id	sid	tid	token	lemma	pos
fcis-9421	1	1	frontiers	frontier	NOUN
fcis-9421	1	2	in	in	ADP
fcis-9421	1	3	computing	computing	NOUN
fcis-9421	1	4	and	and	CCONJ
fcis-9421	1	5	intelligent	intelligent	ADJ
fcis-9421	1	6	systems	system	NOUN
fcis-9421	1	7	issn	issn	VERB
fcis-9421	1	8	:	:	PUNCT
fcis-9421	1	9	2832	2832	NUM
fcis-9421	1	10	-	-	SYM
fcis-9421	1	11	6024	6024	NUM
fcis-9421	1	12	|	|	NOUN
fcis-9421	1	13	vol	vol	NOUN
fcis-9421	1	14	.	.	PROPN
fcis-9421	2	1	4	4	NUM
fcis-9421	2	2	,	,	PUNCT
fcis-9421	2	3	no	no	INTJ
fcis-9421	2	4	.	.	NOUN
fcis-9421	2	5	1	1	NUM
fcis-9421	2	6	,	,	PUNCT
fcis-9421	2	7	2023	2023	NUM
fcis-9421	2	8	39	39	NUM
fcis-9421	2	9	global	global	ADJ
fcis-9421	2	10	path	path	NOUN
fcis-9421	2	11	planning	planning	NOUN
fcis-9421	2	12	method	method	NOUN
fcis-9421	2	13	for	for	ADP
fcis-9421	2	14	parks	park	NOUN
fcis-9421	2	15	based	base	VERB
fcis-9421	2	16	on	on	ADP
fcis-9421	2	17	complete	complete	ADJ
fcis-9421	2	18	coverage	coverage	NOUN
fcis-9421	2	19	cleaning	cleaning	NOUN
fcis-9421	2	20	task	task	NOUN
fcis-9421	2	21	xiaoke	xiaoke	PROPN
fcis-9421	2	22	ming	ming	PROPN
fcis-9421	3	1	*	*	PROPN
fcis-9421	3	2	,	,	PUNCT
fcis-9421	3	3	shaodong	shaodong	PROPN
fcis-9421	3	4	jiang	jiang	PROPN
fcis-9421	3	5	,	,	PUNCT
fcis-9421	3	6	yue	yue	PROPN
fcis-9421	3	7	duan	duan	PROPN
fcis-9421	3	8	school	school	PROPN
fcis-9421	3	9	of	of	ADP
fcis-9421	3	10	automotive	automotive	ADJ
fcis-9421	3	11	and	and	CCONJ
fcis-9421	3	12	transportation	transportation	NOUN
fcis-9421	3	13	engineering	engineering	NOUN
fcis-9421	3	14	,	,	PUNCT
fcis-9421	3	15	hefei	hefei	PROPN
fcis-9421	3	16	university	university	PROPN
fcis-9421	3	17	of	of	ADP
fcis-9421	3	18	technology	technology	PROPN
fcis-9421	3	19	,	,	PUNCT
fcis-9421	3	20	hefei	hefei	PROPN
fcis-9421	3	21	230009	230009	NUM
fcis-9421	3	22	,	,	PUNCT
fcis-9421	3	23	china	china	PROPN
fcis-9421	3	24	abstract	abstract	NOUN
fcis-9421	3	25	:	:	PUNCT
fcis-9421	3	26	in	in	ADP
fcis-9421	3	27	this	this	DET
fcis-9421	3	28	paper	paper	NOUN
fcis-9421	3	29	,	,	PUNCT
fcis-9421	3	30	based	base	VERB
fcis-9421	3	31	on	on	ADP
fcis-9421	3	32	a	a	DET
fcis-9421	3	33	small	small	ADJ
fcis-9421	3	34	driving	driving	NOUN
fcis-9421	3	35	sanitation	sanitation	NOUN
fcis-9421	3	36	platform	platform	NOUN
fcis-9421	3	37	of	of	ADP
fcis-9421	3	38	an	an	DET
fcis-9421	3	39	enterprise	enterprise	NOUN
fcis-9421	3	40	,	,	PUNCT
fcis-9421	3	41	the	the	DET
fcis-9421	3	42	global	global	ADJ
fcis-9421	3	43	path	path	PROPN
fcis-9421	3	44	planning	planning	NOUN
fcis-9421	3	45	method	method	NOUN
fcis-9421	3	46	in	in	ADP
fcis-9421	3	47	the	the	DET
fcis-9421	3	48	unmanned	unmanned	ADJ
fcis-9421	3	49	decision	decision	NOUN
fcis-9421	3	50	system	system	NOUN
fcis-9421	3	51	is	be	AUX
fcis-9421	3	52	studied	study	VERB
fcis-9421	3	53	and	and	CCONJ
fcis-9421	3	54	designed	design	VERB
fcis-9421	3	55	for	for	ADP
fcis-9421	3	56	the	the	DET
fcis-9421	3	57	characteristics	characteristic	NOUN
fcis-9421	3	58	of	of	ADP
fcis-9421	3	59	the	the	DET
fcis-9421	3	60	park	park	NOUN
fcis-9421	3	61	environment	environment	NOUN
fcis-9421	3	62	and	and	CCONJ
fcis-9421	3	63	the	the	DET
fcis-9421	3	64	task	task	NOUN
fcis-9421	3	65	requirements	requirement	NOUN
fcis-9421	3	66	.	.	PUNCT
fcis-9421	4	1	the	the	DET
fcis-9421	4	2	operation	operation	NOUN
fcis-9421	4	3	space	space	NOUN
fcis-9421	4	4	of	of	ADP
fcis-9421	4	5	the	the	DET
fcis-9421	4	6	sanitation	sanitation	NOUN
fcis-9421	4	7	platform	platform	NOUN
fcis-9421	4	8	is	be	AUX
fcis-9421	4	9	divided	divide	VERB
fcis-9421	4	10	into	into	ADP
fcis-9421	4	11	rectangular	rectangular	ADJ
fcis-9421	4	12	square	square	ADJ
fcis-9421	4	13	cleaning	cleaning	NOUN
fcis-9421	4	14	area	area	NOUN
fcis-9421	4	15	and	and	CCONJ
fcis-9421	4	16	lane	lane	NOUN
fcis-9421	4	17	cleaning	cleaning	NOUN
fcis-9421	4	18	area	area	NOUN
fcis-9421	4	19	based	base	VERB
fcis-9421	4	20	on	on	ADP
fcis-9421	4	21	the	the	DET
fcis-9421	4	22	task	task	NOUN
fcis-9421	4	23	demand	demand	NOUN
fcis-9421	4	24	of	of	ADP
fcis-9421	4	25	full	full	ADJ
fcis-9421	4	26	coverage	coverage	NOUN
fcis-9421	4	27	of	of	ADP
fcis-9421	4	28	the	the	DET
fcis-9421	4	29	park	park	NOUN
fcis-9421	4	30	.	.	PUNCT
fcis-9421	5	1	for	for	ADP
fcis-9421	5	2	the	the	DET
fcis-9421	5	3	sweeping	sweeping	ADJ
fcis-9421	5	4	task	task	NOUN
fcis-9421	5	5	of	of	ADP
fcis-9421	5	6	the	the	DET
fcis-9421	5	7	lane	lane	PROPN
fcis-9421	5	8	area	area	NOUN
fcis-9421	5	9	,	,	PUNCT
fcis-9421	5	10	multiple	multiple	ADJ
fcis-9421	5	11	parallel	parallel	ADJ
fcis-9421	5	12	sweeping	sweeping	ADJ
fcis-9421	5	13	reference	reference	NOUN
fcis-9421	5	14	paths	path	NOUN
fcis-9421	5	15	are	be	AUX
fcis-9421	5	16	generated	generate	VERB
fcis-9421	5	17	by	by	ADP
fcis-9421	5	18	raster	raster	NOUN
fcis-9421	5	19	erosion	erosion	NOUN
fcis-9421	5	20	of	of	ADP
fcis-9421	5	21	the	the	DET
fcis-9421	5	22	lane	lane	NOUN
fcis-9421	5	23	map	map	NOUN
fcis-9421	5	24	;	;	PUNCT
fcis-9421	5	25	for	for	ADP
fcis-9421	5	26	the	the	DET
fcis-9421	5	27	sweeping	sweeping	ADJ
fcis-9421	5	28	task	task	NOUN
fcis-9421	5	29	of	of	ADP
fcis-9421	5	30	the	the	DET
fcis-9421	5	31	rectangular	rectangular	ADJ
fcis-9421	5	32	square	square	NOUN
fcis-9421	5	33	,	,	PUNCT
fcis-9421	5	34	this	this	DET
fcis-9421	5	35	paper	paper	NOUN
fcis-9421	5	36	proposes	propose	VERB
fcis-9421	5	37	an	an	DET
fcis-9421	5	38	improved	improved	ADJ
fcis-9421	5	39	bow	bow	NOUN
fcis-9421	5	40	-	-	PUNCT
fcis-9421	5	41	shaped	shape	VERB
fcis-9421	5	42	full	full	ADJ
fcis-9421	5	43	coverage	coverage	NOUN
fcis-9421	5	44	algorithm	algorithm	NOUN
fcis-9421	5	45	combining	combine	VERB
fcis-9421	5	46	forward	forward	ADV
fcis-9421	5	47	and	and	CCONJ
fcis-9421	5	48	reverse	reverse	VERB
fcis-9421	5	49	based	base	VERB
fcis-9421	5	50	on	on	ADP
fcis-9421	5	51	the	the	DET
fcis-9421	5	52	steering	steering	NOUN
fcis-9421	5	53	capacity	capacity	NOUN
fcis-9421	5	54	constraint	constraint	NOUN
fcis-9421	5	55	of	of	ADP
fcis-9421	5	56	the	the	DET
fcis-9421	5	57	sanitation	sanitation	NOUN
fcis-9421	5	58	vehicle	vehicle	NOUN
fcis-9421	5	59	.	.	PUNCT
fcis-9421	6	1	finally	finally	ADV
fcis-9421	6	2	,	,	PUNCT
fcis-9421	6	3	the	the	DET
fcis-9421	6	4	path	path	NOUN
fcis-9421	6	5	articulation	articulation	NOUN
fcis-9421	6	6	algorithm	algorithm	NOUN
fcis-9421	6	7	is	be	AUX
fcis-9421	6	8	used	use	VERB
fcis-9421	6	9	to	to	PART
fcis-9421	6	10	connect	connect	VERB
fcis-9421	6	11	the	the	DET
fcis-9421	6	12	sweeping	sweeping	ADJ
fcis-9421	6	13	paths	path	NOUN
fcis-9421	6	14	of	of	ADP
fcis-9421	6	15	suboperating	suboperate	VERB
fcis-9421	6	16	areas	area	NOUN
fcis-9421	6	17	to	to	PART
fcis-9421	6	18	form	form	VERB
fcis-9421	6	19	a	a	DET
fcis-9421	6	20	global	global	ADJ
fcis-9421	6	21	reference	reference	NOUN
fcis-9421	6	22	path	path	NOUN
fcis-9421	6	23	for	for	ADP
fcis-9421	6	24	the	the	DET
fcis-9421	6	25	sweeping	sweeping	ADJ
fcis-9421	6	26	operation	operation	NOUN
fcis-9421	6	27	of	of	ADP
fcis-9421	6	28	the	the	DET
fcis-9421	6	29	park	park	NOUN
fcis-9421	6	30	.	.	PUNCT
fcis-9421	7	1	keywords	keyword	NOUN
fcis-9421	7	2	:	:	PUNCT
fcis-9421	7	3	low	low	ADJ
fcis-9421	7	4	speed	speed	NOUN
fcis-9421	7	5	driverless	driverless	NOUN
fcis-9421	7	6	technology	technology	NOUN
fcis-9421	7	7	;	;	PUNCT
fcis-9421	7	8	complete	complete	ADJ
fcis-9421	7	9	coverage	coverage	NOUN
fcis-9421	7	10	path	path	NOUN
fcis-9421	7	11	planning	planning	NOUN
fcis-9421	7	12	;	;	PUNCT
fcis-9421	7	13	park	park	NOUN
fcis-9421	7	14	sanitation	sanitation	NOUN
fcis-9421	7	15	.	.	PUNCT
fcis-9421	8	1	1	1	X
fcis-9421	8	2	.	.	X
fcis-9421	8	3	introduction	introduction	NOUN
fcis-9421	8	4	the	the	DET
fcis-9421	8	5	research	research	NOUN
fcis-9421	8	6	and	and	CCONJ
fcis-9421	8	7	exploration	exploration	NOUN
fcis-9421	8	8	of	of	ADP
fcis-9421	8	9	driverless	driverless	NOUN
fcis-9421	8	10	technology	technology	NOUN
fcis-9421	8	11	in	in	ADP
fcis-9421	8	12	low	low	ADJ
fcis-9421	8	13	-	-	PUNCT
fcis-9421	8	14	speed	speed	NOUN
fcis-9421	8	15	scenarios	scenario	NOUN
fcis-9421	8	16	has	have	VERB
fcis-9421	8	17	the	the	DET
fcis-9421	8	18	advantages	advantage	NOUN
fcis-9421	8	19	of	of	ADP
fcis-9421	8	20	low	low	ADJ
fcis-9421	8	21	testing	testing	NOUN
fcis-9421	8	22	risk	risk	NOUN
fcis-9421	8	23	and	and	CCONJ
fcis-9421	8	24	low	low	ADJ
fcis-9421	8	25	testing	testing	NOUN
fcis-9421	8	26	cost	cost	NOUN
fcis-9421	8	27	,	,	PUNCT
fcis-9421	8	28	which	which	PRON
fcis-9421	8	29	helps	help	VERB
fcis-9421	8	30	accelerate	accelerate	VERB
fcis-9421	8	31	the	the	DET
fcis-9421	8	32	development	development	NOUN
fcis-9421	8	33	of	of	ADP
fcis-9421	8	34	driverless	driverless	NOUN
fcis-9421	8	35	technology	technology	NOUN
fcis-9421	8	36	for	for	ADP
fcis-9421	8	37	passenger	passenger	NOUN
fcis-9421	8	38	cars	car	NOUN
fcis-9421	8	39	.	.	PUNCT
fcis-9421	9	1	as	as	ADP
fcis-9421	9	2	a	a	DET
fcis-9421	9	3	pragmatic	pragmatic	ADJ
fcis-9421	9	4	field	field	NOUN
fcis-9421	9	5	for	for	ADP
fcis-9421	9	6	the	the	DET
fcis-9421	9	7	landing	landing	NOUN
fcis-9421	9	8	of	of	ADP
fcis-9421	9	9	driverless	driverless	NOUN
fcis-9421	9	10	technology	technology	NOUN
fcis-9421	9	11	,	,	PUNCT
fcis-9421	9	12	the	the	DET
fcis-9421	9	13	sanitation	sanitation	NOUN
fcis-9421	9	14	industry	industry	NOUN
fcis-9421	9	15	can	can	AUX
fcis-9421	9	16	significantly	significantly	ADV
fcis-9421	9	17	reduce	reduce	VERB
fcis-9421	9	18	industry	industry	NOUN
fcis-9421	9	19	costs	cost	NOUN
fcis-9421	9	20	,	,	PUNCT
fcis-9421	9	21	liberate	liberate	VERB
fcis-9421	9	22	sanitation	sanitation	NOUN
fcis-9421	9	23	workers	worker	NOUN
fcis-9421	9	24	in	in	ADP
fcis-9421	9	25	hot	hot	ADJ
fcis-9421	9	26	,	,	PUNCT
fcis-9421	9	27	cold	cold	ADJ
fcis-9421	9	28	and	and	CCONJ
fcis-9421	9	29	dusty	dusty	ADJ
fcis-9421	9	30	operating	operating	NOUN
fcis-9421	9	31	environments	environment	NOUN
fcis-9421	9	32	,	,	PUNCT
fcis-9421	9	33	and	and	CCONJ
fcis-9421	9	34	reduce	reduce	VERB
fcis-9421	9	35	the	the	DET
fcis-9421	9	36	occurrence	occurrence	NOUN
fcis-9421	9	37	of	of	ADP
fcis-9421	9	38	traffic	traffic	NOUN
fcis-9421	9	39	accidents	accident	NOUN
fcis-9421	9	40	,	,	PUNCT
fcis-9421	9	41	which	which	PRON
fcis-9421	9	42	has	have	VERB
fcis-9421	9	43	important	important	ADJ
fcis-9421	9	44	research	research	NOUN
fcis-9421	9	45	value	value	NOUN
fcis-9421	9	46	and	and	CCONJ
fcis-9421	9	47	practical	practical	ADJ
fcis-9421	9	48	significance	significance	NOUN
fcis-9421	9	49	.	.	PUNCT
fcis-9421	10	1	the	the	DET
fcis-9421	10	2	task	task	NOUN
fcis-9421	10	3	of	of	ADP
fcis-9421	10	4	the	the	DET
fcis-9421	10	5	unmanned	unmanned	ADJ
fcis-9421	10	6	sanitation	sanitation	NOUN
fcis-9421	10	7	platform	platform	NOUN
fcis-9421	10	8	in	in	ADP
fcis-9421	10	9	the	the	DET
fcis-9421	10	10	park	park	NOUN
fcis-9421	10	11	is	be	AUX
fcis-9421	10	12	to	to	PART
fcis-9421	10	13	complete	complete	VERB
fcis-9421	10	14	the	the	DET
fcis-9421	10	15	garbage	garbage	NOUN
fcis-9421	10	16	cleaning	cleaning	NOUN
fcis-9421	10	17	and	and	CCONJ
fcis-9421	10	18	environmental	environmental	ADJ
fcis-9421	10	19	maintenance	maintenance	NOUN
fcis-9421	10	20	of	of	ADP
fcis-9421	10	21	the	the	DET
fcis-9421	10	22	park	park	NOUN
fcis-9421	10	23	without	without	ADP
fcis-9421	10	24	an	an	DET
fcis-9421	10	25	operator	operator	NOUN
fcis-9421	10	26	,	,	PUNCT
fcis-9421	10	27	and	and	CCONJ
fcis-9421	10	28	the	the	DET
fcis-9421	10	29	specific	specific	ADJ
fcis-9421	10	30	method	method	NOUN
fcis-9421	10	31	design	design	NOUN
fcis-9421	10	32	logic	logic	NOUN
fcis-9421	10	33	is	be	AUX
fcis-9421	10	34	to	to	PART
fcis-9421	10	35	achieve	achieve	VERB
fcis-9421	10	36	full	full	ADJ
fcis-9421	10	37	coverage	coverage	NOUN
fcis-9421	10	38	of	of	ADP
fcis-9421	10	39	the	the	DET
fcis-9421	10	40	park	park	NOUN
fcis-9421	10	41	road	road	NOUN
fcis-9421	10	42	surface	surface	NOUN
fcis-9421	10	43	:	:	PUNCT
fcis-9421	10	44	not	not	PART
fcis-9421	10	45	only	only	ADV
fcis-9421	10	46	to	to	PART
fcis-9421	10	47	achieve	achieve	VERB
fcis-9421	10	48	full	full	ADJ
fcis-9421	10	49	coverage	coverage	NOUN
fcis-9421	10	50	of	of	ADP
fcis-9421	10	51	the	the	DET
fcis-9421	10	52	rectangular	rectangular	ADJ
fcis-9421	10	53	square	square	ADJ
fcis-9421	10	54	area	area	NOUN
fcis-9421	10	55	,	,	PUNCT
fcis-9421	10	56	but	but	CCONJ
fcis-9421	10	57	also	also	ADV
fcis-9421	10	58	to	to	PART
fcis-9421	10	59	complete	complete	VERB
fcis-9421	10	60	full	full	ADJ
fcis-9421	10	61	coverage	coverage	NOUN
fcis-9421	10	62	of	of	ADP
fcis-9421	10	63	the	the	DET
fcis-9421	10	64	lane	lane	NOUN
fcis-9421	10	65	area	area	NOUN
fcis-9421	10	66	under	under	ADP
fcis-9421	10	67	the	the	DET
fcis-9421	10	68	constraints	constraint	NOUN
fcis-9421	10	69	of	of	ADP
fcis-9421	10	70	traffic	traffic	NOUN
fcis-9421	10	71	rules	rule	NOUN
fcis-9421	10	72	.	.	PUNCT
fcis-9421	11	1	complete	complete	ADJ
fcis-9421	11	2	coverage	coverage	NOUN
fcis-9421	11	3	path	path	NOUN
fcis-9421	11	4	planning	planning	NOUN
fcis-9421	11	5	is	be	AUX
fcis-9421	11	6	different	different	ADJ
fcis-9421	11	7	from	from	ADP
fcis-9421	11	8	"	"	PUNCT
fcis-9421	11	9	point	point	NOUN
fcis-9421	11	10	to	to	PART
fcis-9421	11	11	point	point	VERB
fcis-9421	11	12	"	"	PUNCT
fcis-9421	11	13	path	path	NOUN
fcis-9421	11	14	planning	planning	NOUN
fcis-9421	11	15	,	,	PUNCT
fcis-9421	11	16	the	the	DET
fcis-9421	11	17	final	final	ADJ
fcis-9421	11	18	result	result	NOUN
fcis-9421	11	19	is	be	AUX
fcis-9421	11	20	to	to	PART
fcis-9421	11	21	plan	plan	VERB
fcis-9421	11	22	a	a	DET
fcis-9421	11	23	continuous	continuous	ADJ
fcis-9421	11	24	path	path	NOUN
fcis-9421	11	25	that	that	PRON
fcis-9421	11	26	starts	start	VERB
fcis-9421	11	27	from	from	ADP
fcis-9421	11	28	the	the	DET
fcis-9421	11	29	starting	starting	NOUN
fcis-9421	11	30	position	position	NOUN
fcis-9421	11	31	and	and	CCONJ
fcis-9421	11	32	traverses	traverse	NOUN
fcis-9421	11	33	the	the	DET
fcis-9421	11	34	whole	whole	ADJ
fcis-9421	11	35	operation	operation	NOUN
fcis-9421	11	36	area	area	NOUN
fcis-9421	11	37	to	to	ADP
fcis-9421	11	38	the	the	DET
fcis-9421	11	39	end	end	NOUN
fcis-9421	11	40	position	position	NOUN
fcis-9421	11	41	,	,	PUNCT
fcis-9421	11	42	and	and	CCONJ
fcis-9421	11	43	the	the	DET
fcis-9421	11	44	path	path	NOUN
fcis-9421	11	45	evaluation	evaluation	NOUN
fcis-9421	11	46	index	index	NOUN
fcis-9421	11	47	is	be	AUX
fcis-9421	11	48	usually	usually	ADV
fcis-9421	11	49	the	the	DET
fcis-9421	11	50	area	area	NOUN
fcis-9421	11	51	coverage	coverage	NOUN
fcis-9421	11	52	.	.	PUNCT
fcis-9421	12	1	the	the	DET
fcis-9421	12	2	key	key	ADJ
fcis-9421	12	3	problem	problem	NOUN
fcis-9421	12	4	to	to	PART
fcis-9421	12	5	be	be	AUX
fcis-9421	12	6	solved	solve	VERB
fcis-9421	12	7	by	by	ADP
fcis-9421	12	8	full	full	ADJ
fcis-9421	12	9	-	-	PUNCT
fcis-9421	12	10	coverage	coverage	NOUN
fcis-9421	12	11	path	path	NOUN
fcis-9421	12	12	planning	planning	NOUN
fcis-9421	12	13	is	be	AUX
fcis-9421	12	14	to	to	PART
fcis-9421	12	15	traverse	traverse	VERB
fcis-9421	12	16	the	the	DET
fcis-9421	12	17	free	free	ADJ
fcis-9421	12	18	area	area	NOUN
fcis-9421	12	19	(	(	PUNCT
fcis-9421	12	20	non	non	ADJ
fcis-9421	12	21	-	-	ADJ
fcis-9421	12	22	obstacle	obstacle	ADJ
fcis-9421	12	23	area	area	NOUN
fcis-9421	12	24	)	)	PUNCT
fcis-9421	12	25	in	in	ADP
fcis-9421	12	26	the	the	DET
fcis-9421	12	27	operation	operation	NOUN
fcis-9421	12	28	area	area	NOUN
fcis-9421	12	29	to	to	ADP
fcis-9421	12	30	the	the	DET
fcis-9421	12	31	maximum	maximum	ADJ
fcis-9421	12	32	extent	extent	NOUN
fcis-9421	12	33	,	,	PUNCT
fcis-9421	12	34	and	and	CCONJ
fcis-9421	12	35	effectively	effectively	ADV
fcis-9421	12	36	avoid	avoid	VERB
fcis-9421	12	37	all	all	DET
fcis-9421	12	38	obstacles	obstacle	NOUN
fcis-9421	12	39	in	in	ADP
fcis-9421	12	40	the	the	DET
fcis-9421	12	41	traversal	traversal	NOUN
fcis-9421	12	42	process	process	NOUN
fcis-9421	12	43	to	to	PART
fcis-9421	12	44	achieve	achieve	VERB
fcis-9421	12	45	no	no	DET
fcis-9421	12	46	collision[1	collision[1	PROPN
fcis-9421	12	47	]	]	X
fcis-9421	12	48	.	.	PUNCT
fcis-9421	13	1	the	the	DET
fcis-9421	13	2	current	current	ADJ
fcis-9421	13	3	mainstream	mainstream	NOUN
fcis-9421	13	4	complete	complete	ADJ
fcis-9421	13	5	coverage	coverage	NOUN
fcis-9421	13	6	path	path	NOUN
fcis-9421	13	7	planning	planning	NOUN
fcis-9421	13	8	methods	method	NOUN
fcis-9421	13	9	are	be	AUX
fcis-9421	13	10	reciprocal	reciprocal	ADJ
fcis-9421	13	11	rule	rule	NOUN
fcis-9421	13	12	-	-	PUNCT
fcis-9421	13	13	based[2	based[2	NOUN
fcis-9421	13	14	]	]	PUNCT
fcis-9421	13	15	,	,	PUNCT
fcis-9421	13	16	spiral	spiral	ADJ
fcis-9421	13	17	rule	rule	NOUN
fcis-9421	13	18	-	-	PUNCT
fcis-9421	13	19	based	base	VERB
fcis-9421	13	20	complete	complete	ADJ
fcis-9421	13	21	coverage	coverage	NOUN
fcis-9421	13	22	methods[3	methods[3	NOUN
fcis-9421	13	23	]	]	PUNCT
fcis-9421	13	24	and	and	CCONJ
fcis-9421	13	25	artificial	artificial	ADJ
fcis-9421	13	26	intelligencebased	intelligencebase	VERB
fcis-9421	13	27	complete	complete	ADJ
fcis-9421	13	28	coverage	coverage	NOUN
fcis-9421	13	29	path	path	NOUN
fcis-9421	13	30	planning	planning	NOUN
fcis-9421	13	31	algorithms[4	algorithms[4	NOUN
fcis-9421	13	32	]	]	X
fcis-9421	13	33	,	,	PUNCT
fcis-9421	13	34	which	which	PRON
fcis-9421	13	35	are	be	AUX
fcis-9421	13	36	usually	usually	ADV
fcis-9421	13	37	applied	apply	VERB
fcis-9421	13	38	to	to	ADP
fcis-9421	13	39	mobile	mobile	ADJ
fcis-9421	13	40	robots	robot	NOUN
fcis-9421	13	41	for	for	ADP
fcis-9421	13	42	different	different	ADJ
fcis-9421	13	43	purposes	purpose	NOUN
fcis-9421	13	44	.	.	PUNCT
fcis-9421	14	1	when	when	SCONJ
fcis-9421	14	2	applied	apply	VERB
fcis-9421	14	3	to	to	ADP
fcis-9421	14	4	sanitation	sanitation	NOUN
fcis-9421	14	5	platforms	platform	NOUN
fcis-9421	14	6	with	with	ADP
fcis-9421	14	7	larger	large	ADJ
fcis-9421	14	8	vehicles	vehicle	NOUN
fcis-9421	14	9	and	and	CCONJ
fcis-9421	14	10	lane	lane	NOUN
fcis-9421	14	11	environments	environment	NOUN
fcis-9421	14	12	with	with	ADP
fcis-9421	14	13	traffic	traffic	NOUN
fcis-9421	14	14	rule	rule	NOUN
fcis-9421	14	15	constraints	constraint	NOUN
fcis-9421	14	16	,	,	PUNCT
fcis-9421	14	17	the	the	DET
fcis-9421	14	18	traditional	traditional	ADJ
fcis-9421	14	19	coverage	coverage	NOUN
fcis-9421	14	20	algorithms	algorithm	NOUN
fcis-9421	14	21	generate	generate	VERB
fcis-9421	14	22	paths	path	NOUN
fcis-9421	14	23	that	that	PRON
fcis-9421	14	24	usually	usually	ADV
fcis-9421	14	25	have	have	VERB
fcis-9421	14	26	local	local	ADJ
fcis-9421	14	27	retrograde	retrograde	NOUN
fcis-9421	14	28	and	and	CCONJ
fcis-9421	14	29	traversal	traversal	NOUN
fcis-9421	14	30	characteristics	characteristic	NOUN
fcis-9421	14	31	and	and	CCONJ
fcis-9421	14	32	do	do	AUX
fcis-9421	14	33	not	not	PART
fcis-9421	14	34	comply	comply	VERB
fcis-9421	14	35	with	with	ADP
fcis-9421	14	36	the	the	DET
fcis-9421	14	37	constraints	constraint	NOUN
fcis-9421	14	38	of	of	ADP
fcis-9421	14	39	lane	lane	NOUN
fcis-9421	14	40	traffic	traffic	NOUN
fcis-9421	14	41	rules	rule	NOUN
fcis-9421	14	42	,	,	PUNCT
fcis-9421	14	43	while	while	SCONJ
fcis-9421	14	44	the	the	DET
fcis-9421	14	45	operational	operational	ADJ
fcis-9421	14	46	complexity	complexity	NOUN
fcis-9421	14	47	is	be	AUX
fcis-9421	14	48	high	high	ADJ
fcis-9421	14	49	and	and	CCONJ
fcis-9421	14	50	the	the	DET
fcis-9421	14	51	coverage	coverage	NOUN
fcis-9421	14	52	is	be	AUX
fcis-9421	14	53	insufficient	insufficient	ADJ
fcis-9421	14	54	.	.	PUNCT
fcis-9421	15	1	the	the	DET
fcis-9421	15	2	design	design	NOUN
fcis-9421	15	3	of	of	ADP
fcis-9421	15	4	coverage	coverage	NOUN
fcis-9421	15	5	algorithms	algorithm	NOUN
fcis-9421	15	6	for	for	ADP
fcis-9421	15	7	unmanned	unmanned	ADJ
fcis-9421	15	8	sanitation	sanitation	NOUN
fcis-9421	15	9	platforms	platform	NOUN
fcis-9421	15	10	in	in	ADP
fcis-9421	15	11	parks	park	NOUN
fcis-9421	15	12	needs	need	VERB
fcis-9421	15	13	further	further	ADJ
fcis-9421	15	14	research	research	NOUN
fcis-9421	15	15	.	.	PUNCT
fcis-9421	16	1	2	2	X
fcis-9421	16	2	.	.	X
fcis-9421	16	3	methodology	methodology	NOUN
fcis-9421	16	4	2.1	2.1	NUM
fcis-9421	16	5	.	.	PUNCT
fcis-9421	17	1	environmental	environmental	ADJ
fcis-9421	17	2	modeling	modeling	NOUN
fcis-9421	17	3	the	the	DET
fcis-9421	17	4	raster	raster	PROPN
fcis-9421	17	5	map	map	NOUN
fcis-9421	17	6	,	,	PUNCT
fcis-9421	17	7	also	also	ADV
fcis-9421	17	8	called	call	VERB
fcis-9421	17	9	occupancy	occupancy	NOUN
fcis-9421	17	10	raster	raster	NOUN
fcis-9421	17	11	map	map	NOUN
fcis-9421	17	12	,	,	PUNCT
fcis-9421	17	13	divides	divide	VERB
fcis-9421	17	14	the	the	DET
fcis-9421	17	15	operation	operation	NOUN
fcis-9421	17	16	space	space	NOUN
fcis-9421	17	17	of	of	ADP
fcis-9421	17	18	the	the	DET
fcis-9421	17	19	unmanned	unmanned	ADJ
fcis-9421	17	20	sanitation	sanitation	NOUN
fcis-9421	17	21	platform	platform	NOUN
fcis-9421	17	22	into	into	ADP
fcis-9421	17	23	a	a	DET
fcis-9421	17	24	series	series	NOUN
fcis-9421	17	25	of	of	ADP
fcis-9421	17	26	discrete	discrete	ADJ
fcis-9421	17	27	rasters	raster	NOUN
fcis-9421	17	28	of	of	ADP
fcis-9421	17	29	the	the	DET
fcis-9421	17	30	same	same	ADJ
fcis-9421	17	31	size	size	NOUN
fcis-9421	17	32	,	,	PUNCT
fcis-9421	17	33	coordinates	coordinate	VERB
fcis-9421	17	34	the	the	DET
fcis-9421	17	35	discrete	discrete	ADJ
fcis-9421	17	36	rasters	raster	NOUN
fcis-9421	17	37	in	in	ADP
fcis-9421	17	38	a	a	DET
fcis-9421	17	39	two	two	NUM
fcis-9421	17	40	-	-	PUNCT
fcis-9421	17	41	dimensional	dimensional	ADJ
fcis-9421	17	42	array	array	NOUN
fcis-9421	17	43	,	,	PUNCT
fcis-9421	17	44	and	and	CCONJ
fcis-9421	17	45	each	each	DET
fcis-9421	17	46	raster	raster	NOUN
fcis-9421	17	47	has	have	VERB
fcis-9421	17	48	an	an	DET
fcis-9421	17	49	attribute	attribute	NOUN
fcis-9421	17	50	value	value	NOUN
fcis-9421	17	51	indicating	indicate	VERB
fcis-9421	17	52	the	the	DET
fcis-9421	17	53	probability	probability	NOUN
fcis-9421	17	54	that	that	SCONJ
fcis-9421	17	55	the	the	DET
fcis-9421	17	56	raster	raster	NOUN
fcis-9421	17	57	is	be	AUX
fcis-9421	17	58	occupied	occupy	VERB
fcis-9421	17	59	,	,	PUNCT
fcis-9421	17	60	and	and	CCONJ
fcis-9421	17	61	when	when	SCONJ
fcis-9421	17	62	the	the	DET
fcis-9421	17	63	occupation	occupation	NOUN
fcis-9421	17	64	probability	probability	NOUN
fcis-9421	17	65	is	be	AUX
fcis-9421	17	66	greater	great	ADJ
fcis-9421	17	67	than	than	ADP
fcis-9421	17	68	a	a	DET
fcis-9421	17	69	certain	certain	ADJ
fcis-9421	17	70	threshold	threshold	NOUN
fcis-9421	17	71	,	,	PUNCT
fcis-9421	17	72	the	the	DET
fcis-9421	17	73	point	point	NOUN
fcis-9421	17	74	is	be	AUX
fcis-9421	17	75	an	an	DET
fcis-9421	17	76	obstacle	obstacle	NOUN
fcis-9421	17	77	point	point	NOUN
fcis-9421	17	78	,	,	PUNCT
fcis-9421	17	79	and	and	CCONJ
fcis-9421	17	80	vice	vice	ADV
fcis-9421	17	81	versa	versa	ADV
fcis-9421	17	82	,	,	PUNCT
fcis-9421	17	83	it	it	PRON
fcis-9421	17	84	is	be	AUX
fcis-9421	17	85	a	a	DET
fcis-9421	17	86	free	free	ADJ
fcis-9421	17	87	space[5	space[5	NOUN
fcis-9421	17	88	]	]	X
fcis-9421	17	89	.	.	PUNCT
fcis-9421	18	1	the	the	DET
fcis-9421	18	2	raster	raster	NOUN
fcis-9421	18	3	is	be	AUX
fcis-9421	18	4	used	use	VERB
fcis-9421	18	5	to	to	PART
fcis-9421	18	6	express	express	VERB
fcis-9421	18	7	the	the	DET
fcis-9421	18	8	environmental	environmental	ADJ
fcis-9421	18	9	information	information	NOUN
fcis-9421	18	10	of	of	ADP
fcis-9421	18	11	the	the	DET
fcis-9421	18	12	operation	operation	NOUN
fcis-9421	18	13	space	space	NOUN
fcis-9421	18	14	,	,	PUNCT
fcis-9421	18	15	and	and	CCONJ
fcis-9421	18	16	then	then	ADV
fcis-9421	18	17	the	the	DET
fcis-9421	18	18	model	model	NOUN
fcis-9421	18	19	construction	construction	NOUN
fcis-9421	18	20	of	of	ADP
fcis-9421	18	21	the	the	DET
fcis-9421	18	22	whole	whole	ADJ
fcis-9421	18	23	environment	environment	NOUN
fcis-9421	18	24	is	be	AUX
fcis-9421	18	25	completed	complete	VERB
fcis-9421	18	26	.	.	PUNCT
fcis-9421	19	1	after	after	ADP
fcis-9421	19	2	finishing	finish	VERB
fcis-9421	19	3	the	the	DET
fcis-9421	19	4	environment	environment	NOUN
fcis-9421	19	5	modeling	modeling	NOUN
fcis-9421	19	6	,	,	PUNCT
fcis-9421	19	7	the	the	DET
fcis-9421	19	8	path	path	NOUN
fcis-9421	19	9	planning	planning	NOUN
fcis-9421	19	10	problem	problem	NOUN
fcis-9421	19	11	is	be	AUX
fcis-9421	19	12	transformed	transform	VERB
fcis-9421	19	13	into	into	ADP
fcis-9421	19	14	:	:	PUNCT
fcis-9421	19	15	seeking	seek	VERB
fcis-9421	19	16	a	a	DET
fcis-9421	19	17	line	line	NOUN
fcis-9421	19	18	from	from	ADP
fcis-9421	19	19	the	the	DET
fcis-9421	19	20	starting	start	VERB
fcis-9421	19	21	raster	raster	NOUN
fcis-9421	19	22	to	to	ADP
fcis-9421	19	23	the	the	DET
fcis-9421	19	24	ending	end	VERB
fcis-9421	19	25	raster	raster	NOUN
fcis-9421	19	26	without	without	ADP
fcis-9421	19	27	passing	pass	VERB
fcis-9421	19	28	through	through	ADP
fcis-9421	19	29	the	the	DET
fcis-9421	19	30	obstacle	obstacle	NOUN
fcis-9421	19	31	raster	raster	NOUN
fcis-9421	19	32	in	in	ADP
fcis-9421	19	33	between	between	ADP
fcis-9421	19	34	;	;	PUNCT
fcis-9421	19	35	and	and	CCONJ
fcis-9421	19	36	the	the	DET
fcis-9421	19	37	full	full	ADJ
fcis-9421	19	38	-	-	PUNCT
fcis-9421	19	39	coverage	coverage	NOUN
fcis-9421	19	40	traversal	traversal	NOUN
fcis-9421	19	41	problem	problem	NOUN
fcis-9421	19	42	is	be	AUX
fcis-9421	19	43	transformed	transform	VERB
fcis-9421	19	44	into	into	ADP
fcis-9421	19	45	covering	cover	VERB
fcis-9421	19	46	the	the	DET
fcis-9421	19	47	traversal	traversal	NOUN
fcis-9421	19	48	of	of	ADP
fcis-9421	19	49	all	all	DET
fcis-9421	19	50	the	the	DET
fcis-9421	19	51	free	free	ADJ
fcis-9421	19	52	-	-	PUNCT
fcis-9421	19	53	space	space	NOUN
fcis-9421	19	54	rasters	raster	NOUN
fcis-9421	19	55	.	.	PUNCT
fcis-9421	20	1	the	the	DET
fcis-9421	20	2	raster	raster	PROPN
fcis-9421	20	3	representation	representation	NOUN
fcis-9421	20	4	is	be	AUX
fcis-9421	20	5	simple	simple	ADJ
fcis-9421	20	6	,	,	PUNCT
fcis-9421	20	7	easy	easy	ADJ
fcis-9421	20	8	to	to	PART
fcis-9421	20	9	express	express	VERB
fcis-9421	20	10	,	,	PUNCT
fcis-9421	20	11	and	and	CCONJ
fcis-9421	20	12	easy	easy	ADJ
fcis-9421	20	13	to	to	PART
fcis-9421	20	14	save	save	VERB
fcis-9421	20	15	data	datum	NOUN
fcis-9421	20	16	,	,	PUNCT
fcis-9421	20	17	which	which	PRON
fcis-9421	20	18	is	be	AUX
fcis-9421	20	19	conducive	conducive	ADJ
fcis-9421	20	20	to	to	ADP
fcis-9421	20	21	subsequent	subsequent	ADJ
fcis-9421	20	22	algorithm	algorithm	NOUN
fcis-9421	20	23	design	design	NOUN
fcis-9421	20	24	and	and	CCONJ
fcis-9421	20	25	map	map	VERB
fcis-9421	20	26	data	datum	NOUN
fcis-9421	20	27	update	update	NOUN
fcis-9421	20	28	,	,	PUNCT
fcis-9421	20	29	so	so	SCONJ
fcis-9421	20	30	it	it	PRON
fcis-9421	20	31	is	be	AUX
fcis-9421	20	32	widely	widely	ADV
fcis-9421	20	33	used	use	VERB
fcis-9421	20	34	in	in	ADP
fcis-9421	20	35	the	the	DET
fcis-9421	20	36	field	field	NOUN
fcis-9421	20	37	of	of	ADP
fcis-9421	20	38	intelligent	intelligent	ADJ
fcis-9421	20	39	vehicles	vehicle	NOUN
fcis-9421	20	40	for	for	ADP
fcis-9421	20	41	environmental	environmental	ADJ
fcis-9421	20	42	modeling	modeling	NOUN
fcis-9421	20	43	.	.	PUNCT
fcis-9421	21	1	in	in	ADP
fcis-9421	21	2	order	order	NOUN
fcis-9421	21	3	to	to	PART
fcis-9421	21	4	reduce	reduce	VERB
fcis-9421	21	5	the	the	DET
fcis-9421	21	6	difficulty	difficulty	NOUN
fcis-9421	21	7	of	of	ADP
fcis-9421	21	8	environment	environment	NOUN
fcis-9421	21	9	modeling	modeling	NOUN
fcis-9421	21	10	,	,	PUNCT
fcis-9421	21	11	the	the	DET
fcis-9421	21	12	irregular	irregular	ADJ
fcis-9421	21	13	obstacles	obstacle	NOUN
fcis-9421	21	14	in	in	ADP
fcis-9421	21	15	the	the	DET
fcis-9421	21	16	operation	operation	NOUN
fcis-9421	21	17	space	space	NOUN
fcis-9421	21	18	are	be	AUX
fcis-9421	21	19	regularized	regularize	VERB
fcis-9421	21	20	in	in	ADP
fcis-9421	21	21	this	this	DET
fcis-9421	21	22	paper	paper	NOUN
fcis-9421	21	23	,	,	PUNCT
fcis-9421	21	24	and	and	CCONJ
fcis-9421	21	25	the	the	DET
fcis-9421	21	26	specific	specific	ADJ
fcis-9421	21	27	transformation	transformation	NOUN
fcis-9421	21	28	is	be	AUX
fcis-9421	21	29	as	as	SCONJ
fcis-9421	21	30	follows	follow	VERB
fcis-9421	21	31	:	:	PUNCT
fcis-9421	21	32	(	(	PUNCT
fcis-9421	21	33	1	1	X
fcis-9421	21	34	)	)	PUNCT
fcis-9421	21	35	where	where	SCONJ
fcis-9421	21	36	,	,	PUNCT
fcis-9421	21	37	occupancy	occupancy	NOUN
fcis-9421	21	38	indicates	indicate	VERB
fcis-9421	21	39	the	the	DET
fcis-9421	21	40	ratio	ratio	NOUN
fcis-9421	21	41	of	of	ADP
fcis-9421	21	42	obstacle	obstacle	NOUN
fcis-9421	21	43	to	to	ADP
fcis-9421	21	44	the	the	DET
fcis-9421	21	45	area	area	NOUN
fcis-9421	21	46	of	of	ADP
fcis-9421	21	47	this	this	DET
fcis-9421	21	48	raster	raster	NOUN
fcis-9421	21	49	;	;	PUNCT
fcis-9421	21	50	ratio	ratio	NOUN
fcis-9421	21	51	is	be	AUX
fcis-9421	21	52	the	the	DET
fcis-9421	21	53	threshold	threshold	NOUN
fcis-9421	21	54	value	value	NOUN
fcis-9421	21	55	of	of	ADP
fcis-9421	21	56	occupancy	occupancy	NOUN
fcis-9421	21	57	set	set	VERB
fcis-9421	21	58	in	in	ADP
fcis-9421	21	59	this	this	DET
fcis-9421	21	60	paper	paper	NOUN
fcis-9421	21	61	.	.	PUNCT
fcis-9421	22	1	after	after	ADP
fcis-9421	22	2	the	the	DET
fcis-9421	22	3	above	above	ADJ
fcis-9421	22	4	processing	processing	NOUN
fcis-9421	22	5	,	,	PUNCT
fcis-9421	22	6	the	the	DET
fcis-9421	22	7	whole	whole	ADJ
fcis-9421	22	8	environment	environment	NOUN
fcis-9421	22	9	map	map	NOUN
fcis-9421	22	10	consists	consist	VERB
fcis-9421	22	11	of	of	ADP
fcis-9421	22	12	obstacle	obstacle	NOUN
fcis-9421	22	13	raster	raster	NOUN
fcis-9421	22	14	and	and	CCONJ
fcis-9421	22	15	free	free	PROPN
fcis-9421	22	16	raster	raster	NOUN
fcis-9421	22	17	.	.	PUNCT
fcis-9421	23	1	in	in	ADP
fcis-9421	23	2	this	this	DET
fcis-9421	23	3	paper	paper	NOUN
fcis-9421	23	4	,	,	PUNCT
fcis-9421	23	5	we	we	PRON
fcis-9421	23	6	study	study	VERB
fcis-9421	23	7	the	the	DET
fcis-9421	23	8	full	full	ADJ
fcis-9421	23	9	-	-	PUNCT
fcis-9421	23	10	coverage	coverage	NOUN
fcis-9421	23	11	traversal	traversal	NOUN
fcis-9421	23	12	of	of	ADP
fcis-9421	23	13	the	the	DET
fcis-9421	23	14	sweeping	sweeping	ADJ
fcis-9421	23	15	task	task	NOUN
fcis-9421	23	16	,	,	PUNCT
fcis-9421	23	17	so	so	SCONJ
fcis-9421	23	18	the	the	DET
fcis-9421	23	19	grid	grid	NOUN
fcis-9421	23	20	needs	need	VERB
fcis-9421	23	21	to	to	PART
fcis-9421	23	22	record	record	VERB
fcis-9421	23	23	the	the	DET
fcis-9421	23	24	coverage	coverage	NOUN
fcis-9421	23	25	information	information	NOUN
fcis-9421	23	26	.	.	PUNCT
fcis-9421	24	1	according	accord	VERB
fcis-9421	24	2	to	to	ADP
fcis-9421	24	3	whether	whether	SCONJ
fcis-9421	24	4	the	the	DET
fcis-9421	24	5	grid	grid	NOUN
fcis-9421	24	6	is	be	AUX
fcis-9421	24	7	covered	cover	VERB
fcis-9421	24	8	or	or	CCONJ
fcis-9421	24	9	not	not	PART
fcis-9421	24	10	,	,	PUNCT
fcis-9421	24	11	the	the	DET
fcis-9421	24	12	grid	grid	NOUN
fcis-9421	24	13	can	can	AUX
fcis-9421	24	14	be	be	AUX
fcis-9421	24	15	divided	divide	VERB
fcis-9421	24	16	into	into	ADP
fcis-9421	24	17	"	"	PUNCT
fcis-9421	24	18	covered	cover	VERB
fcis-9421	24	19	grid	grid	NOUN
fcis-9421	24	20	"	"	PUNCT
fcis-9421	24	21	and	and	CCONJ
fcis-9421	24	22	"	"	PUNCT
fcis-9421	24	23	uncovered	uncovered	ADJ
fcis-9421	24	24	grid	grid	NOUN
fcis-9421	24	25	"	"	PUNCT
fcis-9421	24	26	,	,	PUNCT
fcis-9421	24	27	and	and	CCONJ
fcis-9421	24	28	there	there	PRON
fcis-9421	24	29	are	be	VERB
fcis-9421	24	30	three	three	NUM
fcis-9421	24	31	types	type	NOUN
fcis-9421	24	32	of	of	ADP
fcis-9421	24	33	grid	grid	NOUN
fcis-9421	24	34	:	:	PUNCT
fcis-9421	24	35	free	free	ADJ
fcis-9421	24	36	uncovered	uncover	VERB
fcis-9421	24	37	space	space	NOUN
fcis-9421	24	38	,	,	PUNCT
fcis-9421	24	39	free	free	ADJ
fcis-9421	24	40	covered	cover	VERB
fcis-9421	24	41	space	space	NOUN
fcis-9421	24	42	and	and	CCONJ
fcis-9421	24	43	obstacle	obstacle	NOUN
fcis-9421	24	44	area	area	NOUN
fcis-9421	24	45	,	,	PUNCT
fcis-9421	24	46	as	as	SCONJ
fcis-9421	24	47	shown	show	VERB
fcis-9421	24	48	in	in	ADP
fcis-9421	24	49	table	table	NOUN
fcis-9421	24	50	1	1	NUM
fcis-9421	24	51	.	.	PUNCT
fcis-9421	25	1	the	the	DET
fcis-9421	25	2	specific	specific	ADJ
fcis-9421	25	3	coding	code	VERB
fcis-9421	25	4	situation	situation	NOUN
fcis-9421	25	5	is	be	AUX
fcis-9421	25	6	shown	show	VERB
fcis-9421	25	7	in	in	ADP
fcis-9421	25	8	table	table	NOUN
fcis-9421	25	9	1	1	NUM
fcis-9421	25	10	.	.	X
fcis-9421	25	11	40	40	NUM
fcis-9421	25	12	table	table	NOUN
fcis-9421	25	13	1	1	NUM
fcis-9421	25	14	.	.	PUNCT
fcis-9421	25	15	grid	grid	NOUN
fcis-9421	25	16	state	state	NOUN
fcis-9421	25	17	coding	code	VERB
fcis-9421	25	18	table	table	NOUN
fcis-9421	25	19	free	free	ADJ
fcis-9421	25	20	grid	grid	NOUN
fcis-9421	25	21	obstacle	obstacle	NOUN
fcis-9421	25	22	grid	grid	NOUN
fcis-9421	25	23	uncovered	uncover	VERB
fcis-9421	25	24	0	0	NUM
fcis-9421	25	25	2	2	NUM
fcis-9421	25	26	covered	cover	VERB
fcis-9421	25	27	1	1	NUM
fcis-9421	25	28	the	the	DET
fcis-9421	25	29	rasterized	rasterize	VERB
fcis-9421	25	30	environment	environment	NOUN
fcis-9421	25	31	modeling	modeling	NOUN
fcis-9421	25	32	process	process	NOUN
fcis-9421	25	33	of	of	ADP
fcis-9421	25	34	the	the	DET
fcis-9421	25	35	operation	operation	NOUN
fcis-9421	25	36	space	space	NOUN
fcis-9421	25	37	is	be	AUX
fcis-9421	25	38	shown	show	VERB
fcis-9421	25	39	in	in	ADP
fcis-9421	25	40	figure	figure	NOUN
fcis-9421	25	41	1	1	NUM
fcis-9421	25	42	,	,	PUNCT
fcis-9421	25	43	with	with	ADP
fcis-9421	25	44	the	the	DET
fcis-9421	25	45	initial	initial	ADJ
fcis-9421	25	46	environment	environment	NOUN
fcis-9421	25	47	map	map	NOUN
fcis-9421	25	48	on	on	ADP
fcis-9421	25	49	the	the	DET
fcis-9421	25	50	left	left	NOUN
fcis-9421	25	51	and	and	CCONJ
fcis-9421	25	52	the	the	DET
fcis-9421	25	53	rasterized	rasterize	VERB
fcis-9421	25	54	map	map	NOUN
fcis-9421	25	55	on	on	ADP
fcis-9421	25	56	the	the	DET
fcis-9421	25	57	right	right	NOUN
fcis-9421	25	58	.	.	PUNCT
fcis-9421	26	1	the	the	DET
fcis-9421	26	2	numerical	numerical	ADJ
fcis-9421	26	3	matrix	matrix	NOUN
fcis-9421	26	4	corresponding	correspond	VERB
fcis-9421	26	5	to	to	ADP
fcis-9421	26	6	the	the	DET
fcis-9421	26	7	map	map	NOUN
fcis-9421	26	8	in	in	ADP
fcis-9421	26	9	fig	fig	NOUN
fcis-9421	26	10	.	.	PUNCT
fcis-9421	26	11	1	1	NUM
fcis-9421	26	12	is	be	AUX
fcis-9421	26	13	shown	show	VERB
fcis-9421	26	14	in	in	ADP
fcis-9421	26	15	fig	fig	NOUN
fcis-9421	26	16	.	.	PUNCT
fcis-9421	27	1	2	2	X
fcis-9421	27	2	.	.	X
fcis-9421	27	3	in	in	ADP
fcis-9421	27	4	the	the	DET
fcis-9421	27	5	initial	initial	ADJ
fcis-9421	27	6	case	case	NOUN
fcis-9421	27	7	,	,	PUNCT
fcis-9421	27	8	the	the	DET
fcis-9421	27	9	sanitation	sanitation	NOUN
fcis-9421	27	10	platform	platform	NOUN
fcis-9421	27	11	has	have	AUX
fcis-9421	27	12	not	not	PART
fcis-9421	27	13	started	start	VERB
fcis-9421	27	14	to	to	PART
fcis-9421	27	15	cover	cover	VERB
fcis-9421	27	16	the	the	DET
fcis-9421	27	17	operation	operation	NOUN
fcis-9421	27	18	space	space	NOUN
fcis-9421	27	19	for	for	ADP
fcis-9421	27	20	cleaning	cleaning	NOUN
fcis-9421	27	21	,	,	PUNCT
fcis-9421	27	22	and	and	CCONJ
fcis-9421	27	23	there	there	PRON
fcis-9421	27	24	is	be	VERB
fcis-9421	27	25	no	no	DET
fcis-9421	27	26	covered	covered	ADJ
fcis-9421	27	27	raster	raster	NOUN
fcis-9421	27	28	in	in	ADP
fcis-9421	27	29	the	the	DET
fcis-9421	27	30	environment	environment	NOUN
fcis-9421	27	31	,	,	PUNCT
fcis-9421	27	32	so	so	ADV
fcis-9421	27	33	the	the	DET
fcis-9421	27	34	digital	digital	ADJ
fcis-9421	27	35	matrix	matrix	NOUN
fcis-9421	27	36	of	of	ADP
fcis-9421	27	37	the	the	DET
fcis-9421	27	38	rasterized	rasterize	VERB
fcis-9421	27	39	map	map	NOUN
fcis-9421	27	40	in	in	ADP
fcis-9421	27	41	the	the	DET
fcis-9421	27	42	initial	initial	ADJ
fcis-9421	27	43	case	case	NOUN
fcis-9421	27	44	is	be	AUX
fcis-9421	27	45	shown	show	VERB
fcis-9421	27	46	in	in	ADP
fcis-9421	27	47	figure	figure	NOUN
fcis-9421	27	48	2	2	NUM
fcis-9421	27	49	on	on	ADP
fcis-9421	27	50	the	the	DET
fcis-9421	27	51	left	left	NOUN
fcis-9421	27	52	.	.	PUNCT
fcis-9421	28	1	when	when	SCONJ
fcis-9421	28	2	the	the	DET
fcis-9421	28	3	full	full	ADJ
fcis-9421	28	4	coverage	coverage	NOUN
fcis-9421	28	5	of	of	ADP
fcis-9421	28	6	the	the	DET
fcis-9421	28	7	operation	operation	NOUN
fcis-9421	28	8	space	space	NOUN
fcis-9421	28	9	is	be	AUX
fcis-9421	28	10	completed	complete	VERB
fcis-9421	28	11	,	,	PUNCT
fcis-9421	28	12	the	the	DET
fcis-9421	28	13	uncovered	uncovered	ADJ
fcis-9421	28	14	grids	grid	NOUN
fcis-9421	28	15	all	all	PRON
fcis-9421	28	16	become	become	VERB
fcis-9421	28	17	covered	covered	ADJ
fcis-9421	28	18	grids	grid	NOUN
fcis-9421	28	19	,	,	PUNCT
fcis-9421	28	20	and	and	CCONJ
fcis-9421	28	21	the	the	DET
fcis-9421	28	22	numerical	numerical	ADJ
fcis-9421	28	23	matrix	matrix	NOUN
fcis-9421	28	24	of	of	ADP
fcis-9421	28	25	the	the	DET
fcis-9421	28	26	grid	grid	NOUN
fcis-9421	28	27	map	map	NOUN
fcis-9421	28	28	is	be	AUX
fcis-9421	28	29	shown	show	VERB
fcis-9421	28	30	in	in	ADP
fcis-9421	28	31	the	the	DET
fcis-9421	28	32	right	right	ADJ
fcis-9421	28	33	figure	figure	NOUN
fcis-9421	28	34	of	of	ADP
fcis-9421	28	35	fig	fig	NOUN
fcis-9421	28	36	.	.	PUNCT
fcis-9421	29	1	2	2	NUM
fcis-9421	29	2	at	at	ADP
fcis-9421	29	3	this	this	DET
fcis-9421	29	4	time	time	NOUN
fcis-9421	29	5	.	.	PUNCT
fcis-9421	30	1	figure	figure	NOUN
fcis-9421	30	2	1	1	NUM
fcis-9421	30	3	.	.	PUNCT
fcis-9421	30	4	environmental	environmental	ADJ
fcis-9421	30	5	map	map	NOUN
fcis-9421	30	6	gridding	gridde	VERB
fcis-9421	30	7	0	0	NUM
fcis-9421	30	8	0	0	NUM
fcis-9421	30	9	0	0	NUM
fcis-9421	30	10	0	0	NUM
fcis-9421	30	11	0	0	NUM
fcis-9421	30	12	0	0	NUM
fcis-9421	30	13	0	0	NUM
fcis-9421	30	14	0	0	NUM
fcis-9421	30	15	0	0	NUM
fcis-9421	30	16	0	0	NUM
fcis-9421	30	17	0	0	NUM
fcis-9421	30	18	0	0	NUM
fcis-9421	30	19	0	0	NUM
fcis-9421	30	20	0	0	NUM
fcis-9421	30	21	0	0	NUM
fcis-9421	30	22	0	0	NUM
fcis-9421	30	23	0	0	NUM
fcis-9421	30	24	0	0	NUM
fcis-9421	30	25	0	0	NUM
fcis-9421	30	26	0	0	NUM
fcis-9421	30	27	0	0	NUM
fcis-9421	30	28	0	0	NUM
fcis-9421	30	29	0	0	NUM
fcis-9421	30	30	0	0	NUM
fcis-9421	30	31	0	0	NUM
fcis-9421	30	32	0	0	NUM
fcis-9421	30	33	2	2	NUM
fcis-9421	30	34	0	0	NUM
fcis-9421	30	35	2	2	NUM
fcis-9421	30	36	2	2	NUM
fcis-9421	30	37	0	0	NUM
fcis-9421	30	38	0	0	NUM
fcis-9421	30	39	2	2	NUM
fcis-9421	30	40	2	2	NUM
fcis-9421	30	41	0	0	NUM
fcis-9421	30	42	0	0	NUM
fcis-9421	30	43	2	2	NUM
fcis-9421	30	44	0	0	NUM
fcis-9421	30	45	2	2	NUM
fcis-9421	30	46	2	2	NUM
fcis-9421	30	47	0	0	NUM
fcis-9421	30	48	0	0	NUM
fcis-9421	30	49	2	2	NUM
fcis-9421	30	50	2	2	NUM
fcis-9421	30	51	2	2	NUM
fcis-9421	30	52	0	0	NUM
fcis-9421	30	53	2	2	NUM
fcis-9421	30	54	0	0	NUM
fcis-9421	30	55	2	2	NUM
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fcis-9421	30	59	2	2	NUM
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fcis-9421	30	69	2	2	NUM
fcis-9421	30	70	2	2	NUM
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fcis-9421	30	79	2	2	NUM
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fcis-9421	30	107	1	1	NUM
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fcis-9421	30	133	2	2	NUM
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fcis-9421	30	156	2	2	NUM
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fcis-9421	30	159	2	2	NUM
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fcis-9421	30	161	2	2	NUM
fcis-9421	30	162	1	1	NUM
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fcis-9421	30	171	2	2	NUM
fcis-9421	30	172	2	2	NUM
fcis-9421	30	173	1	1	NUM
fcis-9421	30	174	1	1	NUM
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fcis-9421	30	179	2	2	NUM
fcis-9421	30	180	2	2	NUM
fcis-9421	30	181	2	2	NUM
fcis-9421	30	182	1	1	NUM
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fcis-9421	30	184	1	1	NUM
fcis-9421	30	185	1	1	NUM
fcis-9421	30	186	1	1	NUM
fcis-9421	30	187	1	1	NUM
fcis-9421	30	188	1	1	NUM
fcis-9421	30	189	1	1	NUM
fcis-9421	30	190	1	1	NUM
fcis-9421	30	191	1	1	NUM
fcis-9421	30	192	1	1	NUM
fcis-9421	30	193	1	1	NUM
fcis-9421	30	194	1	1	NUM
fcis-9421	30	195	1	1	NUM
fcis-9421	30	196	1	1	NUM
fcis-9421	30	197	1	1	NUM
fcis-9421	30	198	1	1	NUM
fcis-9421	30	199	1	1	NUM
fcis-9421	30	200	1	1	NUM
fcis-9421	30	201	1	1	NUM
fcis-9421	30	202	1	1	NUM
fcis-9421	30	203	1	1	NUM
fcis-9421	30	204	1	1	NUM
fcis-9421	30	205	1	1	NUM
fcis-9421	30	206	1	1	NUM
fcis-9421	30	207	figure	figure	NOUN
fcis-9421	30	208	2	2	NUM
fcis-9421	30	209	.	.	PUNCT
fcis-9421	30	210	grid	grid	NOUN
fcis-9421	30	211	map	map	NOUN
fcis-9421	30	212	digital	digital	ADJ
fcis-9421	30	213	matrix	matrix	NOUN
fcis-9421	30	214	2.2	2.2	NUM
fcis-9421	30	215	.	.	PUNCT
fcis-9421	31	1	complete	complete	ADJ
fcis-9421	31	2	coverage	coverage	NOUN
fcis-9421	31	3	path	path	NOUN
fcis-9421	31	4	generation	generation	NOUN
fcis-9421	31	5	method	method	NOUN
fcis-9421	31	6	for	for	ADP
fcis-9421	31	7	lane	lane	NOUN
fcis-9421	31	8	area	area	NOUN
fcis-9421	31	9	based	base	VERB
fcis-9421	31	10	on	on	ADP
fcis-9421	31	11	raster	raster	NOUN
fcis-9421	31	12	erosion	erosion	NOUN
fcis-9421	31	13	in	in	ADP
fcis-9421	31	14	order	order	NOUN
fcis-9421	31	15	to	to	PART
fcis-9421	31	16	meet	meet	VERB
fcis-9421	31	17	the	the	DET
fcis-9421	31	18	task	task	NOUN
fcis-9421	31	19	demand	demand	NOUN
fcis-9421	31	20	of	of	ADP
fcis-9421	31	21	lane	lane	PROPN
fcis-9421	31	22	coverage	coverage	NOUN
fcis-9421	31	23	,	,	PUNCT
fcis-9421	31	24	this	this	DET
fcis-9421	31	25	paper	paper	NOUN
fcis-9421	31	26	proposes	propose	VERB
fcis-9421	31	27	a	a	DET
fcis-9421	31	28	global	global	ADJ
fcis-9421	31	29	path	path	NOUN
fcis-9421	31	30	generation	generation	NOUN
fcis-9421	31	31	algorithm	algorithm	NOUN
fcis-9421	31	32	with	with	ADP
fcis-9421	31	33	inward	inward	ADJ
fcis-9421	31	34	scaling	scaling	NOUN
fcis-9421	31	35	along	along	ADP
fcis-9421	31	36	the	the	DET
fcis-9421	31	37	lane	lane	NOUN
fcis-9421	31	38	boundary	boundary	NOUN
fcis-9421	31	39	to	to	ADP
fcis-9421	31	40	the	the	DET
fcis-9421	31	41	lane	lane	PROPN
fcis-9421	31	42	centerline	centerline	NOUN
fcis-9421	31	43	,	,	PUNCT
fcis-9421	31	44	which	which	PRON
fcis-9421	31	45	can	can	AUX
fcis-9421	31	46	effectively	effectively	ADV
fcis-9421	31	47	avoid	avoid	VERB
fcis-9421	31	48	the	the	DET
fcis-9421	31	49	retrograde	retrograde	ADJ
fcis-9421	31	50	and	and	CCONJ
fcis-9421	31	51	traverse	traverse	VERB
fcis-9421	31	52	characteristics	characteristic	NOUN
fcis-9421	31	53	of	of	ADP
fcis-9421	31	54	the	the	DET
fcis-9421	31	55	path	path	NOUN
fcis-9421	31	56	generated	generate	VERB
fcis-9421	31	57	by	by	ADP
fcis-9421	31	58	traditional	traditional	ADJ
fcis-9421	31	59	coverage	coverage	NOUN
fcis-9421	31	60	algorithms	algorithm	NOUN
fcis-9421	31	61	,	,	PUNCT
fcis-9421	31	62	and	and	CCONJ
fcis-9421	31	63	the	the	DET
fcis-9421	31	64	main	main	ADJ
fcis-9421	31	65	ideas	idea	NOUN
fcis-9421	31	66	are	be	AUX
fcis-9421	31	67	:	:	PUNCT
fcis-9421	31	68	(	(	PUNCT
fcis-9421	31	69	1	1	X
fcis-9421	31	70	)	)	PUNCT
fcis-9421	31	71	the	the	DET
fcis-9421	31	72	lane	lane	NOUN
fcis-9421	31	73	shape	shape	NOUN
fcis-9421	31	74	is	be	AUX
fcis-9421	31	75	a	a	DET
fcis-9421	31	76	circular	circular	ADJ
fcis-9421	31	77	loop	loop	NOUN
fcis-9421	31	78	,	,	PUNCT
fcis-9421	31	79	including	include	VERB
fcis-9421	31	80	an	an	DET
fcis-9421	31	81	outer	outer	ADJ
fcis-9421	31	82	contour	contour	NOUN
fcis-9421	31	83	line	line	NOUN
fcis-9421	31	84	and	and	CCONJ
fcis-9421	31	85	an	an	DET
fcis-9421	31	86	inner	inner	ADJ
fcis-9421	31	87	contour	contour	NOUN
fcis-9421	31	88	line	line	NOUN
fcis-9421	31	89	.	.	PUNCT
fcis-9421	32	1	(	(	PUNCT
fcis-9421	32	2	2	2	X
fcis-9421	32	3	)	)	PUNCT
fcis-9421	32	4	the	the	DET
fcis-9421	32	5	discrete	discrete	ADJ
fcis-9421	32	6	point	point	NOUN
fcis-9421	32	7	data	datum	NOUN
fcis-9421	32	8	of	of	ADP
fcis-9421	32	9	latitude	latitude	NOUN
fcis-9421	32	10	and	and	CCONJ
fcis-9421	32	11	longitude	longitude	NOUN
fcis-9421	32	12	of	of	ADP
fcis-9421	32	13	the	the	DET
fcis-9421	32	14	lane	lane	NOUN
fcis-9421	32	15	boundary	boundary	NOUN
fcis-9421	32	16	and	and	CCONJ
fcis-9421	32	17	the	the	DET
fcis-9421	32	18	centerline	centerline	NOUN
fcis-9421	32	19	of	of	ADP
fcis-9421	32	20	the	the	DET
fcis-9421	32	21	lane	lane	NOUN
fcis-9421	32	22	are	be	AUX
fcis-9421	32	23	obtained	obtain	VERB
fcis-9421	32	24	through	through	ADP
fcis-9421	32	25	map	map	NOUN
fcis-9421	32	26	acquisition	acquisition	NOUN
fcis-9421	32	27	,	,	PUNCT
fcis-9421	32	28	and	and	CCONJ
fcis-9421	32	29	the	the	DET
fcis-9421	32	30	contour	contour	NOUN
fcis-9421	32	31	lines	line	NOUN
fcis-9421	32	32	of	of	ADP
fcis-9421	32	33	the	the	DET
fcis-9421	32	34	inner	inner	ADJ
fcis-9421	32	35	and	and	CCONJ
fcis-9421	32	36	outer	outer	ADJ
fcis-9421	32	37	boundaries	boundary	NOUN
fcis-9421	32	38	of	of	ADP
fcis-9421	32	39	the	the	DET
fcis-9421	32	40	lane	lane	NOUN
fcis-9421	32	41	are	be	AUX
fcis-9421	32	42	obtained	obtain	VERB
fcis-9421	32	43	through	through	ADP
fcis-9421	32	44	multi	multi	ADJ
fcis-9421	32	45	-	-	ADJ
fcis-9421	32	46	point	point	ADJ
fcis-9421	32	47	interpolation	interpolation	NOUN
fcis-9421	32	48	,	,	PUNCT
fcis-9421	32	49	and	and	CCONJ
fcis-9421	32	50	the	the	DET
fcis-9421	32	51	contour	contour	NOUN
fcis-9421	32	52	line	line	NOUN
fcis-9421	32	53	data	datum	NOUN
fcis-9421	32	54	points	point	NOUN
fcis-9421	32	55	of	of	ADP
fcis-9421	32	56	the	the	DET
fcis-9421	32	57	lane	lane	NOUN
fcis-9421	32	58	boundary	boundary	NOUN
fcis-9421	32	59	are	be	AUX
fcis-9421	32	60	transformed	transform	VERB
fcis-9421	32	61	into	into	ADP
fcis-9421	32	62	a	a	DET
fcis-9421	32	63	raster	raster	NOUN
fcis-9421	32	64	map	map	NOUN
fcis-9421	32	65	;	;	PUNCT
fcis-9421	32	66	(	(	PUNCT
fcis-9421	32	67	2	2	X
fcis-9421	32	68	)	)	PUNCT
fcis-9421	32	69	considering	consider	VERB
fcis-9421	32	70	the	the	DET
fcis-9421	32	71	size	size	NOUN
fcis-9421	32	72	of	of	ADP
fcis-9421	32	73	the	the	DET
fcis-9421	32	74	sanitation	sanitation	NOUN
fcis-9421	32	75	platform	platform	NOUN
fcis-9421	32	76	and	and	CCONJ
fcis-9421	32	77	the	the	DET
fcis-9421	32	78	cleaning	clean	VERB
fcis-9421	32	79	margin	margin	NOUN
fcis-9421	32	80	,	,	PUNCT
fcis-9421	32	81	the	the	DET
fcis-9421	32	82	outer	outer	ADJ
fcis-9421	32	83	lane	lane	NOUN
fcis-9421	32	84	boundary	boundary	ADJ
fcis-9421	32	85	contour	contour	NOUN
fcis-9421	32	86	line	line	NOUN
fcis-9421	32	87	is	be	AUX
fcis-9421	32	88	inwardly	inwardly	ADV
fcis-9421	32	89	expanded	expand	VERB
fcis-9421	32	90	by	by	ADP
fcis-9421	32	91	a	a	DET
fcis-9421	32	92	certain	certain	ADJ
fcis-9421	32	93	distance	distance	NOUN
fcis-9421	32	94	along	along	ADP
fcis-9421	32	95	the	the	DET
fcis-9421	32	96	lane	lane	NOUN
fcis-9421	32	97	normal	normal	ADJ
fcis-9421	32	98	direction	direction	NOUN
fcis-9421	32	99	to	to	PART
fcis-9421	32	100	generate	generate	VERB
fcis-9421	32	101	a	a	DET
fcis-9421	32	102	line	line	NOUN
fcis-9421	32	103	parallel	parallel	NOUN
fcis-9421	32	104	to	to	ADP
fcis-9421	32	105	the	the	DET
fcis-9421	32	106	outer	outer	ADJ
fcis-9421	32	107	lane	lane	NOUN
fcis-9421	32	108	boundary	boundary	NOUN
fcis-9421	32	109	,	,	PUNCT
fcis-9421	32	110	which	which	PRON
fcis-9421	32	111	is	be	AUX
fcis-9421	32	112	the	the	DET
fcis-9421	32	113	initial	initial	ADJ
fcis-9421	32	114	cleaning	cleaning	NOUN
fcis-9421	32	115	path	path	NOUN
fcis-9421	32	116	of	of	ADP
fcis-9421	32	117	the	the	DET
fcis-9421	32	118	outer	outer	ADJ
fcis-9421	32	119	circle	circle	NOUN
fcis-9421	32	120	of	of	ADP
fcis-9421	32	121	the	the	DET
fcis-9421	32	122	sanitation	sanitation	NOUN
fcis-9421	32	123	platform	platform	NOUN
fcis-9421	32	124	;	;	PUNCT
fcis-9421	32	125	similarly	similarly	ADV
fcis-9421	32	126	,	,	PUNCT
fcis-9421	32	127	the	the	DET
fcis-9421	32	128	inner	inner	ADJ
fcis-9421	32	129	lane	lane	NOUN
fcis-9421	32	130	boundary	boundary	ADJ
fcis-9421	32	131	contour	contour	NOUN
fcis-9421	32	132	line	line	NOUN
fcis-9421	32	133	is	be	AUX
fcis-9421	32	134	outwardly	outwardly	ADV
fcis-9421	32	135	expanded	expand	VERB
fcis-9421	32	136	by	by	ADP
fcis-9421	32	137	a	a	DET
fcis-9421	32	138	certain	certain	ADJ
fcis-9421	32	139	distance	distance	NOUN
fcis-9421	32	140	along	along	ADP
fcis-9421	32	141	the	the	DET
fcis-9421	32	142	lane	lane	NOUN
fcis-9421	32	143	normal	normal	ADJ
fcis-9421	32	144	direction	direction	NOUN
fcis-9421	32	145	to	to	PART
fcis-9421	32	146	generate	generate	VERB
fcis-9421	32	147	a	a	DET
fcis-9421	32	148	line	line	NOUN
fcis-9421	32	149	parallel	parallel	NOUN
fcis-9421	32	150	to	to	ADP
fcis-9421	32	151	the	the	DET
fcis-9421	32	152	inner	inner	ADJ
fcis-9421	32	153	lane	lane	NOUN
fcis-9421	32	154	boundary	boundary	NOUN
fcis-9421	32	155	,	,	PUNCT
fcis-9421	32	156	which	which	PRON
fcis-9421	32	157	is	be	AUX
fcis-9421	32	158	the	the	DET
fcis-9421	32	159	initial	initial	ADJ
fcis-9421	32	160	reference	reference	NOUN
fcis-9421	32	161	path	path	NOUN
fcis-9421	32	162	of	of	ADP
fcis-9421	32	163	the	the	DET
fcis-9421	32	164	inner	inner	ADJ
fcis-9421	32	165	circle	circle	NOUN
fcis-9421	32	166	of	of	ADP
fcis-9421	32	167	the	the	DET
fcis-9421	32	168	sanitation	sanitation	NOUN
fcis-9421	32	169	platform	platform	NOUN
fcis-9421	32	170	.	.	PUNCT
fcis-9421	33	1	path	path	NOUN
fcis-9421	33	2	,	,	PUNCT
fcis-9421	33	3	thus	thus	ADV
fcis-9421	33	4	generating	generate	VERB
fcis-9421	33	5	the	the	DET
fcis-9421	33	6	sweeping	sweeping	ADJ
fcis-9421	33	7	path	path	NOUN
fcis-9421	33	8	of	of	ADP
fcis-9421	33	9	the	the	DET
fcis-9421	33	10	sanitation	sanitation	NOUN
fcis-9421	33	11	platform	platform	NOUN
fcis-9421	33	12	"	"	PUNCT
fcis-9421	33	13	sweeping	sweep	VERB
fcis-9421	33	14	along	along	ADP
fcis-9421	33	15	the	the	DET
fcis-9421	33	16	edge	edge	NOUN
fcis-9421	33	17	"	"	PUNCT
fcis-9421	33	18	,	,	PUNCT
fcis-9421	33	19	which	which	PRON
fcis-9421	33	20	is	be	AUX
fcis-9421	33	21	located	locate	VERB
fcis-9421	33	22	in	in	ADP
fcis-9421	33	23	the	the	DET
fcis-9421	33	24	outermost	outermost	ADJ
fcis-9421	33	25	and	and	CCONJ
fcis-9421	33	26	innermost	innermost	ADJ
fcis-9421	33	27	circles	circle	NOUN
fcis-9421	33	28	of	of	ADP
fcis-9421	33	29	the	the	DET
fcis-9421	33	30	global	global	ADJ
fcis-9421	33	31	reference	reference	NOUN
fcis-9421	33	32	path	path	NOUN
fcis-9421	33	33	;	;	PUNCT
fcis-9421	33	34	(	(	PUNCT
fcis-9421	33	35	3	3	X
fcis-9421	33	36	)	)	PUNCT
fcis-9421	33	37	repeat	repeat	NOUN
fcis-9421	33	38	step	step	NOUN
fcis-9421	33	39	(	(	PUNCT
fcis-9421	33	40	2	2	NUM
fcis-9421	33	41	)	)	PUNCT
fcis-9421	33	42	,	,	PUNCT
fcis-9421	33	43	in	in	ADP
fcis-9421	33	44	which	which	PRON
fcis-9421	33	45	the	the	DET
fcis-9421	33	46	overlap	overlap	NOUN
fcis-9421	33	47	of	of	ADP
fcis-9421	33	48	the	the	DET
fcis-9421	33	49	sweeping	sweeping	ADJ
fcis-9421	33	50	range	range	NOUN
fcis-9421	33	51	is	be	AUX
fcis-9421	33	52	considered	consider	VERB
fcis-9421	33	53	,	,	PUNCT
fcis-9421	33	54	i.e.	i.e.	X
fcis-9421	33	55	the	the	DET
fcis-9421	33	56	repetition	repetition	NOUN
fcis-9421	33	57	margin	margin	NOUN
fcis-9421	33	58	of	of	ADP
fcis-9421	33	59	the	the	DET
fcis-9421	33	60	coverage	coverage	NOUN
fcis-9421	33	61	area	area	NOUN
fcis-9421	33	62	,	,	PUNCT
fcis-9421	33	63	until	until	SCONJ
fcis-9421	33	64	the	the	DET
fcis-9421	33	65	trajectory	trajectory	NOUN
fcis-9421	33	66	is	be	AUX
fcis-9421	33	67	extended	extend	VERB
fcis-9421	33	68	to	to	ADP
fcis-9421	33	69	the	the	DET
fcis-9421	33	70	center	center	ADJ
fcis-9421	33	71	line	line	NOUN
fcis-9421	33	72	of	of	ADP
fcis-9421	33	73	the	the	DET
fcis-9421	33	74	lane	lane	NOUN
fcis-9421	33	75	,	,	PUNCT
fcis-9421	33	76	and	and	CCONJ
fcis-9421	33	77	the	the	DET
fcis-9421	33	78	complete	complete	ADJ
fcis-9421	33	79	coverage	coverage	NOUN
fcis-9421	33	80	of	of	ADP
fcis-9421	33	81	the	the	DET
fcis-9421	33	82	lane	lane	NOUN
fcis-9421	33	83	is	be	AUX
fcis-9421	33	84	completed	complete	VERB
fcis-9421	33	85	;	;	PUNCT
fcis-9421	33	86	(	(	PUNCT
fcis-9421	33	87	4	4	X
fcis-9421	33	88	)	)	PUNCT
fcis-9421	33	89	consider	consider	VERB
fcis-9421	33	90	the	the	DET
fcis-9421	33	91	traffic	traffic	NOUN
fcis-9421	33	92	direction	direction	NOUN
fcis-9421	33	93	constraint	constraint	NOUN
fcis-9421	33	94	of	of	ADP
fcis-9421	33	95	two	two	NUM
fcis-9421	33	96	lanes	lane	NOUN
fcis-9421	33	97	in	in	ADP
fcis-9421	33	98	both	both	DET
fcis-9421	33	99	directions	direction	NOUN
fcis-9421	33	100	,	,	PUNCT
fcis-9421	33	101	reasonably	reasonably	ADV
fcis-9421	33	102	select	select	VERB
fcis-9421	33	103	the	the	DET
fcis-9421	33	104	path	path	NOUN
fcis-9421	33	105	connection	connection	NOUN
fcis-9421	33	106	point	point	NOUN
fcis-9421	33	107	of	of	ADP
fcis-9421	33	108	the	the	DET
fcis-9421	33	109	inner	inner	ADJ
fcis-9421	33	110	and	and	CCONJ
fcis-9421	33	111	outer	outer	ADJ
fcis-9421	33	112	lanes	lane	NOUN
fcis-9421	33	113	,	,	PUNCT
fcis-9421	33	114	and	and	CCONJ
fcis-9421	33	115	make	make	VERB
fcis-9421	33	116	reasonable	reasonable	ADJ
fcis-9421	33	117	turnaround	turnaround	NOUN
fcis-9421	33	118	and	and	CCONJ
fcis-9421	33	119	lane	lane	NOUN
fcis-9421	33	120	change	change	NOUN
fcis-9421	33	121	planning	planning	NOUN
fcis-9421	33	122	.	.	PUNCT
fcis-9421	34	1	figure	figure	VERB
fcis-9421	34	2	3	3	NUM
fcis-9421	34	3	.	.	NOUN
fcis-9421	34	4	runge	runge	NOUN
fcis-9421	34	5	phenomenon	phenomenon	NOUN
fcis-9421	34	6	in	in	ADP
fcis-9421	34	7	the	the	DET
fcis-9421	34	8	process	process	NOUN
fcis-9421	34	9	of	of	ADP
fcis-9421	34	10	inward	inward	ADV
fcis-9421	34	11	scaling	scaling	NOUN
fcis-9421	34	12	along	along	ADP
fcis-9421	34	13	the	the	DET
fcis-9421	34	14	lane	lane	NOUN
fcis-9421	34	15	normal	normal	ADJ
fcis-9421	34	16	direction	direction	NOUN
fcis-9421	34	17	,	,	PUNCT
fcis-9421	34	18	the	the	DET
fcis-9421	34	19	tangent	tangent	ADJ
fcis-9421	34	20	function	function	NOUN
fcis-9421	34	21	of	of	ADP
fcis-9421	34	22	the	the	DET
fcis-9421	34	23	lane	lane	NOUN
fcis-9421	34	24	boundary	boundary	NOUN
fcis-9421	34	25	should	should	AUX
fcis-9421	34	26	be	be	AUX
fcis-9421	34	27	clarified	clarify	VERB
fcis-9421	34	28	first	first	ADV
fcis-9421	34	29	,	,	PUNCT
fcis-9421	34	30	but	but	CCONJ
fcis-9421	34	31	the	the	DET
fcis-9421	34	32	lane	lane	NOUN
fcis-9421	34	33	boundary	boundary	NOUN
fcis-9421	34	34	is	be	AUX
fcis-9421	34	35	often	often	ADV
fcis-9421	34	36	irregularly	irregularly	ADV
fcis-9421	34	37	connected	connect	VERB
fcis-9421	34	38	segments	segment	NOUN
fcis-9421	34	39	instead	instead	ADV
fcis-9421	34	40	of	of	ADP
fcis-9421	34	41	smooth	smooth	ADJ
fcis-9421	34	42	curves	curve	NOUN
fcis-9421	34	43	due	due	ADP
fcis-9421	34	44	to	to	ADP
fcis-9421	34	45	the	the	DET
fcis-9421	34	46	influence	influence	NOUN
fcis-9421	34	47	of	of	ADP
fcis-9421	34	48	the	the	DET
fcis-9421	34	49	acquisition	acquisition	NOUN
fcis-9421	34	50	accuracy	accuracy	NOUN
fcis-9421	34	51	,	,	PUNCT
fcis-9421	34	52	and	and	CCONJ
fcis-9421	34	53	in	in	ADP
fcis-9421	34	54	the	the	DET
fcis-9421	34	55	process	process	NOUN
fcis-9421	34	56	of	of	ADP
fcis-9421	34	57	fitting	fit	VERB
fcis-9421	34	58	the	the	DET
fcis-9421	34	59	path	path	NOUN
fcis-9421	34	60	function	function	NOUN
fcis-9421	34	61	by	by	ADP
fcis-9421	34	62	constructing	construct	VERB
fcis-9421	34	63	polynomial	polynomial	ADJ
fcis-9421	34	64	interpolation	interpolation	NOUN
fcis-9421	34	65	with	with	ADP
fcis-9421	34	66	uniform	uniform	ADJ
fcis-9421	34	67	nodes	node	NOUN
fcis-9421	34	68	,	,	PUNCT
fcis-9421	34	69	as	as	ADP
fcis-9421	34	70	the	the	DET
fcis-9421	34	71	number	number	NOUN
fcis-9421	34	72	of	of	ADP
fcis-9421	34	73	fitted	fit	VERB
fcis-9421	34	74	41	41	NUM
fcis-9421	34	75	points	point	NOUN
fcis-9421	34	76	n	n	PRON
fcis-9421	34	77	increases	increase	NOUN
fcis-9421	34	78	,	,	PUNCT
fcis-9421	34	79	the	the	DET
fcis-9421	34	80	middle	middle	ADJ
fcis-9421	34	81	part	part	NOUN
fcis-9421	34	82	still	still	ADV
fcis-9421	34	83	has	have	VERB
fcis-9421	34	84	a	a	DET
fcis-9421	34	85	good	good	ADJ
fcis-9421	34	86	fitting	fitting	ADJ
fcis-9421	34	87	accuracy	accuracy	NOUN
fcis-9421	34	88	,	,	PUNCT
fcis-9421	34	89	but	but	CCONJ
fcis-9421	34	90	at	at	ADP
fcis-9421	34	91	the	the	DET
fcis-9421	34	92	two	two	NUM
fcis-9421	34	93	ends	end	NOUN
fcis-9421	34	94	of	of	ADP
fcis-9421	34	95	the	the	DET
fcis-9421	34	96	interpolation	interpolation	NOUN
fcis-9421	34	97	interval	interval	NOUN
fcis-9421	34	98	the	the	DET
fcis-9421	34	99	runge	runge	NOUN
fcis-9421	34	100	phenomenon	phenomenon	NOUN
fcis-9421	34	101	is	be	AUX
fcis-9421	34	102	mainly	mainly	ADV
fcis-9421	34	103	due	due	ADJ
fcis-9421	34	104	to	to	ADP
fcis-9421	34	105	the	the	DET
fcis-9421	34	106	propagation	propagation	NOUN
fcis-9421	34	107	of	of	ADP
fcis-9421	34	108	the	the	DET
fcis-9421	34	109	error	error	NOUN
fcis-9421	34	110	from	from	ADP
fcis-9421	34	111	the	the	DET
fcis-9421	34	112	higher	high	ADJ
fcis-9421	34	113	order	order	NOUN
fcis-9421	34	114	derivatives	derivative	NOUN
fcis-9421	34	115	in	in	ADP
fcis-9421	34	116	the	the	DET
fcis-9421	34	117	error	error	NOUN
fcis-9421	34	118	term	term	NOUN
fcis-9421	34	119	.	.	PUNCT
fcis-9421	35	1	is	be	AUX
fcis-9421	35	2	large	large	ADJ
fcis-9421	35	3	,	,	PUNCT
fcis-9421	35	4	the	the	DET
fcis-9421	35	5	acquisition	acquisition	NOUN
fcis-9421	35	6	accuracy	accuracy	NOUN
fcis-9421	35	7	is	be	AUX
fcis-9421	35	8	difficult	difficult	ADJ
fcis-9421	35	9	to	to	PART
fcis-9421	35	10	be	be	AUX
fcis-9421	35	11	guaranteed[6	guaranteed[6	PROPN
fcis-9421	35	12	]	]	PUNCT
fcis-9421	35	13	.	.	PUNCT
fcis-9421	36	1	in	in	ADP
fcis-9421	36	2	order	order	NOUN
fcis-9421	36	3	to	to	PART
fcis-9421	36	4	realize	realize	VERB
fcis-9421	36	5	the	the	DET
fcis-9421	36	6	algorithmic	algorithmic	ADJ
fcis-9421	36	7	idea	idea	NOUN
fcis-9421	36	8	of	of	ADP
fcis-9421	36	9	inward	inward	ADV
fcis-9421	36	10	scaling	scaling	NOUN
fcis-9421	36	11	along	along	ADP
fcis-9421	36	12	the	the	DET
fcis-9421	36	13	lane	lane	NOUN
fcis-9421	36	14	normal	normal	ADJ
fcis-9421	36	15	direction	direction	NOUN
fcis-9421	36	16	,	,	PUNCT
fcis-9421	36	17	the	the	DET
fcis-9421	36	18	collected	collect	VERB
fcis-9421	36	19	lane	lane	NOUN
fcis-9421	36	20	boundary	boundary	ADJ
fcis-9421	36	21	information	information	NOUN
fcis-9421	36	22	has	have	VERB
fcis-9421	36	23	to	to	PART
fcis-9421	36	24	be	be	AUX
fcis-9421	36	25	processed	process	VERB
fcis-9421	36	26	appropriately	appropriately	ADV
fcis-9421	36	27	,	,	PUNCT
fcis-9421	36	28	and	and	CCONJ
fcis-9421	36	29	this	this	DET
fcis-9421	36	30	paper	paper	NOUN
fcis-9421	36	31	uses	use	VERB
fcis-9421	36	32	digital	digital	ADJ
fcis-9421	36	33	image	image	NOUN
fcis-9421	36	34	processing	processing	NOUN
fcis-9421	36	35	to	to	PART
fcis-9421	36	36	realize	realize	VERB
fcis-9421	36	37	the	the	DET
fcis-9421	36	38	above	above	ADJ
fcis-9421	36	39	requirements	requirement	NOUN
fcis-9421	36	40	.	.	PUNCT
fcis-9421	37	1	since	since	SCONJ
fcis-9421	37	2	global	global	ADJ
fcis-9421	37	3	path	path	NOUN
fcis-9421	37	4	planning	planning	NOUN
fcis-9421	37	5	is	be	AUX
fcis-9421	37	6	generally	generally	ADV
fcis-9421	37	7	static	static	ADJ
fcis-9421	37	8	based	base	VERB
fcis-9421	37	9	on	on	ADP
fcis-9421	37	10	a	a	DET
fcis-9421	37	11	priori	priori	ADJ
fcis-9421	37	12	map	map	NOUN
fcis-9421	37	13	information	information	NOUN
fcis-9421	37	14	,	,	PUNCT
fcis-9421	37	15	digital	digital	ADJ
fcis-9421	37	16	image	image	NOUN
fcis-9421	37	17	processing	processing	NOUN
fcis-9421	37	18	is	be	AUX
fcis-9421	37	19	considered	consider	VERB
fcis-9421	37	20	to	to	PART
fcis-9421	37	21	generate	generate	VERB
fcis-9421	37	22	the	the	DET
fcis-9421	37	23	initial	initial	ADJ
fcis-9421	37	24	global	global	ADJ
fcis-9421	37	25	path	path	NOUN
fcis-9421	37	26	.	.	PUNCT
fcis-9421	38	1	"	"	PUNCT
fcis-9421	38	2	erosion	erosion	NOUN
fcis-9421	38	3	"	"	PUNCT
fcis-9421	38	4	is	be	AUX
fcis-9421	38	5	a	a	DET
fcis-9421	38	6	digital	digital	ADJ
fcis-9421	38	7	image	image	NOUN
fcis-9421	38	8	processing	processing	NOUN
fcis-9421	38	9	approach	approach	NOUN
fcis-9421	38	10	in	in	ADP
fcis-9421	38	11	digital	digital	ADJ
fcis-9421	38	12	morphology	morphology	NOUN
fcis-9421	38	13	,	,	PUNCT
fcis-9421	38	14	which	which	PRON
fcis-9421	38	15	is	be	AUX
fcis-9421	38	16	generally	generally	ADV
fcis-9421	38	17	used	use	VERB
fcis-9421	38	18	to	to	PART
fcis-9421	38	19	process	process	VERB
fcis-9421	38	20	grayscale	grayscale	NOUN
fcis-9421	38	21	maps	map	NOUN
fcis-9421	38	22	.	.	PUNCT
fcis-9421	39	1	a	a	DET
fcis-9421	39	2	grayscale	grayscale	NOUN
fcis-9421	39	3	map	map	NOUN
fcis-9421	39	4	has	have	VERB
fcis-9421	39	5	256	256	NUM
fcis-9421	39	6	gray	gray	ADJ
fcis-9421	39	7	levels	level	NOUN
fcis-9421	39	8	,	,	PUNCT
fcis-9421	39	9	where	where	SCONJ
fcis-9421	39	10	0	0	NUM
fcis-9421	39	11	means	mean	VERB
fcis-9421	39	12	all	all	PRON
fcis-9421	39	13	black	black	ADJ
fcis-9421	39	14	and	and	CCONJ
fcis-9421	39	15	255	255	NUM
fcis-9421	39	16	means	mean	VERB
fcis-9421	39	17	all	all	DET
fcis-9421	39	18	white	white	ADJ
fcis-9421	39	19	;	;	PUNCT
fcis-9421	39	20	a	a	DET
fcis-9421	39	21	binary	binary	ADJ
fcis-9421	39	22	image	image	NOUN
fcis-9421	39	23	is	be	AUX
fcis-9421	39	24	an	an	DET
fcis-9421	39	25	image	image	NOUN
fcis-9421	39	26	with	with	ADP
fcis-9421	39	27	only	only	ADV
fcis-9421	39	28	two	two	NUM
fcis-9421	39	29	gray	gray	ADJ
fcis-9421	39	30	levels	level	NOUN
fcis-9421	39	31	,	,	PUNCT
fcis-9421	39	32	i.e.	i.e.	X
fcis-9421	39	33	,	,	PUNCT
fcis-9421	39	34	all	all	DET
fcis-9421	39	35	pixels	pixel	NOUN
fcis-9421	39	36	in	in	ADP
fcis-9421	39	37	the	the	DET
fcis-9421	39	38	image	image	NOUN
fcis-9421	39	39	have	have	VERB
fcis-9421	39	40	only	only	ADV
fcis-9421	39	41	two	two	NUM
fcis-9421	39	42	gray	gray	ADJ
fcis-9421	39	43	values	value	NOUN
fcis-9421	39	44	,	,	PUNCT
fcis-9421	39	45	0	0	NUM
fcis-9421	39	46	and	and	CCONJ
fcis-9421	39	47	255	255	NUM
fcis-9421	39	48	,	,	PUNCT
fcis-9421	39	49	which	which	PRON
fcis-9421	39	50	are	be	AUX
fcis-9421	39	51	black	black	ADJ
fcis-9421	39	52	and	and	CCONJ
fcis-9421	39	53	white	white	ADJ
fcis-9421	39	54	,	,	PUNCT
fcis-9421	39	55	respectively	respectively	ADV
fcis-9421	39	56	,	,	PUNCT
fcis-9421	39	57	and	and	CCONJ
fcis-9421	39	58	a	a	DET
fcis-9421	39	59	raster	raster	NOUN
fcis-9421	39	60	map	map	NOUN
fcis-9421	39	61	is	be	AUX
fcis-9421	39	62	a	a	DET
fcis-9421	39	63	typical	typical	ADJ
fcis-9421	39	64	binary	binary	ADJ
fcis-9421	39	65	image	image	NOUN
fcis-9421	39	66	.	.	PUNCT
fcis-9421	40	1	erosion	erosion	NOUN
fcis-9421	40	2	is	be	AUX
fcis-9421	40	3	used	use	VERB
fcis-9421	40	4	to	to	PART
fcis-9421	40	5	enlarge	enlarge	VERB
fcis-9421	40	6	dark	dark	ADJ
fcis-9421	40	7	areas	area	NOUN
fcis-9421	40	8	in	in	ADP
fcis-9421	40	9	digital	digital	ADJ
fcis-9421	40	10	image	image	NOUN
fcis-9421	40	11	processing	processing	NOUN
fcis-9421	40	12	problems[7	problems[7	NOUN
fcis-9421	40	13	]	]	X
fcis-9421	40	14	.	.	PUNCT
fcis-9421	41	1	the	the	DET
fcis-9421	41	2	erosion	erosion	NOUN
fcis-9421	41	3	operation	operation	NOUN
fcis-9421	41	4	requires	require	VERB
fcis-9421	41	5	the	the	DET
fcis-9421	41	6	provision	provision	NOUN
fcis-9421	41	7	of	of	ADP
fcis-9421	41	8	the	the	DET
fcis-9421	41	9	image	image	NOUN
fcis-9421	41	10	to	to	PART
fcis-9421	41	11	be	be	AUX
fcis-9421	41	12	processed	process	VERB
fcis-9421	41	13	as	as	ADV
fcis-9421	41	14	well	well	ADV
fcis-9421	41	15	as	as	ADP
fcis-9421	41	16	the	the	DET
fcis-9421	41	17	design	design	NOUN
fcis-9421	41	18	structure	structure	NOUN
fcis-9421	41	19	elements	element	NOUN
fcis-9421	41	20	,	,	PUNCT
fcis-9421	41	21	as	as	SCONJ
fcis-9421	41	22	follows	follow	VERB
fcis-9421	41	23	:	:	PUNCT
fcis-9421	41	24	12	12	NUM
fcis-9421	41	25	112	112	NUM
fcis-9421	41	26	111	111	NUM
fcis-9421	41	27	234	234	NUM
fcis-9421	41	28	112	112	NUM
fcis-9421	41	29	195	195	NUM
fcis-9421	41	30	215	215	NUM
fcis-9421	41	31	202	202	NUM
fcis-9421	41	32	45	45	NUM
fcis-9421	41	33	12	12	NUM
fcis-9421	41	34	31	31	NUM
fcis-9421	41	35	15	15	NUM
fcis-9421	41	36	56	56	NUM
fcis-9421	41	37	123	123	NUM
fcis-9421	41	38	122	122	NUM
fcis-9421	41	39	75	75	NUM
fcis-9421	41	40	figure	figure	NOUN
fcis-9421	41	41	4	4	NUM
fcis-9421	41	42	.	.	PUNCT
fcis-9421	41	43	digital	digital	ADJ
fcis-9421	41	44	matrix	matrix	NOUN
fcis-9421	41	45	to	to	PART
fcis-9421	41	46	be	be	AUX
fcis-9421	41	47	processed	process	VERB
fcis-9421	41	48	(	(	PUNCT
fcis-9421	41	49	1	1	NUM
fcis-9421	41	50	)	)	PUNCT
fcis-9421	41	51	given	give	VERB
fcis-9421	41	52	a	a	DET
fcis-9421	41	53	numerical	numerical	ADJ
fcis-9421	41	54	matrix	matrix	NOUN
fcis-9421	41	55	,	,	PUNCT
fcis-9421	41	56	i.e.	i.e.	X
fcis-9421	41	57	,	,	PUNCT
fcis-9421	41	58	the	the	DET
fcis-9421	41	59	image	image	NOUN
fcis-9421	41	60	to	to	PART
fcis-9421	41	61	be	be	AUX
fcis-9421	41	62	processed	process	VERB
fcis-9421	41	63	,	,	PUNCT
fcis-9421	41	64	as	as	SCONJ
fcis-9421	41	65	shown	show	VERB
fcis-9421	41	66	in	in	ADP
fcis-9421	41	67	figure	figure	NOUN
fcis-9421	41	68	4	4	NUM
fcis-9421	41	69	,	,	PUNCT
fcis-9421	41	70	the	the	DET
fcis-9421	41	71	matrix	matrix	NOUN
fcis-9421	41	72	value	value	NOUN
fcis-9421	41	73	is	be	AUX
fcis-9421	41	74	the	the	DET
fcis-9421	41	75	grayscale	grayscale	NOUN
fcis-9421	41	76	value	value	NOUN
fcis-9421	41	77	of	of	ADP
fcis-9421	41	78	the	the	DET
fcis-9421	41	79	pixel	pixel	NOUN
fcis-9421	41	80	;	;	PUNCT
fcis-9421	41	81	(	(	PUNCT
fcis-9421	41	82	2	2	X
fcis-9421	41	83	)	)	PUNCT
fcis-9421	41	84	design	design	VERB
fcis-9421	41	85	a	a	DET
fcis-9421	41	86	structure	structure	NOUN
fcis-9421	41	87	element	element	NOUN
fcis-9421	41	88	,	,	PUNCT
fcis-9421	41	89	as	as	SCONJ
fcis-9421	41	90	shown	show	VERB
fcis-9421	41	91	in	in	ADP
fcis-9421	41	92	figure	figure	NOUN
fcis-9421	41	93	5	5	NUM
fcis-9421	41	94	,	,	PUNCT
fcis-9421	41	95	which	which	PRON
fcis-9421	41	96	is	be	AUX
fcis-9421	41	97	also	also	ADV
fcis-9421	41	98	called	call	VERB
fcis-9421	41	99	a	a	DET
fcis-9421	41	100	"	"	PUNCT
fcis-9421	41	101	nucleus	nucleus	NOUN
fcis-9421	41	102	"	"	PUNCT
fcis-9421	41	103	and	and	CCONJ
fcis-9421	41	104	determines	determine	VERB
fcis-9421	41	105	the	the	DET
fcis-9421	41	106	local	local	ADJ
fcis-9421	41	107	erosion	erosion	NOUN
fcis-9421	41	108	per	per	ADP
fcis-9421	41	109	pixel	pixel	NOUN
fcis-9421	41	110	point	point	NOUN
fcis-9421	41	111	;	;	PUNCT
fcis-9421	41	112	the	the	DET
fcis-9421	41	113	structure	structure	NOUN
fcis-9421	41	114	element	element	NOUN
fcis-9421	41	115	can	can	AUX
fcis-9421	41	116	be	be	AUX
fcis-9421	41	117	rectangular	rectangular	ADJ
fcis-9421	41	118	,	,	PUNCT
fcis-9421	41	119	elliptical	elliptical	ADJ
fcis-9421	41	120	,	,	PUNCT
fcis-9421	41	121	or	or	CCONJ
fcis-9421	41	122	cross	cross	ADJ
fcis-9421	41	123	-	-	ADJ
fcis-9421	41	124	shaped	shaped	ADJ
fcis-9421	41	125	.	.	PUNCT
fcis-9421	42	1	in	in	ADP
fcis-9421	42	2	this	this	DET
fcis-9421	42	3	paper	paper	NOUN
fcis-9421	42	4	,	,	PUNCT
fcis-9421	42	5	we	we	PRON
fcis-9421	42	6	design	design	VERB
fcis-9421	42	7	a	a	DET
fcis-9421	42	8	3	3	NUM
fcis-9421	42	9	×	×	NOUN
fcis-9421	42	10	3	3	NUM
fcis-9421	42	11	matrix	matrix	NOUN
fcis-9421	42	12	inside	inside	ADP
fcis-9421	42	13	the	the	DET
fcis-9421	42	14	cross	cross	ADJ
fcis-9421	42	15	-	-	ADJ
fcis-9421	42	16	hatch	hatch	ADJ
fcis-9421	42	17	structure	structure	NOUN
fcis-9421	42	18	element	element	NOUN
fcis-9421	42	19	,	,	PUNCT
fcis-9421	42	20	the	the	DET
fcis-9421	42	21	centered	center	VERB
fcis-9421	42	22	pixel	pixel	NOUN
fcis-9421	42	23	is	be	AUX
fcis-9421	42	24	the	the	DET
fcis-9421	42	25	pixel	pixel	NOUN
fcis-9421	42	26	we	we	PRON
fcis-9421	42	27	want	want	VERB
fcis-9421	42	28	to	to	PART
fcis-9421	42	29	process	process	VERB
fcis-9421	42	30	;	;	PUNCT
fcis-9421	42	31	0	0	NUM
fcis-9421	42	32	0	0	NUM
fcis-9421	42	33	1	1	NUM
fcis-9421	42	34	1	1	NUM
fcis-9421	42	35	1	1	NUM
fcis-9421	42	36	1	1	NUM
fcis-9421	42	37	0	0	NUM
fcis-9421	42	38	0	0	NUM
fcis-9421	42	39	1	1	NUM
fcis-9421	42	40	figure	figure	NOUN
fcis-9421	42	41	5	5	NUM
fcis-9421	42	42	.	.	PUNCT
fcis-9421	42	43	structural	structural	ADJ
fcis-9421	42	44	unit	unit	NOUN
fcis-9421	42	45	(	(	PUNCT
fcis-9421	42	46	3	3	X
fcis-9421	42	47	)	)	PUNCT
fcis-9421	42	48	overlaying	overlay	VERB
fcis-9421	42	49	the	the	DET
fcis-9421	42	50	structural	structural	ADJ
fcis-9421	42	51	element	element	NOUN
fcis-9421	42	52	into	into	ADP
fcis-9421	42	53	the	the	DET
fcis-9421	42	54	original	original	ADJ
fcis-9421	42	55	image	image	NOUN
fcis-9421	42	56	,	,	PUNCT
fcis-9421	42	57	as	as	SCONJ
fcis-9421	42	58	shown	show	VERB
fcis-9421	42	59	in	in	ADP
fcis-9421	42	60	figure	figure	NOUN
fcis-9421	42	61	6	6	NUM
fcis-9421	42	62	,	,	PUNCT
fcis-9421	42	63	after	after	ADP
fcis-9421	42	64	the	the	DET
fcis-9421	42	65	convolution	convolution	NOUN
fcis-9421	42	66	calculation	calculation	NOUN
fcis-9421	42	67	,	,	PUNCT
fcis-9421	42	68	the	the	DET
fcis-9421	42	69	value	value	NOUN
fcis-9421	42	70	of	of	ADP
fcis-9421	42	71	the	the	DET
fcis-9421	42	72	pixel	pixel	PROPN
fcis-9421	42	73	point	point	NOUN
fcis-9421	42	74	is	be	AUX
fcis-9421	42	75	rewritten	rewrite	VERB
fcis-9421	42	76	to	to	ADP
fcis-9421	42	77	the	the	DET
fcis-9421	42	78	minimum	minimum	ADJ
fcis-9421	42	79	value	value	NOUN
fcis-9421	42	80	within	within	ADP
fcis-9421	42	81	a	a	DET
fcis-9421	42	82	3	3	NUM
fcis-9421	42	83	×	×	NOUN
fcis-9421	42	84	3	3	NUM
fcis-9421	42	85	cross	cross	NOUN
fcis-9421	42	86	-	-	ADJ
fcis-9421	42	87	cross	cross	ADJ
fcis-9421	42	88	neighborhoods	neighborhood	NOUN
fcis-9421	42	89	centered	center	VERB
fcis-9421	42	90	on	on	ADP
fcis-9421	42	91	the	the	DET
fcis-9421	42	92	pixel	pixel	NOUN
fcis-9421	42	93	point	point	NOUN
fcis-9421	42	94	,	,	PUNCT
fcis-9421	42	95	and	and	CCONJ
fcis-9421	42	96	the	the	DET
fcis-9421	42	97	dark	dark	ADJ
fcis-9421	42	98	region	region	NOUN
fcis-9421	42	99	is	be	AUX
fcis-9421	42	100	expanded	expand	VERB
fcis-9421	42	101	;	;	PUNCT
fcis-9421	42	102	(	(	PUNCT
fcis-9421	42	103	4	4	X
fcis-9421	42	104	)	)	PUNCT
fcis-9421	42	105	change	change	VERB
fcis-9421	42	106	the	the	DET
fcis-9421	42	107	number	number	NOUN
fcis-9421	42	108	of	of	ADP
fcis-9421	42	109	iterations	iteration	NOUN
fcis-9421	42	110	,	,	PUNCT
fcis-9421	42	111	i.e.	i.e.	X
fcis-9421	42	112	,	,	PUNCT
fcis-9421	42	113	perform	perform	VERB
fcis-9421	42	114	multiple	multiple	ADJ
fcis-9421	42	115	erosion	erosion	NOUN
fcis-9421	42	116	operations	operation	NOUN
fcis-9421	42	117	on	on	ADP
fcis-9421	42	118	the	the	DET
fcis-9421	42	119	current	current	ADJ
fcis-9421	42	120	image	image	NOUN
fcis-9421	42	121	in	in	ADP
fcis-9421	42	122	the	the	DET
fcis-9421	42	123	scale	scale	NOUN
fcis-9421	42	124	range	range	NOUN
fcis-9421	42	125	.	.	PUNCT
fcis-9421	43	1	(	(	PUNCT
fcis-9421	43	2	5	5	X
fcis-9421	43	3	)	)	PUNCT
fcis-9421	43	4	change	change	VERB
fcis-9421	43	5	the	the	DET
fcis-9421	43	6	shape	shape	NOUN
fcis-9421	43	7	or	or	CCONJ
fcis-9421	43	8	scale	scale	NOUN
fcis-9421	43	9	size	size	NOUN
fcis-9421	43	10	of	of	ADP
fcis-9421	43	11	the	the	DET
fcis-9421	43	12	structural	structural	ADJ
fcis-9421	43	13	element	element	NOUN
fcis-9421	43	14	,	,	PUNCT
fcis-9421	43	15	that	that	ADV
fcis-9421	43	16	is	is	ADV
fcis-9421	43	17	,	,	PUNCT
fcis-9421	43	18	change	change	VERB
fcis-9421	43	19	the	the	DET
fcis-9421	43	20	range	range	NOUN
fcis-9421	43	21	of	of	ADP
fcis-9421	43	22	erosion	erosion	NOUN
fcis-9421	43	23	operations	operation	NOUN
fcis-9421	43	24	,	,	PUNCT
fcis-9421	43	25	for	for	ADP
fcis-9421	43	26	example	example	NOUN
fcis-9421	43	27	,	,	PUNCT
fcis-9421	43	28	a	a	DET
fcis-9421	43	29	rectangular	rectangular	ADJ
fcis-9421	43	30	4	4	NUM
fcis-9421	43	31	×	×	NOUN
fcis-9421	43	32	4	4	NUM
fcis-9421	43	33	structural	structural	ADJ
fcis-9421	43	34	element	element	NOUN
fcis-9421	43	35	indicates	indicate	VERB
fcis-9421	43	36	that	that	SCONJ
fcis-9421	43	37	the	the	DET
fcis-9421	43	38	value	value	NOUN
fcis-9421	43	39	at	at	ADP
fcis-9421	43	40	the	the	DET
fcis-9421	43	41	pixel	pixel	PROPN
fcis-9421	43	42	point	point	NOUN
fcis-9421	43	43	to	to	PART
fcis-9421	43	44	be	be	AUX
fcis-9421	43	45	processed	process	VERB
fcis-9421	43	46	is	be	AUX
fcis-9421	43	47	rewritten	rewrite	VERB
fcis-9421	43	48	to	to	ADP
fcis-9421	43	49	the	the	DET
fcis-9421	43	50	minimum	minimum	ADJ
fcis-9421	43	51	value	value	NOUN
fcis-9421	43	52	within	within	ADP
fcis-9421	43	53	the	the	DET
fcis-9421	43	54	4	4	NUM
fcis-9421	43	55	×	×	NOUN
fcis-9421	43	56	4	4	NUM
fcis-9421	43	57	rectangular	rectangular	ADJ
fcis-9421	43	58	neighborhoods	neighborhood	NOUN
fcis-9421	43	59	.	.	PUNCT
fcis-9421	44	1	12	12	NUM
fcis-9421	44	2	112	112	NUM
fcis-9421	44	3	111	111	NUM
fcis-9421	44	4	234	234	NUM
fcis-9421	44	5	112	112	NUM
fcis-9421	44	6	195	195	NUM
fcis-9421	44	7	215	215	NUM
fcis-9421	44	8	202	202	NUM
fcis-9421	44	9	45	45	NUM
fcis-9421	44	10	12	12	NUM
fcis-9421	44	11	31	31	NUM
fcis-9421	44	12	12	12	NUM
fcis-9421	44	13	56	56	NUM
fcis-9421	44	14	123	123	NUM
fcis-9421	44	15	122	122	NUM
fcis-9421	44	16	75	75	NUM
fcis-9421	44	17	12	12	NUM
fcis-9421	44	18	112	112	NUM
fcis-9421	44	19	111	111	NUM
fcis-9421	44	20	234	234	NUM
fcis-9421	44	21	112	112	NUM
fcis-9421	44	22	195	195	NUM
fcis-9421	44	23	215	215	NUM
fcis-9421	44	24	202	202	NUM
fcis-9421	44	25	45	45	NUM
fcis-9421	44	26	12	12	NUM
fcis-9421	44	27	31	31	NUM
fcis-9421	44	28	15	15	NUM
fcis-9421	44	29	56	56	NUM
fcis-9421	44	30	123	123	NUM
fcis-9421	44	31	122	122	NUM
fcis-9421	44	32	75	75	NUM
fcis-9421	44	33	figure	figure	NOUN
fcis-9421	44	34	6	6	NUM
fcis-9421	44	35	.	.	PUNCT
fcis-9421	44	36	grid	grid	NOUN
fcis-9421	44	37	corrosion	corrosion	NOUN
fcis-9421	44	38	process	process	NOUN
fcis-9421	44	39	and	and	CCONJ
fcis-9421	44	40	results	result	VERB
fcis-9421	44	41	it	it	PRON
fcis-9421	44	42	can	can	AUX
fcis-9421	44	43	be	be	AUX
fcis-9421	44	44	easily	easily	ADV
fcis-9421	44	45	seen	see	VERB
fcis-9421	44	46	from	from	ADP
fcis-9421	44	47	the	the	DET
fcis-9421	44	48	figure	figure	NOUN
fcis-9421	44	49	that	that	SCONJ
fcis-9421	44	50	the	the	DET
fcis-9421	44	51	dark	dark	ADJ
fcis-9421	44	52	area	area	NOUN
fcis-9421	44	53	is	be	AUX
fcis-9421	44	54	expanded	expand	VERB
fcis-9421	44	55	after	after	ADP
fcis-9421	44	56	the	the	DET
fcis-9421	44	57	convolution	convolution	NOUN
fcis-9421	44	58	calculation	calculation	NOUN
fcis-9421	44	59	,	,	PUNCT
fcis-9421	44	60	which	which	PRON
fcis-9421	44	61	rewrites	rewrite	VERB
fcis-9421	44	62	the	the	DET
fcis-9421	44	63	value	value	NOUN
fcis-9421	44	64	of	of	ADP
fcis-9421	44	65	the	the	DET
fcis-9421	44	66	pixel	pixel	PROPN
fcis-9421	44	67	point	point	NOUN
fcis-9421	44	68	to	to	ADP
fcis-9421	44	69	the	the	DET
fcis-9421	44	70	minimum	minimum	ADJ
fcis-9421	44	71	value	value	NOUN
fcis-9421	44	72	in	in	ADP
fcis-9421	44	73	the	the	DET
fcis-9421	44	74	range	range	NOUN
fcis-9421	44	75	of	of	ADP
fcis-9421	44	76	the	the	DET
fcis-9421	44	77	structural	structural	ADJ
fcis-9421	44	78	element	element	NOUN
fcis-9421	44	79	neighborhood	neighborhood	NOUN
fcis-9421	44	80	where	where	SCONJ
fcis-9421	44	81	the	the	DET
fcis-9421	44	82	pixel	pixel	PROPN
fcis-9421	44	83	point	point	NOUN
fcis-9421	44	84	is	be	AUX
fcis-9421	44	85	located	locate	VERB
fcis-9421	44	86	.	.	PUNCT
fcis-9421	45	1	in	in	ADP
fcis-9421	45	2	case	case	NOUN
fcis-9421	45	3	of	of	ADP
fcis-9421	45	4	raster	raster	NOUN
fcis-9421	45	5	maps	map	NOUN
fcis-9421	45	6	,	,	PUNCT
fcis-9421	45	7	the	the	DET
fcis-9421	45	8	image	image	NOUN
fcis-9421	45	9	to	to	PART
fcis-9421	45	10	be	be	AUX
fcis-9421	45	11	processed	process	VERB
fcis-9421	45	12	has	have	VERB
fcis-9421	45	13	only	only	ADV
fcis-9421	45	14	two	two	NUM
fcis-9421	45	15	gray	gray	ADJ
fcis-9421	45	16	values	value	NOUN
fcis-9421	45	17	,	,	PUNCT
fcis-9421	45	18	0	0	NUM
fcis-9421	45	19	and	and	CCONJ
fcis-9421	45	20	255	255	NUM
fcis-9421	45	21	,	,	PUNCT
fcis-9421	45	22	and	and	CCONJ
fcis-9421	45	23	the	the	DET
fcis-9421	45	24	erosion	erosion	NOUN
fcis-9421	45	25	means	mean	VERB
fcis-9421	45	26	that	that	SCONJ
fcis-9421	45	27	the	the	DET
fcis-9421	45	28	black	black	ADJ
fcis-9421	45	29	area	area	NOUN
fcis-9421	45	30	is	be	AUX
fcis-9421	45	31	expanded	expand	VERB
fcis-9421	45	32	.	.	PUNCT
fcis-9421	46	1	the	the	DET
fcis-9421	46	2	main	main	ADJ
fcis-9421	46	3	purpose	purpose	NOUN
fcis-9421	46	4	of	of	ADP
fcis-9421	46	5	the	the	DET
fcis-9421	46	6	gradient	gradient	NOUN
fcis-9421	46	7	calculation	calculation	NOUN
fcis-9421	46	8	is	be	AUX
fcis-9421	46	9	to	to	PART
fcis-9421	46	10	display	display	VERB
fcis-9421	46	11	the	the	DET
fcis-9421	46	12	edge	edge	NOUN
fcis-9421	46	13	information	information	NOUN
fcis-9421	46	14	,	,	PUNCT
fcis-9421	46	15	calculated	calculate	VERB
fcis-9421	46	16	by	by	ADP
fcis-9421	46	17	:	:	PUNCT
fcis-9421	46	18	corroded	corroded	ADJ
fcis-9421	46	19	image	image	NOUN
fcis-9421	46	20	the	the	DET
fcis-9421	46	21	original	original	ADJ
fcis-9421	46	22	image	image	NOUN
fcis-9421	46	23	;	;	PUNCT
fcis-9421	46	24	the	the	DET
fcis-9421	46	25	outer	outer	ADJ
fcis-9421	46	26	circle	circle	NOUN
fcis-9421	46	27	image	image	NOUN
fcis-9421	46	28	minus	minus	ADP
fcis-9421	46	29	the	the	DET
fcis-9421	46	30	inner	inner	ADJ
fcis-9421	46	31	circle	circle	NOUN
fcis-9421	46	32	image	image	NOUN
fcis-9421	46	33	,	,	PUNCT
fcis-9421	46	34	the	the	DET
fcis-9421	46	35	obtained	obtain	VERB
fcis-9421	46	36	is	be	AUX
fcis-9421	46	37	the	the	DET
fcis-9421	46	38	edge	edge	NOUN
fcis-9421	46	39	information	information	NOUN
fcis-9421	46	40	.	.	PUNCT
fcis-9421	47	1	based	base	VERB
fcis-9421	47	2	on	on	ADP
fcis-9421	47	3	the	the	DET
fcis-9421	47	4	above	above	ADJ
fcis-9421	47	5	raster	raster	NOUN
fcis-9421	47	6	erosion	erosion	NOUN
fcis-9421	47	7	function	function	NOUN
fcis-9421	47	8	to	to	PART
fcis-9421	47	9	achieve	achieve	VERB
fcis-9421	47	10	lane	lane	NOUN
fcis-9421	47	11	boundary	boundary	ADJ
fcis-9421	47	12	processing	processing	NOUN
fcis-9421	47	13	to	to	PART
fcis-9421	47	14	obtain	obtain	VERB
fcis-9421	47	15	multi	multi	ADJ
fcis-9421	47	16	-	-	ADJ
fcis-9421	47	17	lap	lap	ADJ
fcis-9421	47	18	paths	path	NOUN
fcis-9421	47	19	is	be	AUX
fcis-9421	47	20	as	as	SCONJ
fcis-9421	47	21	follows	follow	VERB
fcis-9421	47	22	:	:	PUNCT
fcis-9421	47	23	(	(	PUNCT
fcis-9421	47	24	1	1	X
fcis-9421	47	25	)	)	PUNCT
fcis-9421	47	26	the	the	DET
fcis-9421	47	27	lane	lane	NOUN
fcis-9421	47	28	is	be	AUX
fcis-9421	47	29	initially	initially	ADV
fcis-9421	47	30	rasterized	rasterize	VERB
fcis-9421	47	31	,	,	PUNCT
fcis-9421	47	32	as	as	SCONJ
fcis-9421	47	33	shown	show	VERB
fcis-9421	47	34	in	in	ADP
fcis-9421	47	35	figure	figure	NOUN
fcis-9421	47	36	7	7	NUM
fcis-9421	47	37	,	,	PUNCT
fcis-9421	47	38	the	the	DET
fcis-9421	47	39	upper	upper	ADJ
fcis-9421	47	40	and	and	CCONJ
fcis-9421	47	41	lower	low	ADJ
fcis-9421	47	42	boundaries	boundary	NOUN
fcis-9421	47	43	of	of	ADP
fcis-9421	47	44	the	the	DET
fcis-9421	47	45	lane	lane	NOUN
fcis-9421	47	46	are	be	AUX
fcis-9421	47	47	outside	outside	ADP
fcis-9421	47	48	the	the	DET
fcis-9421	47	49	obstacle	obstacle	NOUN
fcis-9421	47	50	area	area	NOUN
fcis-9421	47	51	,	,	PUNCT
fcis-9421	47	52	which	which	PRON
fcis-9421	47	53	is	be	AUX
fcis-9421	47	54	the	the	DET
fcis-9421	47	55	black	black	ADJ
fcis-9421	47	56	inaccessible	inaccessible	ADJ
fcis-9421	47	57	area	area	NOUN
fcis-9421	47	58	,	,	PUNCT
fcis-9421	47	59	and	and	CCONJ
fcis-9421	47	60	the	the	DET
fcis-9421	47	61	middle	middle	ADJ
fcis-9421	47	62	area	area	NOUN
fcis-9421	47	63	is	be	AUX
fcis-9421	47	64	the	the	DET
fcis-9421	47	65	lane	lane	NOUN
fcis-9421	47	66	,	,	PUNCT
fcis-9421	47	67	which	which	PRON
fcis-9421	47	68	is	be	AUX
fcis-9421	47	69	the	the	DET
fcis-9421	47	70	white	white	ADJ
fcis-9421	47	71	passable	passable	ADJ
fcis-9421	47	72	area	area	NOUN
fcis-9421	47	73	.	.	PUNCT
fcis-9421	48	1	(	(	PUNCT
fcis-9421	48	2	b	b	X
fcis-9421	48	3	)	)	PUNCT
fcis-9421	48	4	due	due	ADP
fcis-9421	48	5	to	to	ADP
fcis-9421	48	6	the	the	DET
fcis-9421	48	7	specificity	specificity	NOUN
fcis-9421	48	8	of	of	ADP
fcis-9421	48	9	the	the	DET
fcis-9421	48	10	lane	lane	NOUN
fcis-9421	48	11	clearing	clearing	NOUN
fcis-9421	48	12	environment	environment	NOUN
fcis-9421	48	13	,	,	PUNCT
fcis-9421	48	14	the	the	DET
fcis-9421	48	15	lane	lane	NOUN
fcis-9421	48	16	area	area	NOUN
fcis-9421	48	17	in	in	ADP
fcis-9421	48	18	the	the	DET
fcis-9421	48	19	a	a	DET
fcis-9421	48	20	priori	priori	ADJ
fcis-9421	48	21	map	map	NOUN
fcis-9421	48	22	does	do	AUX
fcis-9421	48	23	not	not	PART
fcis-9421	48	24	have	have	VERB
fcis-9421	48	25	an	an	DET
fcis-9421	48	26	obstacle	obstacle	NOUN
fcis-9421	48	27	,	,	PUNCT
fcis-9421	48	28	i.e.	i.e.	X
fcis-9421	48	29	,	,	PUNCT
fcis-9421	48	30	a	a	DET
fcis-9421	48	31	black	black	ADJ
fcis-9421	48	32	raster	raster	NOUN
fcis-9421	48	33	,	,	PUNCT
fcis-9421	48	34	present	present	ADJ
fcis-9421	48	35	;	;	PUNCT
fcis-9421	48	36	figure	figure	VERB
fcis-9421	48	37	7	7	NUM
fcis-9421	48	38	.	.	PUNCT
fcis-9421	48	39	lane	lane	PROPN
fcis-9421	48	40	original	original	ADJ
fcis-9421	48	41	grid	grid	NOUN
fcis-9421	48	42	diagram	diagram	NOUN
fcis-9421	48	43	(	(	PUNCT
fcis-9421	48	44	2	2	NUM
fcis-9421	48	45	)	)	PUNCT
fcis-9421	48	46	firstly	firstly	ADV
fcis-9421	48	47	,	,	PUNCT
fcis-9421	48	48	the	the	DET
fcis-9421	48	49	acquisition	acquisition	NOUN
fcis-9421	48	50	of	of	ADP
fcis-9421	48	51	the	the	DET
fcis-9421	48	52	first	first	ADJ
fcis-9421	48	53	lap	lap	NOUN
fcis-9421	48	54	path	path	NOUN
fcis-9421	48	55	is	be	AUX
fcis-9421	48	56	performed	perform	VERB
fcis-9421	48	57	:	:	PUNCT
fcis-9421	48	58	erosion	erosion	NOUN
fcis-9421	48	59	operation	operation	NOUN
fcis-9421	48	60	is	be	AUX
fcis-9421	48	61	performed	perform	VERB
fcis-9421	48	62	on	on	ADP
fcis-9421	48	63	the	the	DET
fcis-9421	48	64	lower	low	ADJ
fcis-9421	48	65	boundary	boundary	ADJ
fcis-9421	48	66	black	black	ADJ
fcis-9421	48	67	raster	raster	NOUN
fcis-9421	48	68	toward	toward	ADP
fcis-9421	48	69	the	the	DET
fcis-9421	48	70	lane	lane	NOUN
fcis-9421	48	71	,	,	PUNCT
fcis-9421	48	72	and	and	CCONJ
fcis-9421	48	73	an	an	DET
fcis-9421	48	74	expanded	expand	VERB
fcis-9421	48	75	black	black	ADJ
fcis-9421	48	76	point	point	NOUN
fcis-9421	48	77	can	can	AUX
fcis-9421	48	78	be	be	AUX
fcis-9421	48	79	obtained	obtain	VERB
fcis-9421	48	80	in	in	ADP
fcis-9421	48	81	the	the	DET
fcis-9421	48	82	lane	lane	NOUN
fcis-9421	48	83	area	area	NOUN
fcis-9421	48	84	,	,	PUNCT
fcis-9421	48	85	as	as	SCONJ
fcis-9421	48	86	shown	show	VERB
fcis-9421	48	87	in	in	ADP
fcis-9421	48	88	figure	figure	NOUN
fcis-9421	48	89	8	8	NUM
fcis-9421	48	90	.	.	PUNCT
fcis-9421	49	1	the	the	DET
fcis-9421	49	2	outermost	outermost	ADJ
fcis-9421	49	3	circle	circle	NOUN
fcis-9421	49	4	of	of	ADP
fcis-9421	49	5	the	the	DET
fcis-9421	49	6	white	white	PROPN
fcis-9421	49	7	raster	raster	NOUN
fcis-9421	49	8	of	of	ADP
fcis-9421	49	9	the	the	DET
fcis-9421	49	10	lane	lane	NOUN
fcis-9421	49	11	continues	continue	VERB
fcis-9421	49	12	to	to	PART
fcis-9421	49	13	traverse	traverse	VERB
fcis-9421	49	14	the	the	DET
fcis-9421	49	15	operation	operation	NOUN
fcis-9421	49	16	,	,	PUNCT
fcis-9421	49	17	that	that	ADV
fcis-9421	49	18	is	is	ADV
fcis-9421	49	19	,	,	PUNCT
fcis-9421	49	20	to	to	PART
fcis-9421	49	21	complete	complete	VERB
fcis-9421	49	22	the	the	DET
fcis-9421	49	23	corrosion	corrosion	NOUN
fcis-9421	49	24	of	of	ADP
fcis-9421	49	25	the	the	DET
fcis-9421	49	26	42	42	NUM
fcis-9421	49	27	outermost	outermost	ADJ
fcis-9421	49	28	circle	circle	NOUN
fcis-9421	49	29	of	of	ADP
fcis-9421	49	30	the	the	DET
fcis-9421	49	31	raster	raster	NOUN
fcis-9421	49	32	of	of	ADP
fcis-9421	49	33	the	the	DET
fcis-9421	49	34	lane	lane	NOUN
fcis-9421	49	35	,	,	PUNCT
fcis-9421	49	36	turning	turn	VERB
fcis-9421	49	37	it	it	PRON
fcis-9421	49	38	all	all	PRON
fcis-9421	49	39	to	to	PART
fcis-9421	49	40	black	black	VERB
fcis-9421	49	41	,	,	PUNCT
fcis-9421	49	42	as	as	SCONJ
fcis-9421	49	43	shown	show	VERB
fcis-9421	49	44	in	in	ADP
fcis-9421	49	45	figure	figure	NOUN
fcis-9421	49	46	9	9	NUM
fcis-9421	49	47	.	.	PUNCT
fcis-9421	49	48	figure	figure	NOUN
fcis-9421	49	49	8	8	NUM
fcis-9421	49	50	.	.	PUNCT
fcis-9421	49	51	preliminary	preliminary	ADJ
fcis-9421	49	52	corrosion	corrosion	NOUN
fcis-9421	49	53	schematic	schematic	ADJ
fcis-9421	49	54	diagram	diagram	NOUN
fcis-9421	49	55	of	of	ADP
fcis-9421	49	56	lane	lane	PROPN
fcis-9421	49	57	grid	grid	NOUN
fcis-9421	49	58	map	map	NOUN
fcis-9421	49	59	figure	figure	NOUN
fcis-9421	49	60	9	9	NUM
fcis-9421	49	61	.	.	PUNCT
fcis-9421	50	1	the	the	DET
fcis-9421	50	2	first	first	ADJ
fcis-9421	50	3	circle	circle	PROPN
fcis-9421	50	4	path	path	PROPN
fcis-9421	50	5	diagram	diagram	PROPN
fcis-9421	50	6	of	of	ADP
fcis-9421	50	7	lane	lane	PROPN
fcis-9421	50	8	grid	grid	NOUN
fcis-9421	50	9	map	map	NOUN
fcis-9421	50	10	select	select	VERB
fcis-9421	50	11	the	the	DET
fcis-9421	50	12	appropriate	appropriate	ADJ
fcis-9421	50	13	number	number	NOUN
fcis-9421	50	14	of	of	ADP
fcis-9421	50	15	iterations	iteration	NOUN
fcis-9421	50	16	,	,	PUNCT
fcis-9421	50	17	that	that	ADV
fcis-9421	50	18	is	is	ADV
fcis-9421	50	19	,	,	PUNCT
fcis-9421	50	20	the	the	DET
fcis-9421	50	21	appropriate	appropriate	ADJ
fcis-9421	50	22	corrosion	corrosion	NOUN
fcis-9421	50	23	scale	scale	NOUN
fcis-9421	50	24	,	,	PUNCT
fcis-9421	50	25	comprehensive	comprehensive	ADJ
fcis-9421	50	26	consideration	consideration	NOUN
fcis-9421	50	27	of	of	ADP
fcis-9421	50	28	the	the	DET
fcis-9421	50	29	sanitation	sanitation	NOUN
fcis-9421	50	30	platform	platform	NOUN
fcis-9421	50	31	body	body	NOUN
fcis-9421	50	32	size	size	NOUN
fcis-9421	50	33	and	and	CCONJ
fcis-9421	50	34	sweeping	sweeping	ADJ
fcis-9421	50	35	margin	margin	NOUN
fcis-9421	50	36	,	,	PUNCT
fcis-9421	50	37	and	and	CCONJ
fcis-9421	50	38	continue	continue	VERB
fcis-9421	50	39	to	to	PART
fcis-9421	50	40	traverse	traverse	VERB
fcis-9421	50	41	the	the	DET
fcis-9421	50	42	operation	operation	NOUN
fcis-9421	50	43	;	;	PUNCT
fcis-9421	50	44	perform	perform	VERB
fcis-9421	50	45	gradient	gradient	ADJ
fcis-9421	50	46	calculation	calculation	NOUN
fcis-9421	50	47	,	,	PUNCT
fcis-9421	50	48	you	you	PRON
fcis-9421	50	49	can	can	AUX
fcis-9421	50	50	get	get	VERB
fcis-9421	50	51	the	the	DET
fcis-9421	50	52	edge	edge	NOUN
fcis-9421	50	53	information	information	NOUN
fcis-9421	50	54	that	that	PRON
fcis-9421	50	55	we	we	PRON
fcis-9421	50	56	require	require	VERB
fcis-9421	50	57	for	for	ADP
fcis-9421	50	58	the	the	DET
fcis-9421	50	59	first	first	ADJ
fcis-9421	50	60	circle	circle	NOUN
fcis-9421	50	61	path	path	NOUN
fcis-9421	50	62	;	;	PUNCT
fcis-9421	50	63	(	(	PUNCT
fcis-9421	50	64	3	3	X
fcis-9421	50	65	)	)	PUNCT
fcis-9421	50	66	continue	continue	VERB
fcis-9421	50	67	to	to	PART
fcis-9421	50	68	perform	perform	VERB
fcis-9421	50	69	the	the	DET
fcis-9421	50	70	above	above	ADJ
fcis-9421	50	71	steps	step	NOUN
fcis-9421	50	72	,	,	PUNCT
fcis-9421	50	73	in	in	ADP
fcis-9421	50	74	the	the	DET
fcis-9421	50	75	corrosion	corrosion	NOUN
fcis-9421	50	76	iteration	iteration	NOUN
fcis-9421	50	77	process	process	NOUN
fcis-9421	50	78	,	,	PUNCT
fcis-9421	50	79	consider	consider	VERB
fcis-9421	50	80	the	the	DET
fcis-9421	50	81	repeat	repeat	NOUN
fcis-9421	50	82	margin	margin	NOUN
fcis-9421	50	83	of	of	ADP
fcis-9421	50	84	the	the	DET
fcis-9421	50	85	sanitation	sanitation	NOUN
fcis-9421	50	86	platform	platform	NOUN
fcis-9421	50	87	sweeping	sweeping	ADJ
fcis-9421	50	88	area	area	NOUN
fcis-9421	50	89	,	,	PUNCT
fcis-9421	50	90	select	select	VERB
fcis-9421	50	91	the	the	DET
fcis-9421	50	92	appropriate	appropriate	ADJ
fcis-9421	50	93	number	number	NOUN
fcis-9421	50	94	of	of	ADP
fcis-9421	50	95	iterations	iteration	NOUN
fcis-9421	50	96	,	,	PUNCT
fcis-9421	50	97	as	as	SCONJ
fcis-9421	50	98	shown	show	VERB
fcis-9421	50	99	in	in	ADP
fcis-9421	50	100	figures	figure	NOUN
fcis-9421	50	101	10	10	NUM
fcis-9421	50	102	and	and	CCONJ
fcis-9421	50	103	11	11	NUM
fcis-9421	50	104	,	,	PUNCT
fcis-9421	50	105	you	you	PRON
fcis-9421	50	106	can	can	AUX
fcis-9421	50	107	get	get	VERB
fcis-9421	50	108	the	the	DET
fcis-9421	50	109	corresponding	corresponding	ADJ
fcis-9421	50	110	second	second	ADJ
fcis-9421	50	111	circle	circle	NOUN
fcis-9421	50	112	path	path	NOUN
fcis-9421	50	113	;	;	PUNCT
fcis-9421	50	114	figure	figure	NOUN
fcis-9421	50	115	10	10	NUM
fcis-9421	50	116	.	.	PUNCT
fcis-9421	51	1	the	the	DET
fcis-9421	51	2	second	second	ADJ
fcis-9421	51	3	circle	circle	NOUN
fcis-9421	51	4	path	path	PROPN
fcis-9421	51	5	acquisition	acquisition	NOUN
fcis-9421	51	6	process	process	NOUN
fcis-9421	51	7	of	of	ADP
fcis-9421	51	8	lane	lane	PROPN
fcis-9421	51	9	grid	grid	NOUN
fcis-9421	51	10	map	map	NOUN
fcis-9421	51	11	figure	figure	NOUN
fcis-9421	51	12	11	11	NUM
fcis-9421	51	13	.	.	PUNCT
fcis-9421	52	1	the	the	DET
fcis-9421	52	2	second	second	ADJ
fcis-9421	52	3	circle	circle	NOUN
fcis-9421	52	4	path	path	NOUN
fcis-9421	52	5	schematic	schematic	ADJ
fcis-9421	52	6	diagram	diagram	NOUN
fcis-9421	52	7	of	of	ADP
fcis-9421	52	8	lane	lane	PROPN
fcis-9421	52	9	grid	grid	NOUN
fcis-9421	52	10	map	map	NOUN
fcis-9421	52	11	(	(	PUNCT
fcis-9421	52	12	4	4	X
fcis-9421	52	13	)	)	PUNCT
fcis-9421	52	14	repeat	repeat	VERB
fcis-9421	52	15	the	the	DET
fcis-9421	52	16	above	above	ADJ
fcis-9421	52	17	steps	step	NOUN
fcis-9421	52	18	,	,	PUNCT
fcis-9421	52	19	if	if	SCONJ
fcis-9421	52	20	the	the	DET
fcis-9421	52	21	generated	generate	VERB
fcis-9421	52	22	path	path	NOUN
fcis-9421	52	23	crosses	cross	VERB
fcis-9421	52	24	the	the	DET
fcis-9421	52	25	center	center	ADJ
fcis-9421	52	26	line	line	NOUN
fcis-9421	52	27	of	of	ADP
fcis-9421	52	28	the	the	DET
fcis-9421	52	29	lane	lane	NOUN
fcis-9421	52	30	,	,	PUNCT
fcis-9421	52	31	the	the	DET
fcis-9421	52	32	corrosion	corrosion	NOUN
fcis-9421	52	33	operation	operation	NOUN
fcis-9421	52	34	of	of	ADP
fcis-9421	52	35	the	the	DET
fcis-9421	52	36	lane	lane	NOUN
fcis-9421	52	37	is	be	AUX
fcis-9421	52	38	terminated	terminate	VERB
fcis-9421	52	39	;	;	PUNCT
fcis-9421	52	40	(	(	PUNCT
fcis-9421	52	41	5	5	NUM
fcis-9421	52	42	)	)	PUNCT
fcis-9421	52	43	from	from	ADP
fcis-9421	52	44	the	the	DET
fcis-9421	52	45	upper	upper	ADJ
fcis-9421	52	46	border	border	NOUN
fcis-9421	52	47	of	of	ADP
fcis-9421	52	48	the	the	DET
fcis-9421	52	49	lane	lane	NOUN
fcis-9421	52	50	black	black	ADJ
fcis-9421	52	51	raster	raster	NOUN
fcis-9421	52	52	to	to	ADP
fcis-9421	52	53	the	the	DET
fcis-9421	52	54	inner	inner	ADJ
fcis-9421	52	55	lane	lane	PROPN
fcis-9421	52	56	area	area	NOUN
fcis-9421	52	57	to	to	PART
fcis-9421	52	58	perform	perform	VERB
fcis-9421	52	59	corrosion	corrosion	NOUN
fcis-9421	52	60	operations	operation	NOUN
fcis-9421	52	61	,	,	PUNCT
fcis-9421	52	62	repeat	repeat	VERB
fcis-9421	52	63	the	the	DET
fcis-9421	52	64	above	above	ADJ
fcis-9421	52	65	steps	step	NOUN
fcis-9421	52	66	,	,	PUNCT
fcis-9421	52	67	that	that	ADV
fcis-9421	52	68	is	is	ADV
fcis-9421	52	69	,	,	PUNCT
fcis-9421	52	70	to	to	PART
fcis-9421	52	71	obtain	obtain	VERB
fcis-9421	52	72	the	the	DET
fcis-9421	52	73	cover	cover	NOUN
fcis-9421	52	74	path	path	NOUN
fcis-9421	52	75	of	of	ADP
fcis-9421	52	76	the	the	DET
fcis-9421	52	77	upper	upper	ADJ
fcis-9421	52	78	lane	lane	NOUN
fcis-9421	52	79	,	,	PUNCT
fcis-9421	52	80	as	as	SCONJ
fcis-9421	52	81	shown	show	VERB
fcis-9421	52	82	in	in	ADP
fcis-9421	52	83	figure	figure	NOUN
fcis-9421	52	84	12	12	NUM
fcis-9421	52	85	,	,	PUNCT
fcis-9421	52	86	and	and	CCONJ
fcis-9421	52	87	finally	finally	ADV
fcis-9421	52	88	get	get	VERB
fcis-9421	52	89	the	the	DET
fcis-9421	52	90	entire	entire	ADJ
fcis-9421	52	91	path	path	NOUN
fcis-9421	52	92	of	of	ADP
fcis-9421	52	93	the	the	DET
fcis-9421	52	94	lane	lane	PROPN
fcis-9421	52	95	area	area	NOUN
fcis-9421	52	96	after	after	ADP
fcis-9421	52	97	the	the	DET
fcis-9421	52	98	raster	raster	PROPN
fcis-9421	52	99	corrosion	corrosion	NOUN
fcis-9421	52	100	.	.	PUNCT
fcis-9421	53	1	figure	figure	NOUN
fcis-9421	53	2	12	12	NUM
fcis-9421	53	3	.	.	PUNCT
fcis-9421	54	1	all	all	DET
fcis-9421	54	2	path	path	NOUN
fcis-9421	54	3	diagram	diagram	NOUN
fcis-9421	54	4	of	of	ADP
fcis-9421	54	5	the	the	DET
fcis-9421	54	6	lane	lane	PROPN
fcis-9421	54	7	area	area	NOUN
fcis-9421	54	8	after	after	ADP
fcis-9421	54	9	grid	grid	NOUN
fcis-9421	54	10	corrosion	corrosion	NOUN
fcis-9421	54	11	connection	connection	NOUN
fcis-9421	54	12	between	between	ADP
fcis-9421	54	13	different	different	ADJ
fcis-9421	54	14	circles	circle	NOUN
fcis-9421	54	15	of	of	ADP
fcis-9421	54	16	paths	path	NOUN
fcis-9421	54	17	:	:	PUNCT
fcis-9421	54	18	distinguish	distinguish	VERB
fcis-9421	54	19	the	the	DET
fcis-9421	54	20	connection	connection	NOUN
fcis-9421	54	21	between	between	ADP
fcis-9421	54	22	different	different	ADJ
fcis-9421	54	23	sub	sub	NOUN
fcis-9421	54	24	-	-	NOUN
fcis-9421	54	25	regions	region	NOUN
fcis-9421	54	26	,	,	PUNCT
fcis-9421	54	27	set	set	VERB
fcis-9421	54	28	the	the	DET
fcis-9421	54	29	starting	starting	NOUN
fcis-9421	54	30	point	point	NOUN
fcis-9421	54	31	of	of	ADP
fcis-9421	54	32	the	the	DET
fcis-9421	54	33	outermost	outermost	ADJ
fcis-9421	54	34	circle	circle	NOUN
fcis-9421	54	35	,	,	PUNCT
fcis-9421	54	36	the	the	DET
fcis-9421	54	37	starting	starting	NOUN
fcis-9421	54	38	point	point	NOUN
fcis-9421	54	39	of	of	ADP
fcis-9421	54	40	the	the	DET
fcis-9421	54	41	path	path	NOUN
fcis-9421	54	42	of	of	ADP
fcis-9421	54	43	the	the	DET
fcis-9421	54	44	next	next	ADJ
fcis-9421	54	45	circle	circle	NOUN
fcis-9421	54	46	is	be	AUX
fcis-9421	54	47	set	set	VERB
fcis-9421	54	48	similar	similar	ADJ
fcis-9421	54	49	to	to	ADP
fcis-9421	54	50	the	the	DET
fcis-9421	54	51	starting	start	VERB
fcis-9421	54	52	line	line	NOUN
fcis-9421	54	53	setting	setting	NOUN
fcis-9421	54	54	of	of	ADP
fcis-9421	54	55	different	different	ADJ
fcis-9421	54	56	circles	circle	NOUN
fcis-9421	54	57	of	of	ADP
fcis-9421	54	58	the	the	DET
fcis-9421	54	59	circular	circular	ADJ
fcis-9421	54	60	runway	runway	NOUN
fcis-9421	54	61	,	,	PUNCT
fcis-9421	54	62	consider	consider	VERB
fcis-9421	54	63	the	the	DET
fcis-9421	54	64	path	path	NOUN
fcis-9421	54	65	advance	advance	NOUN
fcis-9421	54	66	of	of	ADP
fcis-9421	54	67	the	the	DET
fcis-9421	54	68	different	different	ADJ
fcis-9421	54	69	circles	circle	NOUN
fcis-9421	54	70	of	of	ADP
fcis-9421	54	71	the	the	DET
fcis-9421	54	72	sanitation	sanitation	NOUN
fcis-9421	54	73	platform	platform	NOUN
fcis-9421	54	74	path	path	NOUN
fcis-9421	54	75	articulation	articulation	NOUN
fcis-9421	54	76	,	,	PUNCT
fcis-9421	54	77	and	and	CCONJ
fcis-9421	54	78	so	so	ADV
fcis-9421	54	79	on	on	ADV
fcis-9421	54	80	;	;	PUNCT
fcis-9421	54	81	the	the	DET
fcis-9421	54	82	inner	inner	ADJ
fcis-9421	54	83	and	and	CCONJ
fcis-9421	54	84	outer	outer	ADJ
fcis-9421	54	85	circle	circle	NOUN
fcis-9421	54	86	paths	path	NOUN
fcis-9421	54	87	on	on	ADP
fcis-9421	54	88	both	both	DET
fcis-9421	54	89	sides	side	NOUN
fcis-9421	54	90	of	of	ADP
fcis-9421	54	91	the	the	DET
fcis-9421	54	92	centerline	centerline	NOUN
fcis-9421	54	93	of	of	ADP
fcis-9421	54	94	the	the	DET
fcis-9421	54	95	lane	lane	NOUN
fcis-9421	54	96	are	be	AUX
fcis-9421	54	97	articulated	articulate	VERB
fcis-9421	54	98	through	through	ADP
fcis-9421	54	99	the	the	DET
fcis-9421	54	100	path	path	NOUN
fcis-9421	54	101	fitting	fitting	ADJ
fcis-9421	54	102	method	method	NOUN
fcis-9421	54	103	below	below	ADV
fcis-9421	54	104	.	.	PUNCT
fcis-9421	55	1	2.3	2.3	NUM
fcis-9421	55	2	.	.	X
fcis-9421	55	3	rectangular	rectangular	ADJ
fcis-9421	55	4	square	square	ADJ
fcis-9421	55	5	area	area	NOUN
fcis-9421	55	6	coverage	coverage	NOUN
fcis-9421	55	7	path	path	NOUN
fcis-9421	55	8	generation	generation	NOUN
fcis-9421	55	9	method	method	NOUN
fcis-9421	55	10	based	base	VERB
fcis-9421	55	11	on	on	ADP
fcis-9421	55	12	improved	improved	ADJ
fcis-9421	55	13	bowtie	bowtie	NOUN
fcis-9421	55	14	rule	rule	NOUN
fcis-9421	55	15	the	the	DET
fcis-9421	55	16	park	park	NOUN
fcis-9421	55	17	environment	environment	NOUN
fcis-9421	55	18	usually	usually	ADV
fcis-9421	55	19	has	have	VERB
fcis-9421	55	20	rectangular	rectangular	ADJ
fcis-9421	55	21	square	square	ADJ
fcis-9421	55	22	area	area	NOUN
fcis-9421	55	23	for	for	ADP
fcis-9421	55	24	crowd	crowd	NOUN
fcis-9421	55	25	gathering	gather	VERB
fcis-9421	55	26	in	in	ADP
fcis-9421	55	27	addition	addition	NOUN
fcis-9421	55	28	to	to	ADP
fcis-9421	55	29	the	the	DET
fcis-9421	55	30	lane	lane	NOUN
fcis-9421	55	31	area	area	NOUN
fcis-9421	55	32	,	,	PUNCT
fcis-9421	55	33	and	and	CCONJ
fcis-9421	55	34	the	the	DET
fcis-9421	55	35	square	square	ADJ
fcis-9421	55	36	area	area	NOUN
fcis-9421	55	37	is	be	AUX
fcis-9421	55	38	rasterized	rasterize	VERB
fcis-9421	55	39	to	to	PART
fcis-9421	55	40	obtain	obtain	VERB
fcis-9421	55	41	a	a	DET
fcis-9421	55	42	local	local	ADJ
fcis-9421	55	43	rectangular	rectangular	ADJ
fcis-9421	55	44	-	-	PUNCT
fcis-9421	55	45	shaped	shape	VERB
fcis-9421	55	46	raster	raster	NOUN
fcis-9421	55	47	map	map	NOUN
fcis-9421	55	48	.	.	PUNCT
fcis-9421	56	1	the	the	DET
fcis-9421	56	2	bow	bow	NOUN
fcis-9421	56	3	-	-	PUNCT
fcis-9421	56	4	shaped	shape	VERB
fcis-9421	56	5	coverage	coverage	NOUN
fcis-9421	56	6	algorithm	algorithm	NOUN
fcis-9421	56	7	is	be	AUX
fcis-9421	56	8	usually	usually	ADV
fcis-9421	56	9	applied	apply	VERB
fcis-9421	56	10	to	to	ADP
fcis-9421	56	11	the	the	DET
fcis-9421	56	12	robot	robot	NOUN
fcis-9421	56	13	coverage	coverage	NOUN
fcis-9421	56	14	scene	scene	NOUN
fcis-9421	56	15	,	,	PUNCT
fcis-9421	56	16	because	because	SCONJ
fcis-9421	56	17	the	the	DET
fcis-9421	56	18	robot	robot	NOUN
fcis-9421	56	19	and	and	CCONJ
fcis-9421	56	20	the	the	DET
fcis-9421	56	21	micro	micro	ADJ
fcis-9421	56	22	sweeper	sweeper	NOUN
fcis-9421	56	23	are	be	AUX
fcis-9421	56	24	small	small	ADJ
fcis-9421	56	25	in	in	ADP
fcis-9421	56	26	size	size	NOUN
fcis-9421	56	27	,	,	PUNCT
fcis-9421	56	28	while	while	SCONJ
fcis-9421	56	29	the	the	DET
fcis-9421	56	30	steering	steering	NOUN
fcis-9421	56	31	mode	mode	NOUN
fcis-9421	56	32	is	be	AUX
fcis-9421	56	33	omnidirectional	omnidirectional	ADJ
fcis-9421	56	34	and	and	CCONJ
fcis-9421	56	35	not	not	PART
fcis-9421	56	36	constrained	constrain	VERB
fcis-9421	56	37	by	by	ADP
fcis-9421	56	38	the	the	DET
fcis-9421	56	39	steering	steering	NOUN
fcis-9421	56	40	capacity	capacity	NOUN
fcis-9421	56	41	of	of	ADP
fcis-9421	56	42	the	the	DET
fcis-9421	56	43	steering	steering	NOUN
fcis-9421	56	44	mechanism	mechanism	NOUN
fcis-9421	56	45	,	,	PUNCT
fcis-9421	56	46	the	the	DET
fcis-9421	56	47	inner	inner	ADJ
fcis-9421	56	48	area	area	NOUN
fcis-9421	56	49	of	of	ADP
fcis-9421	56	50	the	the	DET
fcis-9421	56	51	arc	arc	NOUN
fcis-9421	56	52	corresponding	correspond	VERB
fcis-9421	56	53	to	to	ADP
fcis-9421	56	54	the	the	DET
fcis-9421	56	55	minimum	minimum	NOUN
fcis-9421	56	56	turning	turning	NOUN
fcis-9421	56	57	radius	radius	NOUN
fcis-9421	56	58	r	r	NOUN
fcis-9421	56	59	is	be	AUX
fcis-9421	56	60	the	the	DET
fcis-9421	56	61	area	area	NOUN
fcis-9421	56	62	that	that	PRON
fcis-9421	56	63	can	can	AUX
fcis-9421	56	64	not	not	PART
fcis-9421	56	65	be	be	AUX
fcis-9421	56	66	covered	cover	VERB
fcis-9421	56	67	by	by	ADP
fcis-9421	56	68	the	the	DET
fcis-9421	56	69	steering	steering	NOUN
fcis-9421	56	70	body	body	NOUN
fcis-9421	56	71	of	of	ADP
fcis-9421	56	72	this	this	DET
fcis-9421	56	73	vehicle	vehicle	NOUN
fcis-9421	56	74	,	,	PUNCT
fcis-9421	56	75	so	so	CCONJ
fcis-9421	56	76	it	it	PRON
fcis-9421	56	77	is	be	AUX
fcis-9421	56	78	directly	directly	ADV
fcis-9421	56	79	applied	apply	VERB
fcis-9421	56	80	to	to	ADP
fcis-9421	56	81	the	the	DET
fcis-9421	56	82	sanitation	sanitation	NOUN
fcis-9421	56	83	platform	platform	NOUN
fcis-9421	56	84	,	,	PUNCT
fcis-9421	56	85	and	and	CCONJ
fcis-9421	56	86	when	when	SCONJ
fcis-9421	56	87	driving	drive	VERB
fcis-9421	56	88	to	to	ADP
fcis-9421	56	89	the	the	DET
fcis-9421	56	90	area	area	NOUN
fcis-9421	56	91	boundary	boundary	ADJ
fcis-9421	56	92	"	"	PUNCT
fcis-9421	56	93	u	u	NOUN
fcis-9421	56	94	u	u	NOUN
fcis-9421	56	95	-	-	NOUN
fcis-9421	56	96	turn	turn	ADJ
fcis-9421	56	97	"	"	PUNCT
fcis-9421	56	98	turnaround	turnaround	NOUN
fcis-9421	56	99	,	,	PUNCT
fcis-9421	56	100	as	as	SCONJ
fcis-9421	56	101	shown	show	VERB
fcis-9421	56	102	in	in	ADP
fcis-9421	56	103	figure	figure	NOUN
fcis-9421	56	104	13	13	NUM
fcis-9421	56	105	,	,	PUNCT
fcis-9421	56	106	due	due	ADP
fcis-9421	56	107	to	to	ADP
fcis-9421	56	108	the	the	DET
fcis-9421	56	109	large	large	ADJ
fcis-9421	56	110	turning	turning	NOUN
fcis-9421	56	111	radius	radius	NOUN
fcis-9421	56	112	,	,	PUNCT
fcis-9421	56	113	it	it	PRON
fcis-9421	56	114	is	be	AUX
fcis-9421	56	115	difficult	difficult	ADJ
fcis-9421	56	116	to	to	PART
fcis-9421	56	117	complete	complete	VERB
fcis-9421	56	118	full	full	ADJ
fcis-9421	56	119	coverage	coverage	NOUN
fcis-9421	56	120	of	of	ADP
fcis-9421	56	121	the	the	DET
fcis-9421	56	122	area	area	NOUN
fcis-9421	56	123	.	.	PUNCT
fcis-9421	57	1	43	43	NUM
fcis-9421	57	2	figure	figure	NOUN
fcis-9421	57	3	13	13	NUM
fcis-9421	57	4	.	.	PUNCT
fcis-9421	58	1	u	u	ADJ
fcis-9421	58	2	-	-	ADJ
fcis-9421	58	3	shaped	shaped	ADJ
fcis-9421	58	4	turning	turning	NOUN
fcis-9421	58	5	diagram	diagram	NOUN
fcis-9421	58	6	in	in	ADP
fcis-9421	58	7	this	this	DET
fcis-9421	58	8	paper	paper	NOUN
fcis-9421	58	9	,	,	PUNCT
fcis-9421	58	10	an	an	DET
fcis-9421	58	11	improved	improved	ADJ
fcis-9421	58	12	"	"	PUNCT
fcis-9421	58	13	bow	bow	NOUN
fcis-9421	58	14	-	-	PUNCT
fcis-9421	58	15	shaped	shaped	ADJ
fcis-9421	58	16	"	"	PUNCT
fcis-9421	58	17	coverage	coverage	NOUN
fcis-9421	58	18	algorithm	algorithm	NOUN
fcis-9421	58	19	is	be	AUX
fcis-9421	58	20	proposed	propose	VERB
fcis-9421	58	21	to	to	PART
fcis-9421	58	22	generate	generate	VERB
fcis-9421	58	23	coverage	coverage	NOUN
fcis-9421	58	24	paths	path	NOUN
fcis-9421	58	25	under	under	ADP
fcis-9421	58	26	the	the	DET
fcis-9421	58	27	constraint	constraint	NOUN
fcis-9421	58	28	of	of	ADP
fcis-9421	58	29	minimum	minimum	NOUN
fcis-9421	58	30	turning	turning	NOUN
fcis-9421	58	31	radius	radius	NOUN
fcis-9421	58	32	to	to	PART
fcis-9421	58	33	improve	improve	VERB
fcis-9421	58	34	the	the	DET
fcis-9421	58	35	coverage	coverage	NOUN
fcis-9421	58	36	of	of	ADP
fcis-9421	58	37	turnaround	turnaround	NOUN
fcis-9421	58	38	areas	area	NOUN
fcis-9421	58	39	.	.	PUNCT
fcis-9421	59	1	the	the	DET
fcis-9421	59	2	specific	specific	ADJ
fcis-9421	59	3	idea	idea	NOUN
fcis-9421	59	4	is	be	AUX
fcis-9421	59	5	to	to	PART
fcis-9421	59	6	apply	apply	VERB
fcis-9421	59	7	two	two	NUM
fcis-9421	59	8	bow	bow	NOUN
fcis-9421	59	9	-	-	PUNCT
fcis-9421	59	10	shaped	shape	VERB
fcis-9421	59	11	paths	path	NOUN
fcis-9421	59	12	in	in	ADP
fcis-9421	59	13	opposite	opposite	ADJ
fcis-9421	59	14	directions	direction	NOUN
fcis-9421	59	15	.	.	PUNCT
fcis-9421	60	1	firstly	firstly	ADV
fcis-9421	60	2	,	,	PUNCT
fcis-9421	60	3	we	we	PRON
fcis-9421	60	4	increase	increase	VERB
fcis-9421	60	5	the	the	DET
fcis-9421	60	6	running	run	VERB
fcis-9421	60	7	step	step	NOUN
fcis-9421	60	8	of	of	ADP
fcis-9421	60	9	the	the	DET
fcis-9421	60	10	turnaround	turnaround	NOUN
fcis-9421	60	11	operation	operation	NOUN
fcis-9421	60	12	in	in	ADP
fcis-9421	60	13	the	the	DET
fcis-9421	60	14	secondary	secondary	ADJ
fcis-9421	60	15	operation	operation	NOUN
fcis-9421	60	16	direction	direction	NOUN
fcis-9421	60	17	to	to	PART
fcis-9421	60	18	generate	generate	VERB
fcis-9421	60	19	the	the	DET
fcis-9421	60	20	bow	bow	NOUN
fcis-9421	60	21	offset	offset	NOUN
fcis-9421	60	22	distance	distance	NOUN
fcis-9421	60	23	in	in	ADP
fcis-9421	60	24	the	the	DET
fcis-9421	60	25	secondary	secondary	ADJ
fcis-9421	60	26	operation	operation	NOUN
fcis-9421	60	27	direction	direction	NOUN
fcis-9421	60	28	adaptively	adaptively	ADV
fcis-9421	60	29	and	and	CCONJ
fcis-9421	60	30	reserve	reserve	VERB
fcis-9421	60	31	the	the	DET
fcis-9421	60	32	embedding	embed	VERB
fcis-9421	60	33	space	space	NOUN
fcis-9421	60	34	for	for	ADP
fcis-9421	60	35	the	the	DET
fcis-9421	60	36	reverse	reverse	NOUN
fcis-9421	60	37	bow	bow	NOUN
fcis-9421	60	38	path	path	NOUN
fcis-9421	60	39	.	.	PUNCT
fcis-9421	61	1	travel	travel	VERB
fcis-9421	61	2	to	to	ADP
fcis-9421	61	3	the	the	DET
fcis-9421	61	4	end	end	NOUN
fcis-9421	61	5	position	position	NOUN
fcis-9421	61	6	,	,	PUNCT
fcis-9421	61	7	take	take	VERB
fcis-9421	61	8	the	the	DET
fcis-9421	61	9	end	end	NOUN
fcis-9421	61	10	point	point	NOUN
fcis-9421	61	11	as	as	ADP
fcis-9421	61	12	the	the	DET
fcis-9421	61	13	starting	starting	NOUN
fcis-9421	61	14	point	point	NOUN
fcis-9421	61	15	and	and	CCONJ
fcis-9421	61	16	execute	execute	VERB
fcis-9421	61	17	the	the	DET
fcis-9421	61	18	reverse	reverse	ADJ
fcis-9421	61	19	bowtie	bowtie	NOUN
fcis-9421	61	20	operation	operation	NOUN
fcis-9421	61	21	to	to	PART
fcis-9421	61	22	embed	embed	VERB
fcis-9421	61	23	between	between	ADP
fcis-9421	61	24	two	two	NUM
fcis-9421	61	25	adjacent	adjacent	ADJ
fcis-9421	61	26	forward	forward	ADJ
fcis-9421	61	27	bowtie	bowtie	NOUN
fcis-9421	61	28	paths	path	NOUN
fcis-9421	61	29	in	in	ADP
fcis-9421	61	30	the	the	DET
fcis-9421	61	31	primary	primary	ADJ
fcis-9421	61	32	direction	direction	NOUN
fcis-9421	61	33	.	.	PUNCT
fcis-9421	62	1	according	accord	VERB
fcis-9421	62	2	to	to	ADP
fcis-9421	62	3	the	the	DET
fcis-9421	62	4	calculation	calculation	NOUN
fcis-9421	62	5	of	of	ADP
fcis-9421	62	6	the	the	DET
fcis-9421	62	7	minimum	minimum	ADJ
fcis-9421	62	8	turning	turning	NOUN
fcis-9421	62	9	radius	radius	NOUN
fcis-9421	62	10	of	of	ADP
fcis-9421	62	11	the	the	DET
fcis-9421	62	12	sanitation	sanitation	NOUN
fcis-9421	62	13	platform	platform	NOUN
fcis-9421	62	14	,	,	PUNCT
fcis-9421	62	15	the	the	DET
fcis-9421	62	16	width	width	NOUN
fcis-9421	62	17	between	between	ADP
fcis-9421	62	18	the	the	DET
fcis-9421	62	19	two	two	NUM
fcis-9421	62	20	ushaped	ushaped	ADJ
fcis-9421	62	21	adjacent	adjacent	ADJ
fcis-9421	62	22	covered	cover	VERB
fcis-9421	62	23	paths	path	NOUN
fcis-9421	62	24	is	be	AUX
fcis-9421	62	25	greater	great	ADJ
fcis-9421	62	26	than	than	ADP
fcis-9421	62	27	the	the	DET
fcis-9421	62	28	width	width	NOUN
fcis-9421	62	29	of	of	ADP
fcis-9421	62	30	the	the	DET
fcis-9421	62	31	vehicle	vehicle	NOUN
fcis-9421	62	32	,	,	PUNCT
fcis-9421	62	33	and	and	CCONJ
fcis-9421	62	34	the	the	DET
fcis-9421	62	35	reverse	reverse	ADJ
fcis-9421	62	36	path	path	NOUN
fcis-9421	62	37	is	be	AUX
fcis-9421	62	38	difficult	difficult	ADJ
fcis-9421	62	39	to	to	PART
fcis-9421	62	40	cover	cover	VERB
fcis-9421	62	41	the	the	DET
fcis-9421	62	42	restricted	restricted	ADJ
fcis-9421	62	43	area	area	NOUN
fcis-9421	62	44	on	on	ADP
fcis-9421	62	45	the	the	DET
fcis-9421	62	46	inside	inside	NOUN
fcis-9421	62	47	of	of	ADP
fcis-9421	62	48	the	the	DET
fcis-9421	62	49	turnaround	turnaround	NOUN
fcis-9421	62	50	arc	arc	NOUN
fcis-9421	62	51	.	.	PUNCT
fcis-9421	63	1	in	in	ADP
fcis-9421	63	2	order	order	NOUN
fcis-9421	63	3	to	to	PART
fcis-9421	63	4	solve	solve	VERB
fcis-9421	63	5	this	this	DET
fcis-9421	63	6	problem	problem	NOUN
fcis-9421	63	7	,	,	PUNCT
fcis-9421	63	8	the	the	DET
fcis-9421	63	9	real	real	ADJ
fcis-9421	63	10	-	-	PUNCT
fcis-9421	63	11	life	life	NOUN
fcis-9421	63	12	narrow	narrow	ADJ
fcis-9421	63	13	road	road	NOUN
fcis-9421	63	14	turnaround	turnaround	NOUN
fcis-9421	63	15	will	will	AUX
fcis-9421	63	16	first	first	ADV
fcis-9421	63	17	adopt	adopt	VERB
fcis-9421	63	18	the	the	DET
fcis-9421	63	19	strategy	strategy	NOUN
fcis-9421	63	20	of	of	ADP
fcis-9421	63	21	pre	pre	ADJ
fcis-9421	63	22	-	-	ADJ
fcis-9421	63	23	reverse	reverse	ADJ
fcis-9421	63	24	steering	steering	NOUN
fcis-9421	63	25	wheel	wheel	NOUN
fcis-9421	63	26	driving	drive	VERB
fcis-9421	63	27	for	for	ADP
fcis-9421	63	28	a	a	DET
fcis-9421	63	29	distance	distance	NOUN
fcis-9421	63	30	to	to	PART
fcis-9421	63	31	increase	increase	VERB
fcis-9421	63	32	the	the	DET
fcis-9421	63	33	turning	turning	NOUN
fcis-9421	63	34	radius	radius	NOUN
fcis-9421	63	35	,	,	PUNCT
fcis-9421	63	36	effectively	effectively	ADV
fcis-9421	63	37	completing	complete	VERB
fcis-9421	63	38	the	the	DET
fcis-9421	63	39	narrow	narrow	ADJ
fcis-9421	63	40	road	road	NOUN
fcis-9421	63	41	turnaround	turnaround	NOUN
fcis-9421	63	42	operation	operation	NOUN
fcis-9421	63	43	and	and	CCONJ
fcis-9421	63	44	reducing	reduce	VERB
fcis-9421	63	45	the	the	DET
fcis-9421	63	46	burden	burden	NOUN
fcis-9421	63	47	on	on	ADP
fcis-9421	63	48	the	the	DET
fcis-9421	63	49	steering	steering	NOUN
fcis-9421	63	50	mechanism	mechanism	NOUN
fcis-9421	63	51	.	.	PUNCT
fcis-9421	64	1	in	in	ADP
fcis-9421	64	2	this	this	DET
fcis-9421	64	3	paper	paper	NOUN
fcis-9421	64	4	,	,	PUNCT
fcis-9421	64	5	we	we	PRON
fcis-9421	64	6	use	use	VERB
fcis-9421	64	7	dubins	dubin	NOUN
fcis-9421	64	8	curve	curve	PROPN
fcis-9421	64	9	interpolation[8	interpolation[8	PROPN
fcis-9421	64	10	]	]	PUNCT
fcis-9421	64	11	to	to	PART
fcis-9421	64	12	simulate	simulate	VERB
fcis-9421	64	13	the	the	DET
fcis-9421	64	14	above	above	ADJ
fcis-9421	64	15	process	process	NOUN
fcis-9421	64	16	and	and	CCONJ
fcis-9421	64	17	fit	fit	VERB
fcis-9421	64	18	the	the	DET
fcis-9421	64	19	trajectory	trajectory	NOUN
fcis-9421	64	20	of	of	ADP
fcis-9421	64	21	the	the	DET
fcis-9421	64	22	turnaround	turnaround	NOUN
fcis-9421	64	23	to	to	PART
fcis-9421	64	24	solve	solve	VERB
fcis-9421	64	25	the	the	DET
fcis-9421	64	26	problem	problem	NOUN
fcis-9421	64	27	that	that	SCONJ
fcis-9421	64	28	the	the	DET
fcis-9421	64	29	reverse	reverse	ADJ
fcis-9421	64	30	path	path	NOUN
fcis-9421	64	31	is	be	AUX
fcis-9421	64	32	difficult	difficult	ADJ
fcis-9421	64	33	to	to	PART
fcis-9421	64	34	cover	cover	VERB
fcis-9421	64	35	the	the	DET
fcis-9421	64	36	inner	inner	ADJ
fcis-9421	64	37	area	area	NOUN
fcis-9421	64	38	of	of	ADP
fcis-9421	64	39	the	the	DET
fcis-9421	64	40	turnaround	turnaround	NOUN
fcis-9421	64	41	arc	arc	NOUN
fcis-9421	64	42	.	.	PUNCT
fcis-9421	65	1	as	as	SCONJ
fcis-9421	65	2	shown	show	VERB
fcis-9421	65	3	in	in	ADP
fcis-9421	65	4	figure	figure	NOUN
fcis-9421	65	5	14	14	NUM
fcis-9421	65	6	.	.	PUNCT
fcis-9421	65	7	0	0	NUM
fcis-9421	66	1	x	x	SYM
fcis-9421	66	2	y	y	PROPN
fcis-9421	66	3	start	start	VERB
fcis-9421	66	4	goal	goal	NOUN
fcis-9421	66	5	c1	c1	PROPN
fcis-9421	66	6	p1	p1	PROPN
fcis-9421	66	7	c2	c2	PROPN
fcis-9421	66	8	p2	p2	PROPN
fcis-9421	66	9	c3	c3	PROPN
fcis-9421	66	10	p3	p3	PROPN
fcis-9421	66	11	pt2pt1	pt2pt1	PROPN
fcis-9421	66	12	θ	θ	PROPN
fcis-9421	66	13	figure	figure	NOUN
fcis-9421	66	14	14	14	NUM
fcis-9421	66	15	.	.	PUNCT
fcis-9421	67	1	the	the	DET
fcis-9421	67	2	u	u	NOUN
fcis-9421	67	3	-	-	NOUN
fcis-9421	67	4	turn	turn	NOUN
fcis-9421	67	5	path	path	NOUN
fcis-9421	67	6	fitted	fit	VERB
fcis-9421	67	7	by	by	ADP
fcis-9421	67	8	dubins	dubin	NOUN
fcis-9421	67	9	the	the	DET
fcis-9421	67	10	turnaround	turnaround	NOUN
fcis-9421	67	11	path	path	NOUN
fcis-9421	67	12	fitted	fit	VERB
fcis-9421	67	13	from	from	ADP
fcis-9421	67	14	the	the	DET
fcis-9421	67	15	dubins	dubin	NOUN
fcis-9421	67	16	curve	curve	NOUN
fcis-9421	67	17	is	be	AUX
fcis-9421	67	18	calculated	calculate	VERB
fcis-9421	67	19	as	as	ADP
fcis-9421	67	20	follows	follow	VERB
fcis-9421	67	21	:	:	PUNCT
fcis-9421	67	22	based	base	VERB
fcis-9421	67	23	on	on	ADP
fcis-9421	67	24	the	the	DET
fcis-9421	67	25	mathematical	mathematical	ADJ
fcis-9421	67	26	relationship	relationship	NOUN
fcis-9421	67	27	,	,	PUNCT
fcis-9421	67	28	it	it	PRON
fcis-9421	67	29	is	be	AUX
fcis-9421	67	30	obtained	obtain	VERB
fcis-9421	67	31	that	that	SCONJ
fcis-9421	68	1	|	|	ADV
fcis-9421	68	2	|	|	ADV
fcis-9421	68	3	2	2	NUM
fcis-9421	69	1	|	|	ADV
fcis-9421	69	2	|	|	ADV
fcis-9421	69	3	2	2	NUM
fcis-9421	69	4	3	3	NUM
fcis-9421	69	5	|	|	ADV
fcis-9421	69	6	|	|	ADV
fcis-9421	69	7	2	2	NUM
fcis-9421	69	8	4	4	NUM
fcis-9421	69	9	let	let	AUX
fcis-9421	69	10	be	be	AUX
fcis-9421	69	11	the	the	DET
fcis-9421	69	12	angle	angle	NOUN
fcis-9421	69	13	between	between	ADP
fcis-9421	69	14	and	and	CCONJ
fcis-9421	69	15	.	.	PUNCT
fcis-9421	70	1	the	the	DET
fcis-9421	70	2	lengths	length	NOUN
fcis-9421	70	3	of	of	ADP
fcis-9421	70	4	the	the	DET
fcis-9421	70	5	three	three	NUM
fcis-9421	70	6	sides	side	NOUN
fcis-9421	70	7	of	of	ADP
fcis-9421	70	8	the	the	DET
fcis-9421	70	9	triangle	triangle	NOUN
fcis-9421	70	10	are	be	AUX
fcis-9421	70	11	known	know	VERB
fcis-9421	70	12	,	,	PUNCT
fcis-9421	70	13	and	and	CCONJ
fcis-9421	70	14	according	accord	VERB
fcis-9421	70	15	to	to	ADP
fcis-9421	70	16	the	the	DET
fcis-9421	70	17	cosine	cosine	NOUN
fcis-9421	70	18	theorem	theorem	VERB
fcis-9421	70	19	4	4	NUM
fcis-9421	70	20	5	5	NUM
fcis-9421	70	21	the	the	DET
fcis-9421	70	22	final	final	ADJ
fcis-9421	70	23	result	result	NOUN
fcis-9421	70	24	can	can	AUX
fcis-9421	70	25	be	be	AUX
fcis-9421	70	26	obtained	obtain	VERB
fcis-9421	70	27	as	as	ADP
fcis-9421	70	28	2	2	NUM
fcis-9421	70	29	,	,	PUNCT
fcis-9421	70	30	2	2	NUM
fcis-9421	70	31	6	6	NUM
fcis-9421	70	32	the	the	DET
fcis-9421	70	33	midpoints	midpoint	NOUN
fcis-9421	70	34	of	of	ADP
fcis-9421	70	35	vectors	vector	NOUN
fcis-9421	70	36	,	,	PUNCT
fcis-9421	70	37	are	be	AUX
fcis-9421	70	38	the	the	DET
fcis-9421	70	39	curvature	curvature	NOUN
fcis-9421	70	40	circle	circle	NOUN
fcis-9421	70	41	tangent	tangent	NOUN
fcis-9421	70	42	points	point	VERB
fcis-9421	70	43	,	,	PUNCT
fcis-9421	70	44	,	,	PUNCT
fcis-9421	70	45	and	and	CCONJ
fcis-9421	70	46	the	the	DET
fcis-9421	70	47	turnaround	turnaround	NOUN
fcis-9421	70	48	path	path	NOUN
fcis-9421	70	49	curve	curve	NOUN
fcis-9421	70	50	can	can	AUX
fcis-9421	70	51	be	be	AUX
fcis-9421	70	52	obtained	obtain	VERB
fcis-9421	70	53	by	by	ADP
fcis-9421	70	54	connecting	connect	VERB
fcis-9421	70	55	the	the	DET
fcis-9421	70	56	circumferential	circumferential	ADJ
fcis-9421	70	57	arc	arc	NOUN
fcis-9421	70	58	from	from	ADP
fcis-9421	70	59	start	start	NOUN
fcis-9421	70	60	to	to	ADP
fcis-9421	70	61	,	,	PUNCT
fcis-9421	70	62	the	the	DET
fcis-9421	70	63	circumferential	circumferential	ADJ
fcis-9421	70	64	arcs	arcs	NOUN
fcis-9421	70	65	of	of	ADP
fcis-9421	70	66	and	and	CCONJ
fcis-9421	70	67	,	,	PUNCT
fcis-9421	70	68	and	and	CCONJ
fcis-9421	70	69	the	the	DET
fcis-9421	70	70	circumferential	circumferential	ADJ
fcis-9421	70	71	arc	arc	NOUN
fcis-9421	70	72	from	from	ADP
fcis-9421	70	73	to	to	ADP
fcis-9421	70	74	goal	goal	NOUN
fcis-9421	70	75	.	.	PUNCT
fcis-9421	71	1	accordingly	accordingly	ADV
fcis-9421	71	2	,	,	PUNCT
fcis-9421	71	3	an	an	DET
fcis-9421	71	4	improved	improved	ADJ
fcis-9421	71	5	bow	bow	NOUN
fcis-9421	71	6	-	-	PUNCT
fcis-9421	71	7	shaped	shape	VERB
fcis-9421	71	8	coverage	coverage	NOUN
fcis-9421	71	9	algorithm	algorithm	NOUN
fcis-9421	71	10	is	be	AUX
fcis-9421	71	11	designed	design	VERB
fcis-9421	71	12	:	:	PUNCT
fcis-9421	71	13	firstly	firstly	ADV
fcis-9421	71	14	,	,	PUNCT
fcis-9421	71	15	the	the	DET
fcis-9421	71	16	rectangular	rectangular	ADJ
fcis-9421	71	17	square	square	ADJ
fcis-9421	71	18	area	area	NOUN
fcis-9421	71	19	is	be	AUX
fcis-9421	71	20	swept	sweep	VERB
fcis-9421	71	21	along	along	ADP
fcis-9421	71	22	the	the	DET
fcis-9421	71	23	edge	edge	NOUN
fcis-9421	71	24	,	,	PUNCT
fcis-9421	71	25	and	and	CCONJ
fcis-9421	71	26	the	the	DET
fcis-9421	71	27	distance	distance	NOUN
fcis-9421	71	28	from	from	ADP
fcis-9421	71	29	the	the	DET
fcis-9421	71	30	top	top	NOUN
fcis-9421	71	31	of	of	ADP
fcis-9421	71	32	the	the	DET
fcis-9421	71	33	arc	arc	NOUN
fcis-9421	71	34	of	of	ADP
fcis-9421	71	35	the	the	DET
fcis-9421	71	36	turnaround	turnaround	NOUN
fcis-9421	71	37	path	path	NOUN
fcis-9421	71	38	curve	curve	NOUN
fcis-9421	71	39	is	be	AUX
fcis-9421	71	40	calculated	calculate	VERB
fcis-9421	71	41	based	base	VERB
fcis-9421	71	42	on	on	ADP
fcis-9421	71	43	the	the	DET
fcis-9421	71	44	minimum	minimum	ADJ
fcis-9421	71	45	turning	turning	NOUN
fcis-9421	71	46	radius	radius	NOUN
fcis-9421	71	47	of	of	ADP
fcis-9421	71	48	the	the	DET
fcis-9421	71	49	sanitation	sanitation	NOUN
fcis-9421	71	50	platform	platform	NOUN
fcis-9421	71	51	,	,	PUNCT
fcis-9421	71	52	leaving	leave	VERB
fcis-9421	71	53	a	a	DET
fcis-9421	71	54	margin	margin	NOUN
fcis-9421	71	55	of	of	ADP
fcis-9421	71	56	180	180	NUM
fcis-9421	71	57	degree	degree	NOUN
fcis-9421	71	58	turnaround	turnaround	NOUN
fcis-9421	71	59	turns	turn	VERB
fcis-9421	71	60	for	for	ADP
fcis-9421	71	61	the	the	DET
fcis-9421	71	62	following	follow	VERB
fcis-9421	71	63	coverage	coverage	NOUN
fcis-9421	71	64	algorithm	algorithm	NOUN
fcis-9421	71	65	.	.	PUNCT
fcis-9421	72	1	the	the	DET
fcis-9421	72	2	area	area	NOUN
fcis-9421	72	3	to	to	PART
fcis-9421	72	4	be	be	AUX
fcis-9421	72	5	operated	operate	VERB
fcis-9421	72	6	by	by	ADP
fcis-9421	72	7	the	the	DET
fcis-9421	72	8	improved	improved	ADJ
fcis-9421	72	9	algorithm	algorithm	NOUN
fcis-9421	72	10	is	be	AUX
fcis-9421	72	11	thus	thus	ADV
fcis-9421	72	12	a	a	DET
fcis-9421	72	13	reduced	reduce	VERB
fcis-9421	72	14	rectangular	rectangular	ADJ
fcis-9421	72	15	area	area	NOUN
fcis-9421	72	16	or	or	CCONJ
fcis-9421	72	17	u	u	NOUN
fcis-9421	72	18	-	-	ADJ
fcis-9421	72	19	shaped	shape	VERB
fcis-9421	72	20	area	area	NOUN
fcis-9421	72	21	.	.	PUNCT
fcis-9421	73	1	in	in	ADP
fcis-9421	73	2	the	the	DET
fcis-9421	73	3	rectangular	rectangular	ADJ
fcis-9421	73	4	square	square	ADJ
fcis-9421	73	5	raster	raster	PROPN
fcis-9421	73	6	map	map	NOUN
fcis-9421	73	7	,	,	PUNCT
fcis-9421	73	8	(	(	PUNCT
fcis-9421	73	9	0,0	0,0	NOUN
fcis-9421	73	10	)	)	PUNCT
fcis-9421	73	11	is	be	AUX
fcis-9421	73	12	the	the	DET
fcis-9421	73	13	raster	raster	NOUN
fcis-9421	73	14	coordinate	coordinate	NOUN
fcis-9421	73	15	of	of	ADP
fcis-9421	73	16	the	the	DET
fcis-9421	73	17	lower	low	ADJ
fcis-9421	73	18	left	left	ADJ
fcis-9421	73	19	corner	corner	NOUN
fcis-9421	73	20	of	of	ADP
fcis-9421	73	21	the	the	DET
fcis-9421	73	22	rectangular	rectangular	ADJ
fcis-9421	73	23	region	region	NOUN
fcis-9421	73	24	,	,	PUNCT
fcis-9421	73	25	the	the	DET
fcis-9421	73	26	length	length	NOUN
fcis-9421	73	27	of	of	ADP
fcis-9421	73	28	the	the	DET
fcis-9421	73	29	rectangular	rectangular	ADJ
fcis-9421	73	30	square	square	ADJ
fcis-9421	73	31	region	region	NOUN
fcis-9421	73	32	along	along	ADP
fcis-9421	73	33	the	the	DET
fcis-9421	73	34	primary	primary	ADJ
fcis-9421	73	35	operation	operation	NOUN
fcis-9421	73	36	direction	direction	NOUN
fcis-9421	73	37	of	of	ADP
fcis-9421	73	38	the	the	DET
fcis-9421	73	39	sanitation	sanitation	NOUN
fcis-9421	73	40	platform	platform	NOUN
fcis-9421	73	41	is	be	AUX
fcis-9421	73	42	,	,	PUNCT
fcis-9421	73	43	the	the	DET
fcis-9421	73	44	width	width	NOUN
fcis-9421	73	45	of	of	ADP
fcis-9421	73	46	the	the	DET
fcis-9421	73	47	secondary	secondary	ADJ
fcis-9421	73	48	operation	operation	NOUN
fcis-9421	73	49	direction	direction	NOUN
fcis-9421	73	50	is	be	AUX
fcis-9421	73	51	,	,	PUNCT
fcis-9421	73	52	and	and	CCONJ
fcis-9421	73	53	the	the	DET
fcis-9421	73	54	vehicle	vehicle	NOUN
fcis-9421	73	55	width	width	NOUN
fcis-9421	73	56	of	of	ADP
fcis-9421	73	57	the	the	DET
fcis-9421	73	58	sanitation	sanitation	NOUN
fcis-9421	73	59	platform	platform	NOUN
fcis-9421	73	60	is	be	AUX
fcis-9421	73	61	.	.	PUNCT
fcis-9421	74	1	(	(	PUNCT
fcis-9421	74	2	1	1	X
fcis-9421	74	3	)	)	PUNCT
fcis-9421	74	4	first	first	ADV
fcis-9421	74	5	,	,	PUNCT
fcis-9421	74	6	determine	determine	VERB
fcis-9421	74	7	the	the	DET
fcis-9421	74	8	number	number	NOUN
fcis-9421	74	9	of	of	ADP
fcis-9421	74	10	round	round	ADJ
fcis-9421	74	11	-	-	PUNCT
fcis-9421	74	12	trip	trip	NOUN
fcis-9421	74	13	sweeping	sweeping	NOUN
fcis-9421	74	14	of	of	ADP
fcis-9421	74	15	the	the	DET
fcis-9421	74	16	unmanned	unmanned	ADJ
fcis-9421	74	17	sanitation	sanitation	NOUN
fcis-9421	74	18	platform	platform	NOUN
fcis-9421	74	19	in	in	ADP
fcis-9421	74	20	the	the	DET
fcis-9421	74	21	main	main	ADJ
fcis-9421	74	22	operation	operation	NOUN
fcis-9421	74	23	direction	direction	NOUN
fcis-9421	74	24	:	:	PUNCT
fcis-9421	74	25	for	for	SCONJ
fcis-9421	74	26	the	the	DET
fcis-9421	74	27	square	square	ADJ
fcis-9421	74	28	area	area	NOUN
fcis-9421	74	29	reserved	reserve	VERB
fcis-9421	74	30	for	for	ADP
fcis-9421	74	31	two	two	NUM
fcis-9421	74	32	circles	circle	NOUN
fcis-9421	74	33	of	of	ADP
fcis-9421	74	34	cleaning	cleaning	NOUN
fcis-9421	74	35	along	along	ADP
fcis-9421	74	36	the	the	DET
fcis-9421	74	37	edge	edge	NOUN
fcis-9421	74	38	,	,	PUNCT
fcis-9421	74	39	the	the	DET
fcis-9421	74	40	number	number	NOUN
fcis-9421	74	41	of	of	ADP
fcis-9421	74	42	round	round	ADJ
fcis-9421	74	43	-	-	PUNCT
fcis-9421	74	44	trip	trip	NOUN
fcis-9421	74	45	sweeping	sweeping	NOUN
fcis-9421	74	46	of	of	ADP
fcis-9421	74	47	the	the	DET
fcis-9421	74	48	sanitation	sanitation	NOUN
fcis-9421	74	49	platform	platform	NOUN
fcis-9421	74	50	in	in	ADP
fcis-9421	74	51	the	the	DET
fcis-9421	74	52	main	main	ADJ
fcis-9421	74	53	operation	operation	NOUN
fcis-9421	74	54	direction	direction	NOUN
fcis-9421	74	55	4	4	NUM
fcis-9421	74	56	2	2	NUM
fcis-9421	74	57	7	7	NUM
fcis-9421	74	58	1	1	NUM
fcis-9421	74	59	,	,	PUNCT
fcis-9421	74	60	2	2	NUM
fcis-9421	74	61	,	,	PUNCT
fcis-9421	74	62	8	8	NUM
fcis-9421	74	63	(	(	PUNCT
fcis-9421	74	64	2	2	NUM
fcis-9421	74	65	)	)	PUNCT
fcis-9421	74	66	next	next	ADV
fcis-9421	74	67	,	,	PUNCT
fcis-9421	74	68	determine	determine	VERB
fcis-9421	74	69	the	the	DET
fcis-9421	74	70	starting	starting	NOUN
fcis-9421	74	71	and	and	CCONJ
fcis-9421	74	72	ending	end	VERB
fcis-9421	74	73	positions	position	NOUN
fcis-9421	74	74	for	for	ADP
fcis-9421	74	75	performing	perform	VERB
fcis-9421	74	76	forward	forward	ADV
fcis-9421	74	77	bow	bow	NOUN
fcis-9421	74	78	sweep	sweep	NOUN
fcis-9421	74	79	:	:	PUNCT
fcis-9421	74	80	starting	start	VERB
fcis-9421	74	81	position	position	NOUN
fcis-9421	74	82	,	,	PUNCT
fcis-9421	74	83	and	and	CCONJ
fcis-9421	74	84	ending	end	VERB
fcis-9421	74	85	position	position	NOUN
fcis-9421	74	86	,	,	PUNCT
fcis-9421	74	87	.	.	PUNCT
fcis-9421	75	1	,	,	PUNCT
fcis-9421	75	2	2	2	NUM
fcis-9421	75	3	,	,	PUNCT
fcis-9421	75	4	2	2	NUM
fcis-9421	75	5	9	9	NUM
fcis-9421	75	6	,	,	PUNCT
fcis-9421	75	7	4	4	NUM
fcis-9421	75	8	,	,	PUNCT
fcis-9421	75	9	2	2	NUM
fcis-9421	75	10	,	,	PUNCT
fcis-9421	75	11	,	,	PUNCT
fcis-9421	75	12	2	2	NUM
fcis-9421	75	13	,	,	PUNCT
fcis-9421	75	14	10	10	NUM
fcis-9421	75	15	the	the	DET
fcis-9421	75	16	specific	specific	ADJ
fcis-9421	75	17	algorithm	algorithm	NOUN
fcis-9421	75	18	principle	principle	NOUN
fcis-9421	75	19	is	be	AUX
fcis-9421	75	20	as	as	SCONJ
fcis-9421	75	21	follows	follow	VERB
fcis-9421	75	22	:	:	PUNCT
fcis-9421	76	1	step1	step1	NOUN
fcis-9421	76	2	:	:	PUNCT
fcis-9421	76	3	initialize	initialize	VERB
fcis-9421	76	4	the	the	DET
fcis-9421	76	5	starting	starting	NOUN
fcis-9421	76	6	coordinates	coordinate	NOUN
fcis-9421	76	7	of	of	ADP
fcis-9421	76	8	the	the	DET
fcis-9421	76	9	rectangular	rectangular	ADJ
fcis-9421	76	10	area	area	NOUN
fcis-9421	76	11	to	to	PART
fcis-9421	76	12	be	be	AUX
fcis-9421	76	13	cleared	clear	VERB
fcis-9421	76	14	as	as	ADP
fcis-9421	76	15	,	,	PUNCT
fcis-9421	76	16	;	;	PUNCT
fcis-9421	76	17	step2	step2	PROPN
fcis-9421	76	18	:	:	PUNCT
fcis-9421	76	19	judge	judge	VERB
fcis-9421	76	20	the	the	DET
fcis-9421	76	21	parity	parity	NOUN
fcis-9421	76	22	of	of	ADP
fcis-9421	76	23	/2	/2	NOUN
fcis-9421	76	24	,	,	PUNCT
fcis-9421	76	25	if	if	SCONJ
fcis-9421	76	26	it	it	PRON
fcis-9421	76	27	is	be	AUX
fcis-9421	76	28	odd	odd	ADJ
fcis-9421	76	29	,	,	PUNCT
fcis-9421	76	30	1	1	NUM
fcis-9421	76	31	;	;	PUNCT
fcis-9421	76	32	if	if	SCONJ
fcis-9421	76	33	it	it	PRON
fcis-9421	76	34	is	be	AUX
fcis-9421	76	35	even	even	ADV
fcis-9421	76	36	,	,	PUNCT
fcis-9421	76	37	1	1	NUM
fcis-9421	76	38	;	;	PUNCT
fcis-9421	76	39	the	the	DET
fcis-9421	76	40	vertical	vertical	ADJ
fcis-9421	76	41	coordinates	coordinate	NOUN
fcis-9421	76	42	remain	remain	VERB
fcis-9421	76	43	unchanged	unchanged	ADJ
fcis-9421	76	44	;	;	PUNCT
fcis-9421	76	45	step3	step3	PROPN
fcis-9421	76	46	:	:	PUNCT
fcis-9421	76	47	judge	judge	VERB
fcis-9421	76	48	whether	whether	SCONJ
fcis-9421	76	49	x=	x=	PROPN
fcis-9421	76	50	/	/	SYM
fcis-9421	76	51	4	4	NUM
fcis-9421	76	52	is	be	AUX
fcis-9421	76	53	equal	equal	ADJ
fcis-9421	76	54	44	44	NUM
fcis-9421	76	55	to	to	PART
fcis-9421	76	56	0	0	NUM
fcis-9421	76	57	or	or	CCONJ
fcis-9421	76	58	1	1	NUM
fcis-9421	76	59	.	.	PUNCT
fcis-9421	77	1	if	if	SCONJ
fcis-9421	77	2	it	it	PRON
fcis-9421	77	3	is	be	AUX
fcis-9421	77	4	equal	equal	ADJ
fcis-9421	77	5	to	to	ADP
fcis-9421	77	6	0	0	NUM
fcis-9421	77	7	or	or	CCONJ
fcis-9421	77	8	1	1	NUM
fcis-9421	77	9	,	,	PUNCT
fcis-9421	77	10	continue	continue	VERB
fcis-9421	77	11	to	to	PART
fcis-9421	77	12	judge	judge	VERB
fcis-9421	77	13	whether	whether	SCONJ
fcis-9421	77	14	the	the	DET
fcis-9421	77	15	current	current	NOUN
fcis-9421	77	16	,	,	PUNCT
fcis-9421	77	17	is	be	AUX
fcis-9421	77	18	,	,	PUNCT
fcis-9421	77	19	,	,	PUNCT
fcis-9421	77	20	if	if	SCONJ
fcis-9421	77	21	it	it	PRON
fcis-9421	77	22	is	be	AUX
fcis-9421	77	23	,	,	PUNCT
fcis-9421	77	24	turn	turn	VERB
fcis-9421	77	25	to	to	PART
fcis-9421	77	26	step6	step6	VERB
fcis-9421	77	27	for	for	ADP
fcis-9421	77	28	execution	execution	NOUN
fcis-9421	77	29	;	;	PUNCT
fcis-9421	77	30	if	if	SCONJ
fcis-9421	77	31	it	it	PRON
fcis-9421	77	32	is	be	AUX
fcis-9421	77	33	not	not	PART
fcis-9421	77	34	,	,	PUNCT
fcis-9421	77	35	turn	turn	VERB
fcis-9421	77	36	to	to	ADP
fcis-9421	77	37	step4	step4	PROPN
fcis-9421	77	38	for	for	ADP
fcis-9421	77	39	execution	execution	NOUN
fcis-9421	77	40	;	;	PUNCT
fcis-9421	77	41	if	if	SCONJ
fcis-9421	77	42	it	it	PRON
fcis-9421	77	43	is	be	AUX
fcis-9421	77	44	not	not	PART
fcis-9421	77	45	equal	equal	ADJ
fcis-9421	77	46	to	to	ADP
fcis-9421	77	47	0	0	NUM
fcis-9421	77	48	or	or	CCONJ
fcis-9421	77	49	1	1	NUM
fcis-9421	77	50	,	,	PUNCT
fcis-9421	77	51	turn	turn	VERB
fcis-9421	77	52	to	to	ADP
fcis-9421	77	53	step2	step2	PROPN
fcis-9421	77	54	for	for	ADP
fcis-9421	77	55	execution	execution	NOUN
fcis-9421	77	56	;	;	PUNCT
fcis-9421	77	57	step4	step4	PROPN
fcis-9421	77	58	:	:	PUNCT
fcis-9421	77	59	1	1	NUM
fcis-9421	77	60	,	,	PUNCT
fcis-9421	77	61	the	the	DET
fcis-9421	77	62	horizontal	horizontal	ADJ
fcis-9421	77	63	coordinate	coordinate	NOUN
fcis-9421	77	64	remains	remain	VERB
fcis-9421	77	65	unchanged	unchanged	ADJ
fcis-9421	77	66	;	;	PUNCT
fcis-9421	77	67	step5	step5	PROPN
fcis-9421	77	68	:	:	PUNCT
fcis-9421	77	69	determine	determine	VERB
fcis-9421	77	70	whether	whether	SCONJ
fcis-9421	77	71	(	(	PUNCT
fcis-9421	77	72	y	y	X
fcis-9421	77	73	-	-	PUNCT
fcis-9421	77	74	y_1)/2d	y_1)/2d	PROPN
fcis-9421	77	75	is	be	AUX
fcis-9421	77	76	an	an	DET
fcis-9421	77	77	integer	integer	NOUN
fcis-9421	77	78	?	?	PUNCT
fcis-9421	78	1	if	if	SCONJ
fcis-9421	78	2	yes	yes	ADV
fcis-9421	78	3	,	,	PUNCT
fcis-9421	78	4	go	go	VERB
fcis-9421	78	5	to	to	ADP
fcis-9421	78	6	step2	step2	PROPN
fcis-9421	78	7	and	and	CCONJ
fcis-9421	78	8	continue	continue	VERB
fcis-9421	78	9	,	,	PUNCT
fcis-9421	78	10	otherwise	otherwise	ADV
fcis-9421	78	11	go	go	VERB
fcis-9421	78	12	to	to	ADP
fcis-9421	78	13	step4	step4	PROPN
fcis-9421	78	14	and	and	CCONJ
fcis-9421	78	15	continue	continue	VERB
fcis-9421	78	16	;	;	PUNCT
fcis-9421	78	17	step6	step6	NOUN
fcis-9421	78	18	:	:	PUNCT
fcis-9421	78	19	y	y	PROPN
fcis-9421	78	20	=	=	NOUN
fcis-9421	78	21	y-1	y-1	NOUN
fcis-9421	78	22	with	with	ADP
fcis-9421	78	23	the	the	DET
fcis-9421	78	24	same	same	ADJ
fcis-9421	78	25	horizontal	horizontal	ADJ
fcis-9421	78	26	coordinate	coordinate	NOUN
fcis-9421	78	27	;	;	PUNCT
fcis-9421	78	28	step7	step7	NUM
fcis-9421	78	29	:	:	PUNCT
fcis-9421	78	30	determine	determine	VERB
fcis-9421	78	31	whether	whether	SCONJ
fcis-9421	78	32	/2	/2	PRON
fcis-9421	78	33	is	be	AUX
fcis-9421	78	34	an	an	DET
fcis-9421	78	35	integer	integer	NOUN
fcis-9421	78	36	?	?	PUNCT
fcis-9421	79	1	if	if	SCONJ
fcis-9421	79	2	yes	yes	ADV
fcis-9421	79	3	,	,	PUNCT
fcis-9421	79	4	go	go	VERB
fcis-9421	79	5	to	to	ADP
fcis-9421	79	6	step8	step8	NOUN
fcis-9421	79	7	,	,	PUNCT
fcis-9421	79	8	otherwise	otherwise	ADV
fcis-9421	79	9	go	go	VERB
fcis-9421	79	10	to	to	PART
fcis-9421	79	11	step6	step6	VERB
fcis-9421	79	12	to	to	PART
fcis-9421	79	13	continue	continue	VERB
fcis-9421	79	14	the	the	DET
fcis-9421	79	15	execution	execution	NOUN
fcis-9421	79	16	;	;	PUNCT
fcis-9421	79	17	step8	step8	ADJ
fcis-9421	79	18	:	:	PUNCT
fcis-9421	79	19	determine	determine	VERB
fcis-9421	79	20	the	the	DET
fcis-9421	79	21	parity	parity	NOUN
fcis-9421	79	22	of	of	ADP
fcis-9421	79	23	/2	/2	PROPN
fcis-9421	79	24	?	?	PUNCT
fcis-9421	80	1	if	if	SCONJ
fcis-9421	80	2	it	it	PRON
fcis-9421	80	3	is	be	AUX
fcis-9421	80	4	even	even	ADV
fcis-9421	80	5	,	,	PUNCT
fcis-9421	80	6	1	1	NUM
fcis-9421	80	7	;	;	PUNCT
fcis-9421	80	8	if	if	SCONJ
fcis-9421	80	9	it	it	PRON
fcis-9421	80	10	is	be	AUX
fcis-9421	80	11	odd	odd	ADJ
fcis-9421	80	12	,	,	PUNCT
fcis-9421	80	13	1	1	NUM
fcis-9421	80	14	;	;	PUNCT
fcis-9421	80	15	the	the	DET
fcis-9421	80	16	vertical	vertical	ADJ
fcis-9421	80	17	coordinates	coordinate	NOUN
fcis-9421	80	18	remain	remain	VERB
fcis-9421	80	19	unchanged	unchanged	ADJ
fcis-9421	80	20	;	;	PUNCT
fcis-9421	80	21	step9	step9	NOUN
fcis-9421	80	22	:	:	PUNCT
fcis-9421	80	23	determine	determine	VERB
fcis-9421	80	24	whether	whether	SCONJ
fcis-9421	80	25	/	/	SYM
fcis-9421	80	26	4	4	NUM
fcis-9421	80	27	is	be	AUX
fcis-9421	80	28	equal	equal	ADJ
fcis-9421	80	29	to	to	ADP
fcis-9421	80	30	0	0	NUM
fcis-9421	80	31	or	or	CCONJ
fcis-9421	80	32	1	1	NUM
fcis-9421	80	33	;	;	PUNCT
fcis-9421	80	34	if	if	SCONJ
fcis-9421	80	35	it	it	PRON
fcis-9421	80	36	is	be	AUX
fcis-9421	80	37	,	,	PUNCT
fcis-9421	80	38	continue	continue	VERB
fcis-9421	80	39	to	to	PART
fcis-9421	80	40	determine	determine	VERB
fcis-9421	80	41	y	y	PROPN
fcis-9421	80	42	=	=	NOUN
fcis-9421	80	43	y+1	y+1	PROPN
fcis-9421	80	44	;	;	PUNCT
fcis-9421	80	45	if	if	SCONJ
fcis-9421	80	46	so	so	ADV
fcis-9421	80	47	,	,	PUNCT
fcis-9421	80	48	exit	exit	VERB
fcis-9421	80	49	the	the	DET
fcis-9421	80	50	loop	loop	NOUN
fcis-9421	80	51	;	;	PUNCT
fcis-9421	80	52	if	if	SCONJ
fcis-9421	80	53	not	not	PART
fcis-9421	80	54	,	,	PUNCT
fcis-9421	80	55	return	return	VERB
fcis-9421	80	56	to	to	ADP
fcis-9421	80	57	step6	step6	VERB
fcis-9421	80	58	;	;	PUNCT
fcis-9421	80	59	if	if	SCONJ
fcis-9421	80	60	it	it	PRON
fcis-9421	80	61	is	be	AUX
fcis-9421	80	62	not	not	PART
fcis-9421	80	63	equal	equal	ADJ
fcis-9421	80	64	to	to	ADP
fcis-9421	80	65	0	0	NUM
fcis-9421	80	66	or	or	CCONJ
fcis-9421	80	67	1	1	NUM
fcis-9421	80	68	,	,	PUNCT
fcis-9421	80	69	return	return	VERB
fcis-9421	80	70	to	to	ADP
fcis-9421	80	71	step8	step8	NOUN
fcis-9421	80	72	;	;	PUNCT
fcis-9421	80	73	step10	step10	NOUN
fcis-9421	80	74	:	:	PUNCT
fcis-9421	80	75	use	use	VERB
fcis-9421	80	76	dubins	dubin	NOUN
fcis-9421	80	77	curve	curve	NOUN
fcis-9421	80	78	for	for	ADP
fcis-9421	80	79	path	path	NOUN
fcis-9421	80	80	smoothing	smoothing	NOUN
fcis-9421	80	81	;	;	PUNCT
fcis-9421	80	82	finally	finally	ADV
fcis-9421	80	83	get	get	VERB
fcis-9421	80	84	the	the	DET
fcis-9421	80	85	schematic	schematic	ADJ
fcis-9421	80	86	diagram	diagram	NOUN
fcis-9421	80	87	of	of	ADP
fcis-9421	80	88	the	the	DET
fcis-9421	80	89	full	full	ADJ
fcis-9421	80	90	coverage	coverage	NOUN
fcis-9421	80	91	of	of	ADP
fcis-9421	80	92	the	the	DET
fcis-9421	80	93	rectangular	rectangular	ADJ
fcis-9421	80	94	area	area	NOUN
fcis-9421	80	95	as	as	SCONJ
fcis-9421	80	96	shown	show	VERB
fcis-9421	80	97	in	in	ADP
fcis-9421	80	98	figure	figure	NOUN
fcis-9421	80	99	15	15	NUM
fcis-9421	80	100	.	.	PUNCT
fcis-9421	81	1	figure	figure	NOUN
fcis-9421	81	2	15	15	NUM
fcis-9421	81	3	.	.	PUNCT
fcis-9421	82	1	improved	improve	VERB
fcis-9421	82	2	boustrophedon	boustrophedon	PROPN
fcis-9421	82	3	complete	complete	ADJ
fcis-9421	82	4	coverage	coverage	NOUN
fcis-9421	82	5	path	path	NOUN
fcis-9421	82	6	planning	planning	NOUN
fcis-9421	82	7	diagram	diagram	PROPN
fcis-9421	82	8	2.4	2.4	NUM
fcis-9421	82	9	.	.	PUNCT
fcis-9421	83	1	sub	sub	ADJ
fcis-9421	83	2	-	-	ADJ
fcis-9421	83	3	area	area	ADJ
fcis-9421	83	4	articulation	articulation	NOUN
fcis-9421	83	5	design	design	VERB
fcis-9421	83	6	the	the	DET
fcis-9421	83	7	park	park	NOUN
fcis-9421	83	8	environment	environment	NOUN
fcis-9421	83	9	is	be	AUX
fcis-9421	83	10	divided	divide	VERB
fcis-9421	83	11	into	into	ADP
fcis-9421	83	12	a	a	DET
fcis-9421	83	13	lane	lane	NOUN
fcis-9421	83	14	area	area	NOUN
fcis-9421	83	15	and	and	CCONJ
fcis-9421	83	16	a	a	DET
fcis-9421	83	17	rectangular	rectangular	ADJ
fcis-9421	83	18	plaza	plaza	NOUN
fcis-9421	83	19	area	area	NOUN
fcis-9421	83	20	,	,	PUNCT
fcis-9421	83	21	and	and	CCONJ
fcis-9421	83	22	the	the	DET
fcis-9421	83	23	two	two	NUM
fcis-9421	83	24	sub	sub	NOUN
fcis-9421	83	25	-	-	NOUN
fcis-9421	83	26	areas	area	NOUN
fcis-9421	83	27	are	be	AUX
fcis-9421	83	28	connected	connect	VERB
fcis-9421	83	29	to	to	PART
fcis-9421	83	30	accomplish	accomplish	VERB
fcis-9421	83	31	the	the	DET
fcis-9421	83	32	final	final	ADJ
fcis-9421	83	33	goal	goal	NOUN
fcis-9421	83	34	of	of	ADP
fcis-9421	83	35	full	full	ADJ
fcis-9421	83	36	park	park	NOUN
fcis-9421	83	37	coverage	coverage	NOUN
fcis-9421	83	38	.	.	PUNCT
fcis-9421	84	1	the	the	DET
fcis-9421	84	2	connection	connection	NOUN
fcis-9421	84	3	between	between	ADP
fcis-9421	84	4	the	the	DET
fcis-9421	84	5	sub	sub	NOUN
fcis-9421	84	6	-	-	NOUN
fcis-9421	84	7	areas	area	NOUN
fcis-9421	84	8	can	can	AUX
fcis-9421	84	9	be	be	AUX
fcis-9421	84	10	considered	consider	VERB
fcis-9421	84	11	as	as	ADP
fcis-9421	84	12	a	a	DET
fcis-9421	84	13	"	"	PUNCT
fcis-9421	84	14	point	point	NOUN
fcis-9421	84	15	-	-	PUNCT
fcis-9421	84	16	to	to	ADP
fcis-9421	84	17	-	-	PUNCT
fcis-9421	84	18	point	point	NOUN
fcis-9421	84	19	"	"	PUNCT
fcis-9421	84	20	spatial	spatial	ADJ
fcis-9421	84	21	shortest	short	ADJ
fcis-9421	84	22	path	path	NOUN
fcis-9421	84	23	planning	planning	NOUN
fcis-9421	84	24	.	.	PUNCT
fcis-9421	85	1	the	the	DET
fcis-9421	85	2	shortest	short	ADJ
fcis-9421	85	3	path	path	NOUN
fcis-9421	85	4	search	search	NOUN
fcis-9421	85	5	between	between	ADP
fcis-9421	85	6	two	two	NUM
fcis-9421	85	7	sub	sub	NOUN
fcis-9421	85	8	-	-	NOUN
fcis-9421	85	9	regions	region	NOUN
fcis-9421	85	10	is	be	AUX
fcis-9421	85	11	the	the	DET
fcis-9421	85	12	key	key	NOUN
fcis-9421	85	13	to	to	PART
fcis-9421	85	14	improve	improve	VERB
fcis-9421	85	15	the	the	DET
fcis-9421	85	16	cleaning	cleaning	NOUN
fcis-9421	85	17	efficiency	efficiency	NOUN
fcis-9421	85	18	when	when	SCONJ
fcis-9421	85	19	the	the	DET
fcis-9421	85	20	sanitation	sanitation	NOUN
fcis-9421	85	21	platform	platform	NOUN
fcis-9421	85	22	ends	end	VERB
fcis-9421	85	23	the	the	DET
fcis-9421	85	24	coverage	coverage	NOUN
fcis-9421	85	25	task	task	NOUN
fcis-9421	85	26	of	of	ADP
fcis-9421	85	27	the	the	DET
fcis-9421	85	28	previous	previous	ADJ
fcis-9421	85	29	sub	sub	NOUN
fcis-9421	85	30	-	-	NOUN
fcis-9421	85	31	region	region	NOUN
fcis-9421	85	32	and	and	CCONJ
fcis-9421	85	33	starts	start	VERB
fcis-9421	85	34	the	the	DET
fcis-9421	85	35	coverage	coverage	NOUN
fcis-9421	85	36	task	task	NOUN
fcis-9421	85	37	of	of	ADP
fcis-9421	85	38	the	the	DET
fcis-9421	85	39	next	next	ADJ
fcis-9421	85	40	sub	sub	NOUN
fcis-9421	85	41	-	-	NOUN
fcis-9421	85	42	region	region	NOUN
fcis-9421	85	43	.	.	PUNCT
fcis-9421	86	1	the	the	DET
fcis-9421	86	2	articulation	articulation	NOUN
fcis-9421	86	3	task	task	NOUN
fcis-9421	86	4	between	between	ADP
fcis-9421	86	5	sub	sub	ADJ
fcis-9421	86	6	-	-	ADJ
fcis-9421	86	7	operating	operate	VERB
fcis-9421	86	8	areas	area	NOUN
fcis-9421	86	9	includes	include	VERB
fcis-9421	86	10	two	two	NUM
fcis-9421	86	11	parts	part	NOUN
fcis-9421	86	12	:	:	PUNCT
fcis-9421	86	13	determining	determine	VERB
fcis-9421	86	14	the	the	DET
fcis-9421	86	15	starting	starting	NOUN
fcis-9421	86	16	end	end	NOUN
fcis-9421	86	17	of	of	ADP
fcis-9421	86	18	sub	sub	ADJ
fcis-9421	86	19	-	-	ADJ
fcis-9421	86	20	operating	operate	VERB
fcis-9421	86	21	areas	area	NOUN
fcis-9421	86	22	and	and	CCONJ
fcis-9421	86	23	designing	design	VERB
fcis-9421	86	24	the	the	DET
fcis-9421	86	25	articulation	articulation	NOUN
fcis-9421	86	26	method	method	NOUN
fcis-9421	86	27	of	of	ADP
fcis-9421	86	28	sub	sub	ADJ
fcis-9421	86	29	-	-	ADJ
fcis-9421	86	30	operating	operate	VERB
fcis-9421	86	31	areas	area	NOUN
fcis-9421	86	32	.	.	PUNCT
fcis-9421	87	1	firstly	firstly	ADV
fcis-9421	87	2	,	,	PUNCT
fcis-9421	87	3	we	we	PRON
fcis-9421	87	4	divide	divide	VERB
fcis-9421	87	5	different	different	ADJ
fcis-9421	87	6	operation	operation	NOUN
fcis-9421	87	7	areas	area	NOUN
fcis-9421	87	8	according	accord	VERB
fcis-9421	87	9	to	to	ADP
fcis-9421	87	10	the	the	DET
fcis-9421	87	11	sweeping	sweeping	ADJ
fcis-9421	87	12	task	task	NOUN
fcis-9421	87	13	,	,	PUNCT
fcis-9421	87	14	and	and	CCONJ
fcis-9421	87	15	choose	choose	VERB
fcis-9421	87	16	the	the	DET
fcis-9421	87	17	covering	covering	NOUN
fcis-9421	87	18	methods	method	NOUN
fcis-9421	87	19	of	of	ADP
fcis-9421	87	20	the	the	DET
fcis-9421	87	21	last	last	ADJ
fcis-9421	87	22	two	two	NUM
fcis-9421	87	23	sections	section	NOUN
fcis-9421	87	24	respectively	respectively	ADV
fcis-9421	87	25	,	,	PUNCT
fcis-9421	87	26	determine	determine	VERB
fcis-9421	87	27	the	the	DET
fcis-9421	87	28	vehicle	vehicle	NOUN
fcis-9421	87	29	orientation	orientation	NOUN
fcis-9421	87	30	of	of	ADP
fcis-9421	87	31	the	the	DET
fcis-9421	87	32	sanitation	sanitation	NOUN
fcis-9421	87	33	platform	platform	NOUN
fcis-9421	87	34	at	at	ADP
fcis-9421	87	35	the	the	DET
fcis-9421	87	36	beginning	beginning	NOUN
fcis-9421	87	37	and	and	CCONJ
fcis-9421	87	38	end	end	NOUN
fcis-9421	87	39	of	of	ADP
fcis-9421	87	40	the	the	DET
fcis-9421	87	41	task	task	NOUN
fcis-9421	87	42	in	in	ADP
fcis-9421	87	43	different	different	ADJ
fcis-9421	87	44	operation	operation	NOUN
fcis-9421	87	45	areas	area	NOUN
fcis-9421	87	46	according	accord	VERB
fcis-9421	87	47	to	to	ADP
fcis-9421	87	48	different	different	ADJ
fcis-9421	87	49	task	task	NOUN
fcis-9421	87	50	logics	logic	NOUN
fcis-9421	87	51	,	,	PUNCT
fcis-9421	87	52	and	and	CCONJ
fcis-9421	87	53	choose	choose	VERB
fcis-9421	87	54	a	a	DET
fcis-9421	87	55	suitable	suitable	ADJ
fcis-9421	87	56	pathfinding	pathfinding	NOUN
fcis-9421	87	57	algorithm	algorithm	NOUN
fcis-9421	87	58	for	for	ADP
fcis-9421	87	59	the	the	DET
fcis-9421	87	60	connection.hybrid	connection.hybrid	PROPN
fcis-9421	87	61	a	a	PRON
fcis-9421	87	62	*	*	PUNCT
fcis-9421	87	63	algorithm	algorithm	NOUN
fcis-9421	87	64	is	be	AUX
fcis-9421	87	65	a	a	DET
fcis-9421	87	66	kind	kind	NOUN
fcis-9421	87	67	of	of	ADP
fcis-9421	87	68	improvement	improvement	NOUN
fcis-9421	87	69	of	of	ADP
fcis-9421	87	70	the	the	DET
fcis-9421	87	71	standard	standard	NOUN
fcis-9421	87	72	a	a	DET
fcis-9421	87	73	*	*	X
fcis-9421	87	74	algorithm	algorithm	NOUN
fcis-9421	87	75	,	,	PUNCT
fcis-9421	87	76	by	by	ADP
fcis-9421	87	77	which	which	PRON
fcis-9421	87	78	can	can	AUX
fcis-9421	87	79	make	make	VERB
fcis-9421	87	80	the	the	DET
fcis-9421	87	81	path	path	NOUN
fcis-9421	87	82	planned	plan	VERB
fcis-9421	87	83	by	by	ADP
fcis-9421	87	84	a	a	DET
fcis-9421	87	85	*	*	PROPN
fcis-9421	87	86	algorithm	algorithm	NOUN
fcis-9421	87	87	meet	meet	VERB
fcis-9421	87	88	the	the	DET
fcis-9421	87	89	vehicle	vehicle	NOUN
fcis-9421	87	90	kinematics	kinematic	NOUN
fcis-9421	87	91	.	.	PUNCT
fcis-9421	88	1	3	3	X
fcis-9421	88	2	.	.	NOUN
fcis-9421	88	3	results	result	NOUN
fcis-9421	88	4	and	and	CCONJ
fcis-9421	88	5	discussion	discussion	NOUN
fcis-9421	88	6	3.1	3.1	NUM
fcis-9421	88	7	.	.	PUNCT
fcis-9421	89	1	experimental	experimental	ADJ
fcis-9421	89	2	program	program	NOUN
fcis-9421	89	3	design	design	NOUN
fcis-9421	89	4	experimental	experimental	ADJ
fcis-9421	89	5	purpose	purpose	NOUN
fcis-9421	89	6	:	:	PUNCT
fcis-9421	89	7	to	to	PART
fcis-9421	89	8	verify	verify	VERB
fcis-9421	89	9	whether	whether	SCONJ
fcis-9421	89	10	the	the	DET
fcis-9421	89	11	global	global	ADJ
fcis-9421	89	12	reference	reference	NOUN
fcis-9421	89	13	path	path	NOUN
fcis-9421	89	14	results	result	NOUN
fcis-9421	89	15	output	output	NOUN
fcis-9421	89	16	by	by	ADP
fcis-9421	89	17	the	the	DET
fcis-9421	89	18	global	global	ADJ
fcis-9421	89	19	path	path	PROPN
fcis-9421	89	20	planning	planning	NOUN
fcis-9421	89	21	module	module	NOUN
fcis-9421	89	22	are	be	AUX
fcis-9421	89	23	correct	correct	ADJ
fcis-9421	89	24	and	and	CCONJ
fcis-9421	89	25	reasonable	reasonable	ADJ
fcis-9421	89	26	,	,	PUNCT
fcis-9421	89	27	and	and	CCONJ
fcis-9421	89	28	to	to	PART
fcis-9421	89	29	evaluate	evaluate	VERB
fcis-9421	89	30	the	the	DET
fcis-9421	89	31	coverage	coverage	NOUN
fcis-9421	89	32	index	index	NOUN
fcis-9421	89	33	of	of	ADP
fcis-9421	89	34	the	the	DET
fcis-9421	89	35	global	global	ADJ
fcis-9421	89	36	path	path	NOUN
fcis-9421	89	37	.	.	PUNCT
fcis-9421	90	1	experimental	experimental	ADJ
fcis-9421	90	2	apparatus	apparatus	NOUN
fcis-9421	90	3	and	and	CCONJ
fcis-9421	90	4	equipment	equipment	NOUN
fcis-9421	90	5	:	:	PUNCT
fcis-9421	90	6	modified	modify	VERB
fcis-9421	90	7	small	small	ADJ
fcis-9421	90	8	driving	driving	NOUN
fcis-9421	90	9	sanitation	sanitation	NOUN
fcis-9421	90	10	platform	platform	NOUN
fcis-9421	90	11	with	with	ADP
fcis-9421	90	12	the	the	DET
fcis-9421	90	13	previous	previous	ADJ
fcis-9421	90	14	sensor	sensor	NOUN
fcis-9421	90	15	selection	selection	NOUN
fcis-9421	90	16	:	:	PUNCT
fcis-9421	90	17	multi	multi	ADJ
fcis-9421	90	18	-	-	ADJ
fcis-9421	90	19	line	line	ADJ
fcis-9421	90	20	lidar	lidar	NOUN
fcis-9421	90	21	+	+	CCONJ
fcis-9421	90	22	millimeter	millimeter	NOUN
fcis-9421	90	23	wave	wave	NOUN
fcis-9421	90	24	radar	radar	NOUN
fcis-9421	90	25	+	+	CCONJ
fcis-9421	90	26	ultrasonic	ultrasonic	ADJ
fcis-9421	90	27	radar	radar	NOUN
fcis-9421	90	28	+	+	CCONJ
fcis-9421	90	29	mobileye	mobileye	NOUN
fcis-9421	90	30	+	+	CCONJ
fcis-9421	90	31	inertial	inertial	ADJ
fcis-9421	90	32	guidance	guidance	NOUN
fcis-9421	90	33	+	+	CCONJ
fcis-9421	90	34	embedded	embed	VERB
fcis-9421	90	35	platform	platform	NOUN
fcis-9421	90	36	,	,	PUNCT
fcis-9421	90	37	the	the	DET
fcis-9421	90	38	experimental	experimental	ADJ
fcis-9421	90	39	platform	platform	NOUN
fcis-9421	90	40	is	be	AUX
fcis-9421	90	41	shown	show	VERB
fcis-9421	90	42	in	in	ADP
fcis-9421	90	43	figure	figure	NOUN
fcis-9421	90	44	16	16	NUM
fcis-9421	90	45	.	.	PUNCT
fcis-9421	91	1	figure	figure	NOUN
fcis-9421	91	2	16	16	NUM
fcis-9421	91	3	.	.	PUNCT
fcis-9421	92	1	experimental	experimental	ADJ
fcis-9421	92	2	platform	platform	NOUN
fcis-9421	92	3	experimental	experimental	ADJ
fcis-9421	92	4	protocol	protocol	NOUN
fcis-9421	92	5	:	:	PUNCT
fcis-9421	92	6	before	before	SCONJ
fcis-9421	92	7	the	the	DET
fcis-9421	92	8	experiment	experiment	NOUN
fcis-9421	92	9	starts	start	VERB
fcis-9421	92	10	,	,	PUNCT
fcis-9421	92	11	the	the	DET
fcis-9421	92	12	road	road	NOUN
fcis-9421	92	13	network	network	NOUN
fcis-9421	92	14	file	file	NOUN
fcis-9421	92	15	of	of	ADP
fcis-9421	92	16	the	the	DET
fcis-9421	92	17	park	park	NOUN
fcis-9421	92	18	environment	environment	NOUN
fcis-9421	92	19	to	to	PART
fcis-9421	92	20	be	be	AUX
fcis-9421	92	21	cleared	clear	VERB
fcis-9421	92	22	needs	need	NOUN
fcis-9421	92	23	to	to	PART
fcis-9421	92	24	be	be	AUX
fcis-9421	92	25	provided	provide	VERB
fcis-9421	92	26	.	.	PUNCT
fcis-9421	93	1	the	the	DET
fcis-9421	93	2	gps	gps	PROPN
fcis-9421	93	3	points	point	NOUN
fcis-9421	93	4	of	of	ADP
fcis-9421	93	5	the	the	DET
fcis-9421	93	6	road	road	NOUN
fcis-9421	93	7	are	be	AUX
fcis-9421	93	8	sampled	sample	VERB
fcis-9421	93	9	according	accord	VERB
fcis-9421	93	10	to	to	ADP
fcis-9421	93	11	the	the	DET
fcis-9421	93	12	gps	gps	PROPN
fcis-9421	93	13	positioning	positioning	NOUN
fcis-9421	93	14	information	information	NOUN
fcis-9421	93	15	,	,	PUNCT
fcis-9421	93	16	and	and	CCONJ
fcis-9421	93	17	the	the	DET
fcis-9421	93	18	sampling	sample	VERB
fcis-9421	93	19	frequency	frequency	NOUN
fcis-9421	93	20	is	be	AUX
fcis-9421	93	21	10hz	10hz	ADJ
fcis-9421	93	22	.	.	PUNCT
fcis-9421	94	1	the	the	DET
fcis-9421	94	2	collected	collect	VERB
fcis-9421	94	3	path	path	NOUN
fcis-9421	94	4	points	point	NOUN
fcis-9421	94	5	include	include	VERB
fcis-9421	94	6	latitude	latitude	NOUN
fcis-9421	94	7	and	and	CCONJ
fcis-9421	94	8	longitude	longitude	ADJ
fcis-9421	94	9	information	information	NOUN
fcis-9421	94	10	,	,	PUNCT
fcis-9421	94	11	a	a	DET
fcis-9421	94	12	priori	priori	X
fcis-9421	94	13	obstacle	obstacle	NOUN
fcis-9421	94	14	information	information	NOUN
fcis-9421	94	15	,	,	PUNCT
fcis-9421	94	16	and	and	CCONJ
fcis-9421	94	17	obstacle	obstacle	NOUN
fcis-9421	94	18	type	type	NOUN
fcis-9421	94	19	information	information	NOUN
fcis-9421	94	20	,	,	PUNCT
fcis-9421	94	21	which	which	PRON
fcis-9421	94	22	are	be	AUX
fcis-9421	94	23	stored	store	VERB
fcis-9421	94	24	in	in	ADP
fcis-9421	94	25	the	the	DET
fcis-9421	94	26	road	road	NOUN
fcis-9421	94	27	network	network	NOUN
fcis-9421	94	28	file	file	NOUN
fcis-9421	94	29	with	with	ADP
fcis-9421	94	30	the	the	DET
fcis-9421	94	31	information	information	NOUN
fcis-9421	94	32	of	of	ADP
fcis-9421	94	33	the	the	DET
fcis-9421	94	34	structure	structure	NOUN
fcis-9421	94	35	.	.	PUNCT
fcis-9421	95	1	the	the	DET
fcis-9421	95	2	sanitation	sanitation	NOUN
fcis-9421	95	3	platform	platform	NOUN
fcis-9421	95	4	will	will	AUX
fcis-9421	95	5	automatically	automatically	ADV
fcis-9421	95	6	generate	generate	VERB
fcis-9421	95	7	the	the	DET
fcis-9421	95	8	global	global	ADJ
fcis-9421	95	9	reference	reference	NOUN
fcis-9421	95	10	path	path	NOUN
fcis-9421	95	11	and	and	CCONJ
fcis-9421	95	12	load	load	VERB
fcis-9421	95	13	the	the	DET
fcis-9421	95	14	global	global	ADJ
fcis-9421	95	15	path	path	NOUN
fcis-9421	95	16	file	file	NOUN
fcis-9421	95	17	when	when	SCONJ
fcis-9421	95	18	carrying	carry	VERB
fcis-9421	95	19	out	out	ADP
fcis-9421	95	20	the	the	DET
fcis-9421	95	21	unmanned	unmanned	ADJ
fcis-9421	95	22	cleaning	cleaning	NOUN
fcis-9421	95	23	task	task	NOUN
fcis-9421	95	24	.	.	PUNCT
fcis-9421	96	1	the	the	DET
fcis-9421	96	2	environment	environment	NOUN
fcis-9421	96	3	sensing	sense	VERB
fcis-9421	96	4	module	module	NOUN
fcis-9421	96	5	will	will	AUX
fcis-9421	96	6	fuse	fuse	VERB
fcis-9421	96	7	the	the	DET
fcis-9421	96	8	real	real	ADJ
fcis-9421	96	9	-	-	PUNCT
fcis-9421	96	10	time	time	NOUN
fcis-9421	96	11	positional	positional	ADJ
fcis-9421	96	12	information	information	NOUN
fcis-9421	96	13	,	,	PUNCT
fcis-9421	96	14	environmental	environmental	ADJ
fcis-9421	96	15	obstacle	obstacle	NOUN
fcis-9421	96	16	information	information	NOUN
fcis-9421	96	17	and	and	CCONJ
fcis-9421	96	18	global	global	ADJ
fcis-9421	96	19	reference	reference	NOUN
fcis-9421	96	20	path	path	NOUN
fcis-9421	96	21	into	into	ADP
fcis-9421	96	22	a	a	DET
fcis-9421	96	23	sensing	sense	VERB
fcis-9421	96	24	map	map	NOUN
fcis-9421	96	25	based	base	VERB
fcis-9421	96	26	on	on	ADP
fcis-9421	96	27	the	the	DET
fcis-9421	96	28	sanitation	sanitation	NOUN
fcis-9421	96	29	platform	platform	NOUN
fcis-9421	96	30	.	.	PUNCT
fcis-9421	97	1	meanwhile	meanwhile	ADV
fcis-9421	97	2	,	,	PUNCT
fcis-9421	97	3	in	in	ADP
fcis-9421	97	4	order	order	NOUN
fcis-9421	97	5	to	to	PART
fcis-9421	97	6	verify	verify	VERB
fcis-9421	97	7	the	the	DET
fcis-9421	97	8	rationality	rationality	NOUN
fcis-9421	97	9	of	of	ADP
fcis-9421	97	10	the	the	DET
fcis-9421	97	11	decision	decision	NOUN
fcis-9421	97	12	logic	logic	NOUN
fcis-9421	97	13	of	of	ADP
fcis-9421	97	14	the	the	DET
fcis-9421	97	15	behavior	behavior	NOUN
fcis-9421	97	16	decision	decision	NOUN
fcis-9421	97	17	module	module	NOUN
fcis-9421	97	18	,	,	PUNCT
fcis-9421	97	19	several	several	ADJ
fcis-9421	97	20	different	different	ADJ
fcis-9421	97	21	working	working	NOUN
fcis-9421	97	22	conditions	condition	NOUN
fcis-9421	97	23	are	be	AUX
fcis-9421	97	24	designed	design	VERB
fcis-9421	97	25	based	base	VERB
fcis-9421	97	26	on	on	ADP
fcis-9421	97	27	different	different	ADJ
fcis-9421	97	28	driving	driving	NOUN
fcis-9421	97	29	states	state	NOUN
fcis-9421	97	30	,	,	PUNCT
fcis-9421	97	31	and	and	CCONJ
fcis-9421	97	32	the	the	DET
fcis-9421	97	33	performance	performance	NOUN
fcis-9421	97	34	of	of	ADP
fcis-9421	97	35	the	the	DET
fcis-9421	97	36	behavior	behavior	NOUN
fcis-9421	97	37	decision	decision	NOUN
fcis-9421	97	38	module	module	NOUN
fcis-9421	97	39	is	be	AUX
fcis-9421	97	40	analyzed	analyze	VERB
fcis-9421	97	41	according	accord	VERB
fcis-9421	97	42	to	to	ADP
fcis-9421	97	43	the	the	DET
fcis-9421	97	44	decision	decision	NOUN
fcis-9421	97	45	results	result	NOUN
fcis-9421	97	46	.	.	PUNCT
fcis-9421	98	1	the	the	DET
fcis-9421	98	2	fixed	fix	VERB
fcis-9421	98	3	operating	operating	NOUN
fcis-9421	98	4	speed	speed	NOUN
fcis-9421	98	5	of	of	ADP
fcis-9421	98	6	the	the	DET
fcis-9421	98	7	sanitation	sanitation	NOUN
fcis-9421	98	8	platform	platform	NOUN
fcis-9421	98	9	in	in	ADP
fcis-9421	98	10	this	this	DET
fcis-9421	98	11	experiment	experiment	NOUN
fcis-9421	98	12	is	be	AUX
fcis-9421	98	13	6	6	NUM
fcis-9421	98	14	km/h	km/h	NOUN
fcis-9421	98	15	,	,	PUNCT
fcis-9421	98	16	the	the	DET
fcis-9421	98	17	warning	warning	NOUN
fcis-9421	98	18	braking	braking	NOUN
fcis-9421	98	19	distance	distance	NOUN
fcis-9421	98	20	is	be	AUX
fcis-9421	98	21	2	2	NUM
fcis-9421	98	22	m	m	NOUN
fcis-9421	98	23	,	,	PUNCT
fcis-9421	98	24	and	and	CCONJ
fcis-9421	98	25	the	the	DET
fcis-9421	98	26	decision	decision	NOUN
fcis-9421	98	27	moment	moment	NOUN
fcis-9421	98	28	interval	interval	NOUN
fcis-9421	98	29	is	be	AUX
fcis-9421	98	30	100ms	100ms	ADJ
fcis-9421	98	31	.	.	PUNCT
fcis-9421	99	1	3.2	3.2	NUM
fcis-9421	99	2	.	.	PUNCT
fcis-9421	100	1	global	global	ADJ
fcis-9421	100	2	path	path	PROPN
fcis-9421	100	3	planning	planning	NOUN
fcis-9421	100	4	module	module	NOUN
fcis-9421	100	5	output	output	NOUN
fcis-9421	100	6	records	record	VERB
fcis-9421	100	7	the	the	DET
fcis-9421	100	8	satellite	satellite	NOUN
fcis-9421	100	9	view	view	NOUN
fcis-9421	100	10	of	of	ADP
fcis-9421	100	11	the	the	DET
fcis-9421	100	12	experimental	experimental	ADJ
fcis-9421	100	13	site	site	NOUN
fcis-9421	100	14	is	be	AUX
fcis-9421	100	15	shown	show	VERB
fcis-9421	100	16	in	in	ADP
fcis-9421	100	17	figure	figure	NOUN
fcis-9421	100	18	17	17	NUM
fcis-9421	100	19	.	.	PUNCT
fcis-9421	101	1	figure	figure	NOUN
fcis-9421	101	2	18	18	NUM
fcis-9421	101	3	shows	show	VERB
fcis-9421	101	4	the	the	DET
fcis-9421	101	5	global	global	ADJ
fcis-9421	101	6	reference	reference	NOUN
fcis-9421	101	7	path	path	NOUN
fcis-9421	101	8	results	result	NOUN
fcis-9421	101	9	of	of	ADP
fcis-9421	101	10	the	the	DET
fcis-9421	101	11	unmanned	unmanned	ADJ
fcis-9421	101	12	sanitation	sanitation	NOUN
fcis-9421	101	13	platform	platform	NOUN
fcis-9421	101	14	performing	perform	VERB
fcis-9421	101	15	a	a	DET
fcis-9421	101	16	full	full	ADJ
fcis-9421	101	17	-	-	PUNCT
fcis-9421	101	18	coverage	coverage	NOUN
fcis-9421	101	19	autonomous	autonomous	ADJ
fcis-9421	101	20	cleaning	cleaning	NOUN
fcis-9421	101	21	task	task	NOUN
fcis-9421	101	22	in	in	ADP
fcis-9421	101	23	the	the	DET
fcis-9421	101	24	park	park	NOUN
fcis-9421	101	25	.	.	PUNCT
fcis-9421	102	1	in	in	ADP
fcis-9421	102	2	the	the	DET
fcis-9421	102	3	lane	lane	NOUN
fcis-9421	102	4	area	area	NOUN
fcis-9421	102	5	,	,	PUNCT
fcis-9421	102	6	the	the	DET
fcis-9421	102	7	sanitation	sanitation	NOUN
fcis-9421	102	8	platform	platform	NOUN
fcis-9421	102	9	at	at	ADP
fcis-9421	102	10	right	right	ADJ
fcis-9421	102	11	-	-	PUNCT
fcis-9421	102	12	angle	angle	NOUN
fcis-9421	102	13	turns	turn	NOUN
fcis-9421	102	14	is	be	AUX
fcis-9421	102	15	limited	limit	VERB
fcis-9421	102	16	by	by	ADP
fcis-9421	102	17	its	its	PRON
fcis-9421	102	18	own	own	ADJ
fcis-9421	102	19	vehicle	vehicle	NOUN
fcis-9421	102	20	size	size	NOUN
fcis-9421	102	21	and	and	CCONJ
fcis-9421	102	22	steering	steering	NOUN
fcis-9421	102	23	capacity	capacity	NOUN
fcis-9421	102	24	,	,	PUNCT
fcis-9421	102	25	making	make	VERB
fcis-9421	102	26	it	it	PRON
fcis-9421	102	27	difficult	difficult	ADJ
fcis-9421	102	28	to	to	PART
fcis-9421	102	29	completely	completely	ADV
fcis-9421	102	30	cover	cover	VERB
fcis-9421	102	31	the	the	DET
fcis-9421	102	32	dead	dead	ADJ
fcis-9421	102	33	-	-	PUNCT
fcis-9421	102	34	end	end	NOUN
fcis-9421	102	35	area	area	NOUN
fcis-9421	102	36	.	.	PUNCT
fcis-9421	103	1	the	the	DET
fcis-9421	103	2	overall	overall	ADJ
fcis-9421	103	3	coverage	coverage	NOUN
fcis-9421	103	4	rate	rate	NOUN
fcis-9421	103	5	is	be	AUX
fcis-9421	103	6	98.6	98.6	NUM
fcis-9421	103	7	%	%	NOUN
fcis-9421	103	8	.	.	PUNCT
fcis-9421	104	1	45	45	NUM
fcis-9421	104	2	figure	figure	NOUN
fcis-9421	104	3	17	17	NUM
fcis-9421	104	4	.	.	PUNCT
fcis-9421	105	1	satellite	satellite	NOUN
fcis-9421	105	2	map	map	NOUN
fcis-9421	105	3	of	of	ADP
fcis-9421	105	4	experimental	experimental	ADJ
fcis-9421	105	5	site	site	NOUN
fcis-9421	105	6	figure	figure	NOUN
fcis-9421	105	7	18	18	NUM
fcis-9421	105	8	.	.	PUNCT
fcis-9421	106	1	global	global	ADJ
fcis-9421	106	2	path	path	PROPN
fcis-9421	106	3	coverage	coverage	NOUN
fcis-9421	106	4	results	result	NOUN
fcis-9421	106	5	in	in	ADP
fcis-9421	106	6	the	the	DET
fcis-9421	106	7	rectangular	rectangular	ADJ
fcis-9421	106	8	square	square	ADJ
fcis-9421	106	9	area	area	NOUN
fcis-9421	106	10	,	,	PUNCT
fcis-9421	106	11	the	the	DET
fcis-9421	106	12	sanitation	sanitation	NOUN
fcis-9421	106	13	platform	platform	NOUN
fcis-9421	106	14	performs	perform	VERB
fcis-9421	106	15	180	180	NUM
fcis-9421	106	16	-	-	PUNCT
fcis-9421	106	17	degree	degree	NOUN
fcis-9421	106	18	turnaround	turnaround	NOUN
fcis-9421	106	19	at	at	ADP
fcis-9421	106	20	the	the	DET
fcis-9421	106	21	sweeping	sweeping	ADJ
fcis-9421	106	22	boundary	boundary	NOUN
fcis-9421	106	23	,	,	PUNCT
fcis-9421	106	24	and	and	CCONJ
fcis-9421	106	25	the	the	DET
fcis-9421	106	26	steering	steering	NOUN
fcis-9421	106	27	restricted	restrict	VERB
fcis-9421	106	28	area	area	NOUN
fcis-9421	106	29	on	on	ADP
fcis-9421	106	30	the	the	DET
fcis-9421	106	31	inside	inside	NOUN
fcis-9421	106	32	of	of	ADP
fcis-9421	106	33	the	the	DET
fcis-9421	106	34	turn	turn	NOUN
fcis-9421	106	35	formed	form	VERB
fcis-9421	106	36	by	by	ADP
fcis-9421	106	37	three	three	NUM
fcis-9421	106	38	arcs	arc	NOUN
fcis-9421	106	39	is	be	AUX
fcis-9421	106	40	not	not	PART
fcis-9421	106	41	completely	completely	ADV
fcis-9421	106	42	covered	cover	VERB
fcis-9421	106	43	,	,	PUNCT
fcis-9421	106	44	and	and	CCONJ
fcis-9421	106	45	the	the	DET
fcis-9421	106	46	overall	overall	ADJ
fcis-9421	106	47	coverage	coverage	NOUN
fcis-9421	106	48	rate	rate	NOUN
fcis-9421	106	49	is	be	AUX
fcis-9421	106	50	99.4	99.4	NUM
fcis-9421	106	51	%	%	NOUN
fcis-9421	106	52	.	.	PUNCT
fcis-9421	107	1	the	the	DET
fcis-9421	107	2	connection	connection	NOUN
fcis-9421	107	3	area	area	NOUN
fcis-9421	107	4	between	between	ADP
fcis-9421	107	5	the	the	DET
fcis-9421	107	6	rectangular	rectangular	ADJ
fcis-9421	107	7	square	square	ADJ
fcis-9421	107	8	area	area	NOUN
fcis-9421	107	9	and	and	CCONJ
fcis-9421	107	10	the	the	DET
fcis-9421	107	11	lane	lane	PROPN
fcis-9421	107	12	area	area	NOUN
fcis-9421	107	13	is	be	AUX
fcis-9421	107	14	not	not	PART
fcis-9421	107	15	constrained	constrain	VERB
fcis-9421	107	16	by	by	ADP
fcis-9421	107	17	traffic	traffic	NOUN
fcis-9421	107	18	rules	rule	NOUN
fcis-9421	107	19	,	,	PUNCT
fcis-9421	107	20	and	and	CCONJ
fcis-9421	107	21	the	the	DET
fcis-9421	107	22	coverage	coverage	NOUN
fcis-9421	107	23	of	of	ADP
fcis-9421	107	24	the	the	DET
fcis-9421	107	25	connection	connection	NOUN
fcis-9421	107	26	area	area	NOUN
fcis-9421	107	27	can	can	AUX
fcis-9421	107	28	be	be	AUX
fcis-9421	107	29	achieved	achieve	VERB
fcis-9421	107	30	by	by	ADP
fcis-9421	107	31	reciprocating	reciprocate	VERB
fcis-9421	107	32	sweeping	sweep	VERB
fcis-9421	107	33	in	in	ADP
fcis-9421	107	34	the	the	DET
fcis-9421	107	35	actual	actual	ADJ
fcis-9421	107	36	cleaning	cleaning	NOUN
fcis-9421	107	37	process	process	NOUN
fcis-9421	107	38	.	.	PUNCT
fcis-9421	108	1	the	the	DET
fcis-9421	108	2	reference	reference	NOUN
fcis-9421	108	3	path	path	NOUN
fcis-9421	108	4	is	be	AUX
fcis-9421	108	5	smooth	smooth	ADJ
fcis-9421	108	6	overall	overall	ADV
fcis-9421	108	7	,	,	PUNCT
fcis-9421	108	8	with	with	ADP
fcis-9421	108	9	smooth	smooth	ADJ
fcis-9421	108	10	connection	connection	NOUN
fcis-9421	108	11	and	and	CCONJ
fcis-9421	108	12	suitable	suitable	ADJ
fcis-9421	108	13	curvature	curvature	NOUN
fcis-9421	108	14	,	,	PUNCT
fcis-9421	108	15	which	which	PRON
fcis-9421	108	16	is	be	AUX
fcis-9421	108	17	easy	easy	ADJ
fcis-9421	108	18	for	for	SCONJ
fcis-9421	108	19	the	the	DET
fcis-9421	108	20	control	control	NOUN
fcis-9421	108	21	system	system	NOUN
fcis-9421	108	22	to	to	PART
fcis-9421	108	23	track	track	VERB
fcis-9421	108	24	and	and	CCONJ
fcis-9421	108	25	execute	execute	VERB
fcis-9421	108	26	.	.	PUNCT
fcis-9421	109	1	the	the	DET
fcis-9421	109	2	path	path	NOUN
fcis-9421	109	3	repetition	repetition	NOUN
fcis-9421	109	4	redundancy	redundancy	NOUN
fcis-9421	109	5	rate	rate	NOUN
fcis-9421	109	6	for	for	ADP
fcis-9421	109	7	performing	perform	VERB
fcis-9421	109	8	the	the	DET
fcis-9421	109	9	full	full	ADJ
fcis-9421	109	10	coverage	coverage	NOUN
fcis-9421	109	11	task	task	NOUN
fcis-9421	109	12	is	be	AUX
fcis-9421	109	13	5.2	5.2	NUM
fcis-9421	109	14	%	%	NOUN
fcis-9421	109	15	,	,	PUNCT
fcis-9421	109	16	which	which	PRON
fcis-9421	109	17	effectively	effectively	ADV
fcis-9421	109	18	completes	complete	VERB
fcis-9421	109	19	the	the	DET
fcis-9421	109	20	full	full	ADJ
fcis-9421	109	21	coverage	coverage	NOUN
fcis-9421	109	22	cleaning	clean	VERB
fcis-9421	109	23	task	task	NOUN
fcis-9421	109	24	of	of	ADP
fcis-9421	109	25	the	the	DET
fcis-9421	109	26	park	park	NOUN
fcis-9421	109	27	.	.	PUNCT
fcis-9421	110	1	4	4	X
fcis-9421	110	2	.	.	X
fcis-9421	110	3	conclusion	conclusion	NOUN
fcis-9421	110	4	this	this	DET
fcis-9421	110	5	chapter	chapter	NOUN
fcis-9421	110	6	is	be	AUX
fcis-9421	110	7	the	the	DET
fcis-9421	110	8	design	design	NOUN
fcis-9421	110	9	of	of	ADP
fcis-9421	110	10	the	the	DET
fcis-9421	110	11	global	global	ADJ
fcis-9421	110	12	path	path	PROPN
fcis-9421	110	13	planning	planning	NOUN
fcis-9421	110	14	module	module	NOUN
fcis-9421	110	15	of	of	ADP
fcis-9421	110	16	the	the	DET
fcis-9421	110	17	decision	decision	NOUN
fcis-9421	110	18	system	system	NOUN
fcis-9421	110	19	of	of	ADP
fcis-9421	110	20	the	the	DET
fcis-9421	110	21	unmanned	unmanned	ADJ
fcis-9421	110	22	sanitation	sanitation	NOUN
fcis-9421	110	23	platform	platform	NOUN
fcis-9421	110	24	.	.	PUNCT
fcis-9421	111	1	unlike	unlike	ADP
fcis-9421	111	2	the	the	DET
fcis-9421	111	3	"	"	PUNCT
fcis-9421	111	4	point	point	NOUN
fcis-9421	111	5	-	-	PUNCT
fcis-9421	111	6	to	to	ADP
fcis-9421	111	7	-	-	PUNCT
fcis-9421	111	8	point	point	NOUN
fcis-9421	111	9	"	"	PUNCT
fcis-9421	111	10	driving	driving	NOUN
fcis-9421	111	11	task	task	NOUN
fcis-9421	111	12	,	,	PUNCT
fcis-9421	111	13	the	the	DET
fcis-9421	111	14	unmanned	unmanned	ADJ
fcis-9421	111	15	sanitation	sanitation	NOUN
fcis-9421	111	16	platform	platform	NOUN
fcis-9421	111	17	performs	perform	VERB
fcis-9421	111	18	the	the	DET
fcis-9421	111	19	task	task	NOUN
fcis-9421	111	20	of	of	ADP
fcis-9421	111	21	cleaning	clean	VERB
fcis-9421	111	22	the	the	DET
fcis-9421	111	23	park	park	NOUN
fcis-9421	111	24	,	,	PUNCT
fcis-9421	111	25	i.e.	i.e.	X
fcis-9421	111	26	,	,	PUNCT
fcis-9421	111	27	completing	complete	VERB
fcis-9421	111	28	the	the	DET
fcis-9421	111	29	regional	regional	ADJ
fcis-9421	111	30	traversal	traversal	NOUN
fcis-9421	111	31	of	of	ADP
fcis-9421	111	32	the	the	DET
fcis-9421	111	33	park	park	NOUN
fcis-9421	111	34	road	road	NOUN
fcis-9421	111	35	,	,	PUNCT
fcis-9421	111	36	so	so	CCONJ
fcis-9421	111	37	the	the	DET
fcis-9421	111	38	main	main	ADJ
fcis-9421	111	39	body	body	NOUN
fcis-9421	111	40	of	of	ADP
fcis-9421	111	41	the	the	DET
fcis-9421	111	42	global	global	ADJ
fcis-9421	111	43	path	path	NOUN
fcis-9421	111	44	planning	planning	NOUN
fcis-9421	111	45	is	be	AUX
fcis-9421	111	46	the	the	DET
fcis-9421	111	47	design	design	NOUN
fcis-9421	111	48	of	of	ADP
fcis-9421	111	49	the	the	DET
fcis-9421	111	50	full	full	ADJ
fcis-9421	111	51	-	-	PUNCT
fcis-9421	111	52	coverage	coverage	NOUN
fcis-9421	111	53	path	path	NOUN
fcis-9421	111	54	algorithm	algorithm	NOUN
fcis-9421	111	55	.	.	PUNCT
fcis-9421	112	1	firstly	firstly	ADV
fcis-9421	112	2	,	,	PUNCT
fcis-9421	112	3	the	the	DET
fcis-9421	112	4	environment	environment	NOUN
fcis-9421	112	5	modeling	modeling	NOUN
fcis-9421	112	6	of	of	ADP
fcis-9421	112	7	the	the	DET
fcis-9421	112	8	operation	operation	NOUN
fcis-9421	112	9	environment	environment	NOUN
fcis-9421	112	10	is	be	AUX
fcis-9421	112	11	carried	carry	VERB
fcis-9421	112	12	out	out	ADP
fcis-9421	112	13	,	,	PUNCT
fcis-9421	112	14	and	and	CCONJ
fcis-9421	112	15	the	the	DET
fcis-9421	112	16	raster	raster	NOUN
fcis-9421	112	17	map	map	NOUN
fcis-9421	112	18	is	be	AUX
fcis-9421	112	19	selected	select	VERB
fcis-9421	112	20	to	to	PART
fcis-9421	112	21	model	model	VERB
fcis-9421	112	22	the	the	DET
fcis-9421	112	23	environment	environment	NOUN
fcis-9421	112	24	map	map	NOUN
fcis-9421	112	25	,	,	PUNCT
fcis-9421	112	26	and	and	CCONJ
fcis-9421	112	27	the	the	DET
fcis-9421	112	28	3d	3d	PROPN
fcis-9421	112	29	environment	environment	NOUN
fcis-9421	112	30	is	be	AUX
fcis-9421	112	31	transformed	transform	VERB
fcis-9421	112	32	into	into	ADP
fcis-9421	112	33	a	a	DET
fcis-9421	112	34	2d	2d	NUM
fcis-9421	112	35	raster	raster	NOUN
fcis-9421	112	36	map	map	NOUN
fcis-9421	112	37	to	to	PART
fcis-9421	112	38	effectively	effectively	ADV
fcis-9421	112	39	characterize	characterize	VERB
fcis-9421	112	40	the	the	DET
fcis-9421	112	41	operation	operation	NOUN
fcis-9421	112	42	environment	environment	NOUN
fcis-9421	112	43	.	.	PUNCT
fcis-9421	113	1	then	then	ADV
fcis-9421	113	2	,	,	PUNCT
fcis-9421	113	3	the	the	DET
fcis-9421	113	4	research	research	NOUN
fcis-9421	113	5	work	work	NOUN
fcis-9421	113	6	is	be	AUX
fcis-9421	113	7	carried	carry	VERB
fcis-9421	113	8	out	out	ADP
fcis-9421	113	9	for	for	ADP
fcis-9421	113	10	the	the	DET
fcis-9421	113	11	sweeping	sweeping	ADJ
fcis-9421	113	12	task	task	NOUN
fcis-9421	113	13	and	and	CCONJ
fcis-9421	113	14	the	the	DET
fcis-9421	113	15	difficulty	difficulty	NOUN
fcis-9421	113	16	of	of	ADP
fcis-9421	113	17	sweeping	sweep	VERB
fcis-9421	113	18	in	in	ADP
fcis-9421	113	19	the	the	DET
fcis-9421	113	20	lane	lane	NOUN
fcis-9421	113	21	area	area	NOUN
fcis-9421	113	22	and	and	CCONJ
fcis-9421	113	23	the	the	DET
fcis-9421	113	24	rectangular	rectangular	ADJ
fcis-9421	113	25	square	square	ADJ
fcis-9421	113	26	area	area	NOUN
fcis-9421	113	27	.	.	PUNCT
fcis-9421	114	1	for	for	ADP
fcis-9421	114	2	the	the	DET
fcis-9421	114	3	sweeping	sweeping	ADJ
fcis-9421	114	4	task	task	NOUN
fcis-9421	114	5	in	in	ADP
fcis-9421	114	6	the	the	DET
fcis-9421	114	7	lane	lane	NOUN
fcis-9421	114	8	area	area	NOUN
fcis-9421	114	9	,	,	PUNCT
fcis-9421	114	10	the	the	DET
fcis-9421	114	11	traditional	traditional	ADJ
fcis-9421	114	12	coverage	coverage	NOUN
fcis-9421	114	13	algorithm	algorithm	NOUN
fcis-9421	114	14	generates	generate	VERB
fcis-9421	114	15	paths	path	NOUN
fcis-9421	114	16	based	base	VERB
fcis-9421	114	17	on	on	ADP
fcis-9421	114	18	the	the	DET
fcis-9421	114	19	requirement	requirement	NOUN
fcis-9421	114	20	of	of	ADP
fcis-9421	114	21	the	the	DET
fcis-9421	114	22	shortest	short	ADJ
fcis-9421	114	23	local	local	ADJ
fcis-9421	114	24	path	path	NOUN
fcis-9421	114	25	or	or	CCONJ
fcis-9421	114	26	the	the	DET
fcis-9421	114	27	highest	high	ADJ
fcis-9421	114	28	coverage	coverage	NOUN
fcis-9421	114	29	,	,	PUNCT
fcis-9421	114	30	thus	thus	ADV
fcis-9421	114	31	it	it	PRON
fcis-9421	114	32	is	be	AUX
fcis-9421	114	33	difficult	difficult	ADJ
fcis-9421	114	34	to	to	PART
fcis-9421	114	35	avoid	avoid	VERB
fcis-9421	114	36	local	local	ADJ
fcis-9421	114	37	retrograde	retrograde	NOUN
fcis-9421	114	38	and	and	CCONJ
fcis-9421	114	39	crossing	crossing	NOUN
fcis-9421	114	40	behaviors	behavior	NOUN
fcis-9421	114	41	,	,	PUNCT
fcis-9421	114	42	which	which	PRON
fcis-9421	114	43	do	do	AUX
fcis-9421	114	44	not	not	PART
fcis-9421	114	45	comply	comply	VERB
fcis-9421	114	46	with	with	ADP
fcis-9421	114	47	the	the	DET
fcis-9421	114	48	constraints	constraint	NOUN
fcis-9421	114	49	of	of	ADP
fcis-9421	114	50	lane	lane	NOUN
fcis-9421	114	51	traffic	traffic	NOUN
fcis-9421	114	52	rules	rule	NOUN
fcis-9421	114	53	.	.	PUNCT
fcis-9421	115	1	considering	consider	VERB
fcis-9421	115	2	the	the	DET
fcis-9421	115	3	static	static	ADJ
fcis-9421	115	4	characteristics	characteristic	NOUN
fcis-9421	115	5	of	of	ADP
fcis-9421	115	6	the	the	DET
fcis-9421	115	7	global	global	ADJ
fcis-9421	115	8	reference	reference	NOUN
fcis-9421	115	9	path	path	NOUN
fcis-9421	115	10	,	,	PUNCT
fcis-9421	115	11	the	the	DET
fcis-9421	115	12	lane	lane	NOUN
fcis-9421	115	13	map	map	NOUN
fcis-9421	115	14	is	be	AUX
fcis-9421	115	15	rasterly	rasterly	ADV
fcis-9421	115	16	eroded	erode	VERB
fcis-9421	115	17	with	with	ADP
fcis-9421	115	18	digital	digital	ADJ
fcis-9421	115	19	image	image	NOUN
fcis-9421	115	20	processing	processing	NOUN
fcis-9421	115	21	to	to	PART
fcis-9421	115	22	generate	generate	VERB
fcis-9421	115	23	multiple	multiple	ADJ
fcis-9421	115	24	parallel	parallel	ADJ
fcis-9421	115	25	lane	lane	NOUN
fcis-9421	115	26	sweeping	sweeping	ADJ
fcis-9421	115	27	reference	reference	NOUN
fcis-9421	115	28	paths	path	NOUN
fcis-9421	115	29	,	,	PUNCT
fcis-9421	115	30	followed	follow	VERB
fcis-9421	115	31	by	by	ADP
fcis-9421	115	32	path	path	NOUN
fcis-9421	115	33	smoothing	smooth	VERB
fcis-9421	115	34	considering	consider	VERB
fcis-9421	115	35	the	the	DET
fcis-9421	115	36	kinematic	kinematic	ADJ
fcis-9421	115	37	constraints	constraint	NOUN
fcis-9421	115	38	of	of	ADP
fcis-9421	115	39	the	the	DET
fcis-9421	115	40	car	car	NOUN
fcis-9421	115	41	body	body	NOUN
fcis-9421	115	42	;	;	PUNCT
fcis-9421	115	43	for	for	ADP
fcis-9421	115	44	the	the	DET
fcis-9421	115	45	sweeping	sweeping	ADJ
fcis-9421	115	46	task	task	NOUN
fcis-9421	115	47	of	of	ADP
fcis-9421	115	48	rectangular	rectangular	ADJ
fcis-9421	115	49	squares	square	NOUN
fcis-9421	115	50	,	,	PUNCT
fcis-9421	115	51	an	an	DET
fcis-9421	115	52	improved	improved	ADJ
fcis-9421	115	53	bow	bow	NOUN
fcis-9421	115	54	-	-	PUNCT
fcis-9421	115	55	shaped	shape	VERB
fcis-9421	115	56	coverage	coverage	NOUN
fcis-9421	115	57	algorithm	algorithm	NOUN
fcis-9421	115	58	is	be	AUX
fcis-9421	115	59	proposed	propose	VERB
fcis-9421	115	60	,	,	PUNCT
fcis-9421	115	61	which	which	PRON
fcis-9421	115	62	calculates	calculate	VERB
fcis-9421	115	63	the	the	DET
fcis-9421	115	64	adaptive	adaptive	ADJ
fcis-9421	115	65	reverse	reverse	NOUN
fcis-9421	115	66	bow	bow	NOUN
fcis-9421	115	67	offset	offset	VERB
fcis-9421	115	68	distance	distance	NOUN
fcis-9421	115	69	by	by	ADP
fcis-9421	115	70	analyzing	analyze	VERB
fcis-9421	115	71	the	the	DET
fcis-9421	115	72	structural	structural	ADJ
fcis-9421	115	73	features	feature	NOUN
fcis-9421	115	74	of	of	ADP
fcis-9421	115	75	the	the	DET
fcis-9421	115	76	area	area	NOUN
fcis-9421	115	77	to	to	PART
fcis-9421	115	78	be	be	AUX
fcis-9421	115	79	cleared	clear	VERB
fcis-9421	115	80	the	the	DET
fcis-9421	115	81	proposed	propose	VERB
fcis-9421	115	82	algorithm	algorithm	NOUN
fcis-9421	115	83	is	be	AUX
fcis-9421	115	84	to	to	PART
fcis-9421	115	85	calculate	calculate	VERB
fcis-9421	115	86	the	the	DET
fcis-9421	115	87	adaptive	adaptive	ADJ
fcis-9421	115	88	bowtie	bowtie	NOUN
fcis-9421	115	89	offset	offset	NOUN
fcis-9421	115	90	distance	distance	NOUN
fcis-9421	115	91	by	by	ADP
fcis-9421	115	92	analyzing	analyze	VERB
fcis-9421	115	93	the	the	DET
fcis-9421	115	94	structural	structural	ADJ
fcis-9421	115	95	features	feature	NOUN
fcis-9421	115	96	of	of	ADP
fcis-9421	115	97	the	the	DET
fcis-9421	115	98	area	area	NOUN
fcis-9421	115	99	to	to	PART
fcis-9421	115	100	be	be	AUX
fcis-9421	115	101	cleared	clear	VERB
fcis-9421	115	102	,	,	PUNCT
fcis-9421	115	103	leaving	leave	VERB
fcis-9421	115	104	the	the	DET
fcis-9421	115	105	vehicle	vehicle	NOUN
fcis-9421	115	106	embedding	embed	VERB
fcis-9421	115	107	width	width	NOUN
fcis-9421	115	108	of	of	ADP
fcis-9421	115	109	the	the	DET
fcis-9421	115	110	reverse	reverse	ADJ
fcis-9421	115	111	bowtie	bowtie	NOUN
fcis-9421	115	112	path	path	NOUN
fcis-9421	115	113	,	,	PUNCT
fcis-9421	115	114	and	and	CCONJ
fcis-9421	115	115	using	use	VERB
fcis-9421	115	116	dubins	dubin	NOUN
fcis-9421	115	117	curve	curve	NOUN
fcis-9421	115	118	to	to	PART
fcis-9421	115	119	connect	connect	VERB
fcis-9421	115	120	the	the	DET
fcis-9421	115	121	turnaround	turnaround	NOUN
fcis-9421	115	122	position	position	NOUN
fcis-9421	115	123	point	point	NOUN
fcis-9421	115	124	traces	trace	NOUN
fcis-9421	115	125	at	at	ADP
fcis-9421	115	126	the	the	DET
fcis-9421	115	127	end	end	NOUN
fcis-9421	115	128	of	of	ADP
fcis-9421	115	129	the	the	DET
fcis-9421	115	130	cleared	clear	VERB
fcis-9421	115	131	area	area	NOUN
fcis-9421	115	132	to	to	PART
fcis-9421	115	133	achieve	achieve	VERB
fcis-9421	115	134	the	the	DET
fcis-9421	115	135	coverage	coverage	NOUN
fcis-9421	115	136	of	of	ADP
fcis-9421	115	137	the	the	DET
fcis-9421	115	138	steering	steering	NOUN
fcis-9421	115	139	restricted	restrict	VERB
fcis-9421	115	140	area	area	NOUN
fcis-9421	115	141	so	so	SCONJ
fcis-9421	115	142	that	that	SCONJ
fcis-9421	115	143	it	it	PRON
fcis-9421	115	144	meets	meet	VERB
fcis-9421	115	145	the	the	DET
fcis-9421	115	146	constraint	constraint	NOUN
fcis-9421	115	147	of	of	ADP
fcis-9421	115	148	the	the	DET
fcis-9421	115	149	minimum	minimum	ADJ
fcis-9421	115	150	turning	turning	NOUN
fcis-9421	115	151	radius	radius	NOUN
fcis-9421	115	152	of	of	ADP
fcis-9421	115	153	the	the	DET
fcis-9421	115	154	vehicle	vehicle	NOUN
fcis-9421	115	155	.	.	PUNCT
fcis-9421	116	1	finally	finally	ADV
fcis-9421	116	2	,	,	PUNCT
fcis-9421	116	3	hybrid	hybrid	ADJ
fcis-9421	116	4	a	a	DET
fcis-9421	116	5	*	*	ADJ
fcis-9421	116	6	algorithm	algorithm	NOUN
fcis-9421	116	7	is	be	AUX
fcis-9421	116	8	used	use	VERB
fcis-9421	116	9	for	for	ADP
fcis-9421	116	10	sub	sub	ADJ
fcis-9421	116	11	-	-	NOUN
fcis-9421	116	12	region	region	ADJ
fcis-9421	116	13	articulation	articulation	NOUN
fcis-9421	116	14	to	to	PART
fcis-9421	116	15	complete	complete	VERB
fcis-9421	116	16	the	the	DET
fcis-9421	116	17	global	global	ADJ
fcis-9421	116	18	path	path	NOUN
fcis-9421	116	19	generation	generation	NOUN
fcis-9421	116	20	for	for	ADP
fcis-9421	116	21	the	the	DET
fcis-9421	116	22	park	park	NOUN
fcis-9421	116	23	sweeping	sweeping	ADJ
fcis-9421	116	24	task	task	NOUN
fcis-9421	116	25	.	.	PUNCT
fcis-9421	117	1	references	reference	NOUN
fcis-9421	117	2	[	[	X
fcis-9421	117	3	1	1	NUM
fcis-9421	117	4	]	]	PUNCT
fcis-9421	117	5	choset	choset	PROPN
fcis-9421	117	6	h.	h.	PROPN
fcis-9421	117	7	coverage	coverage	NOUN
fcis-9421	117	8	for	for	ADP
fcis-9421	117	9	robotics	robotic	NOUN
fcis-9421	117	10	–	–	PUNCT
fcis-9421	117	11	a	a	DET
fcis-9421	117	12	survey	survey	NOUN
fcis-9421	117	13	of	of	ADP
fcis-9421	117	14	recent	recent	ADJ
fcis-9421	117	15	results[j	results[j	PROPN
fcis-9421	117	16	]	]	PUNCT
fcis-9421	117	17	.	.	PUNCT
fcis-9421	118	1	annals	annal	NOUN
fcis-9421	118	2	of	of	ADP
fcis-9421	118	3	mathematics	mathematic	NOUN
fcis-9421	118	4	and	and	CCONJ
fcis-9421	118	5	artificial	artificial	ADJ
fcis-9421	118	6	intelligence	intelligence	NOUN
fcis-9421	118	7	,	,	PUNCT
fcis-9421	118	8	2001	2001	NUM
fcis-9421	118	9	,	,	PUNCT
fcis-9421	118	10	31	31	NUM
fcis-9421	118	11	:	:	SYM
fcis-9421	118	12	113	113	NUM
fcis-9421	118	13	-	-	SYM
fcis-9421	118	14	126	126	NUM
fcis-9421	118	15	.	.	PUNCT
fcis-9421	119	1	[	[	X
fcis-9421	119	2	2	2	X
fcis-9421	119	3	]	]	PUNCT
fcis-9421	119	4	choset	choset	ADJ
fcis-9421	119	5	h	h	NOUN
fcis-9421	119	6	,	,	PUNCT
fcis-9421	119	7	pignon	pignon	NOUN
fcis-9421	119	8	p.	p.	NOUN
fcis-9421	119	9	coverage	coverage	NOUN
fcis-9421	119	10	path	path	NOUN
fcis-9421	119	11	planning	planning	NOUN
fcis-9421	119	12	:	:	PUNCT
fcis-9421	119	13	the	the	DET
fcis-9421	119	14	boustrophedon	boustrophedon	ADJ
fcis-9421	119	15	cellular	cellular	ADJ
fcis-9421	119	16	decomposition[c]//field	decomposition[c]//field	PROPN
fcis-9421	119	17	and	and	CCONJ
fcis-9421	119	18	service	service	NOUN
fcis-9421	119	19	robotics	robotic	NOUN
fcis-9421	119	20	.	.	PUNCT
fcis-9421	120	1	springer	springer	PROPN
fcis-9421	120	2	london	london	PROPN
fcis-9421	120	3	,	,	PUNCT
fcis-9421	120	4	1998	1998	NUM
fcis-9421	120	5	:	:	PUNCT
fcis-9421	120	6	203	203	NUM
fcis-9421	120	7	-	-	SYM
fcis-9421	120	8	209	209	NUM
fcis-9421	120	9	.	.	PUNCT
fcis-9421	121	1	[	[	X
fcis-9421	121	2	3	3	X
fcis-9421	121	3	]	]	X
fcis-9421	121	4	choset	choset	PROPN
fcis-9421	121	5	h.	h.	PROPN
fcis-9421	121	6	coverage	coverage	NOUN
fcis-9421	121	7	of	of	ADP
fcis-9421	121	8	known	know	VERB
fcis-9421	121	9	spaces	space	NOUN
fcis-9421	121	10	:	:	PUNCT
fcis-9421	121	11	the	the	DET
fcis-9421	121	12	boustrophedon	boustrophedon	PROPN
fcis-9421	121	13	cellular	cellular	PROPN
fcis-9421	121	14	decomposition[j	decomposition[j	PROPN
fcis-9421	121	15	]	]	PUNCT
fcis-9421	121	16	.	.	PUNCT
fcis-9421	122	1	autonomous	autonomous	ADJ
fcis-9421	122	2	robots	robot	NOUN
fcis-9421	122	3	,	,	PUNCT
fcis-9421	122	4	2000	2000	NUM
fcis-9421	122	5	,	,	PUNCT
fcis-9421	122	6	9	9	NUM
fcis-9421	122	7	:	:	SYM
fcis-9421	122	8	247253	247253	NUM
fcis-9421	122	9	.	.	PUNCT
fcis-9421	123	1	[	[	X
fcis-9421	123	2	4	4	X
fcis-9421	123	3	]	]	PUNCT
fcis-9421	123	4	kyaw	kyaw	PROPN
fcis-9421	123	5	p	p	PROPN
fcis-9421	123	6	t	t	PROPN
fcis-9421	123	7	,	,	PUNCT
fcis-9421	123	8	paing	pae	VERB
fcis-9421	123	9	a	a	DET
fcis-9421	123	10	,	,	PUNCT
fcis-9421	123	11	thu	thu	PROPN
fcis-9421	123	12	t	t	PROPN
fcis-9421	123	13	t	t	PROPN
fcis-9421	123	14	,	,	PUNCT
fcis-9421	123	15	et	et	PROPN
fcis-9421	123	16	al	al	PROPN
fcis-9421	123	17	.	.	PROPN
fcis-9421	123	18	coverage	coverage	PROPN
fcis-9421	123	19	path	path	PROPN
fcis-9421	123	20	planning	planning	NOUN
fcis-9421	123	21	for	for	ADP
fcis-9421	123	22	decomposition	decomposition	NOUN
fcis-9421	123	23	reconfigurable	reconfigurable	ADJ
fcis-9421	123	24	grid	grid	NOUN
fcis-9421	123	25	-	-	PUNCT
fcis-9421	123	26	maps	map	NOUN
fcis-9421	123	27	using	use	VERB
fcis-9421	123	28	deep	deep	ADJ
fcis-9421	123	29	reinforcement	reinforcement	NOUN
fcis-9421	123	30	learning	learning	NOUN
fcis-9421	123	31	based	base	VERB
fcis-9421	123	32	travelling	travel	VERB
fcis-9421	123	33	salesman	salesman	NOUN
fcis-9421	123	34	problem[j	problem[j	NOUN
fcis-9421	123	35	]	]	PUNCT
fcis-9421	123	36	.	.	PUNCT
fcis-9421	124	1	ieee	ieee	NOUN
fcis-9421	124	2	access	access	NOUN
fcis-9421	124	3	,	,	PUNCT
fcis-9421	124	4	2020	2020	NUM
fcis-9421	124	5	,	,	PUNCT
fcis-9421	124	6	8	8	NUM
fcis-9421	124	7	:	:	SYM
fcis-9421	124	8	225945	225945	NUM
fcis-9421	124	9	-	-	SYM
fcis-9421	124	10	225956	225956	NUM
fcis-9421	124	11	.	.	PUNCT
fcis-9421	125	1	[	[	X
fcis-9421	125	2	5	5	NUM
fcis-9421	125	3	]	]	X
fcis-9421	125	4	boschian	boschian	PROPN
fcis-9421	125	5	v	v	NOUN
fcis-9421	125	6	,	,	PUNCT
fcis-9421	125	7	pruski	pruski	ADJ
fcis-9421	125	8	a.	a.	NOUN
fcis-9421	125	9	grid	grid	PROPN
fcis-9421	125	10	modeling	modeling	NOUN
fcis-9421	125	11	of	of	ADP
fcis-9421	125	12	robot	robot	NOUN
fcis-9421	125	13	cells	cell	NOUN
fcis-9421	125	14	:	:	PUNCT
fcis-9421	125	15	a	a	DET
fcis-9421	125	16	memory	memory	NOUN
fcis-9421	125	17	-	-	PUNCT
fcis-9421	125	18	efficient	efficient	ADJ
fcis-9421	125	19	approach[j	approach[j	NOUN
fcis-9421	125	20	]	]	PUNCT
fcis-9421	125	21	.	.	PUNCT
fcis-9421	126	1	journal	journal	PROPN
fcis-9421	126	2	of	of	ADP
fcis-9421	126	3	intelligent	intelligent	ADJ
fcis-9421	126	4	and	and	CCONJ
fcis-9421	126	5	robotic	robotic	ADJ
fcis-9421	126	6	systems	system	NOUN
fcis-9421	126	7	,	,	PUNCT
fcis-9421	126	8	1993	1993	NUM
fcis-9421	126	9	,	,	PUNCT
fcis-9421	126	10	8	8	NUM
fcis-9421	126	11	:	:	PUNCT
fcis-9421	126	12	201	201	NUM
fcis-9421	126	13	-	-	SYM
fcis-9421	126	14	223	223	NUM
fcis-9421	126	15	.	.	PUNCT
fcis-9421	127	1	[	[	X
fcis-9421	127	2	6	6	NUM
fcis-9421	127	3	]	]	X
fcis-9421	127	4	han	han	PROPN
fcis-9421	127	5	l	l	PROPN
fcis-9421	127	6	,	,	PUNCT
fcis-9421	127	7	yashiro	yashiro	PROPN
fcis-9421	127	8	h	h	PROPN
fcis-9421	127	9	,	,	PUNCT
fcis-9421	127	10	nejad	nejad	PROPN
fcis-9421	127	11	h	h	PROPN
fcis-9421	127	12	t	t	PROPN
fcis-9421	127	13	n	n	CCONJ
fcis-9421	127	14	,	,	PUNCT
fcis-9421	127	15	et	et	PROPN
fcis-9421	127	16	al	al	PROPN
fcis-9421	127	17	.	.	PUNCT
fcis-9421	127	18	bezier	bezier	PROPN
fcis-9421	127	19	curve	curve	PROPN
fcis-9421	127	20	based	base	VERB
fcis-9421	127	21	path	path	NOUN
fcis-9421	127	22	planning	planning	NOUN
fcis-9421	127	23	for	for	ADP
fcis-9421	127	24	autonomous	autonomous	ADJ
fcis-9421	127	25	vehicle	vehicle	NOUN
fcis-9421	127	26	in	in	ADP
fcis-9421	127	27	urban	urban	ADJ
fcis-9421	127	28	environment	environment	NOUN
fcis-9421	127	29	[	[	X
fcis-9421	127	30	c]//	c]//	PROPN
fcis-9421	127	31	2010	2010	NUM
fcis-9421	127	32	ieee	ieee	NOUN
fcis-9421	127	33	intelligent	intelligent	ADJ
fcis-9421	127	34	vehicles	vehicle	NOUN
fcis-9421	127	35	symposium	symposium	NOUN
fcis-9421	127	36	.	.	PUNCT
fcis-9421	127	37	ieee	ieee	PROPN
fcis-9421	127	38	,	,	PUNCT
fcis-9421	127	39	2010	2010	NUM
fcis-9421	127	40	:	:	PUNCT
fcis-9421	127	41	10361042	10361042	NUM
fcis-9421	127	42	.	.	PUNCT
fcis-9421	128	1	[	[	X
fcis-9421	128	2	7	7	X
fcis-9421	128	3	]	]	X
fcis-9421	128	4	zhang	zhang	PROPN
fcis-9421	128	5	s	s	PROPN
fcis-9421	128	6	,	,	PUNCT
fcis-9421	128	7	wu	wu	PROPN
fcis-9421	128	8	y	y	PROPN
fcis-9421	128	9	,	,	PUNCT
fcis-9421	128	10	ogai	ogai	PROPN
fcis-9421	128	11	h.	h.	PROPN
fcis-9421	128	12	spatial	spatial	ADJ
fcis-9421	128	13	attention	attention	NOUN
fcis-9421	128	14	for	for	ADP
fcis-9421	128	15	autonomous	autonomous	ADJ
fcis-9421	128	16	decision	decision	NOUN
fcis-9421	128	17	-	-	PUNCT
fcis-9421	128	18	making	making	NOUN
fcis-9421	128	19	in	in	ADP
fcis-9421	128	20	highway	highway	NOUN
fcis-9421	128	21	scene[c]//2020	scene[c]//2020	ADP
fcis-9421	128	22	59th	59th	ADJ
fcis-9421	128	23	annual	annual	ADJ
fcis-9421	128	24	conference	conference	NOUN
fcis-9421	128	25	of	of	ADP
fcis-9421	128	26	the	the	DET
fcis-9421	128	27	society	society	NOUN
fcis-9421	128	28	of	of	ADP
fcis-9421	128	29	instrument	instrument	NOUN
fcis-9421	128	30	and	and	CCONJ
fcis-9421	128	31	control	control	NOUN
fcis-9421	128	32	engineers	engineer	NOUN
fcis-9421	128	33	of	of	ADP
fcis-9421	128	34	japan	japan	PROPN
fcis-9421	128	35	(	(	PUNCT
fcis-9421	128	36	sice	sice	ADV
fcis-9421	128	37	)	)	PUNCT
fcis-9421	128	38	.	.	PUNCT
fcis-9421	129	1	ieee	ieee	PROPN
fcis-9421	129	2	,	,	PUNCT
fcis-9421	129	3	2020	2020	NUM
fcis-9421	129	4	:	:	PUNCT
fcis-9421	129	5	1435	1435	NUM
fcis-9421	129	6	-	-	SYM
fcis-9421	129	7	1440	1440	NUM
fcis-9421	129	8	.	.	PUNCT
fcis-9421	130	1	[	[	X
fcis-9421	130	2	8	8	NUM
fcis-9421	130	3	]	]	SYM
fcis-9421	130	4	shkel	shkel	NOUN
fcis-9421	130	5	a	a	DET
fcis-9421	130	6	m	m	PROPN
fcis-9421	130	7	,	,	PUNCT
fcis-9421	130	8	lumelsky	lumelsky	ADJ
fcis-9421	130	9	v.	v.	ADP
fcis-9421	130	10	classification	classification	NOUN
fcis-9421	130	11	of	of	ADP
fcis-9421	130	12	the	the	DET
fcis-9421	130	13	dubins	dubin	NOUN
fcis-9421	130	14	set[j	set[j	PROPN
fcis-9421	130	15	]	]	PUNCT
fcis-9421	130	16	.	.	PUNCT
fcis-9421	131	1	robotics	robotic	NOUN
fcis-9421	131	2	and	and	CCONJ
fcis-9421	131	3	autonomous	autonomous	ADJ
fcis-9421	131	4	systems	system	NOUN
fcis-9421	131	5	,	,	PUNCT
fcis-9421	131	6	2001	2001	NUM
fcis-9421	131	7	,	,	PUNCT
fcis-9421	131	8	34(4	34(4	NUM
fcis-9421	131	9	):	):	PUNCT
fcis-9421	131	10	179	179	NUM
fcis-9421	131	11	-	-	SYM
fcis-9421	131	12	202	202	NUM
fcis-9421	131	13	.	.	PUNCT