67	12	building	building	NOUN
fcis-7514	67	13	density	density	NOUN
fcis-7514	67	14	,	,	PUNCT
fcis-7514	67	15	the	the	DET
fcis-7514	67	16	algorithm	algorithm	NOUN
fcis-7514	67	17	is	be	AUX
fcis-7514	67	18	improved	improve	VERB
fcis-7514	67	19	compared	compare	VERB
fcis-7514	67	20	with	with	ADP
fcis-7514	67	21	the	the	DET
fcis-7514	67	22	conventional	conventional	ADJ
fcis-7514	67	23	algorithm	algorithm	NOUN
fcis-7514	67	24	,	,	PUNCT
fcis-7514	67	25	the	the	DET
fcis-7514	67	26	trajectory	trajectory	NOUN
fcis-7514	67	27	search	search	NOUN
fcis-7514	67	28	node	node	NOUN
fcis-7514	67	29	is	be	AUX
fcis-7514	67	30	less	less	ADJ
fcis-7514	67	31	,	,	PUNCT
fcis-7514	67	32	the	the	DET
fcis-7514	67	33	flight	flight	NOUN
fcis-7514	67	34	distance	distance	NOUN
fcis-7514	67	35	is	be	AUX
fcis-7514	67	36	shorter	short	ADJ
fcis-7514	67	37	,	,	PUNCT
fcis-7514	67	38	the	the	DET
fcis-7514	67	39	required	require	VERB
fcis-7514	67	40	planning	planning	NOUN
fcis-7514	67	41	time	time	NOUN
fcis-7514	67	42	is	be	AUX
fcis-7514	67	43	remarkably	remarkably	ADV
fcis-7514	67	44	reduced	reduce	VERB
fcis-7514	67	45	,	,	PUNCT
fcis-7514	67	46	the	the	DET
fcis-7514	67	47	performance	performance	NOUN
fcis-7514	67	48	is	be	AUX
fcis-7514	67	49	remarkably	remarkably	ADV
fcis-7514	67	50	improved	improve	VERB
fcis-7514	67	51	,	,	PUNCT
fcis-7514	67	52	and	and	CCONJ
fcis-7514	67	53	the	the	DET
fcis-7514	67	54	drone	drone	NOUN
fcis-7514	67	55	locus	locus	NOUN
fcis-7514	67	56	plan	plan	NOUN
fcis-7514	67	57	is	be	AUX
fcis-7514	67	58	more	more	ADV
fcis-7514	67	59	advantageous	advantageous	ADJ
fcis-7514	67	60	.	.	PUNCT
fcis-7514	68	1	as	as	SCONJ
fcis-7514	68	2	shown	show	VERB
fcis-7514	68	3	in	in	ADP
fcis-7514	68	4	figure	figure	NOUN
fcis-7514	68	5	4	4	NUM
fcis-7514	68	6	(	(	PUNCT
fcis-7514	68	7	a	a	NOUN
fcis-7514	68	8	)	)	PUNCT
fcis-7514	68	9	,	,	PUNCT
fcis-7514	68	10	the	the	DET
fcis-7514	68	11	improved	improved	ADJ
fcis-7514	68	12	a	a	DET
fcis-7514	68	13	*	*	ADJ
fcis-7514	68	14	algorithm	algorithm	NOUN
fcis-7514	68	15	is	be	AUX
fcis-7514	68	16	more	more	ADV
fcis-7514	68	17	reasonable	reasonable	ADJ
fcis-7514	68	18	for	for	ADP
fcis-7514	68	19	the	the	DET
fcis-7514	68	20	drone	drone	NOUN
fcis-7514	68	21	flight	flight	NOUN
fcis-7514	68	22	trajectory	trajectory	NOUN
fcis-7514	68	23	in	in	ADP
fcis-7514	68	24	a	a	DET
fcis-7514	68	25	complex	complex	ADJ
fcis-7514	68	26	environment	environment	NOUN
fcis-7514	68	27	with	with	ADP
fcis-7514	68	28	a	a	DET
fcis-7514	68	29	25	25	NUM
fcis-7514	68	30	%	%	NOUN
fcis-7514	68	31	urban	urban	ADJ
fcis-7514	68	32	building	building	NOUN
fcis-7514	68	33	density	density	NOUN
fcis-7514	68	34	,	,	PUNCT
fcis-7514	68	35	as	as	SCONJ
fcis-7514	68	36	seen	see	VERB
fcis-7514	68	37	from	from	ADP
fcis-7514	68	38	above	above	ADV
fcis-7514	68	39	,	,	PUNCT
fcis-7514	68	40	the	the	DET
fcis-7514	68	41	improved	improved	ADJ
fcis-7514	68	42	algorithm	algorithm	NOUN
fcis-7514	68	43	planning	planning	NOUN
fcis-7514	68	44	line	line	NOUN
fcis-7514	68	45	is	be	AUX
fcis-7514	68	46	almost	almost	ADV
fcis-7514	68	47	the	the	DET
fcis-7514	68	48	shortest	short	ADJ
fcis-7514	68	49	distance	distance	NOUN
fcis-7514	68	50	and	and	CCONJ
fcis-7514	68	51	greatly	greatly	ADV
fcis-7514	68	52	conserved	conserve	VERB
fcis-7514	68	53	costs	cost	NOUN
fcis-7514	68	54	.	.	PUNCT
fcis-7514	69	1	figure	figure	VERB
fcis-7514	69	2	4	4	NUM
fcis-7514	69	3	(	(	PUNCT
fcis-7514	69	4	c	c	NOUN
fcis-7514	69	5	)	)	PUNCT
fcis-7514	69	6	clearly	clearly	ADV
fcis-7514	69	7	shows	show	VERB
fcis-7514	69	8	the	the	DET
fcis-7514	69	9	correspondence	correspondence	NOUN
fcis-7514	69	10	between	between	ADP
fcis-7514	69	11	the	the	DET
fcis-7514	69	12	flight	flight	NOUN
fcis-7514	69	13	distance	distance	NOUN
fcis-7514	69	14	and	and	CCONJ
fcis-7514	69	15	the	the	DET
fcis-7514	69	16	altitude	altitude	NOUN
fcis-7514	69	17	during	during	ADP
fcis-7514	69	18	the	the	DET
fcis-7514	69	19	trajectory	trajectory	NOUN
fcis-7514	69	20	planning	planning	NOUN
fcis-7514	69	21	,	,	PUNCT
fcis-7514	69	22	and	and	CCONJ
fcis-7514	69	23	the	the	DET
fcis-7514	69	24	transition	transition	NOUN
fcis-7514	69	25	between	between	ADP
fcis-7514	69	26	the	the	DET
fcis-7514	69	27	nodes	node	NOUN
fcis-7514	69	28	to	to	PART
fcis-7514	69	29	improve	improve	VERB
fcis-7514	69	30	the	the	DET
fcis-7514	69	31	algorithm	algorithm	NOUN
fcis-7514	69	32	is	be	AUX
fcis-7514	69	33	relatively	relatively	ADV
fcis-7514	69	34	smooth	smooth	ADJ
fcis-7514	69	35	,	,	PUNCT
fcis-7514	69	36	and	and	CCONJ
fcis-7514	69	37	the	the	DET
fcis-7514	69	38	change	change	NOUN
fcis-7514	69	39	in	in	ADP
fcis-7514	69	40	the	the	DET
fcis-7514	69	41	angle	angle	NOUN
fcis-7514	69	42	is	be	AUX
fcis-7514	69	43	not	not	PART
fcis-7514	69	44	so	so	ADV
fcis-7514	69	45	frequent	frequent	ADJ
fcis-7514	69	46	,	,	PUNCT
fcis-7514	69	47	and	and	CCONJ
fcis-7514	69	48	the	the	DET
fcis-7514	69	49	frequent	frequent	ADJ
fcis-7514	69	50	direction	direction	NOUN
fcis-7514	69	51	change	change	NOUN
fcis-7514	69	52	is	be	AUX
fcis-7514	69	53	avoided	avoid	VERB
fcis-7514	69	54	during	during	ADP
fcis-7514	69	55	the	the	DET
fcis-7514	69	56	drone	drone	NOUN
fcis-7514	69	57	flight	flight	NOUN
fcis-7514	69	58	period	period	NOUN
fcis-7514	69	59	,	,	PUNCT
fcis-7514	69	60	and	and	CCONJ
fcis-7514	69	61	the	the	DET
fcis-7514	69	62	flight	flight	NOUN
fcis-7514	69	63	safety	safety	NOUN
fcis-7514	69	64	of	of	ADP
fcis-7514	69	65	the	the	DET
fcis-7514	69	66	drone	drone	NOUN
fcis-7514	69	67	is	be	AUX
fcis-7514	69	68	enhanced	enhance	VERB
fcis-7514	69	69	.	.	PUNCT
fcis-7514	70	1	based	base	VERB
fcis-7514	70	2	on	on	ADP
fcis-7514	70	3	the	the	DET
fcis-7514	70	4	simulation	simulation	NOUN
fcis-7514	70	5	results	result	NOUN
fcis-7514	70	6	,	,	PUNCT
fcis-7514	70	7	the	the	DET
fcis-7514	70	8	improved	improved	ADJ
fcis-7514	70	9	algorithm	algorithm	NOUN
fcis-7514	70	10	greatly	greatly	ADV
fcis-7514	70	11	improves	improve	VERB
fcis-7514	70	12	the	the	DET
fcis-7514	70	13	performance	performance	NOUN
fcis-7514	70	14	of	of	ADP
fcis-7514	70	15	traditional	traditional	ADJ
fcis-7514	70	16	algorithms	algorithm	NOUN
fcis-7514	70	17	in	in	ADP
fcis-7514	70	18	the	the	DET
fcis-7514	70	19	urban	urban	ADJ
fcis-7514	70	20	unmanned	unmanned	ADJ
fcis-7514	70	21	vehicle	vehicle	NOUN
fcis-7514	70	22	trajectory	trajectory	NOUN
fcis-7514	70	23	planning	planning	NOUN
fcis-7514	70	24	,	,	PUNCT
fcis-7514	70	25	satisfies	satisfy	VERB
fcis-7514	70	26	the	the	DET
fcis-7514	70	27	demand	demand	NOUN
fcis-7514	70	28	for	for	ADP
fcis-7514	70	29	unmanned	unmanned	ADJ
fcis-7514	70	30	vehicle	vehicle	NOUN
fcis-7514	70	31	trajectory	trajectory	NOUN
fcis-7514	70	32	planning	planning	NOUN
fcis-7514	70	33	,	,	PUNCT
fcis-7514	70	34	saving	save	VERB
fcis-7514	70	35	flight	flight	NOUN
fcis-7514	70	36	costs	cost	NOUN
fcis-7514	70	37	,	,	PUNCT
fcis-7514	70	38	and	and	CCONJ
fcis-7514	70	39	increasing	increase	VERB
fcis-7514	70	40	safety	safety	NOUN
fcis-7514	70	41	.	.	PUNCT
fcis-7514	71	1	5	5	X
fcis-7514	71	2	.	.	X
fcis-7514	71	3	conclusion	conclusion	NOUN
fcis-7514	71	4	based	base	VERB
fcis-7514	71	5	on	on	ADP
fcis-7514	71	6	the	the	DET
fcis-7514	71	7	traditional	traditional	ADJ
fcis-7514	71	8	a	a	PRON
fcis-7514	71	9	*	*	ADJ
fcis-7514	71	10	algorithm	algorithm	NOUN
fcis-7514	71	11	,	,	PUNCT
fcis-7514	71	12	optimize	optimize	VERB
fcis-7514	71	13	it	it	PRON
fcis-7514	71	14	by	by	ADP
fcis-7514	71	15	combining	combine	VERB
fcis-7514	71	16	drone	drone	NOUN
fcis-7514	71	17	's	's	PART
fcis-7514	71	18	flight	flight	NOUN
fcis-7514	71	19	requirements	requirement	NOUN
fcis-7514	71	20	and	and	CCONJ
fcis-7514	71	21	the	the	DET
fcis-7514	71	22	urban	urban	ADJ
fcis-7514	71	23	environment	environment	NOUN
fcis-7514	71	24	features	feature	VERB
fcis-7514	71	25	.	.	PUNCT
fcis-7514	72	1	path	path	NOUN
fcis-7514	72	2	planning	planning	NOUN
fcis-7514	72	3	integrates	integrate	VERB
fcis-7514	72	4	the	the	DET
fcis-7514	72	5	cost	cost	NOUN
fcis-7514	72	6	of	of	ADP
fcis-7514	72	7	navigation	navigation	NOUN
fcis-7514	72	8	by	by	ADP
fcis-7514	72	9	improving	improve	VERB
fcis-7514	72	10	navigation	navigation	NOUN
fcis-7514	72	11	cost	cost	NOUN
fcis-7514	72	12	function	function	NOUN
fcis-7514	72	13	,	,	PUNCT
fcis-7514	72	14	increasing	increase	VERB
fcis-7514	72	15	route	route	NOUN
fcis-7514	72	16	planning	planning	NOUN
fcis-7514	72	17	,	,	PUNCT
fcis-7514	72	18	reducing	reduce	VERB
fcis-7514	72	19	path	path	NOUN
fcis-7514	72	20	planning	planning	NOUN
fcis-7514	72	21	,	,	PUNCT
fcis-7514	72	22	increasing	increase	VERB
fcis-7514	72	23	route	route	NOUN
fcis-7514	72	24	security	security	NOUN
fcis-7514	72	25	constraints	constraint	NOUN
fcis-7514	72	26	,	,	PUNCT
fcis-7514	72	27	and	and	CCONJ
fcis-7514	72	28	adjusting	adjust	VERB
fcis-7514	72	29	the	the	DET
fcis-7514	72	30	weight	weight	NOUN
fcis-7514	72	31	of	of	ADP
fcis-7514	72	32	adaptive	adaptive	ADJ
fcis-7514	72	33	cost	cost	NOUN
fcis-7514	72	34	functions	function	NOUN
fcis-7514	72	35	.	.	PUNCT
fcis-7514	73	1	by	by	ADP
fcis-7514	73	2	extending	extend	VERB
fcis-7514	73	3	the	the	DET
fcis-7514	73	4	line	line	NOUN
fcis-7514	73	5	of	of	ADP
fcis-7514	73	6	sight	sight	NOUN
fcis-7514	73	7	strategy	strategy	NOUN
fcis-7514	73	8	,	,	PUNCT
fcis-7514	73	9	the	the	DET
fcis-7514	73	10	width	width	ADJ
fcis-7514	73	11	and	and	CCONJ
fcis-7514	73	12	frequency	frequency	NOUN
fcis-7514	73	13	of	of	ADP
fcis-7514	73	14	the	the	DET
fcis-7514	73	15	direction	direction	NOUN
fcis-7514	73	16	change	change	NOUN
fcis-7514	73	17	in	in	ADP
fcis-7514	73	18	the	the	DET
fcis-7514	73	19	drone	drone	NOUN
fcis-7514	73	20	flight	flight	NOUN
fcis-7514	73	21	are	be	AUX
fcis-7514	73	22	reduced	reduce	VERB
fcis-7514	73	23	,	,	PUNCT
fcis-7514	73	24	and	and	CCONJ
fcis-7514	73	25	the	the	DET
fcis-7514	73	26	algorithm	algorithm	NOUN
fcis-7514	73	27	makes	make	VERB
fcis-7514	73	28	the	the	DET
fcis-7514	73	29	route	route	NOUN
fcis-7514	73	30	more	more	ADV
fcis-7514	73	31	smoothly	smoothly	ADV
fcis-7514	73	32	.	.	PUNCT
fcis-7514	74	1	the	the	DET
fcis-7514	74	2	optimization	optimization	NOUN
fcis-7514	74	3	algorithm	algorithm	NOUN
fcis-7514	74	4	has	have	VERB
fcis-7514	74	5	the	the	DET
fcis-7514	74	6	advantage	advantage	NOUN
fcis-7514	74	7	that	that	SCONJ
fcis-7514	74	8	the	the	DET
fcis-7514	74	9	path	path	NOUN
fcis-7514	74	10	length	length	NOUN
fcis-7514	74	11	is	be	AUX
fcis-7514	74	12	short	short	ADJ
fcis-7514	74	13	,	,	PUNCT
fcis-7514	74	14	the	the	DET
fcis-7514	74	15	number	number	NOUN
fcis-7514	74	16	of	of	ADP
fcis-7514	74	17	nodes	node	NOUN
fcis-7514	74	18	is	be	AUX
fcis-7514	74	19	small	small	ADJ
fcis-7514	74	20	,	,	PUNCT
fcis-7514	74	21	and	and	CCONJ
fcis-7514	74	22	the	the	DET
fcis-7514	74	23	planning	planning	NOUN
fcis-7514	74	24	time	time	NOUN
fcis-7514	74	25	is	be	AUX
fcis-7514	74	26	fast	fast	ADJ
fcis-7514	74	27	in	in	ADP
fcis-7514	74	28	the	the	DET
fcis-7514	74	29	complicated	complicated	ADJ
fcis-7514	74	30	urban	urban	ADJ
fcis-7514	74	31	environment	environment	NOUN
fcis-7514	74	32	.	.	PUNCT
fcis-7514	75	1	if	if	SCONJ
fcis-7514	75	2	the	the	DET
fcis-7514	75	3	flight	flight	NOUN
fcis-7514	75	4	requirements	requirement	NOUN
fcis-7514	75	5	for	for	ADP
fcis-7514	75	6	drones	drone	NOUN
fcis-7514	75	7	are	be	AUX
fcis-7514	75	8	met	meet	VERB
fcis-7514	75	9	,	,	PUNCT
fcis-7514	75	10	the	the	DET
fcis-7514	75	11	planned	plan	VERB
fcis-7514	75	12	trajectory	trajectory	NOUN
fcis-7514	75	13	becomes	become	VERB
fcis-7514	75	14	safer	safe	ADJ
fcis-7514	75	15	and	and	CCONJ
fcis-7514	75	16	more	more	ADV
fcis-7514	75	17	convenient	convenient	ADJ
fcis-7514	75	18	.	.	PUNCT
fcis-7514	76	1	references	reference	NOUN
fcis-7514	76	2	[	[	X
fcis-7514	76	3	1	1	NUM
fcis-7514	76	4	]	]	X
fcis-7514	76	5	muchiri	muchiri	NOUN
fcis-7514	76	6	g	g	PROPN
fcis-7514	76	7	n	n	PROPN
fcis-7514	76	8	,	,	PUNCT
fcis-7514	76	9	kimathi	kimathi	PROPN
fcis-7514	76	10	s.	s.	PROPN
fcis-7514	76	11	a	a	DET
fcis-7514	76	12	review	review	NOUN
fcis-7514	76	13	of	of	ADP
fcis-7514	76	14	applications	application	NOUN
fcis-7514	76	15	and	and	CCONJ
fcis-7514	76	16	potential	potential	ADJ
fcis-7514	76	17	applications	application	NOUN
fcis-7514	76	18	of	of	ADP
fcis-7514	76	19	uav[c]//proceedings	uav[c]//proceeding	NOUN
fcis-7514	76	20	of	of	ADP
fcis-7514	76	21	the	the	DET
fcis-7514	76	22	sustainable	sustainable	ADJ
fcis-7514	76	23	research	research	NOUN
fcis-7514	76	24	and	and	CCONJ
fcis-7514	76	25	innovation	innovation	NOUN
fcis-7514	76	26	conference	conference	NOUN
fcis-7514	76	27	.	.	PUNCT
fcis-7514	77	1	2022	2022	NUM
fcis-7514	77	2	:	:	PUNCT
fcis-7514	77	3	280	280	NUM
fcis-7514	77	4	-	-	SYM
fcis-7514	77	5	283	283	NUM
fcis-7514	77	6	.	.	PUNCT
fcis-7514	78	1	[	[	X
fcis-7514	78	2	2	2	NUM
fcis-7514	78	3	]	]	PUNCT
fcis-7514	78	4	kandrot	kandrot	NOUN
fcis-7514	78	5	s	s	PROPN
fcis-7514	78	6	,	,	PUNCT
fcis-7514	78	7	hayes	hayes	PROPN
fcis-7514	78	8	s	s	PROPN
fcis-7514	78	9	,	,	PUNCT
fcis-7514	78	10	holloway	holloway	PROPN
fcis-7514	78	11	p.	p.	PROPN
fcis-7514	78	12	applications	application	NOUN
fcis-7514	78	13	of	of	ADP
fcis-7514	78	14	uncrewed	uncrewed	ADJ
fcis-7514	78	15	aerial	aerial	ADJ
fcis-7514	78	16	vehicles	vehicle	NOUN
fcis-7514	78	17	(	(	PUNCT
fcis-7514	78	18	uav	uav	PROPN
fcis-7514	78	19	)	)	PUNCT
fcis-7514	78	20	technology	technology	NOUN
fcis-7514	78	21	to	to	PART
fcis-7514	78	22	support	support	VERB
fcis-7514	78	23	integrated	integrate	VERB
fcis-7514	78	24	coastal	coastal	ADJ
fcis-7514	78	25	zone	zone	NOUN
fcis-7514	78	26	management	management	NOUN
fcis-7514	78	27	and	and	CCONJ
fcis-7514	78	28	the	the	DET
fcis-7514	78	29	un	un	PROPN
fcis-7514	78	30	sustainable	sustainable	ADJ
fcis-7514	78	31	development	development	NOUN
fcis-7514	78	32	goals	goal	NOUN
fcis-7514	78	33	at	at	ADP
fcis-7514	78	34	the	the	DET
fcis-7514	78	35	coast[j	coast[j	NOUN
fcis-7514	78	36	]	]	PUNCT
fcis-7514	78	37	.	.	PUNCT
fcis-7514	79	1	estuaries	estuary	NOUN
fcis-7514	79	2	and	and	CCONJ
fcis-7514	79	3	coasts	coast	NOUN
fcis-7514	79	4	,	,	PUNCT
fcis-7514	79	5	2022	2022	NUM
fcis-7514	79	6	,	,	PUNCT
fcis-7514	79	7	45(5	45(5	NUM
fcis-7514	79	8	):	):	PUNCT
fcis-7514	79	9	1230	1230	NUM
fcis-7514	79	10	-	-	SYM
fcis-7514	79	11	1249	1249	NUM
fcis-7514	79	12	.	.	PUNCT
fcis-7514	80	1	[	[	X
fcis-7514	80	2	3	3	X
fcis-7514	80	3	]	]	X
fcis-7514	80	4	chen	chen	PROPN
fcis-7514	80	5	y	y	PROPN
fcis-7514	80	6	,	,	PUNCT
fcis-7514	80	7	luo	luo	PROPN
fcis-7514	80	8	g	g	PROPN
fcis-7514	80	9	,	,	PUNCT
fcis-7514	80	10	mei	mei	PROPN
fcis-7514	80	11	y	y	PROPN
fcis-7514	80	12	,	,	PUNCT
fcis-7514	80	13	et	et	PROPN
fcis-7514	80	14	al	al	PROPN
fcis-7514	80	15	.	.	PROPN
fcis-7514	81	1	uav	uav	PROPN
fcis-7514	81	2	path	path	PROPN
fcis-7514	81	3	planning	planning	NOUN
fcis-7514	81	4	using	use	VERB
fcis-7514	81	5	artificial	artificial	ADJ
fcis-7514	81	6	potential	potential	ADJ
fcis-7514	81	7	field	field	NOUN
fcis-7514	81	8	method	method	NOUN
fcis-7514	81	9	updated	update	VERB
fcis-7514	81	10	by	by	ADP
fcis-7514	81	11	optimal	optimal	ADJ
fcis-7514	81	12	control	control	NOUN
fcis-7514	81	13	theory[j	theory[j	NOUN
fcis-7514	81	14	]	]	PUNCT
fcis-7514	81	15	.	.	PUNCT
fcis-7514	82	1	international	international	ADJ
fcis-7514	82	2	journal	journal	PROPN
fcis-7514	82	3	of	of	ADP
fcis-7514	82	4	systems	system	NOUN
fcis-7514	82	5	science	science	NOUN
fcis-7514	82	6	,	,	PUNCT
fcis-7514	82	7	2016	2016	NUM
fcis-7514	82	8	,	,	PUNCT
fcis-7514	82	9	47(6	47(6	NUM
fcis-7514	82	10	):	):	PUNCT
fcis-7514	82	11	1407	1407	NUM
fcis-7514	82	12	-	-	SYM
fcis-7514	82	13	1420	1420	NUM
fcis-7514	82	14	.	.	PUNCT
fcis-7514	83	1	[	[	X
fcis-7514	83	2	4	4	X
fcis-7514	83	3	]	]	X
fcis-7514	83	4	pandey	pandey	PROPN
fcis-7514	83	5	a	a	PROPN
fcis-7514	83	6	,	,	PUNCT
fcis-7514	83	7	sonkar	sonkar	NOUN
fcis-7514	83	8	r	r	PROPN
fcis-7514	83	9	k	k	PROPN
fcis-7514	83	10	,	,	PUNCT
fcis-7514	83	11	pandey	pandey	PROPN
fcis-7514	83	12	k	k	PROPN
fcis-7514	83	13	k	k	PROPN
fcis-7514	83	14	,	,	PUNCT
fcis-7514	83	15	et	et	PROPN
fcis-7514	83	16	al	al	PROPN
fcis-7514	83	17	.	.	PROPN
fcis-7514	83	18	path	path	PROPN
fcis-7514	83	19	planning	planning	PROPN
fcis-7514	83	20	navigation	navigation	NOUN
fcis-7514	83	21	of	of	ADP
fcis-7514	83	22	mobile	mobile	ADJ
fcis-7514	83	23	robot	robot	NOUN
fcis-7514	83	24	with	with	ADP
fcis-7514	83	25	obstacles	obstacle	NOUN
fcis-7514	83	26	avoidance	avoidance	NOUN
fcis-7514	83	27	using	use	VERB
fcis-7514	83	28	fuzzy	fuzzy	ADJ
fcis-7514	83	29	logic	logic	NOUN
fcis-7514	83	30	controller[c]//2014	controller[c]//2014	X
fcis-7514	83	31	ieee	ieee	PROPN
fcis-7514	83	32	8th	8th	PROPN
fcis-7514	83	33	international	international	ADJ
fcis-7514	83	34	conference	conference	NOUN
fcis-7514	83	35	on	on	ADP
fcis-7514	83	36	intelligent	intelligent	ADJ
fcis-7514	83	37	systems	system	NOUN
fcis-7514	83	38	and	and	CCONJ
fcis-7514	83	39	control	control	NOUN
fcis-7514	83	40	(	(	PUNCT
fcis-7514	83	41	isco	isco	PROPN
fcis-7514	83	42	)	)	PUNCT
fcis-7514	83	43	.	.	PUNCT
fcis-7514	84	1	ieee	ieee	PROPN
fcis-7514	84	2	,	,	PUNCT
fcis-7514	84	3	2014	2014	NUM
fcis-7514	84	4	:	:	PUNCT
fcis-7514	84	5	39	39	NUM
fcis-7514	84	6	-	-	SYM
fcis-7514	84	7	41	41	NUM
fcis-7514	84	8	.	.	PUNCT
fcis-7514	85	1	[	[	X
fcis-7514	85	2	5	5	X
fcis-7514	85	3	]	]	X
fcis-7514	85	4	mandloi	mandloi	NOUN
fcis-7514	85	5	d	d	PROPN
fcis-7514	85	6	,	,	PUNCT
fcis-7514	85	7	arya	arya	PROPN
fcis-7514	85	8	r	r	PROPN
fcis-7514	85	9	,	,	PUNCT
fcis-7514	85	10	verma	verma	PROPN
fcis-7514	85	11	a	a	DET
fcis-7514	85	12	k.	k.	PROPN
fcis-7514	85	13	unmanned	unmanned	ADJ
fcis-7514	85	14	aerial	aerial	ADJ
fcis-7514	85	15	vehicle	vehicle	NOUN
fcis-7514	85	16	path	path	NOUN
fcis-7514	85	17	planning	planning	NOUN
fcis-7514	85	18	based	base	VERB
fcis-7514	85	19	on	on	ADP
fcis-7514	85	20	a	a	DET
fcis-7514	85	21	*	*	ADJ
fcis-7514	85	22	algorithm	algorithm	NOUN
fcis-7514	85	23	and	and	CCONJ
fcis-7514	85	24	its	its	PRON
fcis-7514	85	25	variants	variant	NOUN
fcis-7514	85	26	in	in	ADP
fcis-7514	85	27	3d	3d	PROPN
fcis-7514	85	28	environment[j	environment[j	PROPN
fcis-7514	85	29	]	]	X
fcis-7514	85	30	.	.	PUNCT
fcis-7514	86	1	international	international	ADJ
fcis-7514	86	2	journal	journal	PROPN
fcis-7514	86	3	of	of	ADP
fcis-7514	86	4	system	system	NOUN
fcis-7514	86	5	assurance	assurance	NOUN
fcis-7514	86	6	engineering	engineering	NOUN
fcis-7514	86	7	and	and	CCONJ
fcis-7514	86	8	management	management	NOUN
fcis-7514	86	9	,	,	PUNCT
fcis-7514	86	10	2021	2021	NUM
fcis-7514	86	11	,	,	PUNCT
fcis-7514	86	12	12(5	12(5	NUM
fcis-7514	86	13	):	):	PUNCT
fcis-7514	86	14	990	990	NUM
fcis-7514	86	15	-	-	SYM
fcis-7514	86	16	1000	1000	NUM
fcis-7514	86	17	.	.	PUNCT
fcis-7514	87	1	[	[	X
fcis-7514	87	2	6	6	NUM
fcis-7514	87	3	]	]	PUNCT
fcis-7514	87	4	he	he	PRON
fcis-7514	87	5	z	z	NOUN
fcis-7514	87	6	f	f	NOUN
fcis-7514	87	7	,	,	PUNCT
fcis-7514	87	8	zhao	zhao	PROPN
fcis-7514	87	9	l.	l.	PROPN
fcis-7514	87	10	the	the	DET
fcis-7514	87	11	comparison	comparison	NOUN
fcis-7514	87	12	of	of	ADP
fcis-7514	87	13	four	four	NUM
fcis-7514	87	14	uav	uav	PROPN
fcis-7514	87	15	path	path	PROPN
fcis-7514	87	16	planning	planning	NOUN
fcis-7514	87	17	algorithms	algorithm	NOUN
fcis-7514	87	18	based	base	VERB
fcis-7514	87	19	on	on	ADP
fcis-7514	87	20	geometry	geometry	NOUN
fcis-7514	87	21	search	search	NOUN
fcis-7514	87	22	algorithm[c]//2017	algorithm[c]//2017	ADP
fcis-7514	87	23	9th	9th	ADJ
fcis-7514	87	24	international	international	ADJ
fcis-7514	87	25	conference	conference	NOUN
fcis-7514	87	26	on	on	ADP
fcis-7514	87	27	intelligent	intelligent	ADJ
fcis-7514	87	28	human	human	ADJ
fcis-7514	87	29	-	-	PUNCT
fcis-7514	87	30	machine	machine	NOUN
fcis-7514	87	31	systems	system	NOUN
fcis-7514	87	32	and	and	CCONJ
fcis-7514	87	33	cybernetics	cybernetic	NOUN
fcis-7514	87	34	(	(	PUNCT
fcis-7514	87	35	ihmsc	ihmsc	NOUN
fcis-7514	87	36	)	)	PUNCT
fcis-7514	87	37	.	.	PUNCT
fcis-7514	88	1	ieee	ieee	PROPN
fcis-7514	88	2	,	,	PUNCT
fcis-7514	88	3	2017	2017	NUM
fcis-7514	88	4	,	,	PUNCT
fcis-7514	88	5	2	2	NUM
fcis-7514	88	6	:	:	SYM
fcis-7514	88	7	33	33	NUM
fcis-7514	88	8	-	-	SYM
fcis-7514	88	9	36	36	NUM
fcis-7514	88	10	.	.	PUNCT
fcis-7514	89	1	[	[	X
fcis-7514	89	2	7	7	NUM
fcis-7514	89	3	]	]	X
fcis-7514	89	4	silva	silva	PROPN
fcis-7514	89	5	arantes	arantes	PROPN
fcis-7514	89	6	j	j	PROPN
fcis-7514	89	7	,	,	PUNCT
fcis-7514	89	8	silva	silva	PROPN
fcis-7514	89	9	arantes	arante	NOUN
fcis-7514	89	10	m	m	PROPN
fcis-7514	89	11	,	,	PUNCT
fcis-7514	89	12	motta	motta	PROPN
fcis-7514	89	13	toledo	toledo	PROPN
fcis-7514	89	14	c	c	PROPN
fcis-7514	89	15	f	f	PROPN
fcis-7514	89	16	,	,	PUNCT
fcis-7514	89	17	et	et	PROPN
fcis-7514	89	18	al	al	PROPN
fcis-7514	89	19	.	.	PROPN
fcis-7514	89	20	heuristic	heuristic	ADJ
fcis-7514	89	21	and	and	CCONJ
fcis-7514	89	22	genetic	genetic	ADJ
fcis-7514	89	23	algorithm	algorithm	NOUN
fcis-7514	89	24	approaches	approach	VERB
fcis-7514	89	25	for	for	ADP
fcis-7514	89	26	uav	uav	PROPN
fcis-7514	89	27	path	path	PROPN
fcis-7514	89	28	planning	plan	VERB
fcis-7514	89	29	under	under	ADP
fcis-7514	89	30	critical	critical	ADJ
fcis-7514	89	31	situation[j	situation[j	NOUN
fcis-7514	89	32	]	]	X
fcis-7514	89	33	.	.	PUNCT
fcis-7514	90	1	international	international	ADJ
fcis-7514	90	2	journal	journal	PROPN
fcis-7514	90	3	on	on	ADP
fcis-7514	90	4	artificial	artificial	ADJ
fcis-7514	90	5	intelligence	intelligence	NOUN
fcis-7514	90	6	tools	tool	NOUN
fcis-7514	90	7	,	,	PUNCT
fcis-7514	90	8	2017	2017	NUM
fcis-7514	90	9	,	,	PUNCT
fcis-7514	90	10	26(01	26(01	NUM
fcis-7514	90	11	):	):	PUNCT
fcis-7514	90	12	1760008	1760008	NUM
fcis-7514	90	13	.	.	PUNCT
fcis-7514	91	1	[	[	X
fcis-7514	91	2	8	8	NUM
fcis-7514	91	3	]	]	X
fcis-7514	91	4	xiang	xiang	PROPN
fcis-7514	91	5	a	a	PROPN
fcis-7514	91	6	,	,	PUNCT
fcis-7514	91	7	wang	wang	PROPN
fcis-7514	91	8	l.	l.	PROPN
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fcis-7514	91	11	path	path	NOUN
fcis-7514	91	12	planning	planning	NOUN
fcis-7514	91	13	of	of	ADP
fcis-7514	91	14	uav	uav	PROPN
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fcis-7514	91	17	fighting	fighting	NOUN
fcis-7514	91	18	based	base	VERB
fcis-7514	91	19	on	on	ADP
fcis-7514	91	20	improved	improve	VERB
fcis-7514	91	21	ant	ant	ADJ
fcis-7514	91	22	colony	colony	NOUN
fcis-7514	91	23	algorithm[c	algorithm[c	NOUN
fcis-7514	91	24	]	]	PUNCT
fcis-7514	91	25	//	//	NUM
fcis-7514	91	26	2021	2021	NUM
fcis-7514	91	27	7th	7th	ADJ
fcis-7514	91	28	international	international	ADJ
fcis-7514	91	29	conference	conference	NOUN
fcis-7514	91	30	on	on	ADP
fcis-7514	91	31	computing	computing	NOUN
fcis-7514	91	32	and	and	CCONJ
fcis-7514	91	33	artificial	artificial	ADJ
fcis-7514	91	34	intelligence	intelligence	NOUN
fcis-7514	91	35	.	.	PUNCT
fcis-7514	92	1	2021	2021	NUM
fcis-7514	92	2	:	:	PUNCT
fcis-7514	92	3	289	289	NUM
fcis-7514	92	4	-	-	SYM
fcis-7514	92	5	295	295	NUM
fcis-7514	92	6	.	.	PUNCT
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fcis-7514	93	2	9	9	NUM
fcis-7514	93	3	]	]	X
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fcis-7514	93	5	-	-	PUNCT
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fcis-7514	93	7	j	j	PROPN
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fcis-7514	93	11	-	-	PUNCT
fcis-7514	93	12	del	del	NOUN
fcis-7514	93	13	-	-	NOUN
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fcis-7514	93	16	j	j	PROPN
fcis-7514	93	17	,	,	PUNCT
fcis-7514	93	18	garcía	garcía	ADJ
fcis-7514	93	19	-	-	PUNCT
fcis-7514	93	20	cerezo	cerezo	PROPN
fcis-7514	93	21	a.	a.	NOUN
fcis-7514	93	22	path	path	PROPN
fcis-7514	93	23	planning	planning	NOUN
fcis-7514	93	24	for	for	ADP
fcis-7514	93	25	autonomous	autonomous	ADJ
fcis-7514	93	26	mobile	mobile	ADJ
fcis-7514	93	27	robots	robot	NOUN
fcis-7514	93	28	:	:	PUNCT
fcis-7514	93	29	a	a	DET
fcis-7514	93	30	review[j	review[j	PROPN
fcis-7514	93	31	]	]	PUNCT
fcis-7514	93	32	.	.	PUNCT
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fcis-7514	94	2	,	,	PUNCT
fcis-7514	94	3	2021	2021	NUM
fcis-7514	94	4	,	,	PUNCT
fcis-7514	94	5	21(23	21(23	NOUN
fcis-7514	94	6	):	):	PUNCT
fcis-7514	94	7	7898	7898	NUM
fcis-7514	94	8	.	.	PUNCT
fcis-7514	95	1	[	[	X
fcis-7514	95	2	10	10	NUM
fcis-7514	95	3	]	]	X
fcis-7514	95	4	zhang	zhang	PROPN
fcis-7514	95	5	l	l	PROPN
fcis-7514	95	6	,	,	PUNCT
fcis-7514	95	7	li	li	PROPN
fcis-7514	95	8	y.	y.	PROPN
fcis-7514	95	9	mobile	mobile	PROPN
fcis-7514	95	10	robot	robot	PROPN
fcis-7514	95	11	path	path	PROPN
fcis-7514	95	12	planning	planning	NOUN
fcis-7514	95	13	algorithm	algorithm	NOUN
fcis-7514	95	14	based	base	VERB
fcis-7514	95	15	on	on	ADP
fcis-7514	95	16	improved	improve	VERB
fcis-7514	95	17	a	a	DET
fcis-7514	95	18	star[c	star[c	NOUN
fcis-7514	95	19	]	]	PUNCT
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fcis-7514	95	21	of	of	ADP
fcis-7514	95	22	physics	physics	PROPN
fcis-7514	95	23	:	:	PUNCT
fcis-7514	95	24	conference	conference	NOUN
fcis-7514	95	25	series	series	NOUN
fcis-7514	95	26	.	.	PUNCT
fcis-7514	96	1	iop	iop	PROPN
fcis-7514	96	2	publishing	publishing	NOUN
fcis-7514	96	3	,	,	PUNCT
fcis-7514	96	4	2021	2021	NUM
fcis-7514	96	5	,	,	PUNCT
fcis-7514	96	6	1848(1	1848(1	NUM
fcis-7514	96	7	):	):	PUNCT
fcis-7514	96	8	012013	012013	NUM
fcis-7514	96	9	.	.	PUNCT
fcis-7514	97	1	[	[	X
fcis-7514	97	2	11	11	NUM
fcis-7514	97	3	]	]	X
fcis-7514	98	1	zhang	zhang	PROPN
fcis-7514	98	2	z	z	PROPN
fcis-7514	98	3	,	,	PUNCT
fcis-7514	98	4	wu	wu	PROPN
fcis-7514	98	5	j	j	PROPN
fcis-7514	98	6	,	,	PUNCT
fcis-7514	98	7	dai	dai	PROPN
fcis-7514	98	8	j	j	PROPN
fcis-7514	98	9	,	,	PUNCT
fcis-7514	98	10	et	et	PROPN
fcis-7514	98	11	al	al	PROPN
fcis-7514	98	12	.	.	PROPN
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fcis-7514	99	2	path	path	NOUN
fcis-7514	99	3	planning	plan	VERB
fcis-7514	99	4	with	with	ADP
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fcis-7514	99	6	a	a	DET
fcis-7514	99	7	-	-	PUNCT
fcis-7514	99	8	star	star	NOUN
fcis-7514	99	9	algorithm	algorithm	NOUN
fcis-7514	99	10	for	for	ADP
fcis-7514	99	11	stealth	stealth	ADJ
fcis-7514	99	12	unmanned	unmanned	ADJ
fcis-7514	99	13	aerial	aerial	ADJ
fcis-7514	99	14	vehicles	vehicle	NOUN
fcis-7514	99	15	in	in	ADP
fcis-7514	99	16	3d	3d	PROPN
fcis-7514	99	17	network	network	NOUN
fcis-7514	99	18	radar	radar	NOUN
fcis-7514	99	19	environment[j	environment[j	NOUN
fcis-7514	99	20	]	]	X
fcis-7514	99	21	.	.	PUNCT
fcis-7514	100	1	proceedings	proceeding	NOUN
fcis-7514	100	2	of	of	ADP
fcis-7514	100	3	the	the	DET
fcis-7514	100	4	institution	institution	NOUN
fcis-7514	100	5	of	of	ADP
fcis-7514	100	6	mechanical	mechanical	ADJ
fcis-7514	100	7	engineers	engineer	NOUN
fcis-7514	100	8	,	,	PUNCT
fcis-7514	100	9	part	part	NOUN
fcis-7514	100	10	g	g	NOUN
fcis-7514	100	11	:	:	PUNCT
fcis-7514	100	12	journal	journal	PROPN
fcis-7514	100	13	of	of	ADP
fcis-7514	100	14	aerospace	aerospace	PROPN
fcis-7514	100	15	engineering	engineering	NOUN
fcis-7514	100	16	,	,	PUNCT
fcis-7514	100	17	2022	2022	NUM
fcis-7514	100	18	,	,	PUNCT
fcis-7514	100	19	236(1	236(1	NUM
fcis-7514	100	20	):	):	PUNCT
fcis-7514	100	21	72	72	NUM
fcis-7514	100	22	-	-	SYM
fcis-7514	100	23	81	81	NUM
fcis-7514	100	24	.	.	PUNCT