id	sid	tid	token	lemma	pos
futech-473	1	1	y.	y.	PROPN
futech-473	1	2	zhang	zhang	PROPN
futech-473	1	3	&	&	CCONJ
futech-473	1	4	ju	ju	PROPN
futech-473	1	5	.	.	PROPN
futech-473	1	6	abellera	abellera	NOUN
futech-473	1	7	/future	/future	PUNCT
futech-473	1	8	technology	technology	PROPN
futech-473	1	9	november	november	PROPN
futech-473	1	10	2025|	2025|	NUM
futech-473	1	11	volume	volume	NOUN
futech-473	1	12	04	04	NUM
futech-473	2	1	|	|	ADV
futech-473	2	2	issue	issue	VERB
futech-473	2	3	04	04	NUM
futech-473	3	1	|	|	CCONJ
futech-473	3	2	pages	page	VERB
futech-473	3	3	59	59	NUM
futech-473	3	4	-	-	SYM
futech-473	3	5	71	71	NUM
futech-473	3	6	59	59	NUM
futech-473	3	7	article	article	NOUN
futech-473	3	8	autonomous	autonomous	ADJ
futech-473	3	9	mobile	mobile	ADJ
futech-473	3	10	robotics	robotic	NOUN
futech-473	3	11	in	in	ADP
futech-473	3	12	smart	smart	ADJ
futech-473	3	13	warehousing	warehousing	NOUN
futech-473	3	14	:	:	PUNCT
futech-473	3	15	a	a	DET
futech-473	3	16	cyber	cyber	ADJ
futech-473	3	17	-	-	PUNCT
futech-473	3	18	physical	physical	ADJ
futech-473	3	19	systems	system	NOUN
futech-473	3	20	approach	approach	NOUN
futech-473	3	21	to	to	ADP
futech-473	3	22	inventory	inventory	NOUN
futech-473	3	23	management	management	NOUN
futech-473	3	24	yaqing	yaqing	PROPN
futech-473	3	25	zhang	zhang	PROPN
futech-473	3	26	*	*	PROPN
futech-473	3	27	,	,	PUNCT
futech-473	3	28	julie	julie	PROPN
futech-473	3	29	u.	u.	PROPN
futech-473	3	30	abellera	abellera	PROPN
futech-473	3	31	college	college	PROPN
futech-473	3	32	of	of	ADP
futech-473	3	33	business	business	PROPN
futech-473	3	34	administration	administration	PROPN
futech-473	3	35	,	,	PUNCT
futech-473	3	36	university	university	NOUN
futech-473	3	37	of	of	ADP
futech-473	3	38	the	the	DET
futech-473	3	39	cordilleras	cordilleras	PROPN
futech-473	3	40	,	,	PUNCT
futech-473	3	41	gov	gov	PROPN
futech-473	3	42	.	.	PROPN
futech-473	3	43	pack	pack	PROPN
futech-473	3	44	road	road	PROPN
futech-473	3	45	,	,	PUNCT
futech-473	3	46	baguio	baguio	PROPN
futech-473	3	47	city	city	PROPN
futech-473	3	48	,	,	PUNCT
futech-473	3	49	the	the	DET
futech-473	3	50	philippines	philippine	NOUN
futech-473	3	51	a	a	DET
futech-473	3	52	r	r	NOUN
futech-473	3	53	t	t	NOUN
futech-473	4	1	i	i	PRON
futech-473	4	2	c	c	NOUN
futech-473	4	3	l	l	NOUN
futech-473	4	4	e	e	NOUN
futech-473	5	1	i	i	PRON
futech-473	5	2	n	n	VERB
futech-473	5	3	f	f	NOUN
futech-473	5	4	o	o	NOUN
futech-473	5	5	article	article	NOUN
futech-473	5	6	history	history	NOUN
futech-473	5	7	:	:	PUNCT
futech-473	5	8	received	receive	VERB
futech-473	5	9	02	02	NUM
futech-473	5	10	june	june	PROPN
futech-473	5	11	2025	2025	NUM
futech-473	5	12	received	receive	VERB
futech-473	5	13	in	in	ADP
futech-473	5	14	revised	revise	VERB
futech-473	5	15	form	form	NOUN
futech-473	5	16	18	18	NUM
futech-473	5	17	july	july	PROPN
futech-473	5	18	2025	2025	NUM
futech-473	5	19	accepted	accept	VERB
futech-473	5	20	02	02	NUM
futech-473	5	21	august	august	PROPN
futech-473	5	22	2025	2025	NUM
futech-473	5	23	keywords	keyword	NOUN
futech-473	5	24	:	:	PUNCT
futech-473	5	25	autonomous	autonomous	ADJ
futech-473	5	26	mobile	mobile	ADJ
futech-473	5	27	robots	robot	NOUN
futech-473	5	28	(	(	PUNCT
futech-473	5	29	amr	amr	NOUN
futech-473	5	30	)	)	PUNCT
futech-473	5	31	,	,	PUNCT
futech-473	5	32	cyber	cyber	NOUN
futech-473	5	33	-	-	PUNCT
futech-473	5	34	physical	physical	ADJ
futech-473	5	35	systems	system	NOUN
futech-473	5	36	(	(	PUNCT
futech-473	5	37	cps	cps	PROPN
futech-473	5	38	)	)	PUNCT
futech-473	5	39	,	,	PUNCT
futech-473	5	40	inventory	inventory	NOUN
futech-473	5	41	management	management	NOUN
futech-473	5	42	,	,	PUNCT
futech-473	5	43	digital	digital	ADJ
futech-473	5	44	twin	twin	ADJ
futech-473	5	45	*	*	PUNCT
futech-473	5	46	corresponding	correspond	VERB
futech-473	5	47	author	author	NOUN
futech-473	5	48	email	email	NOUN
futech-473	5	49	address	address	NOUN
futech-473	5	50	:	:	PUNCT
futech-473	5	51	13732973626@163.com	13732973626@163.com	NUM
futech-473	5	52	doi	doi	NOUN
futech-473	5	53	:	:	PUNCT
futech-473	5	54	10.55670	10.55670	NUM
futech-473	5	55	/	/	SYM
futech-473	5	56	fpll.futech.4.4.6	fpll.futech.4.4.6	NOUN
futech-473	5	57	a	a	DET
futech-473	5	58	b	b	PROPN
futech-473	5	59	s	s	ADP
futech-473	5	60	t	t	PROPN
futech-473	5	61	r	r	NOUN
futech-473	5	62	a	a	DET
futech-473	5	63	c	c	NOUN
futech-473	5	64	t	t	NOUN
futech-473	5	65	traditional	traditional	ADJ
futech-473	5	66	warehouse	warehouse	NOUN
futech-473	5	67	management	management	NOUN
futech-473	5	68	systems	system	NOUN
futech-473	5	69	face	face	VERB
futech-473	5	70	unprecedented	unprecedented	ADJ
futech-473	5	71	challenges	challenge	NOUN
futech-473	5	72	in	in	ADP
futech-473	5	73	the	the	DET
futech-473	5	74	industry	industry	NOUN
futech-473	5	75	4.0	4.0	NUM
futech-473	5	76	era	era	NOUN
futech-473	5	77	,	,	PUNCT
futech-473	5	78	including	include	VERB
futech-473	5	79	escalating	escalate	VERB
futech-473	5	80	e	e	PROPN
futech-473	5	81	-	-	NOUN
futech-473	5	82	commerce	commerce	NOUN
futech-473	5	83	demands	demand	NOUN
futech-473	5	84	,	,	PUNCT
futech-473	5	85	acute	acute	ADJ
futech-473	5	86	labor	labor	NOUN
futech-473	5	87	shortages	shortage	NOUN
futech-473	5	88	,	,	PUNCT
futech-473	5	89	and	and	CCONJ
futech-473	5	90	critical	critical	ADJ
futech-473	5	91	requirements	requirement	NOUN
futech-473	5	92	for	for	ADP
futech-473	5	93	real	real	ADJ
futech-473	5	94	-	-	PUNCT
futech-473	5	95	time	time	NOUN
futech-473	5	96	inventory	inventory	NOUN
futech-473	5	97	visibility	visibility	NOUN
futech-473	5	98	.	.	PUNCT
futech-473	6	1	existing	exist	VERB
futech-473	6	2	solutions	solution	NOUN
futech-473	6	3	fail	fail	VERB
futech-473	6	4	to	to	PART
futech-473	6	5	deliver	deliver	VERB
futech-473	6	6	the	the	DET
futech-473	6	7	flexibility	flexibility	NOUN
futech-473	6	8	,	,	PUNCT
futech-473	6	9	scalability	scalability	NOUN
futech-473	6	10	,	,	PUNCT
futech-473	6	11	and	and	CCONJ
futech-473	6	12	operational	operational	ADJ
futech-473	6	13	efficiency	efficiency	NOUN
futech-473	6	14	essential	essential	ADJ
futech-473	6	15	for	for	ADP
futech-473	6	16	contemporary	contemporary	ADJ
futech-473	6	17	supply	supply	NOUN
futech-473	6	18	chain	chain	NOUN
futech-473	6	19	operations	operation	NOUN
futech-473	6	20	.	.	PUNCT
futech-473	7	1	a	a	DET
futech-473	7	2	novel	novel	ADJ
futech-473	7	3	integration	integration	NOUN
futech-473	7	4	framework	framework	NOUN
futech-473	7	5	combining	combine	VERB
futech-473	7	6	autonomous	autonomous	ADJ
futech-473	7	7	mobile	mobile	ADJ
futech-473	7	8	robots	robot	NOUN
futech-473	7	9	(	(	PUNCT
futech-473	7	10	amr	amr	NOUN
futech-473	7	11	)	)	PUNCT
futech-473	7	12	with	with	ADP
futech-473	7	13	cyber	cyber	ADJ
futech-473	7	14	-	-	PUNCT
futech-473	7	15	physical	physical	ADJ
futech-473	7	16	systems	system	NOUN
futech-473	7	17	(	(	PUNCT
futech-473	7	18	cps	cps	PROPN
futech-473	7	19	)	)	PUNCT
futech-473	7	20	is	be	AUX
futech-473	7	21	presented	present	VERB
futech-473	7	22	to	to	PART
futech-473	7	23	enable	enable	VERB
futech-473	7	24	intelligent	intelligent	ADJ
futech-473	7	25	,	,	PUNCT
futech-473	7	26	adaptive	adaptive	ADJ
futech-473	7	27	inventory	inventory	NOUN
futech-473	7	28	management	management	NOUN
futech-473	7	29	in	in	ADP
futech-473	7	30	smart	smart	ADJ
futech-473	7	31	warehouse	warehouse	NOUN
futech-473	7	32	environments	environment	NOUN
futech-473	7	33	.	.	PUNCT
futech-473	8	1	a	a	DET
futech-473	8	2	multi	multi	ADJ
futech-473	8	3	-	-	ADJ
futech-473	8	4	layered	layered	ADJ
futech-473	8	5	cps	cps	NOUN
futech-473	8	6	architecture	architecture	NOUN
futech-473	8	7	incorporating	incorporate	VERB
futech-473	8	8	amr	amr	ADJ
futech-473	8	9	fleet	fleet	NOUN
futech-473	8	10	coordination	coordination	NOUN
futech-473	8	11	,	,	PUNCT
futech-473	8	12	real	real	ADJ
futech-473	8	13	-	-	PUNCT
futech-473	8	14	time	time	NOUN
futech-473	8	15	data	datum	NOUN
futech-473	8	16	analytics	analytic	NOUN
futech-473	8	17	,	,	PUNCT
futech-473	8	18	and	and	CCONJ
futech-473	8	19	digital	digital	ADJ
futech-473	8	20	twin	twin	ADJ
futech-473	8	21	synchronization	synchronization	NOUN
futech-473	8	22	is	be	AUX
futech-473	8	23	proposed	propose	VERB
futech-473	8	24	.	.	PUNCT
futech-473	9	1	the	the	DET
futech-473	9	2	framework	framework	NOUN
futech-473	9	3	employs	employ	VERB
futech-473	9	4	distributed	distribute	VERB
futech-473	9	5	task	task	NOUN
futech-473	9	6	allocation	allocation	NOUN
futech-473	9	7	algorithms	algorithm	NOUN
futech-473	9	8	,	,	PUNCT
futech-473	9	9	dynamic	dynamic	ADJ
futech-473	9	10	path	path	NOUN
futech-473	9	11	planning	planning	NOUN
futech-473	9	12	strategies	strategy	NOUN
futech-473	9	13	,	,	PUNCT
futech-473	9	14	and	and	CCONJ
futech-473	9	15	predictive	predictive	ADJ
futech-473	9	16	inventory	inventory	NOUN
futech-473	9	17	optimization	optimization	NOUN
futech-473	9	18	models	model	NOUN
futech-473	9	19	.	.	PUNCT
futech-473	10	1	implementation	implementation	NOUN
futech-473	10	2	leverages	leverage	NOUN
futech-473	10	3	edge	edge	NOUN
futech-473	10	4	computing	compute	VERB
futech-473	10	5	for	for	ADP
futech-473	10	6	real	real	ADJ
futech-473	10	7	-	-	PUNCT
futech-473	10	8	time	time	NOUN
futech-473	10	9	decision	decision	NOUN
futech-473	10	10	-	-	PUNCT
futech-473	10	11	making	make	VERB
futech-473	10	12	and	and	CCONJ
futech-473	10	13	cloud	cloud	NOUN
futech-473	10	14	infrastructure	infrastructure	NOUN
futech-473	10	15	for	for	ADP
futech-473	10	16	comprehensive	comprehensive	ADJ
futech-473	10	17	data	datum	NOUN
futech-473	10	18	analysis	analysis	NOUN
futech-473	10	19	and	and	CCONJ
futech-473	10	20	storage	storage	NOUN
futech-473	10	21	.	.	PUNCT
futech-473	11	1	experimental	experimental	ADJ
futech-473	11	2	validation	validation	NOUN
futech-473	11	3	in	in	ADP
futech-473	11	4	industrial	industrial	ADJ
futech-473	11	5	environments	environment	NOUN
futech-473	11	6	demonstrates	demonstrate	VERB
futech-473	11	7	significant	significant	ADJ
futech-473	11	8	performance	performance	NOUN
futech-473	11	9	improvements	improvement	NOUN
futech-473	11	10	:	:	PUNCT
futech-473	11	11	42	42	NUM
futech-473	11	12	%	%	NOUN
futech-473	11	13	enhancement	enhancement	NOUN
futech-473	11	14	in	in	ADP
futech-473	11	15	order	order	NOUN
futech-473	11	16	fulfillment	fulfillment	NOUN
futech-473	11	17	speed	speed	NOUN
futech-473	11	18	,	,	PUNCT
futech-473	11	19	35	35	NUM
futech-473	11	20	%	%	NOUN
futech-473	11	21	reduction	reduction	NOUN
futech-473	11	22	in	in	ADP
futech-473	11	23	inventory	inventory	NOUN
futech-473	11	24	holding	hold	VERB
futech-473	11	25	costs	cost	NOUN
futech-473	11	26	,	,	PUNCT
futech-473	11	27	and	and	CCONJ
futech-473	11	28	89	89	NUM
futech-473	11	29	%	%	NOUN
futech-473	11	30	accuracy	accuracy	NOUN
futech-473	11	31	in	in	ADP
futech-473	11	32	real	real	ADJ
futech-473	11	33	-	-	PUNCT
futech-473	11	34	time	time	NOUN
futech-473	11	35	stock	stock	NOUN
futech-473	11	36	tracking	tracking	NOUN
futech-473	11	37	.	.	PUNCT
futech-473	12	1	the	the	DET
futech-473	12	2	system	system	NOUN
futech-473	12	3	maintained	maintain	VERB
futech-473	12	4	99.2	99.2	NUM
futech-473	12	5	%	%	NOUN
futech-473	12	6	uptime	uptime	NOUN
futech-473	12	7	reliability	reliability	NOUN
futech-473	12	8	while	while	SCONJ
futech-473	12	9	successfully	successfully	ADV
futech-473	12	10	managing	manage	VERB
futech-473	12	11	3×	3×	NUM
futech-473	12	12	peak	peak	NOUN
futech-473	12	13	demand	demand	NOUN
futech-473	12	14	variations	variation	NOUN
futech-473	12	15	.	.	PUNCT
futech-473	13	1	the	the	DET
futech-473	13	2	research	research	NOUN
futech-473	13	3	advances	advance	VERB
futech-473	13	4	smart	smart	ADJ
futech-473	13	5	logistics	logistic	NOUN
futech-473	13	6	by	by	ADP
futech-473	13	7	establishing	establish	VERB
futech-473	13	8	a	a	DET
futech-473	13	9	scalable	scalable	ADJ
futech-473	13	10	,	,	PUNCT
futech-473	13	11	generalizable	generalizable	ADJ
futech-473	13	12	cpsamr	cpsamr	NOUN
futech-473	13	13	framework	framework	NOUN
futech-473	13	14	applicable	applicable	ADJ
futech-473	13	15	across	across	ADP
futech-473	13	16	diverse	diverse	ADJ
futech-473	13	17	warehouse	warehouse	NOUN
futech-473	13	18	environments	environment	NOUN
futech-473	13	19	.	.	PUNCT
futech-473	14	1	the	the	DET
futech-473	14	2	findings	finding	NOUN
futech-473	14	3	provide	provide	VERB
futech-473	14	4	actionable	actionable	ADJ
futech-473	14	5	guidelines	guideline	NOUN
futech-473	14	6	for	for	ADP
futech-473	14	7	industry	industry	NOUN
futech-473	14	8	4.0	4.0	NUM
futech-473	14	9	transformation	transformation	NOUN
futech-473	14	10	initiatives	initiative	NOUN
futech-473	14	11	and	and	CCONJ
futech-473	14	12	establish	establish	VERB
futech-473	14	13	theoretical	theoretical	ADJ
futech-473	14	14	foundations	foundation	NOUN
futech-473	14	15	for	for	ADP
futech-473	14	16	next	next	ADJ
futech-473	14	17	-	-	PUNCT
futech-473	14	18	generation	generation	NOUN
futech-473	14	19	autonomous	autonomous	ADJ
futech-473	14	20	warehouse	warehouse	NOUN
futech-473	14	21	systems	system	NOUN
futech-473	14	22	.	.	PUNCT
futech-473	15	1	1	1	X
futech-473	15	2	.	.	X
futech-473	15	3	introduction	introduction	NOUN
futech-473	15	4	in	in	ADP
futech-473	15	5	the	the	DET
futech-473	15	6	age	age	NOUN
futech-473	15	7	of	of	ADP
futech-473	15	8	e	e	NOUN
futech-473	15	9	-	-	NOUN
futech-473	15	10	commerce	commerce	ADJ
futech-473	15	11	and	and	CCONJ
futech-473	15	12	global	global	ADJ
futech-473	15	13	supply	supply	NOUN
futech-473	15	14	chains	chain	NOUN
futech-473	15	15	,	,	PUNCT
futech-473	15	16	warehouse	warehouse	NOUN
futech-473	15	17	operations	operation	NOUN
futech-473	15	18	have	have	AUX
futech-473	15	19	rapidly	rapidly	ADV
futech-473	15	20	evolved	evolve	VERB
futech-473	15	21	to	to	PART
futech-473	15	22	meet	meet	VERB
futech-473	15	23	the	the	DET
futech-473	15	24	everincreasing	everincrease	VERB
futech-473	15	25	demands	demand	NOUN
futech-473	15	26	of	of	ADP
futech-473	15	27	efficiency	efficiency	NOUN
futech-473	15	28	,	,	PUNCT
futech-473	15	29	accuracy	accuracy	NOUN
futech-473	15	30	,	,	PUNCT
futech-473	15	31	and	and	CCONJ
futech-473	15	32	versatility	versatility	NOUN
futech-473	15	33	.	.	PUNCT
futech-473	16	1	these	these	DET
futech-473	16	2	dynamic	dynamic	ADJ
futech-473	16	3	requirements	requirement	NOUN
futech-473	16	4	pose	pose	VERB
futech-473	16	5	serious	serious	ADJ
futech-473	16	6	problems	problem	NOUN
futech-473	16	7	for	for	ADP
futech-473	16	8	the	the	DET
futech-473	16	9	traditional	traditional	ADJ
futech-473	16	10	warehouse	warehouse	NOUN
futech-473	16	11	management	management	NOUN
futech-473	16	12	systems	system	NOUN
futech-473	16	13	,	,	PUNCT
futech-473	16	14	especially	especially	ADV
futech-473	16	15	under	under	ADP
futech-473	16	16	the	the	DET
futech-473	16	17	backdrop	backdrop	NOUN
futech-473	16	18	of	of	ADP
futech-473	16	19	industry	industry	NOUN
futech-473	16	20	4.0	4.0	NUM
futech-473	16	21	reconfiguration	reconfiguration	NOUN
futech-473	16	22	[	[	X
futech-473	16	23	1	1	NUM
futech-473	16	24	]	]	PUNCT
futech-473	16	25	.	.	PUNCT
futech-473	17	1	the	the	DET
futech-473	17	2	intersection	intersection	NOUN
futech-473	17	3	of	of	ADP
futech-473	17	4	autonomous	autonomous	ADJ
futech-473	17	5	mobile	mobile	ADJ
futech-473	17	6	robots	robot	NOUN
futech-473	17	7	(	(	PUNCT
futech-473	17	8	amr	amr	NOUN
futech-473	17	9	)	)	PUNCT
futech-473	17	10	and	and	CCONJ
futech-473	17	11	cyberphysical	cyberphysical	ADJ
futech-473	17	12	systems	system	NOUN
futech-473	17	13	(	(	PUNCT
futech-473	17	14	cps	cps	PROPN
futech-473	17	15	)	)	PUNCT
futech-473	17	16	has	have	VERB
futech-473	17	17	the	the	DET
futech-473	17	18	potential	potential	NOUN
futech-473	17	19	to	to	PART
futech-473	17	20	bring	bring	VERB
futech-473	17	21	a	a	DET
futech-473	17	22	paradigm	paradigm	NOUN
futech-473	17	23	shift	shift	NOUN
futech-473	17	24	in	in	ADP
futech-473	17	25	handling	handle	VERB
futech-473	17	26	these	these	DET
futech-473	17	27	challenges	challenge	NOUN
futech-473	17	28	,	,	PUNCT
futech-473	17	29	and	and	CCONJ
futech-473	17	30	can	can	AUX
futech-473	17	31	revolutionize	revolutionize	VERB
futech-473	17	32	inventory	inventory	NOUN
futech-473	17	33	management	management	NOUN
futech-473	17	34	and	and	CCONJ
futech-473	17	35	logistics	logistic	NOUN
futech-473	17	36	operations	operation	NOUN
futech-473	17	37	[	[	X
futech-473	17	38	2	2	NUM
futech-473	17	39	]	]	PUNCT
futech-473	17	40	.	.	PUNCT
futech-473	18	1	summary	summary	VERB
futech-473	18	2	the	the	DET
futech-473	18	3	warehouse	warehouse	NOUN
futech-473	18	4	automation	automation	NOUN
futech-473	18	5	market	market	NOUN
futech-473	18	6	has	have	AUX
futech-473	18	7	grown	grow	VERB
futech-473	18	8	exponentially	exponentially	ADV
futech-473	18	9	,	,	PUNCT
futech-473	18	10	and	and	CCONJ
futech-473	18	11	the	the	DET
futech-473	18	12	size	size	NOUN
futech-473	18	13	of	of	ADP
futech-473	18	14	the	the	DET
futech-473	18	15	global	global	ADJ
futech-473	18	16	autonomous	autonomous	PROPN
futech-473	18	17	mobile	mobile	PROPN
futech-473	18	18	robots	robot	NOUN
futech-473	18	19	market	market	NOUN
futech-473	18	20	is	be	AUX
futech-473	18	21	expected	expect	VERB
futech-473	18	22	to	to	PART
futech-473	18	23	be	be	AUX
futech-473	18	24	usd	usd	PROPN
futech-473	18	25	155.84	155.84	NUM
futech-473	18	26	billion	billion	NUM
futech-473	18	27	by	by	ADP
futech-473	18	28	2030	2030	NUM
futech-473	18	29	at	at	ADP
futech-473	18	30	a	a	DET
futech-473	18	31	cagr	cagr	NOUN
futech-473	18	32	of	of	ADP
futech-473	18	33	34.2	34.2	NUM
futech-473	18	34	%	%	NOUN
futech-473	18	35	from	from	ADP
futech-473	18	36	2025	2025	NUM
futech-473	18	37	to	to	ADP
futech-473	18	38	2030	2030	NUM
futech-473	18	39	[	[	X
futech-473	18	40	3	3	NUM
futech-473	18	41	]	]	PUNCT
futech-473	18	42	.	.	PUNCT
futech-473	19	1	this	this	DET
futech-473	19	2	transformational	transformational	ADJ
futech-473	19	3	growth	growth	NOUN
futech-473	19	4	is	be	AUX
futech-473	19	5	a	a	DET
futech-473	19	6	testament	testament	NOUN
futech-473	19	7	to	to	ADP
futech-473	19	8	the	the	DET
futech-473	19	9	mission	mission	NOUN
futech-473	19	10	-	-	PUNCT
futech-473	19	11	critical	critical	ADJ
futech-473	19	12	position	position	NOUN
futech-473	19	13	of	of	ADP
futech-473	19	14	amr	amr	ADJ
futech-473	19	15	technology	technology	NOUN
futech-473	19	16	in	in	ADP
futech-473	19	17	today	today	NOUN
futech-473	19	18	's	's	PART
futech-473	19	19	supply	supply	NOUN
futech-473	19	20	chain	chain	NOUN
futech-473	19	21	,	,	PUNCT
futech-473	19	22	where	where	SCONJ
futech-473	19	23	status	status	NOUN
futech-473	19	24	quo	quo	NOUN
futech-473	19	25	manual	manual	ADJ
futech-473	19	26	solutions	solution	NOUN
futech-473	19	27	are	be	AUX
futech-473	19	28	no	no	ADV
futech-473	19	29	longer	long	ADV
futech-473	19	30	able	able	ADJ
futech-473	19	31	to	to	PART
futech-473	19	32	fulfill	fulfill	VERB
futech-473	19	33	the	the	DET
futech-473	19	34	demands	demand	NOUN
futech-473	19	35	of	of	ADP
futech-473	19	36	ecommerce	ecommerce	NOUN
futech-473	19	37	,	,	PUNCT
futech-473	19	38	omni	omni	ADJ
futech-473	19	39	-	-	PUNCT
futech-473	19	40	channel	channel	NOUN
futech-473	19	41	orders	order	NOUN
futech-473	19	42	,	,	PUNCT
futech-473	19	43	and	and	CCONJ
futech-473	19	44	the	the	DET
futech-473	19	45	move	move	NOUN
futech-473	19	46	to	to	ADP
futech-473	19	47	automation	automation	NOUN
futech-473	19	48	.	.	PUNCT
futech-473	20	1	the	the	DET
futech-473	20	2	integration	integration	NOUN
futech-473	20	3	of	of	ADP
futech-473	20	4	amr	amr	PROPN
futech-473	20	5	technologies	technology	NOUN
futech-473	20	6	with	with	ADP
futech-473	20	7	cps	cps	PROPN
futech-473	20	8	(	(	PUNCT
futech-473	20	9	cyber	cyber	NOUN
futech-473	20	10	-	-	PUNCT
futech-473	20	11	physical	physical	ADJ
futech-473	20	12	system	system	NOUN
futech-473	20	13	)	)	PUNCT
futech-473	20	14	architectures	architecture	NOUN
futech-473	20	15	introduces	introduce	VERB
futech-473	20	16	an	an	DET
futech-473	20	17	innovative	innovative	ADJ
futech-473	20	18	potential	potential	NOUN
futech-473	20	19	of	of	ADP
futech-473	20	20	intelligent	intelligent	ADJ
futech-473	20	21	and	and	CCONJ
futech-473	20	22	adaptive	adaptive	ADJ
futech-473	20	23	warehouse	warehouse	NOUN
futech-473	20	24	management	management	NOUN
futech-473	20	25	systems	system	NOUN
futech-473	20	26	(	(	PUNCT
futech-473	20	27	wmss	wmss	NOUN
futech-473	20	28	)	)	PUNCT
futech-473	20	29	that	that	PRON
futech-473	20	30	can	can	AUX
futech-473	20	31	react	react	VERB
futech-473	20	32	in	in	ADP
futech-473	20	33	a	a	DET
futech-473	20	34	dynamic	dynamic	ADJ
futech-473	20	35	way	way	NOUN
futech-473	20	36	to	to	ADP
futech-473	20	37	the	the	DET
futech-473	20	38	variability	variability	NOUN
futech-473	20	39	of	of	ADP
futech-473	20	40	operational	operational	ADJ
futech-473	20	41	scenarios	scenario	NOUN
futech-473	20	42	[	[	X
futech-473	20	43	4	4	NUM
futech-473	20	44	]	]	PUNCT
futech-473	20	45	.	.	PUNCT
futech-473	21	1	recent	recent	ADJ
futech-473	21	2	developments	development	NOUN
futech-473	21	3	in	in	ADP
futech-473	21	4	amr	amr	PROPN
futech-473	21	5	development	development	NOUN
futech-473	21	6	have	have	AUX
futech-473	21	7	resulted	result	VERB
futech-473	21	8	in	in	ADP
futech-473	21	9	impressive	impressive	ADJ
futech-473	21	10	warehouse	warehouse	NOUN
futech-473	21	11	productivity	productivity	NOUN
futech-473	21	12	gains	gain	NOUN
futech-473	21	13	.	.	PUNCT
futech-473	22	1	a	a	DET
futech-473	22	2	recent	recent	ADJ
futech-473	22	3	study	study	NOUN
futech-473	22	4	suggest	suggest	VERB
futech-473	22	5	that	that	SCONJ
futech-473	22	6	deploying	deploy	VERB
futech-473	22	7	amrs	amrs	PROPN
futech-473	22	8	can	can	AUX
futech-473	22	9	yield	yield	VERB
futech-473	22	10	order	order	NOUN
futech-473	22	11	fulfillment	fulfillment	NOUN
futech-473	22	12	speed	speed	NOUN
futech-473	22	13	improvements	improvement	NOUN
futech-473	22	14	of	of	ADP
futech-473	22	15	as	as	ADV
futech-473	22	16	much	much	ADJ
futech-473	22	17	as	as	ADP
futech-473	22	18	42	42	NUM
futech-473	22	19	%	%	NOUN
futech-473	22	20	and	and	CCONJ
futech-473	22	21	inventory	inventory	NOUN
futech-473	22	22	holding	hold	VERB
futech-473	22	23	cost	cost	NOUN
futech-473	22	24	reduction	reduction	NOUN
futech-473	22	25	of	of	ADP
futech-473	22	26	as	as	ADV
futech-473	22	27	much	much	ADJ
futech-473	22	28	as	as	ADP
futech-473	22	29	35	35	NUM
futech-473	22	30	%	%	NOUN
futech-473	22	31	[	[	X
futech-473	22	32	5	5	NUM
futech-473	22	33	]	]	PUNCT
futech-473	22	34	.	.	PUNCT
futech-473	23	1	these	these	DET
futech-473	23	2	advancements	advancement	NOUN
futech-473	23	3	are	be	AUX
futech-473	23	4	possible	possible	ADJ
futech-473	23	5	due	due	ADP
futech-473	23	6	to	to	ADP
futech-473	23	7	the	the	DET
futech-473	23	8	advanced	advanced	ADJ
futech-473	23	9	fusion	fusion	NOUN
futech-473	23	10	of	of	ADP
futech-473	23	11	navigation	navigation	NOUN
futech-473	23	12	algorithms	algorithm	NOUN
futech-473	23	13	,	,	PUNCT
futech-473	23	14	onboard	onboard	ADP
futech-473	23	15	sensor	sensor	NOUN
futech-473	23	16	data	datum	NOUN
futech-473	23	17	processing	processing	NOUN
futech-473	23	18	,	,	PUNCT
futech-473	23	19	and	and	CCONJ
futech-473	23	20	collaborative	collaborative	ADJ
futech-473	23	21	multirobot	multirobot	NOUN
futech-473	23	22	coordination	coordination	NOUN
futech-473	23	23	systems	system	NOUN
futech-473	23	24	.	.	PUNCT
futech-473	24	1	the	the	DET
futech-473	24	2	navigation	navigation	NOUN
futech-473	24	3	and	and	CCONJ
futech-473	24	4	orchestration	orchestration	NOUN
futech-473	24	5	of	of	ADP
futech-473	24	6	autonomous	autonomous	ADJ
futech-473	24	7	mobile	mobile	ADJ
futech-473	24	8	robots	robot	NOUN
futech-473	24	9	in	in	ADP
futech-473	24	10	the	the	DET
futech-473	24	11	context	context	NOUN
futech-473	24	12	of	of	ADP
futech-473	24	13	intralogistics	intralogistic	NOUN
futech-473	24	14	applications	application	NOUN
futech-473	24	15	has	have	AUX
futech-473	24	16	recently	recently	ADV
futech-473	24	17	gained	gain	VERB
futech-473	24	18	a	a	DET
futech-473	24	19	lot	lot	NOUN
futech-473	24	20	of	of	ADP
futech-473	24	21	attention	attention	NOUN
futech-473	24	22	and	and	CCONJ
futech-473	24	23	represents	represent	VERB
futech-473	24	24	an	an	DET
futech-473	24	25	active	active	ADJ
futech-473	24	26	area	area	NOUN
futech-473	24	27	of	of	ADP
futech-473	24	28	research	research	NOUN
futech-473	24	29	,	,	PUNCT
futech-473	24	30	with	with	ADP
futech-473	24	31	many	many	ADJ
futech-473	24	32	works	work	NOUN
futech-473	24	33	targeting	target	VERB
futech-473	24	34	routing	routing	NOUN
futech-473	24	35	,	,	PUNCT
futech-473	24	36	task	task	NOUN
futech-473	24	37	allocation	allocation	NOUN
futech-473	24	38	,	,	PUNCT
futech-473	24	39	and	and	CCONJ
futech-473	24	40	coordination	coordination	NOUN
futech-473	24	41	aspects	aspect	NOUN
futech-473	24	42	.	.	PUNCT
futech-473	25	1	the	the	DET
futech-473	25	2	terminology	terminology	NOUN
futech-473	25	3	of	of	ADP
futech-473	25	4	cyber	cyber	NOUN
futech-473	25	5	-	-	PUNCT
futech-473	25	6	physical	physical	ADJ
futech-473	25	7	systems	system	NOUN
futech-473	25	8	enables	enable	VERB
futech-473	25	9	a	a	DET
futech-473	25	10	theoretical	theoretical	ADJ
futech-473	25	11	framework	framework	NOUN
futech-473	25	12	to	to	PART
futech-473	25	13	combine	combine	VERB
futech-473	25	14	material	material	ADJ
futech-473	25	15	future	future	ADJ
futech-473	25	16	technology	technology	NOUN
futech-473	25	17	open	open	ADJ
futech-473	25	18	access	access	NOUN
futech-473	25	19	journal	journal	PROPN
futech-473	25	20	https://doi.org/10.55670/fpll.futech.4.4.6	https://doi.org/10.55670/fpll.futech.4.4.6	PROPN
futech-473	25	21	november	november	PROPN
futech-473	25	22	2025|	2025|	NUM
futech-473	25	23	volume	volume	NOUN
futech-473	25	24	04	04	NUM
futech-473	26	1	|	|	ADV
futech-473	26	2	issue	issue	VERB
futech-473	26	3	04	04	NUM
futech-473	27	1	|	|	CCONJ
futech-473	27	2	pages	page	NOUN
futech-473	27	3	5971	5971	NUM
futech-473	27	4	journal	journal	PROPN
futech-473	27	5	homepage	homepage	NOUN
futech-473	27	6	:	:	PUNCT
futech-473	27	7	https://fupubco.com/futech	https://fupubco.com/futech	PROPN
futech-473	27	8	issn	issn	VERB
futech-473	27	9	2832	2832	NUM
futech-473	27	10	-	-	SYM
futech-473	27	11	0379	0379	NUM
futech-473	27	12	mailto:13732973626@163.com	mailto:13732973626@163.com	SYM
futech-473	27	13	https://doi.org/10.55670/fpll.futech.4.4.6	https://doi.org/10.55670/fpll.futech.4.4.6	NOUN
futech-473	27	14	https://fupubco.com/futech	https://fupubco.com/futech	PROPN
futech-473	27	15	y.	y.	PROPN
futech-473	27	16	zhang	zhang	PROPN
futech-473	27	17	&	&	CCONJ
futech-473	27	18	ju	ju	PROPN
futech-473	27	19	.	.	PROPN
futech-473	28	1	abellera	abellera	NOUN
futech-473	28	2	/future	/future	PUNCT
futech-473	28	3	technology	technology	PROPN
futech-473	28	4	november	november	PROPN
futech-473	28	5	2025|	2025|	NUM
futech-473	28	6	volume	volume	NOUN
futech-473	28	7	04	04	NUM
futech-473	29	1	|	|	ADV
futech-473	29	2	issue	issue	VERB
futech-473	29	3	04	04	NUM
futech-473	30	1	|	|	CCONJ
futech-473	30	2	pages	page	VERB
futech-473	30	3	59	59	NUM
futech-473	30	4	-	-	SYM
futech-473	30	5	71	71	NUM
futech-473	30	6	60	60	NUM
futech-473	30	7	handling	handling	NOUN
futech-473	30	8	systems	system	NOUN
futech-473	30	9	and	and	CCONJ
futech-473	30	10	information	information	NOUN
futech-473	30	11	systems	system	NOUN
futech-473	30	12	.	.	PUNCT
futech-473	31	1	in	in	ADP
futech-473	31	2	the	the	DET
futech-473	31	3	domain	domain	NOUN
futech-473	31	4	of	of	ADP
futech-473	31	5	warehouses	warehouse	NOUN
futech-473	31	6	,	,	PUNCT
futech-473	31	7	cps	cps	PROPN
futech-473	31	8	facilitates	facilitate	VERB
futech-473	31	9	the	the	DET
futech-473	31	10	integration	integration	NOUN
futech-473	31	11	of	of	ADP
futech-473	31	12	amr	amr	ADJ
futech-473	31	13	fleets	fleet	NOUN
futech-473	31	14	,	,	PUNCT
futech-473	31	15	warehouse	warehouse	NOUN
futech-473	31	16	management	management	NOUN
futech-473	31	17	systems	system	NOUN
futech-473	31	18	(	(	PUNCT
futech-473	31	19	wms	wms	PROPN
futech-473	31	20	)	)	PUNCT
futech-473	31	21	,	,	PUNCT
futech-473	31	22	and	and	CCONJ
futech-473	31	23	real	real	ADJ
futech-473	31	24	-	-	PUNCT
futech-473	31	25	time	time	NOUN
futech-473	31	26	data	datum	NOUN
futech-473	31	27	analytics	analytic	NOUN
futech-473	31	28	[	[	X
futech-473	31	29	6	6	NUM
futech-473	31	30	]	]	PUNCT
futech-473	31	31	.	.	PUNCT
futech-473	32	1	such	such	ADJ
futech-473	32	2	integration	integration	NOUN
futech-473	32	3	is	be	AUX
futech-473	32	4	enriched	enrich	VERB
futech-473	32	5	by	by	ADP
futech-473	32	6	digital	digital	ADJ
futech-473	32	7	twinenabled	twinenable	VERB
futech-473	32	8	virtual	virtual	ADJ
futech-473	32	9	copies	copy	NOUN
futech-473	32	10	of	of	ADP
futech-473	32	11	the	the	DET
futech-473	32	12	physical	physical	ADJ
futech-473	32	13	environments	environment	NOUN
futech-473	32	14	of	of	ADP
futech-473	32	15	a	a	DET
futech-473	32	16	warehouse	warehouse	NOUN
futech-473	32	17	,	,	PUNCT
futech-473	32	18	facilitating	facilitate	VERB
futech-473	32	19	predictive	predictive	ADJ
futech-473	32	20	analytics	analytic	NOUN
futech-473	32	21	and	and	CCONJ
futech-473	32	22	optimization	optimization	NOUN
futech-473	32	23	of	of	ADP
futech-473	32	24	operational	operational	ADJ
futech-473	32	25	parameters	parameter	NOUN
futech-473	32	26	[	[	X
futech-473	32	27	7	7	NUM
futech-473	32	28	]	]	PUNCT
futech-473	32	29	.	.	PUNCT
futech-473	33	1	digital	digital	ADJ
futech-473	33	2	twins	twin	NOUN
futech-473	33	3	are	be	AUX
futech-473	33	4	also	also	ADV
futech-473	33	5	applied	apply	VERB
futech-473	33	6	in	in	ADP
futech-473	33	7	warehouse	warehouse	NOUN
futech-473	33	8	logistics	logistic	NOUN
futech-473	33	9	to	to	PART
futech-473	33	10	simulate	simulate	VERB
futech-473	33	11	layout	layout	NOUN
futech-473	33	12	design	design	NOUN
futech-473	33	13	and	and	CCONJ
futech-473	33	14	predict	predict	VERB
futech-473	33	15	system	system	NOUN
futech-473	33	16	behavior	behavior	NOUN
futech-473	33	17	under	under	ADP
futech-473	33	18	various	various	ADJ
futech-473	33	19	operating	operating	NOUN
futech-473	33	20	conditions	condition	NOUN
futech-473	33	21	[	[	X
futech-473	33	22	8	8	NUM
futech-473	33	23	]	]	PUNCT
futech-473	33	24	.	.	PUNCT
futech-473	34	1	multi	multi	ADJ
futech-473	34	2	-	-	ADJ
futech-473	34	3	robot	robot	ADJ
futech-473	34	4	coordination	coordination	NOUN
futech-473	34	5	is	be	AUX
futech-473	34	6	one	one	NUM
futech-473	34	7	of	of	ADP
futech-473	34	8	the	the	DET
futech-473	34	9	most	most	ADV
futech-473	34	10	challenging	challenging	ADJ
futech-473	34	11	issues	issue	NOUN
futech-473	34	12	in	in	ADP
futech-473	34	13	the	the	DET
futech-473	34	14	deployment	deployment	NOUN
futech-473	34	15	of	of	ADP
futech-473	34	16	amrs	amrs	PROPN
futech-473	34	17	in	in	ADP
futech-473	34	18	warehouses	warehouse	NOUN
futech-473	34	19	.	.	PUNCT
futech-473	35	1	it	it	PRON
futech-473	35	2	is	be	AUX
futech-473	35	3	because	because	SCONJ
futech-473	35	4	cprcas	cprca	NOUN
futech-473	35	5	is	be	AUX
futech-473	35	6	coordinating	coordinate	VERB
futech-473	35	7	multiple	multiple	ADJ
futech-473	35	8	autonomous	autonomous	ADJ
futech-473	35	9	agents	agent	NOUN
futech-473	35	10	that	that	PRON
futech-473	35	11	,	,	PUNCT
futech-473	35	12	under	under	ADP
futech-473	35	13	various	various	ADJ
futech-473	35	14	conditions	condition	NOUN
futech-473	35	15	,	,	PUNCT
futech-473	35	16	respond	respond	VERB
futech-473	35	17	to	to	ADP
futech-473	35	18	environmental	environmental	ADJ
futech-473	35	19	changes	change	NOUN
futech-473	35	20	,	,	PUNCT
futech-473	35	21	the	the	DET
futech-473	35	22	requirements	requirement	NOUN
futech-473	35	23	for	for	ADP
futech-473	35	24	handling	handle	VERB
futech-473	35	25	these	these	DET
futech-473	35	26	dynamic	dynamic	ADJ
futech-473	35	27	and	and	CCONJ
futech-473	35	28	uncertain	uncertain	ADJ
futech-473	35	29	constraints	constraint	NOUN
futech-473	35	30	are	be	AUX
futech-473	35	31	time	time	NOUN
futech-473	35	32	-	-	PUNCT
futech-473	35	33	critical	critical	ADJ
futech-473	35	34	[	[	X
futech-473	35	35	9	9	NUM
futech-473	35	36	]	]	PUNCT
futech-473	35	37	.	.	PUNCT
futech-473	36	1	more	more	ADV
futech-473	36	2	recently	recently	ADV
futech-473	36	3	,	,	PUNCT
futech-473	36	4	different	different	ADJ
futech-473	36	5	strategies	strategy	NOUN
futech-473	36	6	have	have	AUX
futech-473	36	7	been	be	AUX
futech-473	36	8	proposed	propose	VERB
futech-473	36	9	to	to	PART
futech-473	36	10	tackle	tackle	VERB
futech-473	36	11	this	this	DET
futech-473	36	12	problem	problem	NOUN
futech-473	36	13	,	,	PUNCT
futech-473	36	14	such	such	ADJ
futech-473	36	15	as	as	ADP
futech-473	36	16	market	market	NOUN
futech-473	36	17	-	-	PUNCT
futech-473	36	18	based	base	VERB
futech-473	36	19	coordination	coordination	NOUN
futech-473	36	20	mechanisms	mechanism	NOUN
futech-473	36	21	,	,	PUNCT
futech-473	36	22	decentralized	decentralize	VERB
futech-473	36	23	planning	planning	NOUN
futech-473	36	24	strategies	strategy	NOUN
futech-473	36	25	,	,	PUNCT
futech-473	36	26	and	and	CCONJ
futech-473	36	27	collaborative	collaborative	ADJ
futech-473	36	28	task	task	NOUN
futech-473	36	29	allocation	allocation	NOUN
futech-473	36	30	algorithms	algorithm	NOUN
futech-473	36	31	[	[	X
futech-473	36	32	10	10	NUM
futech-473	36	33	]	]	PUNCT
futech-473	36	34	.	.	PUNCT
futech-473	37	1	the	the	DET
futech-473	37	2	fault	fault	NOUN
futech-473	37	3	-	-	PUNCT
futech-473	37	4	tolerant	tolerant	ADJ
futech-473	37	5	coordination	coordination	NOUN
futech-473	37	6	of	of	ADP
futech-473	37	7	multirobot	multirobot	NOUN
futech-473	37	8	systems	system	NOUN
futech-473	37	9	is	be	AUX
futech-473	37	10	essential	essential	ADJ
futech-473	37	11	to	to	PART
futech-473	37	12	guarantee	guarantee	VERB
futech-473	37	13	the	the	DET
futech-473	37	14	reliability	reliability	NOUN
futech-473	37	15	and	and	CCONJ
futech-473	37	16	the	the	DET
futech-473	37	17	continuous	continuous	ADJ
futech-473	37	18	operation	operation	NOUN
futech-473	37	19	of	of	ADP
futech-473	37	20	the	the	DET
futech-473	37	21	system	system	NOUN
futech-473	37	22	in	in	ADP
futech-473	37	23	the	the	DET
futech-473	37	24	presence	presence	NOUN
futech-473	37	25	of	of	ADP
futech-473	37	26	robot	robot	NOUN
futech-473	37	27	failures	failure	NOUN
futech-473	37	28	[	[	X
futech-473	37	29	11	11	NUM
futech-473	37	30	]	]	PUNCT
futech-473	37	31	.	.	PUNCT
futech-473	38	1	the	the	DET
futech-473	38	2	introduction	introduction	NOUN
futech-473	38	3	of	of	ADP
futech-473	38	4	artificial	artificial	ADJ
futech-473	38	5	intelligence	intelligence	NOUN
futech-473	38	6	and	and	CCONJ
futech-473	38	7	machine	machine	NOUN
futech-473	38	8	learning	learning	NOUN
futech-473	38	9	has	have	AUX
futech-473	38	10	been	be	AUX
futech-473	38	11	a	a	DET
futech-473	38	12	major	major	ADJ
futech-473	38	13	game	game	NOUN
futech-473	38	14	-	-	PUNCT
futech-473	38	15	changer	changer	NOUN
futech-473	38	16	for	for	ADP
futech-473	38	17	warehouse	warehouse	NOUN
futech-473	38	18	automation	automation	NOUN
futech-473	38	19	systems	system	NOUN
futech-473	38	20	.	.	PUNCT
futech-473	39	1	optimization	optimization	NOUN
futech-473	39	2	algorithms	algorithm	NOUN
futech-473	39	3	based	base	VERB
futech-473	39	4	on	on	ADP
futech-473	39	5	ai	ai	INTJ
futech-473	39	6	make	make	VERB
futech-473	39	7	real	real	ADJ
futech-473	39	8	-	-	PUNCT
futech-473	39	9	time	time	NOUN
futech-473	39	10	decisions	decision	NOUN
futech-473	39	11	regarding	regard	VERB
futech-473	39	12	inventory	inventory	NOUN
futech-473	39	13	management	management	NOUN
futech-473	39	14	,	,	PUNCT
futech-473	39	15	order	order	NOUN
futech-473	39	16	sequences	sequence	NOUN
futech-473	39	17	,	,	PUNCT
futech-473	39	18	and	and	CCONJ
futech-473	39	19	resource	resource	NOUN
futech-473	39	20	allocation	allocation	NOUN
futech-473	39	21	[	[	X
futech-473	39	22	12	12	NUM
futech-473	39	23	]	]	PUNCT
futech-473	39	24	.	.	PUNCT
futech-473	40	1	leveraging	leverage	VERB
futech-473	40	2	the	the	DET
futech-473	40	3	recent	recent	ADJ
futech-473	40	4	advent	advent	NOUN
futech-473	40	5	of	of	ADP
futech-473	40	6	large	large	ADJ
futech-473	40	7	language	language	NOUN
futech-473	40	8	models	model	NOUN
futech-473	40	9	and	and	CCONJ
futech-473	40	10	advanced	advanced	ADJ
futech-473	40	11	ai	ai	VERB
futech-473	40	12	,	,	PUNCT
futech-473	40	13	we	we	PRON
futech-473	40	14	seek	seek	VERB
futech-473	40	15	to	to	PART
futech-473	40	16	improve	improve	VERB
futech-473	40	17	communication	communication	NOUN
futech-473	40	18	and	and	CCONJ
futech-473	40	19	coordination	coordination	NOUN
futech-473	40	20	amongst	amongst	ADP
futech-473	40	21	robots	robot	NOUN
futech-473	40	22	and	and	CCONJ
futech-473	40	23	teach	teach	VERB
futech-473	40	24	them	they	PRON
futech-473	40	25	more	more	ADV
futech-473	40	26	elaborate	elaborate	ADJ
futech-473	40	27	collaborative	collaborative	ADJ
futech-473	40	28	behaviors	behavior	NOUN
futech-473	40	29	[	[	X
futech-473	40	30	13	13	NUM
futech-473	40	31	]	]	PUNCT
futech-473	40	32	.	.	PUNCT
futech-473	41	1	they	they	PRON
futech-473	41	2	cooperate	cooperate	VERB
futech-473	41	3	with	with	ADP
futech-473	41	4	warehouse	warehouse	NOUN
futech-473	41	5	management	management	NOUN
futech-473	41	6	systems	system	NOUN
futech-473	41	7	to	to	PART
futech-473	41	8	form	form	VERB
futech-473	41	9	intelligent	intelligent	ADJ
futech-473	41	10	spaces	space	NOUN
futech-473	41	11	that	that	PRON
futech-473	41	12	can	can	AUX
futech-473	41	13	cope	cope	VERB
futech-473	41	14	with	with	ADP
futech-473	41	15	modifications	modification	NOUN
futech-473	41	16	of	of	ADP
futech-473	41	17	demand	demand	NOUN
futech-473	41	18	profiles	profile	NOUN
futech-473	41	19	and	and	CCONJ
futech-473	41	20	operational	operational	ADJ
futech-473	41	21	limitations	limitation	NOUN
futech-473	41	22	[	[	X
futech-473	41	23	14	14	NUM
futech-473	41	24	]	]	PUNCT
futech-473	41	25	.	.	PUNCT
futech-473	42	1	digital	digital	PROPN
futech-473	42	2	twin	twin	PROPN
futech-473	42	3	revolutionizes	revolutionize	VERB
futech-473	42	4	warehouse	warehouse	NOUN
futech-473	42	5	management	management	NOUN
futech-473	42	6	,	,	PUNCT
futech-473	42	7	transforming	transform	VERB
futech-473	42	8	how	how	SCONJ
futech-473	42	9	companies	company	NOUN
futech-473	42	10	are	be	AUX
futech-473	42	11	able	able	ADJ
futech-473	42	12	to	to	PART
futech-473	42	13	see	see	VERB
futech-473	42	14	and	and	CCONJ
futech-473	42	15	control	control	VERB
futech-473	42	16	the	the	DET
futech-473	42	17	intricate	intricate	ADJ
futech-473	42	18	movements	movement	NOUN
futech-473	42	19	and	and	CCONJ
futech-473	42	20	processes	process	NOUN
futech-473	42	21	involved	involve	VERB
futech-473	42	22	in	in	ADP
futech-473	42	23	a	a	DET
futech-473	42	24	warehouse	warehouse	NOUN
futech-473	42	25	.	.	PUNCT
futech-473	43	1	digital	digital	ADJ
futech-473	43	2	twin	twin	NOUN
futech-473	43	3	-	-	PUNCT
futech-473	43	4	based	base	VERB
futech-473	43	5	forecast	forecast	NOUN
futech-473	43	6	of	of	ADP
futech-473	43	7	production	production	NOUN
futech-473	43	8	system	system	NOUN
futech-473	43	9	performance	performance	NOUN
futech-473	43	10	,	,	PUNCT
futech-473	43	11	a	a	DET
futech-473	43	12	real	real	ADJ
futech-473	43	13	-	-	PUNCT
futech-473	43	14	to	to	ADP
futech-473	43	15	-	-	PUNCT
futech-473	43	16	digital	digital	ADJ
futech-473	43	17	representation	representation	NOUN
futech-473	43	18	of	of	ADP
futech-473	43	19	physical	physical	ADJ
futech-473	43	20	systems	system	NOUN
futech-473	43	21	,	,	PUNCT
futech-473	43	22	a	a	DET
futech-473	43	23	digital	digital	ADJ
futech-473	43	24	copy	copy	NOUN
futech-473	43	25	of	of	ADP
futech-473	43	26	the	the	DET
futech-473	43	27	physical	physical	ADJ
futech-473	43	28	object	object	NOUN
futech-473	43	29	,	,	PUNCT
futech-473	43	30	which	which	PRON
futech-473	43	31	receives	receive	VERB
futech-473	43	32	(	(	PUNCT
futech-473	43	33	almost	almost	ADV
futech-473	43	34	)	)	PUNCT
futech-473	43	35	real	real	ADJ
futech-473	43	36	-	-	PUNCT
futech-473	43	37	time	time	NOUN
futech-473	43	38	information	information	NOUN
futech-473	43	39	about	about	ADP
futech-473	43	40	the	the	DET
futech-473	43	41	physical	physical	ADJ
futech-473	43	42	object	object	NOUN
futech-473	43	43	[	[	X
futech-473	43	44	15	15	NUM
futech-473	43	45	]	]	PUNCT
futech-473	43	46	.	.	PUNCT
futech-473	44	1	it	it	PRON
futech-473	44	2	is	be	AUX
futech-473	44	3	not	not	PART
futech-473	44	4	enough	enough	ADJ
futech-473	44	5	to	to	PART
futech-473	44	6	have	have	VERB
futech-473	44	7	a	a	DET
futech-473	44	8	model	model	NOUN
futech-473	44	9	to	to	PART
futech-473	44	10	make	make	VERB
futech-473	44	11	a	a	DET
futech-473	44	12	digital	digital	ADJ
futech-473	44	13	twin	twin	ADJ
futech-473	44	14	work	work	NOUN
futech-473	44	15	.	.	PUNCT
futech-473	45	1	in	in	ADP
futech-473	45	2	the	the	DET
futech-473	45	3	context	context	NOUN
futech-473	45	4	of	of	ADP
futech-473	45	5	digital	digital	ADJ
futech-473	45	6	twin	twin	NOUN
futech-473	45	7	,	,	PUNCT
futech-473	45	8	integration	integration	NOUN
futech-473	45	9	with	with	ADP
futech-473	45	10	blockchain	blockchain	PROPN
futech-473	45	11	technology	technology	PROPN
futech-473	45	12	can	can	AUX
futech-473	45	13	lead	lead	VERB
futech-473	45	14	to	to	ADP
futech-473	45	15	transparent	transparent	ADJ
futech-473	45	16	and	and	CCONJ
futech-473	45	17	responsive	responsive	ADJ
futech-473	45	18	supply	supply	NOUN
futech-473	45	19	chain	chain	NOUN
futech-473	45	20	systems	system	NOUN
futech-473	45	21	that	that	PRON
futech-473	45	22	can	can	AUX
futech-473	45	23	accommodate	accommodate	VERB
futech-473	45	24	financial	financial	ADJ
futech-473	45	25	disruptions	disruption	NOUN
futech-473	45	26	and	and	CCONJ
futech-473	45	27	operational	operational	ADJ
futech-473	45	28	uncertainties	uncertainty	NOUN
futech-473	45	29	.	.	PUNCT
futech-473	46	1	generative	generative	ADJ
futech-473	46	2	ai	ai	VERB
futech-473	46	3	has	have	AUX
futech-473	46	4	also	also	ADV
futech-473	46	5	begun	begin	VERB
futech-473	46	6	to	to	PART
futech-473	46	7	be	be	AUX
futech-473	46	8	applied	apply	VERB
futech-473	46	9	to	to	ADP
futech-473	46	10	manufacturing	manufacturing	NOUN
futech-473	46	11	systems	system	NOUN
futech-473	46	12	for	for	ADP
futech-473	46	13	designing	design	VERB
futech-473	46	14	and	and	CCONJ
futech-473	46	15	optimizing	optimize	VERB
futech-473	46	16	digital	digital	ADJ
futech-473	46	17	twin	twin	ADJ
futech-473	46	18	systems	system	NOUN
futech-473	46	19	that	that	PRON
futech-473	46	20	are	be	AUX
futech-473	46	21	increasingly	increasingly	ADV
futech-473	46	22	flexible	flexible	ADJ
futech-473	46	23	and	and	CCONJ
futech-473	46	24	adaptable	adaptable	ADJ
futech-473	46	25	manufacturing	manufacturing	NOUN
futech-473	46	26	systems	system	NOUN
futech-473	46	27	to	to	PART
futech-473	46	28	improve	improve	VERB
futech-473	46	29	current	current	ADJ
futech-473	46	30	operating	operating	NOUN
futech-473	46	31	systems	system	NOUN
futech-473	46	32	.	.	PUNCT
futech-473	47	1	where	where	SCONJ
futech-473	47	2	it	it	PRON
futech-473	47	3	is	be	AUX
futech-473	47	4	today	today	NOUN
futech-473	47	5	,	,	PUNCT
futech-473	47	6	the	the	DET
futech-473	47	7	world	world	NOUN
futech-473	47	8	of	of	ADP
futech-473	47	9	warehouse	warehouse	NOUN
futech-473	47	10	automation	automation	NOUN
futech-473	47	11	has	have	AUX
futech-473	47	12	already	already	ADV
futech-473	47	13	shifted	shift	VERB
futech-473	47	14	from	from	ADP
futech-473	47	15	traditional	traditional	ADJ
futech-473	47	16	agvs	agv	NOUN
futech-473	47	17	to	to	ADP
futech-473	47	18	more	more	ADV
futech-473	47	19	advanced	advanced	ADJ
futech-473	47	20	autonomous	autonomous	ADJ
futech-473	47	21	mobile	mobile	ADJ
futech-473	47	22	robots	robot	NOUN
futech-473	47	23	(	(	PUNCT
futech-473	47	24	amrs	amrs	PROPN
futech-473	47	25	)	)	PUNCT
futech-473	47	26	.	.	PUNCT
futech-473	48	1	compared	compare	VERB
futech-473	48	2	to	to	ADP
futech-473	48	3	the	the	DET
futech-473	48	4	agvs	agv	NOUN
futech-473	48	5	that	that	PRON
futech-473	48	6	need	need	VERB
futech-473	48	7	to	to	PART
futech-473	48	8	carry	carry	VERB
futech-473	48	9	out	out	ADP
futech-473	48	10	fixed	fix	VERB
futech-473	48	11	infrastructure	infrastructure	NOUN
futech-473	48	12	and	and	CCONJ
futech-473	48	13	predesigned	predesigned	ADJ
futech-473	48	14	paths	path	NOUN
futech-473	48	15	,	,	PUNCT
futech-473	48	16	the	the	DET
futech-473	48	17	amrs	amrs	PROPN
futech-473	48	18	could	could	AUX
futech-473	48	19	manage	manage	VERB
futech-473	48	20	to	to	PART
futech-473	48	21	navigate	navigate	VERB
futech-473	48	22	dynamically	dynamically	ADV
futech-473	48	23	with	with	ADP
futech-473	48	24	their	their	PRON
futech-473	48	25	sophisticated	sophisticated	ADJ
futech-473	48	26	sensors	sensor	NOUN
futech-473	48	27	and	and	CCONJ
futech-473	48	28	slams	slam	NOUN
futech-473	48	29	(	(	PUNCT
futech-473	48	30	simultaneous	simultaneous	ADJ
futech-473	48	31	localization	localization	NOUN
futech-473	48	32	and	and	CCONJ
futech-473	48	33	mapping	mapping	NOUN
futech-473	48	34	)	)	PUNCT
futech-473	48	35	techniques	technique	NOUN
futech-473	49	1	[	[	X
futech-473	49	2	16	16	NUM
futech-473	49	3	]	]	PUNCT
futech-473	49	4	.	.	PUNCT
futech-473	50	1	this	this	DET
futech-473	50	2	flexibility	flexibility	NOUN
futech-473	50	3	makes	make	VERB
futech-473	50	4	amrs	amr	VERB
futech-473	50	5	easy	easy	ADJ
futech-473	50	6	to	to	PART
futech-473	50	7	move	move	VERB
futech-473	50	8	around	around	ADV
futech-473	50	9	,	,	PUNCT
futech-473	50	10	adjust	adjust	VERB
futech-473	50	11	for	for	ADP
futech-473	50	12	new	new	ADJ
futech-473	50	13	warehouse	warehouse	NOUN
futech-473	50	14	layouts	layout	NOUN
futech-473	50	15	and	and	CCONJ
futech-473	50	16	operations	operation	NOUN
futech-473	50	17	,	,	PUNCT
futech-473	50	18	without	without	ADP
futech-473	50	19	changing	change	VERB
futech-473	50	20	the	the	DET
futech-473	50	21	infrastructure	infrastructure	NOUN
futech-473	50	22	overall	overall	NOUN
futech-473	50	23	.	.	PUNCT
futech-473	51	1	according	accord	VERB
futech-473	51	2	to	to	ADP
futech-473	51	3	industry	industry	NOUN
futech-473	51	4	reports	report	NOUN
futech-473	51	5	,	,	PUNCT
futech-473	51	6	the	the	DET
futech-473	51	7	highest	high	ADJ
futech-473	51	8	market	market	NOUN
futech-473	51	9	revenue	revenue	NOUN
futech-473	51	10	share	share	NOUN
futech-473	51	11	in	in	ADP
futech-473	51	12	2024	2024	NUM
futech-473	51	13	was	be	AUX
futech-473	51	14	attained	attain	VERB
futech-473	51	15	by	by	ADP
futech-473	51	16	the	the	DET
futech-473	51	17	goods	good	NOUN
futech-473	51	18	-	-	PUNCT
futech-473	51	19	to	to	ADP
futech-473	51	20	-	-	PUNCT
futech-473	51	21	person	person	NOUN
futech-473	51	22	picking	pick	VERB
futech-473	51	23	robots	robot	NOUN
futech-473	51	24	,	,	PUNCT
futech-473	51	25	due	due	ADP
futech-473	51	26	to	to	ADP
futech-473	51	27	the	the	DET
futech-473	51	28	rising	rise	VERB
futech-473	51	29	need	need	NOUN
futech-473	51	30	for	for	ADP
futech-473	51	31	automation	automation	NOUN
futech-473	51	32	in	in	ADP
futech-473	51	33	the	the	DET
futech-473	51	34	e	e	NOUN
futech-473	51	35	-	-	NOUN
futech-473	51	36	commerce	commerce	NOUN
futech-473	51	37	and	and	CCONJ
futech-473	51	38	retail	retail	ADJ
futech-473	51	39	industries	industry	NOUN
futech-473	51	40	.	.	PUNCT
futech-473	52	1	multirobot	multirobot	NOUN
futech-473	52	2	warehouse	warehouse	NOUN
futech-473	52	3	systems	system	NOUN
futech-473	52	4	have	have	VERB
futech-473	52	5	complex	complex	ADJ
futech-473	52	6	algorithms	algorithm	NOUN
futech-473	52	7	for	for	ADP
futech-473	52	8	task	task	NOUN
futech-473	52	9	allocation	allocation	NOUN
futech-473	52	10	and	and	CCONJ
futech-473	52	11	coordination	coordination	NOUN
futech-473	52	12	in	in	ADP
futech-473	52	13	order	order	NOUN
futech-473	52	14	to	to	PART
futech-473	52	15	maximize	maximize	VERB
futech-473	52	16	efficiency	efficiency	NOUN
futech-473	52	17	without	without	ADP
futech-473	52	18	deadlocks	deadlock	NOUN
futech-473	52	19	and	and	CCONJ
futech-473	52	20	conflicts	conflict	NOUN
futech-473	52	21	.	.	PUNCT
futech-473	53	1	recent	recent	ADJ
futech-473	53	2	studies	study	NOUN
futech-473	53	3	have	have	AUX
futech-473	53	4	also	also	ADV
futech-473	53	5	introduced	introduce	VERB
futech-473	53	6	new	new	ADJ
futech-473	53	7	models	model	NOUN
futech-473	53	8	to	to	PART
futech-473	53	9	solve	solve	VERB
futech-473	53	10	multi	multi	ADJ
futech-473	53	11	-	-	ADJ
futech-473	53	12	robot	robot	ADJ
futech-473	53	13	task	task	NOUN
futech-473	53	14	assignment	assignment	NOUN
futech-473	53	15	accounting	accounting	NOUN
futech-473	53	16	for	for	ADP
futech-473	53	17	robot	robot	NOUN
futech-473	53	18	capabilities	capability	NOUN
futech-473	53	19	,	,	PUNCT
futech-473	53	20	task	task	NOUN
futech-473	53	21	priorities	priority	NOUN
futech-473	53	22	,	,	PUNCT
futech-473	53	23	and	and	CCONJ
futech-473	53	24	spatial	spatial	ADJ
futech-473	53	25	limitations	limitation	NOUN
futech-473	53	26	[	[	X
futech-473	53	27	17	17	NUM
futech-473	53	28	]	]	PUNCT
futech-473	53	29	.	.	PUNCT
futech-473	54	1	they	they	PRON
futech-473	54	2	typically	typically	ADV
futech-473	54	3	used	use	VERB
futech-473	54	4	algorithms	algorithm	NOUN
futech-473	54	5	to	to	PART
futech-473	54	6	develop	develop	VERB
futech-473	54	7	sequential	sequential	ADJ
futech-473	54	8	scheduling	scheduling	NOUN
futech-473	54	9	models	model	NOUN
futech-473	54	10	based	base	VERB
futech-473	54	11	on	on	ADP
futech-473	54	12	mixed	mixed	ADJ
futech-473	54	13	-	-	PUNCT
futech-473	54	14	integer	integer	NOUN
futech-473	54	15	linear	linear	NOUN
futech-473	54	16	programming	programming	NOUN
futech-473	54	17	(	(	PUNCT
futech-473	54	18	milp	milp	ADJ
futech-473	54	19	)	)	PUNCT
futech-473	54	20	and	and	CCONJ
futech-473	54	21	genetic	genetic	ADJ
futech-473	54	22	algorithms	algorithm	NOUN
futech-473	54	23	to	to	PART
futech-473	54	24	provide	provide	VERB
futech-473	54	25	almost	almost	ADV
futech-473	54	26	optimal	optimal	ADJ
futech-473	54	27	plans	plan	NOUN
futech-473	54	28	automatically	automatically	ADV
futech-473	54	29	as	as	SCONJ
futech-473	54	30	events	event	NOUN
futech-473	54	31	unfold	unfold	VERB
futech-473	54	32	.	.	PUNCT
futech-473	55	1	the	the	DET
futech-473	55	2	task	task	NOUN
futech-473	55	3	is	be	AUX
futech-473	55	4	made	make	VERB
futech-473	55	5	even	even	ADV
futech-473	55	6	harder	hard	ADV
futech-473	55	7	as	as	SCONJ
futech-473	55	8	the	the	DET
futech-473	55	9	system	system	NOUN
futech-473	55	10	is	be	AUX
futech-473	55	11	supposed	suppose	VERB
futech-473	55	12	to	to	PART
futech-473	55	13	work	work	VERB
futech-473	55	14	in	in	ADP
futech-473	55	15	case	case	NOUN
futech-473	55	16	the	the	DET
futech-473	55	17	robots	robot	NOUN
futech-473	55	18	can	can	AUX
futech-473	55	19	not	not	PART
futech-473	55	20	perfectly	perfectly	ADV
futech-473	55	21	communicate	communicate	VERB
futech-473	55	22	.	.	PUNCT
futech-473	56	1	but	but	CCONJ
futech-473	56	2	industry	industry	NOUN
futech-473	56	3	4.0	4.0	NUM
futech-473	56	4	thinking	thinking	NOUN
futech-473	56	5	in	in	ADP
futech-473	56	6	the	the	DET
futech-473	56	7	warehouse	warehouse	NOUN
futech-473	56	8	goes	go	VERB
futech-473	56	9	beyond	beyond	ADP
futech-473	56	10	robots	robot	NOUN
futech-473	56	11	;	;	PUNCT
futech-473	56	12	it	it	PRON
futech-473	56	13	’s	’	VERB
futech-473	56	14	a	a	DET
futech-473	56	15	complete	complete	ADJ
futech-473	56	16	overhaul	overhaul	NOUN
futech-473	56	17	of	of	ADP
futech-473	56	18	logistics	logistic	NOUN
futech-473	56	19	processes	process	NOUN
futech-473	56	20	.	.	PUNCT
futech-473	57	1	smart	smart	ADJ
futech-473	57	2	warehouse	warehouse	NOUN
futech-473	57	3	systems	system	NOUN
futech-473	57	4	encompass	encompass	VERB
futech-473	57	5	numerous	numerous	ADJ
futech-473	57	6	emerging	emerge	VERB
futech-473	57	7	technologies	technology	NOUN
futech-473	57	8	such	such	ADJ
futech-473	57	9	as	as	ADP
futech-473	57	10	iot	iot	ADJ
futech-473	57	11	sensors	sensor	NOUN
futech-473	57	12	,	,	PUNCT
futech-473	57	13	edge	edge	NOUN
futech-473	57	14	computing	computing	NOUN
futech-473	57	15	,	,	PUNCT
futech-473	57	16	augmented	augment	VERB
futech-473	57	17	reality	reality	NOUN
futech-473	57	18	,	,	PUNCT
futech-473	57	19	and	and	CCONJ
futech-473	57	20	advanced	advanced	ADJ
futech-473	57	21	analytic	analytic	ADJ
futech-473	57	22	platforms	platform	NOUN
futech-473	57	23	[	[	X
futech-473	57	24	18	18	NUM
futech-473	57	25	]	]	PUNCT
futech-473	57	26	.	.	PUNCT
futech-473	58	1	this	this	DET
futech-473	58	2	integration	integration	NOUN
futech-473	58	3	leads	lead	VERB
futech-473	58	4	to	to	ADP
futech-473	58	5	a	a	DET
futech-473	58	6	connected	connected	ADJ
futech-473	58	7	grid	grid	NOUN
futech-473	58	8	in	in	ADP
futech-473	58	9	which	which	PRON
futech-473	58	10	information	information	NOUN
futech-473	58	11	is	be	AUX
futech-473	58	12	smoothly	smoothly	ADV
futech-473	58	13	passed	pass	VERB
futech-473	58	14	between	between	ADP
futech-473	58	15	system	system	NOUN
futech-473	58	16	components	component	NOUN
futech-473	58	17	,	,	PUNCT
futech-473	58	18	allowing	allow	VERB
futech-473	58	19	for	for	ADP
futech-473	58	20	real	real	ADJ
futech-473	58	21	-	-	PUNCT
futech-473	58	22	time	time	NOUN
futech-473	58	23	optimization	optimization	NOUN
futech-473	58	24	and	and	CCONJ
futech-473	58	25	adaptive	adaptive	ADJ
futech-473	58	26	control	control	NOUN
futech-473	58	27	techniques	technique	NOUN
futech-473	58	28	.	.	PUNCT
futech-473	59	1	some	some	DET
futech-473	59	2	technological	technological	ADJ
futech-473	59	3	enablers	enabler	NOUN
futech-473	59	4	and	and	CCONJ
futech-473	59	5	implementation	implementation	NOUN
futech-473	59	6	barriers	barrier	NOUN
futech-473	59	7	for	for	ADP
futech-473	59	8	intelligent	intelligent	ADJ
futech-473	59	9	warehouse	warehouse	NOUN
futech-473	59	10	systems	system	NOUN
futech-473	59	11	in	in	ADP
futech-473	59	12	industry	industry	NOUN
futech-473	59	13	4.0	4.0	NUM
futech-473	59	14	have	have	AUX
futech-473	59	15	been	be	AUX
futech-473	59	16	identified	identify	VERB
futech-473	59	17	in	in	ADP
futech-473	59	18	systematic	systematic	ADJ
futech-473	59	19	literature	literature	NOUN
futech-473	59	20	reviews	review	NOUN
futech-473	59	21	.	.	PUNCT
futech-473	60	1	amr	amr	ADJ
futech-473	60	2	uptake	uptake	NOUN
futech-473	60	3	in	in	ADP
futech-473	60	4	warehouse	warehouse	NOUN
futech-473	60	5	applications	application	NOUN
futech-473	60	6	:	:	PUNCT
futech-473	60	7	the	the	DET
futech-473	60	8	adoption	adoption	NOUN
futech-473	60	9	of	of	ADP
futech-473	60	10	amr	amr	PROPN
futech-473	60	11	systems	system	NOUN
futech-473	60	12	in	in	ADP
futech-473	60	13	the	the	DET
futech-473	60	14	warehouse	warehouse	NOUN
futech-473	60	15	for	for	ADP
futech-473	60	16	realistic	realistic	ADJ
futech-473	60	17	use	use	NOUN
futech-473	60	18	cases	case	NOUN
futech-473	60	19	has	have	AUX
futech-473	60	20	revealed	reveal	VERB
futech-473	60	21	both	both	DET
futech-473	60	22	strengths	strength	NOUN
futech-473	60	23	and	and	CCONJ
futech-473	60	24	limitations	limitation	NOUN
futech-473	60	25	to	to	ADP
futech-473	60	26	the	the	DET
futech-473	60	27	technology	technology	NOUN
futech-473	60	28	.	.	PUNCT
futech-473	61	1	companies	company	NOUN
futech-473	61	2	such	such	ADJ
futech-473	61	3	as	as	ADP
futech-473	61	4	amazon	amazon	NOUN
futech-473	61	5	have	have	VERB
futech-473	61	6	more	more	ADJ
futech-473	61	7	than	than	ADP
futech-473	61	8	hundreds	hundred	NOUN
futech-473	61	9	of	of	ADP
futech-473	61	10	thousands	thousand	NOUN
futech-473	61	11	of	of	ADP
futech-473	61	12	robots	robot	NOUN
futech-473	61	13	working	work	VERB
futech-473	61	14	in	in	ADP
futech-473	61	15	their	their	PRON
futech-473	61	16	fulfillment	fulfillment	NOUN
futech-473	61	17	centers	center	NOUN
futech-473	61	18	,	,	PUNCT
futech-473	61	19	focusing	focus	VERB
futech-473	61	20	on	on	ADP
futech-473	61	21	boosting	boost	VERB
futech-473	61	22	the	the	DET
futech-473	61	23	operational	operational	ADJ
futech-473	61	24	efficiency	efficiency	NOUN
futech-473	61	25	[	[	X
futech-473	61	26	19	19	NUM
futech-473	61	27	]	]	PUNCT
futech-473	61	28	.	.	PUNCT
futech-473	62	1	nevertheless	nevertheless	ADV
futech-473	62	2	,	,	PUNCT
futech-473	62	3	successful	successful	ADJ
futech-473	62	4	deployment	deployment	NOUN
futech-473	62	5	of	of	ADP
futech-473	62	6	amr	amr	PROPN
futech-473	62	7	in	in	ADP
futech-473	62	8	practice	practice	NOUN
futech-473	62	9	involves	involve	VERB
futech-473	62	10	a	a	DET
futech-473	62	11	number	number	NOUN
futech-473	62	12	of	of	ADP
futech-473	62	13	important	important	ADJ
futech-473	62	14	aspects	aspect	NOUN
futech-473	62	15	,	,	PUNCT
futech-473	62	16	such	such	ADJ
futech-473	62	17	as	as	ADP
futech-473	62	18	warehouse	warehouse	NOUN
futech-473	62	19	layout	layout	NOUN
futech-473	62	20	design	design	NOUN
futech-473	62	21	,	,	PUNCT
futech-473	62	22	human	human	ADJ
futech-473	62	23	-	-	PUNCT
futech-473	62	24	robot	robot	NOUN
futech-473	62	25	interaction	interaction	NOUN
futech-473	62	26	policies	policy	NOUN
futech-473	62	27	,	,	PUNCT
futech-473	62	28	and	and	CCONJ
futech-473	62	29	system	system	NOUN
futech-473	62	30	scalability	scalability	NOUN
futech-473	62	31	[	[	X
futech-473	62	32	20	20	NUM
futech-473	62	33	]	]	PUNCT
futech-473	62	34	.	.	PUNCT
futech-473	63	1	it	it	PRON
futech-473	63	2	has	have	AUX
futech-473	63	3	been	be	AUX
futech-473	63	4	demonstrated	demonstrate	VERB
futech-473	63	5	in	in	ADP
futech-473	63	6	our	our	PRON
futech-473	63	7	previous	previous	ADJ
futech-473	63	8	work	work	NOUN
futech-473	63	9	that	that	PRON
futech-473	63	10	efficient	efficient	ADJ
futech-473	63	11	warehouse	warehouse	NOUN
futech-473	63	12	layout	layout	NOUN
futech-473	63	13	design	design	NOUN
futech-473	63	14	has	have	VERB
futech-473	63	15	a	a	DET
futech-473	63	16	profound	profound	ADJ
futech-473	63	17	impact	impact	NOUN
futech-473	63	18	on	on	ADP
futech-473	63	19	the	the	DET
futech-473	63	20	performance	performance	NOUN
futech-473	63	21	of	of	ADP
futech-473	63	22	multi	multi	ADJ
futech-473	63	23	-	-	ADJ
futech-473	63	24	robot	robot	ADJ
futech-473	63	25	systems	system	NOUN
futech-473	63	26	,	,	PUNCT
futech-473	63	27	and	and	CCONJ
futech-473	63	28	welldesigned	welldesigne	VERB
futech-473	63	29	warehouses	warehouse	NOUN
futech-473	63	30	can	can	AUX
futech-473	63	31	double	double	VERB
futech-473	63	32	the	the	DET
futech-473	63	33	number	number	NOUN
futech-473	63	34	of	of	ADP
futech-473	63	35	robots	robot	NOUN
futech-473	63	36	that	that	PRON
futech-473	63	37	run	run	VERB
futech-473	63	38	efficiently	efficiently	ADV
futech-473	63	39	.	.	PUNCT
futech-473	64	1	warehouse	warehouse	NOUN
futech-473	64	2	automation	automation	NOUN
futech-473	64	3	's	's	PART
futech-473	64	4	progress	progress	NOUN
futech-473	64	5	is	be	AUX
futech-473	64	6	also	also	ADV
futech-473	64	7	linked	link	VERB
futech-473	64	8	with	with	ADP
futech-473	64	9	wider	wide	ADJ
futech-473	64	10	digitalisation	digitalisation	NOUN
futech-473	64	11	of	of	ADP
futech-473	64	12	the	the	DET
futech-473	64	13	supply	supply	NOUN
futech-473	64	14	chain	chain	NOUN
futech-473	64	15	and	and	CCONJ
futech-473	64	16	green	green	ADJ
futech-473	64	17	action	action	NOUN
futech-473	64	18	.	.	PUNCT
futech-473	65	1	modern	modern	ADJ
futech-473	65	2	warehouse	warehouse	NOUN
futech-473	65	3	operations	operation	NOUN
futech-473	65	4	aim	aim	VERB
futech-473	65	5	to	to	PART
futech-473	65	6	optimize	optimize	VERB
futech-473	65	7	efficiency	efficiency	NOUN
futech-473	65	8	,	,	PUNCT
futech-473	65	9	leading	lead	VERB
futech-473	65	10	to	to	ADP
futech-473	65	11	the	the	DET
futech-473	65	12	development	development	NOUN
futech-473	65	13	of	of	ADP
futech-473	65	14	energy	energy	NOUN
futech-473	65	15	-	-	PUNCT
futech-473	65	16	efficient	efficient	ADJ
futech-473	65	17	robot	robot	NOUN
futech-473	65	18	systems	system	NOUN
futech-473	65	19	and	and	CCONJ
futech-473	65	20	optimal	optimal	ADJ
futech-473	65	21	routing	routing	NOUN
futech-473	65	22	algorithms	algorithm	NOUN
futech-473	65	23	that	that	PRON
futech-473	65	24	minimize	minimize	VERB
futech-473	65	25	resource	resource	NOUN
futech-473	65	26	usage	usage	NOUN
futech-473	65	27	[	[	X
futech-473	65	28	21	21	NUM
futech-473	65	29	]	]	PUNCT
futech-473	65	30	.	.	PUNCT
futech-473	66	1	combining	combine	VERB
futech-473	66	2	green	green	ADJ
futech-473	66	3	warehousing	warehousing	NOUN
futech-473	66	4	principles	principle	NOUN
futech-473	66	5	with	with	ADP
futech-473	66	6	automation	automation	NOUN
futech-473	66	7	technology	technology	NOUN
futech-473	66	8	is	be	AUX
futech-473	66	9	a	a	DET
futech-473	66	10	major	major	ADJ
futech-473	66	11	challenge	challenge	NOUN
futech-473	66	12	for	for	ADP
futech-473	66	13	the	the	DET
futech-473	66	14	future	future	NOUN
futech-473	66	15	of	of	ADP
futech-473	66	16	warehouse	warehouse	NOUN
futech-473	66	17	design	design	NOUN
futech-473	66	18	and	and	CCONJ
futech-473	66	19	operation	operation	NOUN
futech-473	66	20	.	.	PUNCT
futech-473	67	1	leading	lead	VERB
futech-473	67	2	industry	industry	NOUN
futech-473	67	3	has	have	AUX
futech-473	67	4	realized	realize	VERB
futech-473	67	5	that	that	SCONJ
futech-473	67	6	innovative	innovative	ADJ
futech-473	67	7	warehouse	warehouse	NOUN
futech-473	67	8	automation	automation	NOUN
futech-473	67	9	is	be	AUX
futech-473	67	10	key	key	ADJ
futech-473	67	11	to	to	ADP
futech-473	67	12	effectively	effectively	ADV
futech-473	67	13	surviving	survive	VERB
futech-473	67	14	in	in	ADP
futech-473	67	15	a	a	DET
futech-473	67	16	dynamic	dynamic	ADJ
futech-473	67	17	marketplace	marketplace	NOUN
futech-473	68	1	[	[	X
futech-473	68	2	22	22	NUM
futech-473	68	3	]	]	PUNCT
futech-473	68	4	.	.	PUNCT
futech-473	69	1	whenever	whenever	SCONJ
futech-473	69	2	we	we	PRON
futech-473	69	3	talk	talk	VERB
futech-473	69	4	about	about	ADP
futech-473	69	5	smart	smart	ADJ
futech-473	69	6	warehousing	warehousing	NOUN
futech-473	69	7	systems	system	NOUN
futech-473	69	8	,	,	PUNCT
futech-473	69	9	edge	edge	NOUN
futech-473	69	10	computing	computing	NOUN
futech-473	69	11	,	,	PUNCT
futech-473	69	12	and	and	CCONJ
futech-473	69	13	real	real	ADJ
futech-473	69	14	-	-	PUNCT
futech-473	69	15	time	time	NOUN
futech-473	69	16	data	datum	NOUN
futech-473	69	17	processing	processing	NOUN
futech-473	69	18	are	be	AUX
futech-473	69	19	now	now	ADV
futech-473	69	20	indispensable	indispensable	ADJ
futech-473	69	21	parts	part	NOUN
futech-473	69	22	.	.	PUNCT
futech-473	70	1	edge	edge	NOUN
futech-473	70	2	processing	processing	NOUN
futech-473	70	3	of	of	ADP
futech-473	70	4	sensor	sensor	NOUN
futech-473	70	5	data	datum	NOUN
futech-473	70	6	and	and	CCONJ
futech-473	70	7	decision	decision	NOUN
futech-473	70	8	making	make	VERB
futech-473	70	9	minimizes	minimize	NOUN
futech-473	70	10	latency	latency	NOUN
futech-473	70	11	and	and	CCONJ
futech-473	70	12	allows	allow	VERB
futech-473	70	13	for	for	ADP
futech-473	70	14	controlling	control	VERB
futech-473	70	15	the	the	DET
futech-473	70	16	amr	amr	ADJ
futech-473	70	17	fleets	fleet	NOUN
futech-473	70	18	more	more	ADV
futech-473	70	19	responsively	responsively	ADV
futech-473	71	1	[	[	X
futech-473	71	2	23	23	NUM
futech-473	71	3	]	]	PUNCT
futech-473	71	4	.	.	PUNCT
futech-473	72	1	this	this	PRON
futech-473	72	2	is	be	AUX
futech-473	72	3	particularly	particularly	ADV
futech-473	72	4	relevant	relevant	ADJ
futech-473	72	5	in	in	ADP
futech-473	72	6	applications	application	NOUN
futech-473	72	7	where	where	SCONJ
futech-473	72	8	accurate	accurate	ADJ
futech-473	72	9	synchronization	synchronization	NOUN
futech-473	72	10	of	of	ADP
futech-473	72	11	several	several	ADJ
futech-473	72	12	robots	robot	NOUN
futech-473	72	13	is	be	AUX
futech-473	72	14	needed	need	VERB
futech-473	72	15	or	or	CCONJ
futech-473	72	16	the	the	DET
futech-473	72	17	ability	ability	NOUN
futech-473	72	18	to	to	PART
futech-473	72	19	react	react	VERB
futech-473	72	20	quickly	quickly	ADV
futech-473	72	21	to	to	ADP
futech-473	72	22	the	the	DET
futech-473	72	23	changing	change	VERB
futech-473	72	24	operational	operational	ADJ
futech-473	72	25	environment	environment	NOUN
futech-473	72	26	is	be	AUX
futech-473	72	27	essential	essential	ADJ
futech-473	72	28	.	.	PUNCT
futech-473	73	1	state	state	NOUN
futech-473	73	2	-	-	PUNCT
futech-473	73	3	of	of	ADP
futech-473	73	4	-	-	PUNCT
futech-473	73	5	theart	theart	NOUN
futech-473	73	6	warehouse	warehouse	NOUN
futech-473	73	7	management	management	NOUN
futech-473	73	8	architectures	architecture	NOUN
futech-473	73	9	have	have	AUX
futech-473	73	10	begun	begin	VERB
futech-473	73	11	to	to	PART
futech-473	73	12	introduce	introduce	VERB
futech-473	73	13	edge	edge	NOUN
futech-473	73	14	computing	compute	VERB
futech-473	73	15	infrastructures	infrastructure	NOUN
futech-473	73	16	for	for	ADP
futech-473	73	17	real	real	ADJ
futech-473	73	18	-	-	PUNCT
futech-473	73	19	time	time	NOUN
futech-473	73	20	optimization	optimization	NOUN
futech-473	73	21	and	and	CCONJ
futech-473	73	22	adaptive	adaptive	ADJ
futech-473	73	23	control	control	NOUN
futech-473	73	24	mechanisms	mechanism	NOUN
futech-473	73	25	[	[	X
futech-473	73	26	24	24	NUM
futech-473	73	27	]	]	PUNCT
futech-473	73	28	.	.	PUNCT
futech-473	74	1	the	the	DET
futech-473	74	2	rapid	rapid	ADJ
futech-473	74	3	development	development	NOUN
futech-473	74	4	of	of	ADP
futech-473	74	5	amr	amr	ADJ
futech-473	74	6	technology	technology	NOUN
futech-473	74	7	and	and	CCONJ
futech-473	74	8	warehouse	warehouse	NOUN
futech-473	74	9	automation	automation	NOUN
futech-473	74	10	notwithstanding	notwithstanding	ADP
futech-473	74	11	,	,	PUNCT
futech-473	74	12	there	there	PRON
futech-473	74	13	are	be	VERB
futech-473	74	14	still	still	ADV
futech-473	74	15	problems	problem	NOUN
futech-473	74	16	that	that	PRON
futech-473	74	17	need	need	VERB
futech-473	74	18	to	to	PART
futech-473	74	19	be	be	AUX
futech-473	74	20	solved	solve	VERB
futech-473	74	21	.	.	PUNCT
futech-473	75	1	examples	example	NOUN
futech-473	75	2	include	include	VERB
futech-473	75	3	stronger	strong	ADJ
futech-473	75	4	coordination	coordination	NOUN
futech-473	75	5	algorithms	algorithm	NOUN
futech-473	75	6	enabling	enable	VERB
futech-473	75	7	upscaling	upscale	VERB
futech-473	75	8	,	,	PUNCT
futech-473	75	9	better	well	ADJ
futech-473	75	10	human	human	ADJ
futech-473	75	11	-	-	PUNCT
futech-473	75	12	robot	robot	NOUN
futech-473	75	13	collaboration	collaboration	NOUN
futech-473	75	14	,	,	PUNCT
futech-473	75	15	and	and	CCONJ
futech-473	75	16	tighter	tight	ADJ
futech-473	75	17	integration	integration	NOUN
futech-473	75	18	of	of	ADP
futech-473	75	19	mobile	mobile	ADJ
futech-473	75	20	robots	robot	NOUN
futech-473	75	21	with	with	ADP
futech-473	75	22	the	the	DET
futech-473	75	23	warehousing	warehousing	NOUN
futech-473	75	24	infrastructure	infrastructure	NOUN
futech-473	75	25	.	.	PUNCT
futech-473	76	1	further	far	ADV
futech-473	76	2	,	,	PUNCT
futech-473	76	3	the	the	DET
futech-473	76	4	lack	lack	NOUN
futech-473	76	5	of	of	ADP
futech-473	76	6	standardized	standardized	ADJ
futech-473	76	7	amr	amr	NOUN
futech-473	76	8	interfaces	interface	NOUN
futech-473	76	9	and	and	CCONJ
futech-473	76	10	protocols	protocol	NOUN
futech-473	76	11	for	for	ADP
futech-473	76	12	multi	multi	ADJ
futech-473	76	13	-	-	ADJ
futech-473	76	14	vendor	vendor	ADJ
futech-473	76	15	deployments	deployment	NOUN
futech-473	76	16	has	have	VERB
futech-473	76	17	yet	yet	ADV
futech-473	76	18	to	to	PART
futech-473	76	19	be	be	AUX
futech-473	76	20	addressed	address	VERB
futech-473	76	21	.	.	PUNCT
futech-473	77	1	the	the	DET
futech-473	77	2	cost	cost	NOUN
futech-473	77	3	of	of	ADP
futech-473	77	4	implementation	implementation	NOUN
futech-473	77	5	and	and	CCONJ
futech-473	77	6	the	the	DET
futech-473	77	7	requirement	requirement	NOUN
futech-473	77	8	of	of	ADP
futech-473	77	9	expert	expert	NOUN
futech-473	77	10	personnel	personnel	NOUN
futech-473	77	11	to	to	PART
futech-473	77	12	deploy	deploy	VERB
futech-473	77	13	and	and	CCONJ
futech-473	77	14	support	support	VERB
futech-473	77	15	such	such	ADJ
futech-473	77	16	systems	system	NOUN
futech-473	77	17	also	also	ADV
futech-473	77	18	pose	pose	VERB
futech-473	77	19	challenges	challenge	NOUN
futech-473	77	20	to	to	ADP
futech-473	77	21	their	their	PRON
futech-473	77	22	widespread	widespread	ADJ
futech-473	77	23	use	use	NOUN
futech-473	77	24	,	,	PUNCT
futech-473	77	25	especially	especially	ADV
futech-473	77	26	for	for	ADP
futech-473	77	27	smaller	small	ADJ
futech-473	77	28	warehouse	warehouse	NOUN
futech-473	77	29	settings	setting	NOUN
futech-473	77	30	.	.	PUNCT
futech-473	78	1	the	the	DET
futech-473	78	2	future	future	NOUN
futech-473	78	3	of	of	ADP
futech-473	78	4	warehouse	warehouse	NOUN
futech-473	78	5	automation	automation	NOUN
futech-473	78	6	is	be	AUX
futech-473	78	7	in	in	ADP
futech-473	78	8	the	the	DET
futech-473	78	9	combination	combination	NOUN
futech-473	78	10	of	of	ADP
futech-473	78	11	different	different	ADJ
futech-473	78	12	technologies	technology	NOUN
futech-473	78	13	that	that	PRON
futech-473	78	14	will	will	AUX
futech-473	78	15	lead	lead	VERB
futech-473	78	16	to	to	ADP
futech-473	78	17	fully	fully	ADV
futech-473	78	18	intelligent	intelligent	ADJ
futech-473	78	19	,	,	PUNCT
futech-473	78	20	selfadapting	selfadapting	NOUN
futech-473	78	21	systems	system	NOUN
futech-473	78	22	.	.	PUNCT
futech-473	79	1	the	the	DET
futech-473	79	2	amalgamation	amalgamation	NOUN
futech-473	79	3	of	of	ADP
futech-473	79	4	amr	amr	ADJ
futech-473	79	5	fleets	fleet	NOUN
futech-473	79	6	with	with	ADP
futech-473	79	7	cps	cps	PROPN
futech-473	79	8	architectures	architecture	NOUN
futech-473	79	9	,	,	PUNCT
futech-473	79	10	reinforced	reinforce	VERB
futech-473	79	11	by	by	ADP
futech-473	79	12	digital	digital	ADJ
futech-473	79	13	twin	twin	NOUN
futech-473	79	14	and	and	CCONJ
futech-473	79	15	ai	ai	NOUN
futech-473	79	16	-	-	PUNCT
futech-473	79	17	based	base	VERB
futech-473	79	18	y.	y.	PROPN
futech-473	79	19	zhang	zhang	PROPN
futech-473	79	20	&	&	CCONJ
futech-473	79	21	ju	ju	PROPN
futech-473	79	22	.	.	PROPN
futech-473	79	23	abellera	abellera	NOUN
futech-473	79	24	/future	/future	PUNCT
futech-473	79	25	technology	technology	PROPN
futech-473	79	26	november	november	PROPN
futech-473	79	27	2025|	2025|	NUM
futech-473	79	28	volume	volume	NOUN
futech-473	79	29	04	04	NUM
futech-473	80	1	|	|	ADV
futech-473	80	2	issue	issue	VERB
futech-473	80	3	04	04	NUM
futech-473	81	1	|	|	CCONJ
futech-473	81	2	pages	page	VERB
futech-473	81	3	59	59	NUM
futech-473	81	4	-	-	SYM
futech-473	81	5	71	71	NUM
futech-473	81	6	61	61	NUM
futech-473	81	7	optimization	optimization	NOUN
futech-473	81	8	,	,	PUNCT
futech-473	81	9	also	also	ADV
futech-473	81	10	introduces	introduce	VERB
futech-473	81	11	an	an	DET
futech-473	81	12	unparalleled	unparalleled	ADJ
futech-473	81	13	degree	degree	NOUN
futech-473	81	14	of	of	ADP
futech-473	81	15	effectiveness	effectiveness	NOUN
futech-473	81	16	and	and	CCONJ
futech-473	81	17	adaptability	adaptability	NOUN
futech-473	81	18	in	in	ADP
futech-473	81	19	the	the	DET
futech-473	81	20	warehouses	warehouse	NOUN
futech-473	81	21	[	[	X
futech-473	81	22	25	25	NUM
futech-473	81	23	]	]	PUNCT
futech-473	81	24	.	.	PUNCT
futech-473	82	1	with	with	ADP
futech-473	82	2	the	the	DET
futech-473	82	3	maturity	maturity	NOUN
futech-473	82	4	and	and	CCONJ
futech-473	82	5	pricing	pricing	NOUN
futech-473	82	6	of	of	ADP
futech-473	82	7	these	these	DET
futech-473	82	8	technologies	technology	NOUN
futech-473	82	9	,	,	PUNCT
futech-473	82	10	a	a	DET
futech-473	82	11	tipping	tipping	NOUN
futech-473	82	12	point	point	NOUN
futech-473	82	13	will	will	AUX
futech-473	82	14	be	be	AUX
futech-473	82	15	reached	reach	VERB
futech-473	82	16	,	,	PUNCT
futech-473	82	17	and	and	CCONJ
futech-473	82	18	there	there	PRON
futech-473	82	19	will	will	AUX
futech-473	82	20	be	be	AUX
futech-473	82	21	no	no	DET
futech-473	82	22	looking	look	VERB
futech-473	82	23	back	back	ADV
futech-473	82	24	regarding	regard	VERB
futech-473	82	25	warehouse	warehouse	NOUN
futech-473	82	26	design	design	NOUN
futech-473	82	27	,	,	PUNCT
futech-473	82	28	operational	operational	ADJ
futech-473	82	29	strategies	strategy	NOUN
futech-473	82	30	,	,	PUNCT
futech-473	82	31	and	and	CCONJ
futech-473	82	32	how	how	SCONJ
futech-473	82	33	products	product	NOUN
futech-473	82	34	are	be	AUX
futech-473	82	35	procured	procure	VERB
futech-473	82	36	,	,	PUNCT
futech-473	82	37	delivered	deliver	VERB
futech-473	82	38	,	,	PUNCT
futech-473	82	39	and	and	CCONJ
futech-473	82	40	maintained	maintain	VERB
futech-473	82	41	in	in	ADP
futech-473	82	42	the	the	DET
futech-473	82	43	20th	20th	ADJ
futech-473	82	44	-	-	PUNCT
futech-473	82	45	century	century	NOUN
futech-473	82	46	supply	supply	NOUN
futech-473	82	47	chain	chain	NOUN
futech-473	82	48	.	.	PUNCT
futech-473	83	1	the	the	DET
futech-473	83	2	work	work	NOUN
futech-473	83	3	presented	present	VERB
futech-473	83	4	in	in	ADP
futech-473	83	5	this	this	DET
futech-473	83	6	paper	paper	NOUN
futech-473	83	7	adds	add	VERB
futech-473	83	8	to	to	ADP
futech-473	83	9	this	this	DET
futech-473	83	10	evolution	evolution	NOUN
futech-473	83	11	by	by	ADP
futech-473	83	12	driving	drive	VERB
futech-473	83	13	the	the	DET
futech-473	83	14	generation	generation	NOUN
futech-473	83	15	of	of	ADP
futech-473	83	16	a	a	DET
futech-473	83	17	new	new	ADJ
futech-473	83	18	framework	framework	NOUN
futech-473	83	19	joining	join	VERB
futech-473	83	20	amr	amr	NOUN
futech-473	83	21	technology	technology	NOUN
futech-473	83	22	and	and	CCONJ
futech-473	83	23	the	the	DET
futech-473	83	24	principles	principle	NOUN
futech-473	83	25	of	of	ADP
futech-473	83	26	cps	cp	NOUN
futech-473	83	27	for	for	ADP
futech-473	83	28	intelligent	intelligent	ADJ
futech-473	83	29	i	i	PROPN
futech-473	83	30	m	m	PROPN
futech-473	83	31	systems	system	NOUN
futech-473	83	32	suitable	suitable	ADJ
futech-473	83	33	for	for	ADP
futech-473	83	34	the	the	DET
futech-473	83	35	needs	need	NOUN
futech-473	83	36	of	of	ADP
futech-473	83	37	current	current	ADJ
futech-473	83	38	supply	supply	NOUN
futech-473	83	39	chain	chain	NOUN
futech-473	83	40	operations	operation	NOUN
futech-473	83	41	.	.	PUNCT
futech-473	84	1	core	core	NOUN
futech-473	84	2	problem	problem	NOUN
futech-473	84	3	:	:	PUNCT
futech-473	84	4	traditional	traditional	ADJ
futech-473	84	5	warehouse	warehouse	NOUN
futech-473	84	6	management	management	NOUN
futech-473	84	7	systems	system	NOUN
futech-473	84	8	can	can	AUX
futech-473	84	9	not	not	PART
futech-473	84	10	meet	meet	VERB
futech-473	84	11	the	the	DET
futech-473	84	12	flexibility	flexibility	NOUN
futech-473	84	13	,	,	PUNCT
futech-473	84	14	scalability	scalability	NOUN
futech-473	84	15	,	,	PUNCT
futech-473	84	16	and	and	CCONJ
futech-473	84	17	efficiency	efficiency	NOUN
futech-473	84	18	requirements	requirement	NOUN
futech-473	84	19	of	of	ADP
futech-473	84	20	industry	industry	NOUN
futech-473	84	21	4.0	4.0	NUM
futech-473	84	22	.	.	PUNCT
futech-473	85	1	in	in	ADP
futech-473	85	2	this	this	DET
futech-473	85	3	paper	paper	NOUN
futech-473	85	4	,	,	PUNCT
futech-473	85	5	addressing	address	VERB
futech-473	85	6	the	the	DET
futech-473	85	7	demand	demand	NOUN
futech-473	85	8	for	for	ADP
futech-473	85	9	integrated	integrate	VERB
futech-473	85	10	amr	amr	ADJ
futech-473	85	11	-	-	PUNCT
futech-473	85	12	cps	cps	NOUN
futech-473	85	13	solutions	solution	NOUN
futech-473	85	14	in	in	ADP
futech-473	85	15	warehouse	warehouse	NOUN
futech-473	85	16	management	management	NOUN
futech-473	85	17	,	,	PUNCT
futech-473	85	18	a	a	DET
futech-473	85	19	comprehensive	comprehensive	ADJ
futech-473	85	20	model	model	NOUN
futech-473	85	21	that	that	PRON
futech-473	85	22	integrates	integrate	VERB
futech-473	85	23	amr	amr	NOUN
futech-473	85	24	and	and	CCONJ
futech-473	85	25	cps	cps	PROPN
futech-473	85	26	architectures	architecture	NOUN
futech-473	85	27	is	be	AUX
futech-473	85	28	introduced	introduce	VERB
futech-473	85	29	.	.	PUNCT
futech-473	86	1	our	our	PRON
futech-473	86	2	proposed	propose	VERB
futech-473	86	3	methods	method	NOUN
futech-473	86	4	rely	rely	VERB
futech-473	86	5	on	on	ADP
futech-473	86	6	digital	digital	ADJ
futech-473	86	7	twin	twin	ADJ
futech-473	86	8	technology	technology	NOUN
futech-473	86	9	to	to	PART
futech-473	86	10	implement	implement	VERB
futech-473	86	11	the	the	DET
futech-473	86	12	real	real	ADJ
futech-473	86	13	-	-	PUNCT
futech-473	86	14	time	time	NOUN
futech-473	86	15	system	system	NOUN
futech-473	86	16	model	model	NOUN
futech-473	86	17	,	,	PUNCT
futech-473	86	18	advanced	advanced	ADJ
futech-473	86	19	multi	multi	ADJ
futech-473	86	20	-	-	ADJ
futech-473	86	21	robot	robot	ADJ
futech-473	86	22	coordination	coordination	NOUN
futech-473	86	23	algorithms	algorithm	NOUN
futech-473	86	24	for	for	ADP
futech-473	86	25	effective	effective	ADJ
futech-473	86	26	task	task	NOUN
futech-473	86	27	allocation	allocation	NOUN
futech-473	86	28	,	,	PUNCT
futech-473	86	29	and	and	CCONJ
futech-473	86	30	edge	edge	NOUN
futech-473	86	31	computing	computing	NOUN
futech-473	86	32	for	for	ADP
futech-473	86	33	responsive	responsive	ADJ
futech-473	86	34	decision	decision	NOUN
futech-473	86	35	making	making	NOUN
futech-473	86	36	.	.	PUNCT
futech-473	87	1	the	the	DET
futech-473	87	2	main	main	ADJ
futech-473	87	3	contributions	contribution	NOUN
futech-473	87	4	of	of	ADP
futech-473	87	5	this	this	DET
futech-473	87	6	research	research	NOUN
futech-473	87	7	include	include	VERB
futech-473	87	8	:	:	PUNCT
futech-473	87	9	a	a	DET
futech-473	87	10	novel	novel	ADJ
futech-473	87	11	cps	cp	NOUN
futech-473	87	12	architecture	architecture	NOUN
futech-473	87	13	specifically	specifically	ADV
futech-473	87	14	designed	design	VERB
futech-473	87	15	for	for	ADP
futech-473	87	16	amr	amr	ADJ
futech-473	87	17	-	-	PUNCT
futech-473	87	18	based	base	VERB
futech-473	87	19	warehouse	warehouse	NOUN
futech-473	87	20	operations	operation	NOUN
futech-473	87	21	,	,	PUNCT
futech-473	87	22	an	an	DET
futech-473	87	23	adaptive	adaptive	ADJ
futech-473	87	24	multi	multi	ADJ
futech-473	87	25	-	-	ADJ
futech-473	87	26	robot	robot	ADJ
futech-473	87	27	coordination	coordination	NOUN
futech-473	87	28	algorithm	algorithm	NOUN
futech-473	87	29	that	that	PRON
futech-473	87	30	maintains	maintain	VERB
futech-473	87	31	performance	performance	NOUN
futech-473	87	32	under	under	ADP
futech-473	87	33	dynamic	dynamic	ADJ
futech-473	87	34	conditions	condition	NOUN
futech-473	87	35	,	,	PUNCT
futech-473	87	36	a	a	DET
futech-473	87	37	real	real	ADJ
futech-473	87	38	-	-	PUNCT
futech-473	87	39	time	time	NOUN
futech-473	87	40	inventory	inventory	NOUN
futech-473	87	41	optimization	optimization	NOUN
futech-473	87	42	framework	framework	NOUN
futech-473	87	43	that	that	PRON
futech-473	87	44	integrates	integrate	VERB
futech-473	87	45	predictive	predictive	ADJ
futech-473	87	46	analytics	analytic	NOUN
futech-473	87	47	with	with	ADP
futech-473	87	48	operational	operational	ADJ
futech-473	87	49	constraints	constraint	NOUN
futech-473	87	50	,	,	PUNCT
futech-473	87	51	and	and	CCONJ
futech-473	87	52	empirical	empirical	ADJ
futech-473	87	53	validation	validation	NOUN
futech-473	87	54	through	through	ADP
futech-473	87	55	implementation	implementation	NOUN
futech-473	87	56	in	in	ADP
futech-473	87	57	industrial	industrial	ADJ
futech-473	87	58	warehouse	warehouse	NOUN
futech-473	87	59	environments	environment	NOUN
futech-473	87	60	.	.	PUNCT
futech-473	88	1	compared	compare	VERB
futech-473	88	2	to	to	ADP
futech-473	88	3	existing	exist	VERB
futech-473	88	4	cps	cp	NOUN
futech-473	88	5	frameworks	framework	NOUN
futech-473	88	6	,	,	PUNCT
futech-473	88	7	the	the	DET
futech-473	88	8	primary	primary	ADJ
futech-473	88	9	innovation	innovation	NOUN
futech-473	88	10	of	of	ADP
futech-473	88	11	this	this	DET
futech-473	88	12	research	research	NOUN
futech-473	88	13	lies	lie	VERB
futech-473	88	14	in	in	ADP
futech-473	88	15	the	the	DET
futech-473	88	16	introduction	introduction	NOUN
futech-473	88	17	of	of	ADP
futech-473	88	18	multitimescale	multitimescale	NOUN
futech-473	88	19	feedback	feedback	NOUN
futech-473	88	20	loops	loop	NOUN
futech-473	88	21	and	and	CCONJ
futech-473	88	22	hierarchical	hierarchical	ADJ
futech-473	88	23	decision	decision	NOUN
futech-473	88	24	-	-	PUNCT
futech-473	88	25	making	make	VERB
futech-473	88	26	architecture	architecture	NOUN
futech-473	88	27	,	,	PUNCT
futech-473	88	28	which	which	PRON
futech-473	88	29	enables	enable	VERB
futech-473	88	30	the	the	DET
futech-473	88	31	decoupling	decoupling	NOUN
futech-473	88	32	of	of	ADP
futech-473	88	33	strategic	strategic	ADJ
futech-473	88	34	planning	planning	NOUN
futech-473	88	35	from	from	ADP
futech-473	88	36	real	real	ADJ
futech-473	88	37	-	-	PUNCT
futech-473	88	38	time	time	NOUN
futech-473	88	39	control	control	NOUN
futech-473	88	40	operations	operation	NOUN
futech-473	88	41	.	.	PUNCT
futech-473	89	1	the	the	DET
futech-473	89	2	core	core	NOUN
futech-473	89	3	innovation	innovation	NOUN
futech-473	89	4	of	of	ADP
futech-473	89	5	this	this	DET
futech-473	89	6	research	research	NOUN
futech-473	89	7	lies	lie	VERB
futech-473	89	8	in	in	ADP
futech-473	89	9	the	the	DET
futech-473	89	10	development	development	NOUN
futech-473	89	11	of	of	ADP
futech-473	89	12	an	an	DET
futech-473	89	13	integrated	integrate	VERB
futech-473	89	14	cps	cps	NOUN
futech-473	89	15	-	-	PUNCT
futech-473	89	16	amr	amr	NOUN
futech-473	89	17	framework	framework	NOUN
futech-473	89	18	that	that	PRON
futech-473	89	19	fundamentally	fundamentally	ADV
futech-473	89	20	transforms	transform	VERB
futech-473	89	21	warehouse	warehouse	NOUN
futech-473	89	22	automation	automation	NOUN
futech-473	89	23	through	through	ADP
futech-473	89	24	three	three	NUM
futech-473	89	25	key	key	ADJ
futech-473	89	26	contributions	contribution	NOUN
futech-473	89	27	:	:	PUNCT
futech-473	89	28	figure	figure	NOUN
futech-473	89	29	1	1	NUM
futech-473	89	30	.	.	PUNCT
futech-473	89	31	cps	cps	PROPN
futech-473	89	32	-	-	PUNCT
futech-473	89	33	amr	amr	NOUN
futech-473	89	34	integration	integration	NOUN
futech-473	89	35	model	model	NOUN
futech-473	89	36	(	(	PUNCT
futech-473	89	37	1	1	X
futech-473	89	38	)	)	PUNCT
futech-473	89	39	a	a	DET
futech-473	89	40	novel	novel	ADJ
futech-473	89	41	multi	multi	ADJ
futech-473	89	42	-	-	ADJ
futech-473	89	43	timescale	timescale	ADJ
futech-473	89	44	feedback	feedback	NOUN
futech-473	89	45	control	control	NOUN
futech-473	89	46	architecture	architecture	NOUN
futech-473	89	47	that	that	PRON
futech-473	89	48	decouples	decouple	VERB
futech-473	89	49	strategic	strategic	ADJ
futech-473	89	50	planning	planning	NOUN
futech-473	89	51	from	from	ADP
futech-473	89	52	real	real	ADJ
futech-473	89	53	-	-	PUNCT
futech-473	89	54	time	time	NOUN
futech-473	89	55	operational	operational	ADJ
futech-473	89	56	control	control	NOUN
futech-473	89	57	,	,	PUNCT
futech-473	89	58	(	(	PUNCT
futech-473	89	59	2	2	X
futech-473	89	60	)	)	PUNCT
futech-473	89	61	a	a	DET
futech-473	89	62	hierarchical	hierarchical	ADJ
futech-473	89	63	decision	decision	NOUN
futech-473	89	64	-	-	PUNCT
futech-473	89	65	making	make	VERB
futech-473	89	66	system	system	NOUN
futech-473	89	67	that	that	PRON
futech-473	89	68	enables	enable	VERB
futech-473	89	69	seamless	seamless	ADJ
futech-473	89	70	coordination	coordination	NOUN
futech-473	89	71	between	between	ADP
futech-473	89	72	physical	physical	ADJ
futech-473	89	73	robot	robot	NOUN
futech-473	89	74	operations	operation	NOUN
futech-473	89	75	and	and	CCONJ
futech-473	89	76	cyber	cyber	NOUN
futech-473	89	77	-	-	PUNCT
futech-473	89	78	domain	domain	NOUN
futech-473	89	79	intelligence	intelligence	NOUN
futech-473	89	80	,	,	PUNCT
futech-473	89	81	and	and	CCONJ
futech-473	89	82	(	(	PUNCT
futech-473	89	83	3	3	X
futech-473	89	84	)	)	PUNCT
futech-473	89	85	an	an	DET
futech-473	89	86	adaptive	adaptive	ADJ
futech-473	89	87	digital	digital	ADJ
futech-473	89	88	twin	twin	ADJ
futech-473	89	89	synchronization	synchronization	NOUN
futech-473	89	90	mechanism	mechanism	NOUN
futech-473	89	91	that	that	PRON
futech-473	89	92	facilitates	facilitate	VERB
futech-473	89	93	predictive	predictive	ADJ
futech-473	89	94	analytics	analytic	NOUN
futech-473	89	95	and	and	CCONJ
futech-473	89	96	proactive	proactive	ADJ
futech-473	89	97	system	system	NOUN
futech-473	89	98	optimization	optimization	NOUN
futech-473	89	99	.	.	PUNCT
futech-473	90	1	unlike	unlike	ADP
futech-473	90	2	existing	exist	VERB
futech-473	90	3	approaches	approach	NOUN
futech-473	90	4	that	that	PRON
futech-473	90	5	treat	treat	VERB
futech-473	90	6	amr	amr	ADJ
futech-473	90	7	deployment	deployment	NOUN
futech-473	90	8	and	and	CCONJ
futech-473	90	9	warehouse	warehouse	NOUN
futech-473	90	10	management	management	NOUN
futech-473	90	11	as	as	ADP
futech-473	90	12	separate	separate	ADJ
futech-473	90	13	optimization	optimization	NOUN
futech-473	90	14	problems	problem	NOUN
futech-473	90	15	,	,	PUNCT
futech-473	90	16	this	this	DET
futech-473	90	17	framework	framework	NOUN
futech-473	90	18	establishes	establish	VERB
futech-473	90	19	a	a	DET
futech-473	90	20	unified	unified	ADJ
futech-473	90	21	computational	computational	ADJ
futech-473	90	22	paradigm	paradigm	NOUN
futech-473	90	23	that	that	PRON
futech-473	90	24	leverages	leverage	VERB
futech-473	90	25	the	the	DET
futech-473	90	26	synergistic	synergistic	ADJ
futech-473	90	27	integration	integration	NOUN
futech-473	90	28	of	of	ADP
futech-473	90	29	autonomous	autonomous	ADJ
futech-473	90	30	robotics	robotic	NOUN
futech-473	90	31	,	,	PUNCT
futech-473	90	32	real	real	ADJ
futech-473	90	33	-	-	PUNCT
futech-473	90	34	time	time	NOUN
futech-473	90	35	data	datum	NOUN
futech-473	90	36	analytics	analytic	NOUN
futech-473	90	37	,	,	PUNCT
futech-473	90	38	and	and	CCONJ
futech-473	90	39	cyber	cyber	ADJ
futech-473	90	40	-	-	PUNCT
futech-473	90	41	physical	physical	ADJ
futech-473	90	42	system	system	NOUN
futech-473	90	43	principles	principle	NOUN
futech-473	90	44	.	.	PUNCT
futech-473	91	1	the	the	DET
futech-473	91	2	research	research	NOUN
futech-473	91	3	objectives	objective	NOUN
futech-473	91	4	are	be	AUX
futech-473	91	5	fourfold	fourfold	ADJ
futech-473	91	6	:	:	PUNCT
futech-473	91	7	(	(	PUNCT
futech-473	91	8	1	1	X
futech-473	91	9	)	)	PUNCT
futech-473	91	10	design	design	VERB
futech-473	91	11	a	a	DET
futech-473	91	12	comprehensive	comprehensive	ADJ
futech-473	91	13	cps	cps	PROPN
futech-473	91	14	-	-	PUNCT
futech-473	91	15	amr	amr	NOUN
futech-473	91	16	integration	integration	NOUN
futech-473	91	17	architecture	architecture	NOUN
futech-473	91	18	,	,	PUNCT
futech-473	91	19	(	(	PUNCT
futech-473	91	20	2	2	X
futech-473	91	21	)	)	PUNCT
futech-473	91	22	develop	develop	VERB
futech-473	91	23	advanced	advanced	ADJ
futech-473	91	24	multi	multi	ADJ
futech-473	91	25	-	-	ADJ
futech-473	91	26	robot	robot	ADJ
futech-473	91	27	coordination	coordination	NOUN
futech-473	91	28	algorithms	algorithm	NOUN
futech-473	91	29	,	,	PUNCT
futech-473	91	30	(	(	PUNCT
futech-473	91	31	3	3	X
futech-473	91	32	)	)	PUNCT
futech-473	91	33	construct	construct	VERB
futech-473	91	34	a	a	DET
futech-473	91	35	real	real	ADJ
futech-473	91	36	-	-	PUNCT
futech-473	91	37	time	time	NOUN
futech-473	91	38	inventory	inventory	NOUN
futech-473	91	39	optimization	optimization	NOUN
futech-473	91	40	framework	framework	NOUN
futech-473	91	41	,	,	PUNCT
futech-473	91	42	and	and	CCONJ
futech-473	91	43	(	(	PUNCT
futech-473	91	44	4	4	X
futech-473	91	45	)	)	PUNCT
futech-473	91	46	validate	validate	ADJ
futech-473	91	47	system	system	NOUN
futech-473	91	48	performance	performance	NOUN
futech-473	91	49	in	in	ADP
futech-473	91	50	industrial	industrial	ADJ
futech-473	91	51	environments	environment	NOUN
futech-473	91	52	.	.	PUNCT
futech-473	92	1	2	2	X
futech-473	92	2	.	.	X
futech-473	92	3	theoretical	theoretical	ADJ
futech-473	92	4	framework	framework	NOUN
futech-473	92	5	and	and	CCONJ
futech-473	92	6	system	system	NOUN
futech-473	92	7	architecture	architecture	NOUN
futech-473	92	8	2.1	2.1	NUM
futech-473	92	9	cps	cp	NOUN
futech-473	92	10	-	-	PUNCT
futech-473	92	11	amr	amr	NOUN
futech-473	92	12	integration	integration	NOUN
futech-473	92	13	model	model	NOUN
futech-473	92	14	the	the	DET
futech-473	92	15	proposed	propose	VERB
futech-473	92	16	cps	cps	PROPN
futech-473	92	17	-	-	PUNCT
futech-473	92	18	amr	amr	NOUN
futech-473	92	19	integration	integration	NOUN
futech-473	92	20	model	model	NOUN
futech-473	92	21	establishes	establish	VERB
futech-473	92	22	a	a	DET
futech-473	92	23	hierarchical	hierarchical	ADJ
futech-473	92	24	architecture	architecture	NOUN
futech-473	92	25	that	that	PRON
futech-473	92	26	seamlessly	seamlessly	ADV
futech-473	92	27	connects	connect	VERB
futech-473	92	28	physical	physical	ADJ
futech-473	92	29	warehouse	warehouse	NOUN
futech-473	92	30	operations	operation	NOUN
futech-473	92	31	with	with	ADP
futech-473	92	32	digital	digital	ADJ
futech-473	92	33	control	control	NOUN
futech-473	92	34	systems	system	NOUN
futech-473	92	35	through	through	ADP
futech-473	92	36	bidirectional	bidirectional	ADJ
futech-473	92	37	information	information	NOUN
futech-473	92	38	flows	flow	VERB
futech-473	92	39	.	.	PUNCT
futech-473	93	1	as	as	SCONJ
futech-473	93	2	illustrated	illustrate	VERB
futech-473	93	3	in	in	ADP
futech-473	93	4	figure	figure	NOUN
futech-473	93	5	1	1	NUM
futech-473	93	6	,	,	PUNCT
futech-473	93	7	the	the	DET
futech-473	93	8	model	model	NOUN
futech-473	93	9	comprises	comprise	VERB
futech-473	93	10	five	five	NUM
futech-473	93	11	interconnected	interconnected	ADJ
futech-473	93	12	layers	layer	NOUN
futech-473	93	13	forming	form	VERB
futech-473	93	14	a	a	DET
futech-473	93	15	comprehensive	comprehensive	ADJ
futech-473	93	16	framework	framework	NOUN
futech-473	93	17	for	for	ADP
futech-473	93	18	intelligent	intelligent	ADJ
futech-473	93	19	warehouse	warehouse	NOUN
futech-473	93	20	automation	automation	NOUN
futech-473	93	21	.	.	PUNCT
futech-473	94	1	the	the	DET
futech-473	94	2	physical	physical	ADJ
futech-473	94	3	asset	asset	NOUN
futech-473	94	4	layer	layer	NOUN
futech-473	94	5	encompasses	encompass	VERB
futech-473	94	6	amr	amr	ADJ
futech-473	94	7	fleets	fleet	NOUN
futech-473	94	8	,	,	PUNCT
futech-473	94	9	warehouse	warehouse	NOUN
futech-473	94	10	infrastructure	infrastructure	NOUN
futech-473	94	11	,	,	PUNCT
futech-473	94	12	and	and	CCONJ
futech-473	94	13	inventory	inventory	NOUN
futech-473	94	14	items	item	NOUN
futech-473	94	15	,	,	PUNCT
futech-473	94	16	representing	represent	VERB
futech-473	94	17	all	all	DET
futech-473	94	18	tangible	tangible	ADJ
futech-473	94	19	elements	element	NOUN
futech-473	94	20	within	within	ADP
futech-473	94	21	the	the	DET
futech-473	94	22	operational	operational	ADJ
futech-473	94	23	environment	environment	NOUN
futech-473	94	24	.	.	PUNCT
futech-473	95	1	beyond	beyond	ADP
futech-473	95	2	this	this	DET
futech-473	95	3	boundary	boundary	NOUN
futech-473	95	4	,	,	PUNCT
futech-473	95	5	the	the	DET
futech-473	95	6	sensing	sense	VERB
futech-473	95	7	and	and	CCONJ
futech-473	95	8	actuation	actuation	NOUN
futech-473	95	9	layer	layer	NOUN
futech-473	95	10	plays	play	VERB
futech-473	95	11	a	a	DET
futech-473	95	12	crucial	crucial	ADJ
futech-473	95	13	role	role	NOUN
futech-473	95	14	in	in	ADP
futech-473	95	15	interfacing	interface	VERB
futech-473	95	16	the	the	DET
futech-473	95	17	physical	physical	ADJ
futech-473	95	18	world	world	NOUN
futech-473	95	19	with	with	ADP
futech-473	95	20	the	the	DET
futech-473	95	21	digital	digital	ADJ
futech-473	95	22	world	world	NOUN
futech-473	95	23	,	,	PUNCT
futech-473	95	24	implementing	implement	VERB
futech-473	95	25	a	a	DET
futech-473	95	26	variety	variety	NOUN
futech-473	95	27	of	of	ADP
futech-473	95	28	types	type	NOUN
futech-473	95	29	of	of	ADP
futech-473	95	30	sensors	sensor	NOUN
futech-473	95	31	,	,	PUNCT
futech-473	95	32	e.g.	e.g.	ADV
futech-473	95	33	,	,	PUNCT
futech-473	95	34	lidar	lidar	NOUN
futech-473	95	35	,	,	PUNCT
futech-473	95	36	camera	camera	NOUN
futech-473	95	37	,	,	PUNCT
futech-473	95	38	rfid	rfid	NOUN
futech-473	95	39	system	system	NOUN
futech-473	95	40	,	,	PUNCT
futech-473	95	41	for	for	ADP
futech-473	95	42	environmental	environmental	ADJ
futech-473	95	43	perception	perception	NOUN
futech-473	95	44	and	and	CCONJ
futech-473	95	45	actuators	actuator	NOUN
futech-473	95	46	for	for	ADP
futech-473	95	47	precise	precise	ADJ
futech-473	95	48	robot	robot	NOUN
futech-473	95	49	control	control	NOUN
futech-473	95	50	and	and	CCONJ
futech-473	95	51	inventory	inventory	NOUN
futech-473	95	52	manipulation	manipulation	NOUN
futech-473	95	53	.	.	PUNCT
futech-473	96	1	y.	y.	PROPN
futech-473	96	2	zhang	zhang	PROPN
futech-473	96	3	&	&	CCONJ
futech-473	96	4	ju	ju	PROPN
futech-473	96	5	.	.	PROPN
futech-473	97	1	abellera	abellera	NOUN
futech-473	97	2	/future	/future	PUNCT
futech-473	97	3	technology	technology	PROPN
futech-473	97	4	november	november	PROPN
futech-473	97	5	2025|	2025|	NUM
futech-473	97	6	volume	volume	NOUN
futech-473	97	7	04	04	NUM
futech-473	98	1	|	|	ADV
futech-473	98	2	issue	issue	VERB
futech-473	98	3	04	04	NUM
futech-473	99	1	|	|	CCONJ
futech-473	99	2	pages	page	VERB
futech-473	99	3	59	59	NUM
futech-473	99	4	-	-	SYM
futech-473	99	5	71	71	NUM
futech-473	99	6	62	62	NUM
futech-473	99	7	a	a	DET
futech-473	99	8	robust	robust	ADJ
futech-473	99	9	data	datum	NOUN
futech-473	99	10	exchange	exchange	NOUN
futech-473	99	11	infrastructure	infrastructure	NOUN
futech-473	99	12	is	be	AUX
futech-473	99	13	ensured	ensure	VERB
futech-473	99	14	by	by	ADP
futech-473	99	15	the	the	DET
futech-473	99	16	communication	communication	NOUN
futech-473	99	17	and	and	CCONJ
futech-473	99	18	networking	network	VERB
futech-473	99	19	layer	layer	NOUN
futech-473	99	20	using	use	VERB
futech-473	99	21	5	5	NUM
futech-473	99	22	g	g	NOUN
futech-473	99	23	,	,	PUNCT
futech-473	99	24	wifi	wifi	NOUN
futech-473	99	25	6	6	NUM
futech-473	99	26	,	,	PUNCT
futech-473	99	27	and	and	CCONJ
futech-473	99	28	industrial	industrial	ADJ
futech-473	99	29	ethernet	ethernet	NOUN
futech-473	99	30	protocols	protocol	NOUN
futech-473	99	31	to	to	PART
futech-473	99	32	enable	enable	VERB
futech-473	99	33	secure	secure	ADJ
futech-473	99	34	and	and	CCONJ
futech-473	99	35	lowlatency	lowlatency	NOUN
futech-473	99	36	communication	communication	NOUN
futech-473	99	37	between	between	ADP
futech-473	99	38	all	all	DET
futech-473	99	39	system	system	NOUN
futech-473	99	40	elements	element	NOUN
futech-473	99	41	.	.	PUNCT
futech-473	100	1	at	at	ADP
futech-473	100	2	the	the	DET
futech-473	100	3	core	core	NOUN
futech-473	100	4	is	be	AUX
futech-473	100	5	the	the	DET
futech-473	100	6	cyber	cyber	NOUN
futech-473	100	7	-	-	PUNCT
futech-473	100	8	physical	physical	ADJ
futech-473	100	9	integration	integration	NOUN
futech-473	100	10	layer	layer	NOUN
futech-473	100	11	,	,	PUNCT
futech-473	100	12	real	real	ADJ
futech-473	100	13	-	-	PUNCT
futech-473	100	14	time	time	NOUN
futech-473	100	15	digital	digital	ADJ
futech-473	100	16	twins	twin	NOUN
futech-473	100	17	for	for	ADP
futech-473	100	18	the	the	DET
futech-473	100	19	physical	physical	ADJ
futech-473	100	20	assets	asset	NOUN
futech-473	100	21	,	,	PUNCT
futech-473	100	22	with	with	ADP
futech-473	100	23	the	the	DET
futech-473	100	24	introduction	introduction	NOUN
futech-473	100	25	of	of	ADP
futech-473	100	26	state	state	NOUN
futech-473	100	27	estimation	estimation	NOUN
futech-473	100	28	algorithms	algorithm	NOUN
futech-473	100	29	and	and	CCONJ
futech-473	100	30	predictive	predictive	ADJ
futech-473	100	31	models	model	NOUN
futech-473	100	32	that	that	PRON
futech-473	100	33	support	support	VERB
futech-473	100	34	proactive	proactive	ADJ
futech-473	100	35	decision	decision	NOUN
futech-473	100	36	-	-	PUNCT
futech-473	100	37	making	making	NOUN
futech-473	100	38	in	in	ADP
futech-473	100	39	the	the	DET
futech-473	100	40	face	face	NOUN
futech-473	100	41	of	of	ADP
futech-473	100	42	sensor	sensor	NOUN
futech-473	100	43	uncertainties	uncertainty	NOUN
futech-473	100	44	.	.	PUNCT
futech-473	101	1	the	the	DET
futech-473	101	2	highest	high	ADJ
futech-473	101	3	layer	layer	NOUN
futech-473	101	4	is	be	AUX
futech-473	101	5	the	the	DET
futech-473	101	6	application	application	NOUN
futech-473	101	7	and	and	CCONJ
futech-473	101	8	services	service	NOUN
futech-473	101	9	layer	layer	NOUN
futech-473	101	10	,	,	PUNCT
futech-473	101	11	which	which	PRON
futech-473	101	12	provides	provide	VERB
futech-473	101	13	more	more	ADV
futech-473	101	14	advanced	advanced	ADJ
futech-473	101	15	services	service	NOUN
futech-473	101	16	such	such	ADJ
futech-473	101	17	as	as	ADP
futech-473	101	18	inventory	inventory	NOUN
futech-473	101	19	optimization	optimization	NOUN
futech-473	101	20	,	,	PUNCT
futech-473	101	21	dynamic	dynamic	ADJ
futech-473	101	22	task	task	NOUN
futech-473	101	23	assignment	assignment	NOUN
futech-473	101	24	,	,	PUNCT
futech-473	101	25	and	and	CCONJ
futech-473	101	26	smart	smart	ADJ
futech-473	101	27	pathplanning	pathplanning	NOUN
futech-473	101	28	.	.	PUNCT
futech-473	102	1	the	the	DET
futech-473	102	2	model	model	NOUN
futech-473	102	3	includes	include	VERB
futech-473	102	4	multi	multi	ADJ
futech-473	102	5	-	-	ADJ
futech-473	102	6	time	time	NOUN
futech-473	102	7	-	-	PUNCT
futech-473	102	8	scale	scale	NOUN
futech-473	102	9	feedback	feedback	NOUN
futech-473	102	10	loops	loop	NOUN
futech-473	102	11	:	:	PUNCT
futech-473	102	12	local	local	ADJ
futech-473	102	13	loops	loop	NOUN
futech-473	102	14	for	for	ADP
futech-473	102	15	instantaneous	instantaneous	ADJ
futech-473	102	16	response	response	NOUN
futech-473	102	17	,	,	PUNCT
futech-473	102	18	regional	regional	ADJ
futech-473	102	19	loops	loop	NOUN
futech-473	102	20	for	for	ADP
futech-473	102	21	zone	zone	NOUN
futech-473	102	22	coordination	coordination	NOUN
futech-473	102	23	,	,	PUNCT
futech-473	102	24	and	and	CCONJ
futech-473	102	25	global	global	ADJ
futech-473	102	26	loops	loop	NOUN
futech-473	102	27	for	for	ADP
futech-473	102	28	overall	overall	ADJ
futech-473	102	29	system	system	NOUN
futech-473	102	30	optimization	optimization	NOUN
futech-473	102	31	.	.	PUNCT
futech-473	103	1	this	this	DET
futech-473	103	2	hierarchical	hierarchical	ADJ
futech-473	103	3	structure	structure	NOUN
futech-473	103	4	ensures	ensure	VERB
futech-473	103	5	scalability	scalability	NOUN
futech-473	103	6	,	,	PUNCT
futech-473	103	7	resilience	resilience	NOUN
futech-473	103	8	,	,	PUNCT
futech-473	103	9	and	and	CCONJ
futech-473	103	10	interoperability	interoperability	NOUN
futech-473	103	11	while	while	SCONJ
futech-473	103	12	supporting	support	VERB
futech-473	103	13	heterogeneous	heterogeneous	ADJ
futech-473	103	14	robot	robot	NOUN
futech-473	103	15	fleets	fleet	NOUN
futech-473	103	16	and	and	CCONJ
futech-473	103	17	diverse	diverse	ADJ
futech-473	103	18	warehouse	warehouse	NOUN
futech-473	103	19	configurations	configuration	NOUN
futech-473	103	20	.	.	PUNCT
futech-473	104	1	example	example	NOUN
futech-473	104	2	scenario	scenario	PROPN
futech-473	104	3	:	:	PUNCT
futech-473	104	4	upon	upon	SCONJ
futech-473	104	5	receiving	receive	VERB
futech-473	104	6	an	an	DET
futech-473	104	7	order	order	NOUN
futech-473	104	8	in	in	ADP
futech-473	104	9	an	an	DET
futech-473	104	10	ecommerce	ecommerce	NOUN
futech-473	104	11	warehouse	warehouse	NOUN
futech-473	104	12	,	,	PUNCT
futech-473	104	13	the	the	DET
futech-473	104	14	application	application	NOUN
futech-473	104	15	layer	layer	NOUN
futech-473	104	16	optimizes	optimize	VERB
futech-473	104	17	task	task	NOUN
futech-473	104	18	allocation	allocation	NOUN
futech-473	104	19	for	for	ADP
futech-473	104	20	the	the	DET
futech-473	104	21	cps	cps	PROPN
futech-473	104	22	integration	integration	NOUN
futech-473	104	23	.	.	PUNCT
futech-473	105	1	layer	layer	NOUN
futech-473	105	2	updates	update	VERB
futech-473	105	3	digital	digital	ADJ
futech-473	105	4	twins	twin	NOUN
futech-473	105	5	,	,	PUNCT
futech-473	105	6	the	the	DET
futech-473	105	7	communication	communication	NOUN
futech-473	105	8	layer	layer	NOUN
futech-473	105	9	coordinates	coordinate	VERB
futech-473	105	10	robots	robot	NOUN
futech-473	105	11	,	,	PUNCT
futech-473	105	12	the	the	DET
futech-473	105	13	sensing	sensing	NOUN
futech-473	105	14	and	and	CCONJ
futech-473	105	15	actuation	actuation	NOUN
futech-473	105	16	layer	layer	NOUN
futech-473	105	17	performs	perform	VERB
futech-473	105	18	obstacle	obstacle	NOUN
futech-473	105	19	avoidance	avoidance	NOUN
futech-473	105	20	navigation	navigation	NOUN
futech-473	105	21	,	,	PUNCT
futech-473	105	22	and	and	CCONJ
futech-473	105	23	the	the	DET
futech-473	105	24	physical	physical	ADJ
futech-473	105	25	asset	asset	NOUN
futech-473	105	26	layer	layer	NOUN
futech-473	105	27	executes	execute	VERB
futech-473	105	28	picking	pick	VERB
futech-473	105	29	operations	operation	NOUN
futech-473	105	30	.	.	PUNCT
futech-473	106	1	2.2	2.2	NUM
futech-473	106	2	mathematical	mathematical	ADJ
futech-473	106	3	modeling	modeling	NOUN
futech-473	106	4	this	this	DET
futech-473	106	5	framework	framework	NOUN
futech-473	106	6	employs	employ	VERB
futech-473	106	7	mixed	mixed	ADJ
futech-473	106	8	-	-	PUNCT
futech-473	106	9	integer	integer	NOUN
futech-473	106	10	programming	programming	NOUN
futech-473	106	11	(	(	PUNCT
futech-473	106	12	mip	mip	PROPN
futech-473	106	13	)	)	PUNCT
futech-473	106	14	for	for	ADP
futech-473	106	15	discrete	discrete	ADJ
futech-473	106	16	task	task	NOUN
futech-473	106	17	allocation	allocation	NOUN
futech-473	106	18	,	,	PUNCT
futech-473	106	19	stochastic	stochastic	ADJ
futech-473	106	20	dynamic	dynamic	ADJ
futech-473	106	21	programming	programming	NOUN
futech-473	106	22	(	(	PUNCT
futech-473	106	23	sdp	sdp	NOUN
futech-473	106	24	)	)	PUNCT
futech-473	106	25	to	to	PART
futech-473	106	26	address	address	VERB
futech-473	106	27	demand	demand	NOUN
futech-473	106	28	uncertainties	uncertainty	NOUN
futech-473	106	29	,	,	PUNCT
futech-473	106	30	particle	particle	NOUN
futech-473	106	31	filtering	filtering	NOUN
futech-473	106	32	to	to	PART
futech-473	106	33	handle	handle	VERB
futech-473	106	34	sensor	sensor	NOUN
futech-473	106	35	noise	noise	NOUN
futech-473	106	36	,	,	PUNCT
futech-473	106	37	and	and	CCONJ
futech-473	106	38	barrier	barrier	NOUN
futech-473	106	39	functions	function	NOUN
futech-473	106	40	to	to	PART
futech-473	106	41	enforce	enforce	VERB
futech-473	106	42	safety	safety	NOUN
futech-473	106	43	constraints	constraint	NOUN
futech-473	106	44	,	,	PUNCT
futech-473	106	45	collectively	collectively	ADV
futech-473	106	46	forming	form	VERB
futech-473	106	47	a	a	DET
futech-473	106	48	complementary	complementary	ADJ
futech-473	106	49	optimization	optimization	NOUN
futech-473	106	50	framework	framework	NOUN
futech-473	106	51	.	.	PUNCT
futech-473	107	1	the	the	DET
futech-473	107	2	mathematical	mathematical	ADJ
futech-473	107	3	foundation	foundation	NOUN
futech-473	107	4	of	of	ADP
futech-473	107	5	the	the	DET
futech-473	107	6	cps	cps	PROPN
futech-473	107	7	-	-	PUNCT
futech-473	107	8	amr	amr	NOUN
futech-473	107	9	system	system	NOUN
futech-473	107	10	encompasses	encompass	VERB
futech-473	107	11	three	three	NUM
futech-473	107	12	core	core	NOUN
futech-473	107	13	optimization	optimization	NOUN
futech-473	107	14	problems	problem	NOUN
futech-473	107	15	:	:	PUNCT
futech-473	107	16	inventory	inventory	NOUN
futech-473	107	17	management	management	NOUN
futech-473	107	18	,	,	PUNCT
futech-473	107	19	multi	multi	ADJ
futech-473	107	20	-	-	ADJ
futech-473	107	21	robot	robot	ADJ
futech-473	107	22	task	task	NOUN
futech-473	107	23	allocation	allocation	NOUN
futech-473	107	24	,	,	PUNCT
futech-473	107	25	and	and	CCONJ
futech-473	107	26	real	real	ADJ
futech-473	107	27	-	-	PUNCT
futech-473	107	28	time	time	NOUN
futech-473	107	29	scheduling	scheduling	NOUN
futech-473	107	30	.	.	PUNCT
futech-473	108	1	we	we	PRON
futech-473	108	2	formulate	formulate	VERB
futech-473	108	3	the	the	DET
futech-473	108	4	integrated	integrate	VERB
futech-473	108	5	warehouse	warehouse	NOUN
futech-473	108	6	optimization	optimization	NOUN
futech-473	108	7	problem	problem	NOUN
futech-473	108	8	as	as	ADP
futech-473	108	9	a	a	DET
futech-473	108	10	mixedinteger	mixedinteger	NOUN
futech-473	108	11	programming	programming	NOUN
futech-473	108	12	model	model	NOUN
futech-473	108	13	that	that	PRON
futech-473	108	14	captures	capture	VERB
futech-473	108	15	the	the	DET
futech-473	108	16	complex	complex	ADJ
futech-473	108	17	interactions	interaction	NOUN
futech-473	108	18	between	between	ADP
futech-473	108	19	physical	physical	ADJ
futech-473	108	20	robot	robot	NOUN
futech-473	108	21	movements	movement	NOUN
futech-473	108	22	and	and	CCONJ
futech-473	108	23	cyberdomain	cyberdomain	VERB
futech-473	108	24	decision	decision	NOUN
futech-473	108	25	-	-	PUNCT
futech-473	108	26	making	making	NOUN
futech-473	108	27	.	.	PUNCT
futech-473	109	1	the	the	DET
futech-473	109	2	system	system	NOUN
futech-473	109	3	state	state	NOUN
futech-473	109	4	at	at	ADP
futech-473	109	5	time	time	NOUN
futech-473	109	6	𝑡𝑡	𝑡𝑡	PROPN
futech-473	109	7	is	be	AUX
futech-473	109	8	represented	represent	VERB
futech-473	109	9	as	as	ADP
futech-473	109	10	:	:	PUNCT
futech-473	109	11	𝑥𝑥(𝑡𝑡	𝑥𝑥(𝑡𝑡	PROPN
futech-473	109	12	)	)	PUNCT
futech-473	110	1	=	=	PUNCT
futech-473	111	1	[	[	X
futech-473	111	2	𝑟𝑟(𝑡𝑡	𝑟𝑟(𝑡𝑡	NOUN
futech-473	111	3	)	)	PUNCT
futech-473	111	4	,	,	PUNCT
futech-473	111	5	𝑖𝑖(𝑡𝑡	𝑖𝑖(𝑡𝑡	NUM
futech-473	111	6	)	)	PUNCT
futech-473	111	7	,	,	PUNCT
futech-473	111	8	𝑞𝑞(𝑡𝑡)]𝑇𝑇	𝑞𝑞(𝑡𝑡)]𝑇𝑇	ADP
futech-473	111	9	(	(	PUNCT
futech-473	111	10	1	1	X
futech-473	111	11	)	)	PUNCT
futech-473	111	12	where	where	SCONJ
futech-473	111	13	𝑟𝑟(𝑡𝑡	𝑟𝑟(𝑡𝑡	NOUN
futech-473	111	14	)	)	PUNCT
futech-473	111	15	∈	∈	PROPN
futech-473	111	16	ℝ𝑛𝑛×3	ℝ𝑛𝑛×3	NOUN
futech-473	111	17	denotes	denote	VERB
futech-473	111	18	the	the	DET
futech-473	111	19	positions	position	NOUN
futech-473	111	20	of	of	ADP
futech-473	111	21	𝑛𝑛	𝑛𝑛	NOUN
futech-473	111	22	robots	robot	NOUN
futech-473	111	23	,	,	PUNCT
futech-473	111	24	𝑖𝑖(𝑡𝑡	𝑖𝑖(𝑡𝑡	X
futech-473	111	25	)	)	PUNCT
futech-473	112	1	∈	∈	PROPN
futech-473	112	2	ℤ𝑚𝑚	ℤ𝑚𝑚	PROPN
futech-473	112	3	represents	represent	VERB
futech-473	112	4	inventory	inventory	NOUN
futech-473	112	5	levels	level	NOUN
futech-473	112	6	for	for	ADP
futech-473	112	7	𝑚𝑚	𝑚𝑚	ADP
futech-473	112	8	skus	sku	NOUN
futech-473	112	9	,	,	PUNCT
futech-473	112	10	and	and	CCONJ
futech-473	112	11	𝑞𝑞(𝑡𝑡	𝑞𝑞(𝑡𝑡	NOUN
futech-473	112	12	)	)	PUNCT
futech-473	112	13	∈	∈	PROPN
futech-473	112	14	0	0	NUM
futech-473	112	15	,	,	PUNCT
futech-473	112	16	1𝑛𝑛×𝑘𝑘	1𝑛𝑛×𝑘𝑘	PROPN
futech-473	112	17	indicates	indicate	VERB
futech-473	112	18	task	task	NOUN
futech-473	112	19	assignments	assignment	NOUN
futech-473	112	20	for	for	ADP
futech-473	112	21	𝑘𝑘	𝑘𝑘	PRON
futech-473	112	22	pending	pende	VERB
futech-473	112	23	tasks	task	NOUN
futech-473	112	24	.	.	PUNCT
futech-473	113	1	the	the	DET
futech-473	113	2	key	key	ADJ
futech-473	113	3	variables	variable	NOUN
futech-473	113	4	and	and	CCONJ
futech-473	113	5	their	their	PRON
futech-473	113	6	respective	respective	ADJ
futech-473	113	7	domains	domain	NOUN
futech-473	113	8	are	be	AUX
futech-473	113	9	defined	define	VERB
futech-473	113	10	in	in	ADP
futech-473	113	11	table	table	NOUN
futech-473	113	12	1	1	NUM
futech-473	113	13	.	.	PUNCT
futech-473	113	14	table	table	NOUN
futech-473	113	15	1	1	NUM
futech-473	113	16	.	.	PUNCT
futech-473	114	1	key	key	ADJ
futech-473	114	2	variable	variable	ADJ
futech-473	114	3	definitions	definition	NOUN
futech-473	114	4	variable	variable	ADJ
futech-473	114	5	description	description	NOUN
futech-473	114	6	domain	domain	NOUN
futech-473	114	7	𝑞𝑞𝑖𝑖(𝑡𝑡	𝑞𝑞𝑖𝑖(𝑡𝑡	NOUN
futech-473	114	8	)	)	PUNCT
futech-473	114	9	position	position	NOUN
futech-473	114	10	of	of	ADP
futech-473	114	11	robot	robot	NOUN
futech-473	114	12	𝑖𝑖	𝑖𝑖	NOUN
futech-473	114	13	at	at	ADP
futech-473	114	14	time	time	NOUN
futech-473	114	15	𝑡𝑡	𝑡𝑡	PROPN
futech-473	114	16	𝑞𝑞𝑖𝑖(𝑡𝑡	𝑞𝑞𝑖𝑖(𝑡𝑡	PROPN
futech-473	114	17	)	)	PUNCT
futech-473	114	18	∈	∈	PROPN
futech-473	114	19	ℝ2	ℝ2	VERB
futech-473	114	20	𝐼𝐼𝑗𝑗(𝑡𝑡	𝐼𝐼𝑗𝑗(𝑡𝑡	SYM
futech-473	114	21	)	)	PUNCT
futech-473	114	22	inventory	inventory	NOUN
futech-473	114	23	level	level	NOUN
futech-473	114	24	of	of	ADP
futech-473	114	25	sku	sku	NOUN
futech-473	114	26	𝑗𝑗	𝑗𝑗	NOUN
futech-473	114	27	at	at	ADP
futech-473	114	28	time	time	NOUN
futech-473	114	29	𝑡𝑡	𝑡𝑡	NOUN
futech-473	114	30	𝐼𝐼𝑗𝑗(𝑡𝑡	𝐼𝐼𝑗𝑗(𝑡𝑡	NOUN
futech-473	114	31	)	)	PUNCT
futech-473	114	32	∈	∈	PROPN
futech-473	114	33	ℕ	ℕ	PROPN
futech-473	114	34	,	,	PUNCT
futech-473	114	35	0	0	NUM
futech-473	114	36	≤	≤	NUM
futech-473	114	37	𝐼𝐼𝑗𝑗	𝐼𝐼𝑗𝑗	PROPN
futech-473	114	38	≤	≤	NOUN
futech-473	114	39	𝐼𝐼max	𝐼𝐼max	PROPN
futech-473	114	40	𝑇𝑇𝑘𝑘(𝑡𝑡	𝑇𝑇𝑘𝑘(𝑡𝑡	PROPN
futech-473	114	41	)	)	PUNCT
futech-473	114	42	status	status	NOUN
futech-473	114	43	of	of	ADP
futech-473	114	44	task	task	NOUN
futech-473	114	45	𝑘𝑘	𝑘𝑘	NOUN
futech-473	114	46	at	at	ADP
futech-473	114	47	time	time	NOUN
futech-473	114	48	𝑡𝑡	𝑡𝑡	PROPN
futech-473	114	49	𝑇𝑇𝑘𝑘(𝑡𝑡	𝑇𝑇𝑘𝑘(𝑡𝑡	PROPN
futech-473	114	50	)	)	PUNCT
futech-473	114	51	∈	∈	PROPN
futech-473	114	52	{	{	PUNCT
futech-473	114	53	0,1	0,1	NOUN
futech-473	114	54	}	}	PUNCT
futech-473	114	55	the	the	DET
futech-473	114	56	system	system	NOUN
futech-473	114	57	dynamics	dynamic	NOUN
futech-473	114	58	follow	follow	VERB
futech-473	114	59	:	:	PUNCT
futech-473	114	60	𝑥𝑥(𝑡𝑡	𝑥𝑥(𝑡𝑡	NOUN
futech-473	114	61	+	+	CCONJ
futech-473	114	62	1	1	X
futech-473	114	63	)	)	PUNCT
futech-473	114	64	=	=	SYM
futech-473	114	65	𝑓𝑓(𝑥𝑥(𝑡𝑡),𝑢𝑢(𝑡𝑡),𝑤𝑤(𝑡𝑡	𝑓𝑓(𝑥𝑥(𝑡𝑡),𝑢𝑢(𝑡𝑡),𝑤𝑤(𝑡𝑡	NOUN
futech-473	114	66	)	)	PUNCT
futech-473	114	67	)	)	PUNCT
futech-473	114	68	(	(	PUNCT
futech-473	114	69	2	2	X
futech-473	114	70	)	)	PUNCT
futech-473	114	71	where	where	SCONJ
futech-473	114	72	𝑢𝑢(𝑡𝑡	𝑢𝑢(𝑡𝑡	NOUN
futech-473	114	73	)	)	PUNCT
futech-473	114	74	represents	represent	VERB
futech-473	114	75	control	control	NOUN
futech-473	114	76	inputs	input	NOUN
futech-473	114	77	and	and	CCONJ
futech-473	114	78	𝑤𝑤(𝑡𝑡	𝑤𝑤(𝑡𝑡	NOUN
futech-473	114	79	)	)	PUNCT
futech-473	114	80	captures	capture	VERB
futech-473	114	81	stochastic	stochastic	ADJ
futech-473	114	82	disturbances	disturbance	NOUN
futech-473	114	83	,	,	PUNCT
futech-473	114	84	including	include	VERB
futech-473	114	85	demand	demand	NOUN
futech-473	114	86	variations	variation	NOUN
futech-473	114	87	and	and	CCONJ
futech-473	114	88	operational	operational	ADJ
futech-473	114	89	uncertainties	uncertainty	NOUN
futech-473	114	90	.	.	PUNCT
futech-473	115	1	the	the	DET
futech-473	115	2	multi	multi	ADJ
futech-473	115	3	-	-	ADJ
futech-473	115	4	robot	robot	ADJ
futech-473	115	5	task	task	NOUN
futech-473	115	6	allocation	allocation	NOUN
futech-473	115	7	problem	problem	NOUN
futech-473	115	8	is	be	AUX
futech-473	115	9	formulated	formulate	VERB
futech-473	115	10	as	as	ADP
futech-473	115	11	:	:	PUNCT
futech-473	115	12	min𝑄𝑄	min𝑄𝑄	ADJ
futech-473	115	13	�	�	PROPN
futech-473	115	14	�	�	PROPN
futech-473	115	15	𝑐𝑐𝑖𝑖𝑗𝑗	𝑐𝑐𝑖𝑖𝑗𝑗	PROPN
futech-473	115	16	𝑘𝑘	𝑘𝑘	PROPN
futech-473	115	17	𝑗𝑗=1	𝑗𝑗=1	NOUN
futech-473	115	18	𝑛𝑛	𝑛𝑛	NOUN
futech-473	115	19	𝑖𝑖=1	𝑖𝑖=1	PUNCT
futech-473	115	20	𝑞𝑞𝑖𝑖𝑗𝑗	𝑞𝑞𝑖𝑖𝑗𝑗	PROPN
futech-473	116	1	+	+	CCONJ
futech-473	116	2	�	�	PROPN
futech-473	116	3	𝑝𝑝𝑗𝑗	𝑝𝑝𝑗𝑗	NOUN
futech-473	116	4	𝑘𝑘	𝑘𝑘	PROPN
futech-473	116	5	𝑗𝑗=1	𝑗𝑗=1	PROPN
futech-473	116	6	max(0,𝑑𝑑𝑗𝑗	max(0,𝑑𝑑𝑗𝑗	NUM
futech-473	116	7	−	−	PROPN
futech-473	116	8	�	�	PROPN
futech-473	116	9	𝑞𝑞𝑖𝑖𝑗𝑗	𝑞𝑞𝑖𝑖𝑗𝑗	ADV
futech-473	116	10	𝑛𝑛	𝑛𝑛	PROPN
futech-473	116	11	𝑖𝑖=1	𝑖𝑖=1	PROPN
futech-473	116	12	𝑡𝑡𝑖𝑖𝑗𝑗	𝑡𝑡𝑖𝑖𝑗𝑗	X
futech-473	116	13	)	)	PUNCT
futech-473	116	14	subject	subject	ADJ
futech-473	116	15	to	to	ADP
futech-473	116	16	:	:	PUNCT
futech-473	116	17	�	�	PROPN
futech-473	116	18	𝑞𝑞𝑖𝑖𝑗𝑗	𝑞𝑞𝑖𝑖𝑗𝑗	PROPN
futech-473	117	1	𝑘𝑘	𝑘𝑘	PROPN
futech-473	117	2	𝑗𝑗=1	𝑗𝑗=1	PROPN
futech-473	117	3	≤	≤	ADJ
futech-473	117	4	1	1	NUM
futech-473	117	5	,	,	PUNCT
futech-473	117	6	∀𝑖𝑖	∀𝑖𝑖	PROPN
futech-473	117	7	∈	∈	PROPN
futech-473	117	8	1	1	NUM
futech-473	117	9	,	,	PUNCT
futech-473	117	10	…	…	PUNCT
futech-473	117	11	,	,	PUNCT
futech-473	117	12	𝑛𝑛	𝑛𝑛	AUX
futech-473	117	13	�	�	PROPN
futech-473	117	14	𝑞𝑞𝑖𝑖𝑗𝑗	𝑞𝑞𝑖𝑖𝑗𝑗	PROPN
futech-473	117	15	𝑛𝑛	𝑛𝑛	ADP
futech-473	117	16	𝑖𝑖=1	𝑖𝑖=1	VERB
futech-473	117	17	≤	≤	NUM
futech-473	117	18	1	1	NUM
futech-473	117	19	,	,	PUNCT
futech-473	117	20	∀𝑗𝑗	∀𝑗𝑗	PROPN
futech-473	117	21	∈	∈	PROPN
futech-473	117	22	1	1	NUM
futech-473	117	23	,	,	PUNCT
futech-473	117	24	.	.	PUNCT
futech-473	117	25	.	.	PUNCT
futech-473	118	1	.	.	PUNCT
futech-473	119	1	,	,	PUNCT
futech-473	119	2	𝑘𝑘	𝑘𝑘	PROPN
futech-473	119	3	𝑞𝑞𝑖𝑖𝑗𝑗	𝑞𝑞𝑖𝑖𝑗𝑗	PROPN
futech-473	119	4	∈	∈	PROPN
futech-473	120	1	[	[	X
futech-473	120	2	0,1	0,1	NUM
futech-473	120	3	]	]	PUNCT
futech-473	120	4	,	,	PUNCT
futech-473	120	5	∀𝑖𝑖	∀𝑖𝑖	NOUN
futech-473	120	6	,	,	PUNCT
futech-473	120	7	𝑗𝑗	𝑗𝑗	X
futech-473	120	8	(	(	PUNCT
futech-473	120	9	3	3	X
futech-473	120	10	)	)	PUNCT
futech-473	120	11	where	where	SCONJ
futech-473	120	12	𝑐𝑐𝑖𝑖𝑗𝑗	𝑐𝑐𝑖𝑖𝑗𝑗	NOUN
futech-473	120	13	represents	represent	VERB
futech-473	120	14	the	the	DET
futech-473	120	15	cost	cost	NOUN
futech-473	120	16	of	of	ADP
futech-473	120	17	the	the	DET
futech-473	120	18	robot	robot	NOUN
futech-473	120	19	𝑖𝑖	𝑖𝑖	ADP
futech-473	120	20	executing	execute	VERB
futech-473	120	21	task	task	NOUN
futech-473	120	22	𝑗𝑗	𝑗𝑗	PROPN
futech-473	120	23	,	,	PUNCT
futech-473	120	24	𝑝𝑝𝑗𝑗	𝑝𝑝𝑗𝑗	ADJ
futech-473	120	25	is	be	AUX
futech-473	120	26	the	the	DET
futech-473	120	27	penalty	penalty	NOUN
futech-473	120	28	for	for	ADP
futech-473	120	29	delayed	delay	VERB
futech-473	120	30	task	task	NOUN
futech-473	120	31	completion	completion	NOUN
futech-473	120	32	,	,	PUNCT
futech-473	120	33	𝑑𝑑𝑗𝑗	𝑑𝑑𝑗𝑗	ADP
futech-473	120	34	is	be	AUX
futech-473	120	35	the	the	DET
futech-473	120	36	task	task	NOUN
futech-473	120	37	deadline	deadline	NOUN
futech-473	120	38	,	,	PUNCT
futech-473	120	39	and	and	CCONJ
futech-473	120	40	is	be	AUX
futech-473	120	41	the	the	DET
futech-473	120	42	estimated	estimate	VERB
futech-473	120	43	completion	completion	NOUN
futech-473	120	44	time	time	NOUN
futech-473	120	45	.	.	PUNCT
futech-473	121	1	for	for	ADP
futech-473	121	2	inventory	inventory	NOUN
futech-473	121	3	optimization	optimization	NOUN
futech-473	121	4	,	,	PUNCT
futech-473	121	5	we	we	PRON
futech-473	121	6	employ	employ	VERB
futech-473	121	7	a	a	DET
futech-473	121	8	stochastic	stochastic	ADJ
futech-473	121	9	dynamic	dynamic	ADJ
futech-473	121	10	programming	programming	NOUN
futech-473	121	11	approach	approach	NOUN
futech-473	121	12	with	with	ADP
futech-473	121	13	state	state	NOUN
futech-473	121	14	-	-	PUNCT
futech-473	121	15	dependent	dependent	ADJ
futech-473	121	16	ordering	ordering	NOUN
futech-473	121	17	policies	policy	NOUN
futech-473	121	18	:	:	PUNCT
futech-473	121	19	𝑉𝑉𝑡𝑡(𝑖𝑖	𝑉𝑉𝑡𝑡(𝑖𝑖	X
futech-473	121	20	)	)	PUNCT
futech-473	121	21	=	=	SYM
futech-473	122	1	min𝑎𝑎≥0	min𝑎𝑎≥0	PROPN
futech-473	122	2	�	�	PROPN
futech-473	122	3	𝑐𝑐ℎ	𝑐𝑐ℎ	PROPN
futech-473	122	4	⋅	⋅	PROPN
futech-473	122	5	𝑖𝑖	𝑖𝑖	PROPN
futech-473	123	1	+	+	CCONJ
futech-473	123	2	𝑐𝑐𝑜𝑜	𝑐𝑐𝑜𝑜	PROPN
futech-473	123	3	⋅	⋅	PROPN
futech-473	123	4	𝑎𝑎	𝑎𝑎	NOUN
futech-473	123	5	+	+	CCONJ
futech-473	123	6	𝔼𝔼[𝐿𝐿(𝑖𝑖	𝔼𝔼[𝐿𝐿(𝑖𝑖	NOUN
futech-473	123	7	+	+	CCONJ
futech-473	123	8	𝑎𝑎	𝑎𝑎	NOUN
futech-473	123	9	−	−	PRON
futech-473	123	10	𝐷𝐷𝑡𝑡	𝐷𝐷𝑡𝑡	NOUN
futech-473	123	11	)	)	PUNCT
futech-473	124	1	+	+	NUM
futech-473	124	2	𝛾𝛾𝑉𝑉𝑡𝑡+1(𝑖𝑖	𝛾𝛾𝑉𝑉𝑡𝑡+1(𝑖𝑖	NOUN
futech-473	124	3	+	+	CCONJ
futech-473	124	4	𝑎𝑎	𝑎𝑎	NOUN
futech-473	124	5	−	−	PRON
futech-473	124	6	𝐷𝐷𝑡𝑡	𝐷𝐷𝑡𝑡	PROPN
futech-473	124	7	)	)	PUNCT
futech-473	124	8	]	]	PUNCT
futech-473	124	9	�	�	PROPN
futech-473	124	10	(	(	PUNCT
futech-473	124	11	4	4	NUM
futech-473	124	12	)	)	PUNCT
futech-473	124	13	where	where	SCONJ
futech-473	124	14	𝑉𝑉𝑡𝑡(𝑖𝑖	𝑉𝑉𝑡𝑡(𝑖𝑖	AUX
futech-473	124	15	)	)	PUNCT
futech-473	124	16	is	be	AUX
futech-473	124	17	the	the	DET
futech-473	124	18	value	value	NOUN
futech-473	124	19	function	function	NOUN
futech-473	124	20	,	,	PUNCT
futech-473	124	21	𝑐𝑐ℎ	𝑐𝑐ℎ	PROPN
futech-473	124	22	and	and	CCONJ
futech-473	124	23	𝑐𝑐𝑜𝑜	𝑐𝑐𝑜𝑜	PROPN
futech-473	124	24	are	be	AUX
futech-473	124	25	holding	hold	VERB
futech-473	124	26	and	and	CCONJ
futech-473	124	27	ordering	order	VERB
futech-473	124	28	cost	cost	NOUN
futech-473	124	29	vectors	vector	NOUN
futech-473	124	30	,	,	PUNCT
futech-473	124	31	𝐿𝐿	𝐿𝐿	PROPN
futech-473	124	32	(	(	PUNCT
futech-473	124	33	.	.	PUNCT
futech-473	124	34	)	)	PUNCT
futech-473	124	35	represents	represent	VERB
futech-473	124	36	the	the	DET
futech-473	124	37	lost	lost	ADJ
futech-473	124	38	sales	sale	NOUN
futech-473	124	39	cost	cost	NOUN
futech-473	124	40	function	function	NOUN
futech-473	124	41	,	,	PUNCT
futech-473	124	42	𝐷𝐷𝑡𝑡	𝐷𝐷𝑡𝑡	PROPN
futech-473	124	43	is	be	AUX
futech-473	124	44	the	the	DET
futech-473	124	45	stochastic	stochastic	ADJ
futech-473	124	46	demand	demand	NOUN
futech-473	124	47	vector	vector	NOUN
futech-473	124	48	,	,	PUNCT
futech-473	124	49	and	and	CCONJ
futech-473	124	50	𝛾𝛾	𝛾𝛾	ADV
futech-473	124	51	is	be	AUX
futech-473	124	52	the	the	DET
futech-473	124	53	discount	discount	NOUN
futech-473	124	54	factor	factor	NOUN
futech-473	124	55	.	.	PUNCT
futech-473	125	1	the	the	DET
futech-473	125	2	real	real	ADJ
futech-473	125	3	-	-	PUNCT
futech-473	125	4	time	time	NOUN
futech-473	125	5	scheduling	scheduling	NOUN
futech-473	125	6	problem	problem	NOUN
futech-473	125	7	integrates	integrate	VERB
futech-473	125	8	robot	robot	NOUN
futech-473	125	9	path	path	NOUN
futech-473	125	10	planning	planning	NOUN
futech-473	125	11	with	with	ADP
futech-473	125	12	collision	collision	NOUN
futech-473	125	13	avoidance	avoidance	NOUN
futech-473	125	14	constraints	constraint	NOUN
futech-473	125	15	.	.	PUNCT
futech-473	126	1	the	the	DET
futech-473	126	2	trajectory	trajectory	NOUN
futech-473	126	3	optimization	optimization	NOUN
futech-473	126	4	for	for	ADP
futech-473	126	5	a	a	DET
futech-473	126	6	robot	robot	NOUN
futech-473	126	7	𝑖𝑖	𝑖𝑖	PUNCT
futech-473	126	8	is	be	AUX
futech-473	126	9	formulated	formulate	VERB
futech-473	126	10	as	as	ADP
futech-473	126	11	:	:	PUNCT
futech-473	126	12	min𝑢𝑢𝑖𝑖	min𝑢𝑢𝑖𝑖	PROPN
futech-473	126	13	�	�	PROPN
futech-473	126	14	�	�	PROPN
futech-473	126	15	||𝑟𝑟𝑖𝑖(𝑡𝑡	||𝑟𝑟𝑖𝑖(𝑡𝑡	PROPN
futech-473	126	16	)	)	PUNCT
futech-473	126	17	−	−	ADP
futech-473	127	1	𝑟𝑟𝑔𝑔𝑜𝑜𝑎𝑎𝑔𝑔,𝑖𝑖||2	𝑟𝑟𝑔𝑔𝑜𝑜𝑎𝑎𝑔𝑔,𝑖𝑖||2	PROPN
futech-473	127	2	+	+	CCONJ
futech-473	127	3	𝜆𝜆||𝑢𝑢𝑖𝑖(𝑡𝑡)||2	𝜆𝜆||𝑢𝑢𝑖𝑖(𝑡𝑡)||2	ADJ
futech-473	127	4	�	�	NOUN
futech-473	127	5	𝑇𝑇	𝑇𝑇	PROPN
futech-473	127	6	0	0	NUM
futech-473	127	7	𝑑𝑑𝑡𝑡	𝑑𝑑𝑡𝑡	VERB
futech-473	127	8	𝑟𝑟	𝑟𝑟	NOUN
futech-473	127	9	.	.	PUNCT
futech-473	128	1	𝑖𝑖(𝑡𝑡	𝑖𝑖(𝑡𝑡	PUNCT
futech-473	128	2	)	)	PUNCT
futech-473	129	1	=	=	SYM
futech-473	129	2	𝑣𝑣𝑖𝑖(𝑡𝑡	𝑣𝑣𝑖𝑖(𝑡𝑡	PROPN
futech-473	129	3	)	)	PUNCT
futech-473	129	4	,	,	PUNCT
futech-473	129	5	𝑣𝑣𝑖𝑖(𝑡𝑡	𝑣𝑣𝑖𝑖(𝑡𝑡	NOUN
futech-473	129	6	)	)	PUNCT
futech-473	129	7	=	=	SYM
futech-473	129	8	𝑔𝑔(𝑢𝑢𝑖𝑖(𝑡𝑡	𝑔𝑔(𝑢𝑢𝑖𝑖(𝑡𝑡	NOUN
futech-473	129	9	)	)	PUNCT
futech-473	129	10	)	)	PUNCT
futech-473	130	1	||𝑟𝑟𝑖𝑖(𝑡𝑡	||𝑟𝑟𝑖𝑖(𝑡𝑡	NOUN
futech-473	130	2	)	)	PUNCT
futech-473	131	1	−	−	PROPN
futech-473	131	2	𝑟𝑟𝑗𝑗(𝑡𝑡)||	𝑟𝑟𝑗𝑗(𝑡𝑡)||	NOUN
futech-473	131	3	≥	≥	NOUN
futech-473	131	4	𝑑𝑑𝑠𝑠𝑎𝑎𝑠𝑠𝑠𝑠	𝑑𝑑𝑠𝑠𝑎𝑎𝑠𝑠𝑠𝑠	NOUN
futech-473	131	5	,	,	PUNCT
futech-473	131	6	∀𝑗𝑗	∀𝑗𝑗	PROPN
futech-473	131	7	≠	≠	PROPN
futech-473	131	8	𝑖𝑖	𝑖𝑖	PRON
futech-473	131	9	𝑟𝑟𝑖𝑖(𝑡𝑡	𝑟𝑟𝑖𝑖(𝑡𝑡	NOUN
futech-473	131	10	)	)	PUNCT
futech-473	131	11	∈	∈	PROPN
futech-473	132	1	𝒲𝒲𝑠𝑠𝑓𝑓𝑠𝑠𝑠𝑠	𝒲𝒲𝑠𝑠𝑓𝑓𝑠𝑠𝑠𝑠	PROPN
futech-473	132	2	,	,	PUNCT
futech-473	132	3	||𝑣𝑣𝑖𝑖(𝑡𝑡)||	||𝑣𝑣𝑖𝑖(𝑡𝑡)||	NOUN
futech-473	132	4	≤	≤	NOUN
futech-473	132	5	𝑣𝑣𝑚𝑚𝑎𝑎𝑚𝑚	𝑣𝑣𝑚𝑚𝑎𝑎𝑚𝑚	ADJ
futech-473	132	6	(	(	PUNCT
futech-473	132	7	5	5	NUM
futech-473	132	8	)	)	PUNCT
futech-473	132	9	where	where	SCONJ
futech-473	132	10	𝒲𝒲𝑠𝑠𝑓𝑓𝑠𝑠𝑠𝑠	𝒲𝒲𝑠𝑠𝑓𝑓𝑠𝑠𝑠𝑠	PUNCT
futech-473	132	11	denotes	denote	VERB
futech-473	132	12	the	the	DET
futech-473	132	13	collision	collision	NOUN
futech-473	132	14	-	-	PUNCT
futech-473	132	15	free	free	ADJ
futech-473	132	16	workspace	workspace	NOUN
futech-473	132	17	and	and	CCONJ
futech-473	132	18	𝑑𝑑𝑠𝑠𝑎𝑎𝑠𝑠𝑠𝑠	𝑑𝑑𝑠𝑠𝑎𝑎𝑠𝑠𝑠𝑠	NOUN
futech-473	132	19	is	be	AUX
futech-473	132	20	the	the	DET
futech-473	132	21	minimum	minimum	ADJ
futech-473	132	22	safety	safety	NOUN
futech-473	132	23	distance	distance	NOUN
futech-473	132	24	between	between	ADP
futech-473	132	25	robots	robot	NOUN
futech-473	132	26	.	.	PUNCT
futech-473	133	1	to	to	PART
futech-473	133	2	handle	handle	VERB
futech-473	133	3	the	the	DET
futech-473	133	4	computational	computational	ADJ
futech-473	133	5	complexity	complexity	NOUN
futech-473	133	6	,	,	PUNCT
futech-473	133	7	we	we	PRON
futech-473	133	8	decompose	decompose	VERB
futech-473	133	9	the	the	DET
futech-473	133	10	global	global	ADJ
futech-473	133	11	optimization	optimization	NOUN
futech-473	133	12	problem	problem	NOUN
futech-473	133	13	using	use	VERB
futech-473	133	14	a	a	DET
futech-473	133	15	hierarchical	hierarchical	ADJ
futech-473	133	16	approach	approach	NOUN
futech-473	133	17	.	.	PUNCT
futech-473	134	1	the	the	DET
futech-473	134	2	upper	upper	ADJ
futech-473	134	3	level	level	NOUN
futech-473	134	4	solves	solve	VERB
futech-473	134	5	the	the	DET
futech-473	134	6	task	task	NOUN
futech-473	134	7	allocation	allocation	NOUN
futech-473	134	8	and	and	CCONJ
futech-473	134	9	inventory	inventory	NOUN
futech-473	134	10	decisions	decision	NOUN
futech-473	134	11	on	on	ADP
futech-473	134	12	a	a	DET
futech-473	134	13	longer	long	ADJ
futech-473	134	14	time	time	NOUN
futech-473	134	15	horizon	horizon	NOUN
futech-473	134	16	,	,	PUNCT
futech-473	134	17	while	while	SCONJ
futech-473	134	18	the	the	DET
futech-473	134	19	lower	low	ADJ
futech-473	134	20	level	level	NOUN
futech-473	134	21	handles	handle	VERB
futech-473	134	22	real	real	ADJ
futech-473	134	23	-	-	PUNCT
futech-473	134	24	time	time	NOUN
futech-473	134	25	path	path	NOUN
futech-473	134	26	planning	planning	NOUN
futech-473	134	27	and	and	CCONJ
futech-473	134	28	collision	collision	NOUN
futech-473	134	29	avoidance	avoidance	NOUN
futech-473	134	30	.	.	PUNCT
futech-473	135	1	3	3	X
futech-473	135	2	.	.	X
futech-473	135	3	methodology	methodology	NOUN
futech-473	135	4	and	and	CCONJ
futech-473	135	5	implementation	implementation	NOUN
futech-473	135	6	3.1	3.1	NUM
futech-473	135	7	system	system	NOUN
futech-473	135	8	design	design	NOUN
futech-473	135	9	principles	principle	NOUN
futech-473	135	10	the	the	DET
futech-473	135	11	cps	cps	PROPN
futech-473	135	12	-	-	PUNCT
futech-473	135	13	amr	amr	NOUN
futech-473	135	14	system	system	NOUN
futech-473	135	15	design	design	NOUN
futech-473	135	16	follows	follow	VERB
futech-473	135	17	fundamental	fundamental	ADJ
futech-473	135	18	design	design	NOUN
futech-473	135	19	principles	principle	NOUN
futech-473	135	20	that	that	PRON
futech-473	135	21	enable	enable	VERB
futech-473	135	22	to	to	PART
futech-473	135	23	run	run	VERB
futech-473	135	24	robust	robust	ADJ
futech-473	135	25	and	and	CCONJ
futech-473	135	26	efficient	efficient	ADJ
futech-473	135	27	warehouse	warehouse	NOUN
futech-473	135	28	management	management	NOUN
futech-473	135	29	operations	operation	NOUN
futech-473	135	30	.	.	PUNCT
futech-473	136	1	scalability	scalability	NOUN
futech-473	136	2	is	be	AUX
futech-473	136	3	achieved	achieve	VERB
futech-473	136	4	through	through	ADP
futech-473	136	5	modularized	modularize	VERB
futech-473	136	6	component	component	NOUN
futech-473	136	7	architecture	architecture	NOUN
futech-473	136	8	and	and	CCONJ
futech-473	136	9	distributed	distribute	VERB
futech-473	136	10	computing	computing	NOUN
futech-473	136	11	technologies	technology	NOUN
futech-473	136	12	,	,	PUNCT
futech-473	136	13	enabling	enable	VERB
futech-473	136	14	adaptation	adaptation	NOUN
futech-473	136	15	to	to	ADP
futech-473	136	16	varying	vary	VERB
futech-473	136	17	fleet	fleet	NOUN
futech-473	136	18	sizes	size	NOUN
futech-473	136	19	without	without	ADP
futech-473	136	20	system	system	NOUN
futech-473	136	21	performance	performance	NOUN
futech-473	136	22	degradation	degradation	NOUN
futech-473	136	23	.	.	PUNCT
futech-473	137	1	fault	fault	VERB
futech-473	137	2	tolerance	tolerance	NOUN
futech-473	137	3	mechanisms	mechanism	NOUN
futech-473	137	4	such	such	ADJ
futech-473	137	5	as	as	ADP
futech-473	137	6	redundancy	redundancy	NOUN
futech-473	137	7	with	with	ADP
futech-473	137	8	alternate	alternate	ADJ
futech-473	137	9	communication	communication	NOUN
futech-473	137	10	paths	path	NOUN
futech-473	137	11	and	and	CCONJ
futech-473	137	12	graceful	graceful	ADJ
futech-473	137	13	degradation	degradation	NOUN
futech-473	137	14	to	to	PART
futech-473	137	15	accommodate	accommodate	VERB
futech-473	137	16	the	the	DET
futech-473	137	17	rate	rate	NOUN
futech-473	137	18	of	of	ADP
futech-473	137	19	failure	failure	NOUN
futech-473	137	20	of	of	ADP
futech-473	137	21	individual	individual	ADJ
futech-473	137	22	components	component	NOUN
futech-473	137	23	,	,	PUNCT
futech-473	137	24	and	and	CCONJ
futech-473	137	25	operability	operability	NOUN
futech-473	137	26	are	be	AUX
futech-473	137	27	also	also	ADV
futech-473	137	28	included	include	VERB
futech-473	137	29	.	.	PUNCT
futech-473	138	1	real	real	ADJ
futech-473	138	2	-	-	PUNCT
futech-473	138	3	time	time	NOUN
futech-473	138	4	requirements	requirement	NOUN
futech-473	138	5	are	be	AUX
futech-473	138	6	met	meet	VERB
futech-473	138	7	in	in	ADP
futech-473	138	8	conjunction	conjunction	NOUN
futech-473	138	9	with	with	ADP
futech-473	138	10	time	time	NOUN
futech-473	138	11	sharing	share	VERB
futech-473	138	12	through	through	ADP
futech-473	138	13	hierarchical	hierarchical	ADJ
futech-473	138	14	decision	decision	NOUN
futech-473	138	15	-	-	PUNCT
futech-473	138	16	making	making	NOUN
futech-473	138	17	for	for	ADP
futech-473	138	18	the	the	DET
futech-473	138	19	separation	separation	NOUN
futech-473	138	20	of	of	ADP
futech-473	138	21	time	time	NOUN
futech-473	138	22	-	-	PUNCT
futech-473	138	23	critical	critical	ADJ
futech-473	138	24	control	control	NOUN
futech-473	138	25	loops	loop	NOUN
futech-473	138	26	and	and	CCONJ
futech-473	138	27	strategic	strategic	ADJ
futech-473	138	28	planning	planning	NOUN
futech-473	138	29	and	and	CCONJ
futech-473	138	30	control	control	NOUN
futech-473	138	31	functions	function	NOUN
futech-473	138	32	.	.	PUNCT
futech-473	139	1	the	the	DET
futech-473	139	2	system	system	NOUN
futech-473	139	3	has	have	VERB
futech-473	139	4	weak	weak	ADJ
futech-473	139	5	coupling	coupling	NOUN
futech-473	139	6	between	between	ADP
futech-473	139	7	physical	physical	ADJ
futech-473	139	8	and	and	CCONJ
futech-473	139	9	cyber	cyber	ADJ
futech-473	139	10	parts	part	NOUN
futech-473	139	11	,	,	PUNCT
futech-473	139	12	and	and	CCONJ
futech-473	139	13	it	it	PRON
futech-473	139	14	can	can	AUX
futech-473	139	15	be	be	AUX
futech-473	139	16	implemented	implement	VERB
futech-473	139	17	in	in	ADP
futech-473	139	18	terms	term	NOUN
futech-473	139	19	of	of	ADP
futech-473	139	20	both	both	CCONJ
futech-473	139	21	the	the	DET
futech-473	139	22	system	system	NOUN
futech-473	139	23	’s	’s	PART
futech-473	139	24	evolution	evolution	NOUN
futech-473	139	25	and	and	CCONJ
futech-473	139	26	technology	technology	NOUN
futech-473	139	27	development	development	NOUN
futech-473	139	28	.	.	PUNCT
futech-473	140	1	interoperability	interoperability	NOUN
futech-473	140	2	standards	standard	NOUN
futech-473	140	3	using	use	VERB
futech-473	140	4	ros2	ros2	NOUN
futech-473	140	5	and	and	CCONJ
futech-473	140	6	opc	opc	PROPN
futech-473	140	7	ua	ua	PROPN
futech-473	140	8	allow	allow	VERB
futech-473	140	9	users	user	NOUN
futech-473	140	10	to	to	PART
futech-473	140	11	easily	easily	ADV
futech-473	140	12	incorporate	incorporate	VERB
futech-473	140	13	heterogeneous	heterogeneous	ADJ
futech-473	140	14	robots	robot	NOUN
futech-473	140	15	and	and	CCONJ
futech-473	140	16	warehouse	warehouse	NOUN
futech-473	140	17	equipment	equipment	NOUN
futech-473	140	18	,	,	PUNCT
futech-473	140	19	and	and	CCONJ
futech-473	140	20	edge	edge	NOUN
futech-473	140	21	computing	compute	VERB
futech-473	140	22	features	feature	NOUN
futech-473	140	23	guarantee	guarantee	VERB
futech-473	140	24	responsive	responsive	ADJ
futech-473	140	25	local	local	ADJ
futech-473	140	26	decision	decision	NOUN
futech-473	140	27	-	-	PUNCT
futech-473	140	28	making	making	NOUN
futech-473	140	29	in	in	ADP
futech-473	140	30	networks	network	NOUN
futech-473	140	31	with	with	ADP
futech-473	140	32	unreliable	unreliable	ADJ
futech-473	140	33	network	network	NOUN
futech-473	140	34	conditions	condition	NOUN
futech-473	140	35	.	.	PUNCT
futech-473	141	1	3.2	3.2	NUM
futech-473	141	2	amr	amr	NOUN
futech-473	141	3	navigation	navigation	NOUN
futech-473	141	4	and	and	CCONJ
futech-473	141	5	control	control	VERB
futech-473	141	6	the	the	DET
futech-473	141	7	navigation	navigation	NOUN
futech-473	141	8	system	system	NOUN
futech-473	141	9	employs	employ	VERB
futech-473	141	10	an	an	DET
futech-473	141	11	adaptive	adaptive	ADJ
futech-473	141	12	slam	slam	NOUN
futech-473	141	13	framework	framework	NOUN
futech-473	141	14	that	that	PRON
futech-473	141	15	combines	combine	VERB
futech-473	141	16	lidar	lidar	NOUN
futech-473	141	17	-	-	PUNCT
futech-473	141	18	based	base	VERB
futech-473	141	19	mapping	mapping	NOUN
futech-473	141	20	with	with	ADP
futech-473	141	21	visualinertial	visualinertial	ADJ
futech-473	141	22	odometry	odometry	NOUN
futech-473	141	23	to	to	PART
futech-473	141	24	maintain	maintain	VERB
futech-473	141	25	accurate	accurate	ADJ
futech-473	141	26	localization	localization	NOUN
futech-473	141	27	in	in	ADP
futech-473	141	28	dynamic	dynamic	ADJ
futech-473	141	29	warehouse	warehouse	NOUN
futech-473	141	30	environments	environment	NOUN
futech-473	141	31	.	.	PUNCT
futech-473	142	1	the	the	DET
futech-473	142	2	pose	pose	NOUN
futech-473	142	3	estimation	estimation	NOUN
futech-473	142	4	y.	y.	PROPN
futech-473	142	5	zhang	zhang	PROPN
futech-473	142	6	&	&	CCONJ
futech-473	142	7	ju	ju	PROPN
futech-473	142	8	.	.	PROPN
futech-473	142	9	abellera	abellera	NOUN
futech-473	142	10	/future	/future	PUNCT
futech-473	142	11	technology	technology	PROPN
futech-473	142	12	november	november	PROPN
futech-473	142	13	2025|	2025|	NUM
futech-473	142	14	volume	volume	NOUN
futech-473	142	15	04	04	NUM
futech-473	143	1	|	|	ADV
futech-473	143	2	issue	issue	VERB
futech-473	143	3	04	04	NUM
futech-473	144	1	|	|	CCONJ
futech-473	144	2	pages	page	VERB
futech-473	144	3	59	59	NUM
futech-473	144	4	-	-	SYM
futech-473	144	5	71	71	NUM
futech-473	144	6	63	63	NUM
futech-473	144	7	follos	follo	NOUN
futech-473	144	8	an	an	DET
futech-473	144	9	extended	extended	ADJ
futech-473	144	10	kalman	kalman	NOUN
futech-473	144	11	filter	filter	NOUN
futech-473	144	12	formulation	formulation	NOUN
futech-473	144	13	where	where	SCONJ
futech-473	144	14	the	the	DET
futech-473	144	15	robot	robot	NOUN
futech-473	144	16	state	state	NOUN
futech-473	144	17	𝑥𝑥𝑘𝑘	𝑥𝑥𝑘𝑘	VERB
futech-473	145	1	=	=	PUNCT
futech-473	145	2	[	[	X
futech-473	145	3	𝑥𝑥,𝑦𝑦,𝜃𝜃	𝑥𝑥,𝑦𝑦,𝜃𝜃	PROPN
futech-473	145	4	,	,	PUNCT
futech-473	145	5	�	�	PROPN
futech-473	145	6	̇	̇	PROPN
futech-473	145	7	�	�	PROPN
futech-473	145	8	𝑥	𝑥	PROPN
futech-473	145	9	,	,	PUNCT
futech-473	145	10	�	�	PROPN
futech-473	145	11	̇	̇	PROPN
futech-473	145	12	�	�	PROPN
futech-473	145	13	𝑦	𝑦	PROPN
futech-473	145	14	,	,	PUNCT
futech-473	145	15	�	�	PROPN
futech-473	145	16	̇	̇	NOUN
futech-473	145	17	�	�	PRON
futech-473	145	18	𝜃]𝑇𝑇	𝜃]𝑇𝑇	NUM
futech-473	145	19	is	be	AUX
futech-473	145	20	updated	update	VERB
futech-473	145	21	through	through	ADP
futech-473	145	22	:	:	PUNCT
futech-473	145	23	𝑥𝑥𝑘𝑘	𝑥𝑥𝑘𝑘	PROPN
futech-473	145	24	=	=	SYM
futech-473	145	25	𝑓𝑓(𝑥𝑥𝑘𝑘−1,𝑢𝑢𝑘𝑘−1	𝑓𝑓(𝑥𝑥𝑘𝑘−1,𝑢𝑢𝑘𝑘−1	NOUN
futech-473	145	26	)	)	PUNCT
futech-473	146	1	+	+	NUM
futech-473	146	2	𝑤𝑤𝑘𝑘	𝑤𝑤𝑘𝑘	NOUN
futech-473	146	3	𝑧𝑧𝑘𝑘	𝑧𝑧𝑘𝑘	NOUN
futech-473	146	4	=	=	PUNCT
futech-473	146	5	ℎ(𝑥𝑥𝑘𝑘	ℎ(𝑥𝑥𝑘𝑘	NOUN
futech-473	146	6	,	,	PUNCT
futech-473	146	7	𝑚𝑚	𝑚𝑚	NOUN
futech-473	146	8	)	)	PUNCT
futech-473	147	1	+	+	NUM
futech-473	147	2	𝑣𝑣𝑘𝑘	𝑣𝑣𝑘𝑘	NOUN
futech-473	147	3	(	(	PUNCT
futech-473	147	4	6	6	NUM
futech-473	147	5	)	)	PUNCT
futech-473	147	6	where	where	SCONJ
futech-473	147	7	𝑚𝑚	𝑚𝑚	ADP
futech-473	147	8	represents	represent	VERB
futech-473	147	9	the	the	DET
futech-473	147	10	map	map	NOUN
futech-473	147	11	landmarks	landmark	NOUN
futech-473	147	12	and	and	CCONJ
futech-473	147	13	𝑤𝑤𝑘𝑘	𝑤𝑤𝑘𝑘	NOUN
futech-473	147	14	,	,	PUNCT
futech-473	147	15	𝑣𝑣𝑘𝑘	𝑣𝑣𝑘𝑘	NOUN
futech-473	147	16	are	be	AUX
futech-473	147	17	process	process	NOUN
futech-473	147	18	and	and	CCONJ
futech-473	147	19	measurement	measurement	NOUN
futech-473	147	20	noise	noise	NOUN
futech-473	147	21	,	,	PUNCT
futech-473	147	22	respectively	respectively	ADV
futech-473	147	23	.	.	PUNCT
futech-473	148	1	path	path	NOUN
futech-473	148	2	planning	planning	NOUN
futech-473	148	3	optimization	optimization	NOUN
futech-473	148	4	utilizes	utilize	VERB
futech-473	148	5	a	a	DET
futech-473	148	6	modified	modified	ADJ
futech-473	148	7	a	a	DET
futech-473	148	8	*	*	PUNCT
futech-473	148	9	algorithm	algorithm	NOUN
futech-473	148	10	enhanced	enhance	VERB
futech-473	148	11	with	with	ADP
futech-473	148	12	dynamic	dynamic	ADJ
futech-473	148	13	cost	cost	NOUN
futech-473	148	14	functions	function	NOUN
futech-473	148	15	that	that	PRON
futech-473	148	16	account	account	VERB
futech-473	148	17	for	for	ADP
futech-473	148	18	realtime	realtime	NOUN
futech-473	148	19	traffic	traffic	NOUN
futech-473	148	20	patterns	pattern	NOUN
futech-473	148	21	and	and	CCONJ
futech-473	148	22	operational	operational	ADJ
futech-473	148	23	priorities	priority	NOUN
futech-473	148	24	.	.	PUNCT
futech-473	149	1	the	the	DET
futech-473	149	2	cost	cost	NOUN
futech-473	149	3	function	function	NOUN
futech-473	149	4	for	for	ADP
futech-473	149	5	the	the	DET
futech-473	149	6	path	path	NOUN
futech-473	149	7	segment	segment	NOUN
futech-473	149	8	(	(	PUNCT
futech-473	149	9	𝑖𝑖	𝑖𝑖	X
futech-473	149	10	,	,	PUNCT
futech-473	149	11	𝑗𝑗	𝑗𝑗	ADJ
futech-473	149	12	)	)	PUNCT
futech-473	149	13	is	be	AUX
futech-473	149	14	defined	define	VERB
futech-473	149	15	as	as	ADP
futech-473	149	16	:	:	PUNCT
futech-473	149	17	𝑓𝑓(𝑖𝑖	𝑓𝑓(𝑖𝑖	NOUN
futech-473	149	18	,	,	PUNCT
futech-473	149	19	𝑗𝑗	𝑗𝑗	ADJ
futech-473	149	20	)	)	PUNCT
futech-473	149	21	=	=	SYM
futech-473	149	22	𝑔𝑔(𝑖𝑖	𝑔𝑔(𝑖𝑖	PROPN
futech-473	149	23	)	)	PUNCT
futech-473	150	1	+	+	CCONJ
futech-473	151	1	ℎ(𝑗𝑗	ℎ(𝑗𝑗	NUM
futech-473	151	2	)	)	PUNCT
futech-473	152	1	+	+	CCONJ
futech-473	152	2	𝛼𝛼	𝛼𝛼	ADP
futech-473	152	3	⋅	⋅	PROPN
futech-473	152	4	𝜌𝜌(𝑖𝑖	𝜌𝜌(𝑖𝑖	NOUN
futech-473	152	5	,	,	PUNCT
futech-473	152	6	𝑗𝑗	𝑗𝑗	ADJ
futech-473	152	7	)	)	PUNCT
futech-473	152	8	+	+	CCONJ
futech-473	152	9	𝛽𝛽	𝛽𝛽	ADP
futech-473	152	10	⋅	⋅	PROPN
futech-473	152	11	𝜏𝜏(𝑖𝑖	𝜏𝜏(𝑖𝑖	PROPN
futech-473	152	12	,	,	PUNCT
futech-473	152	13	𝑗𝑗	𝑗𝑗	ADJ
futech-473	152	14	)	)	PUNCT
futech-473	152	15	(	(	PUNCT
futech-473	152	16	7	7	X
futech-473	152	17	)	)	PUNCT
futech-473	152	18	where	where	SCONJ
futech-473	152	19	𝑔𝑔(𝑖𝑖	𝑔𝑔(𝑖𝑖	NOUN
futech-473	152	20	)	)	PUNCT
futech-473	152	21	is	be	AUX
futech-473	152	22	the	the	DET
futech-473	152	23	accumulated	accumulate	VERB
futech-473	152	24	cost	cost	NOUN
futech-473	152	25	,	,	PUNCT
futech-473	152	26	ℎ(𝑗𝑗	ℎ(𝑗𝑗	NUM
futech-473	152	27	)	)	PUNCT
futech-473	152	28	is	be	AUX
futech-473	152	29	the	the	DET
futech-473	152	30	heuristic	heuristic	ADJ
futech-473	152	31	estimate	estimate	NOUN
futech-473	152	32	,	,	PUNCT
futech-473	152	33	𝜌𝜌(𝑖𝑖	𝜌𝜌(𝑖𝑖	NOUN
futech-473	152	34	,	,	PUNCT
futech-473	152	35	𝑗𝑗	𝑗𝑗	ADJ
futech-473	152	36	)	)	PUNCT
futech-473	152	37	represents	represent	VERB
futech-473	152	38	congestion	congestion	NOUN
futech-473	152	39	density	density	NOUN
futech-473	152	40	,	,	PUNCT
futech-473	152	41	and	and	CCONJ
futech-473	152	42	𝜏𝜏(𝑖𝑖	𝜏𝜏(𝑖𝑖	PROPN
futech-473	152	43	,	,	PUNCT
futech-473	152	44	𝑗𝑗	𝑗𝑗	ADJ
futech-473	152	45	)	)	PUNCT
futech-473	152	46	captures	capture	VERB
futech-473	152	47	task	task	NOUN
futech-473	152	48	urgency	urgency	NOUN
futech-473	152	49	weights	weight	NOUN
futech-473	152	50	.	.	PUNCT
futech-473	153	1	collision	collision	NOUN
futech-473	153	2	avoidance	avoidance	NOUN
futech-473	153	3	integrates	integrate	VERB
futech-473	153	4	both	both	CCONJ
futech-473	153	5	reactive	reactive	ADJ
futech-473	153	6	and	and	CCONJ
futech-473	153	7	predictive	predictive	ADJ
futech-473	153	8	strategies	strategy	NOUN
futech-473	153	9	through	through	ADP
futech-473	153	10	a	a	DET
futech-473	153	11	velocity	velocity	NOUN
futech-473	153	12	obstacle	obstacle	NOUN
futech-473	153	13	approach	approach	NOUN
futech-473	153	14	.	.	PUNCT
futech-473	154	1	the	the	DET
futech-473	154	2	collisionfree	collisionfree	PROPN
futech-473	154	3	velocity	velocity	NOUN
futech-473	154	4	space	space	NOUN
futech-473	154	5	for	for	ADP
futech-473	154	6	a	a	DET
futech-473	154	7	robot	robot	NOUN
futech-473	154	8	𝑖𝑖	𝑖𝑖	PUNCT
futech-473	154	9	is	be	AUX
futech-473	154	10	computed	compute	VERB
futech-473	154	11	as	as	ADP
futech-473	154	12	:	:	PUNCT
futech-473	154	13	𝒱𝒱𝑠𝑠𝑓𝑓𝑠𝑠𝑠𝑠𝑖𝑖	𝒱𝒱𝑠𝑠𝑓𝑓𝑠𝑠𝑠𝑠𝑖𝑖	PROPN
futech-473	154	14	=	=	SYM
futech-473	154	15	𝑣𝑣|𝑣𝑣	𝑣𝑣|𝑣𝑣	PROPN
futech-473	154	16	∉∪𝑗𝑗≠𝑖𝑖	∉∪𝑗𝑗≠𝑖𝑖	X
futech-473	154	17	𝑉𝑉𝑂𝑂𝑖𝑖𝑗𝑗(𝑣𝑣𝑗𝑗	𝑉𝑉𝑂𝑂𝑖𝑖𝑗𝑗(𝑣𝑣𝑗𝑗	NOUN
futech-473	154	18	)	)	PUNCT
futech-473	154	19	(	(	PUNCT
futech-473	154	20	8)	8)	NUM
futech-473	154	21	where	where	SCONJ
futech-473	154	22	𝑉𝑉𝑂𝑂𝑖𝑖𝑗𝑗	𝑉𝑉𝑂𝑂𝑖𝑖𝑗𝑗	PROPN
futech-473	154	23	denotes	denote	VERB
futech-473	154	24	the	the	DET
futech-473	154	25	velocity	velocity	NOUN
futech-473	154	26	obstacle	obstacle	NOUN
futech-473	154	27	induced	induce	VERB
futech-473	154	28	by	by	ADP
futech-473	154	29	the	the	DET
futech-473	154	30	robot	robot	NOUN
futech-473	154	31	𝑗𝑗	𝑗𝑗	PROPN
futech-473	154	32	.	.	PUNCT
futech-473	155	1	the	the	DET
futech-473	155	2	optimization	optimization	NOUN
futech-473	155	3	selects	select	VERB
futech-473	155	4	velocities	velocity	NOUN
futech-473	155	5	that	that	PRON
futech-473	155	6	minimize	minimize	VERB
futech-473	155	7	deviation	deviation	NOUN
futech-473	155	8	from	from	ADP
futech-473	155	9	desired	desire	VERB
futech-473	155	10	trajectories	trajectory	NOUN
futech-473	155	11	while	while	SCONJ
futech-473	155	12	maintaining	maintain	VERB
futech-473	155	13	safety	safety	NOUN
futech-473	155	14	margins	margin	NOUN
futech-473	155	15	through	through	ADP
futech-473	155	16	barrier	barrier	NOUN
futech-473	155	17	functions	function	NOUN
futech-473	155	18	that	that	PRON
futech-473	155	19	enforce	enforce	VERB
futech-473	155	20	𝑑𝑑𝑖𝑖𝑗𝑗(𝑡𝑡	𝑑𝑑𝑖𝑖𝑗𝑗(𝑡𝑡	PROPN
futech-473	155	21	)	)	PUNCT
futech-473	155	22	≥	≥	PRON
futech-473	155	23	𝑑𝑑𝑠𝑠𝑎𝑎𝑠𝑠𝑠𝑠	𝑑𝑑𝑠𝑠𝑎𝑎𝑠𝑠𝑠𝑠	VERB
futech-473	155	24	+	+	PROPN
futech-473	155	25	𝜖𝜖	𝜖𝜖	PROPN
futech-473	155	26	⋅	⋅	PROPN
futech-473	155	27	||𝑣𝑣𝑖𝑖	||𝑣𝑣𝑖𝑖	PROPN
futech-473	155	28	−	−	PROPN
futech-473	155	29	𝑣𝑣𝑗𝑗||	𝑣𝑣𝑗𝑗||	VERB
futech-473	155	30	for	for	ADP
futech-473	155	31	all	all	DET
futech-473	155	32	robot	robot	NOUN
futech-473	155	33	pairs	pair	NOUN
futech-473	155	34	.	.	PUNCT
futech-473	156	1	3.3	3.3	NUM
futech-473	156	2	inventory	inventory	NOUN
futech-473	156	3	management	management	NOUN
futech-473	156	4	algorithms	algorithms	NOUN
futech-473	156	5	dynamic	dynamic	ADJ
futech-473	156	6	inventory	inventory	NOUN
futech-473	156	7	tracking	tracking	NOUN
futech-473	156	8	leverages	leverage	NOUN
futech-473	156	9	distributed	distribute	VERB
futech-473	156	10	rfid	rfid	NOUN
futech-473	156	11	sensing	sensing	NOUN
futech-473	156	12	and	and	CCONJ
futech-473	156	13	computer	computer	NOUN
futech-473	156	14	vision	vision	NOUN
futech-473	156	15	to	to	PART
futech-473	156	16	maintain	maintain	VERB
futech-473	156	17	real	real	ADJ
futech-473	156	18	-	-	PUNCT
futech-473	156	19	time	time	NOUN
futech-473	156	20	stock	stock	NOUN
futech-473	156	21	visibility	visibility	NOUN
futech-473	156	22	across	across	ADP
futech-473	156	23	the	the	DET
futech-473	156	24	warehouse	warehouse	NOUN
futech-473	156	25	.	.	PUNCT
futech-473	157	1	the	the	DET
futech-473	157	2	inventory	inventory	NOUN
futech-473	157	3	state	state	NOUN
futech-473	157	4	estimation	estimation	NOUN
futech-473	157	5	employs	employ	VERB
futech-473	157	6	a	a	DET
futech-473	157	7	particle	particle	NOUN
futech-473	157	8	filter	filter	NOUN
futech-473	157	9	approach	approach	NOUN
futech-473	157	10	to	to	PART
futech-473	157	11	handle	handle	VERB
futech-473	157	12	measurement	measurement	NOUN
futech-473	157	13	uncertainties	uncertainty	NOUN
futech-473	157	14	and	and	CCONJ
futech-473	157	15	occlusions	occlusion	NOUN
futech-473	157	16	:	:	PUNCT
futech-473	157	17	𝑝𝑝(𝑖𝑖𝑡𝑡|𝑧𝑧1:𝑡𝑡	𝑝𝑝(𝑖𝑖𝑡𝑡|𝑧𝑧1:𝑡𝑡	PROPN
futech-473	157	18	)	)	PUNCT
futech-473	157	19	∝	∝	PROPN
futech-473	157	20	𝑝𝑝(𝑧𝑧𝑡𝑡|𝑖𝑖𝑡𝑡	𝑝𝑝(𝑧𝑧𝑡𝑡|𝑖𝑖𝑡𝑡	PROPN
futech-473	157	21	)	)	PUNCT
futech-473	157	22	�	�	PROPN
futech-473	157	23	𝑤𝑤𝑡𝑡−1	𝑤𝑤𝑡𝑡−1	PUNCT
futech-473	157	24	(	(	PUNCT
futech-473	157	25	𝑠𝑠	𝑠𝑠	ADJ
futech-473	157	26	)	)	PUNCT
futech-473	157	27	𝑝𝑝(𝑖𝑖𝑡𝑡|𝑖𝑖𝑡𝑡−1	𝑝𝑝(𝑖𝑖𝑡𝑡|𝑖𝑖𝑡𝑡−1	NOUN
futech-473	157	28	(	(	PUNCT
futech-473	157	29	𝑠𝑠	𝑠𝑠	ADJ
futech-473	157	30	)	)	PUNCT
futech-473	157	31	)	)	PUNCT
futech-473	158	1	𝑁𝑁	𝑁𝑁	PROPN
futech-473	158	2	𝑠𝑠=1	𝑠𝑠=1	NOUN
futech-473	158	3	(	(	PUNCT
futech-473	158	4	9	9	NUM
futech-473	158	5	)	)	PUNCT
futech-473	158	6	where	where	SCONJ
futech-473	158	7	𝑖𝑖𝑡𝑡	𝑖𝑖𝑡𝑡	NOUN
futech-473	158	8	represents	represent	VERB
futech-473	158	9	inventory	inventory	NOUN
futech-473	158	10	state	state	NOUN
futech-473	158	11	,	,	PUNCT
futech-473	158	12	𝑧𝑧𝑡𝑡	𝑧𝑧𝑡𝑡	NOUN
futech-473	158	13	denotes	denote	NOUN
futech-473	158	14	sensor	sensor	NOUN
futech-473	158	15	observations	observation	NOUN
futech-473	158	16	,	,	PUNCT
futech-473	158	17	and	and	CCONJ
futech-473	158	18	𝑤𝑤(𝑠𝑠	𝑤𝑤(𝑠𝑠	NOUN
futech-473	158	19	)	)	PUNCT
futech-473	158	20	are	be	AUX
futech-473	158	21	particle	particle	NOUN
futech-473	158	22	weights	weight	NOUN
futech-473	158	23	normalized	normalize	VERB
futech-473	158	24	to	to	PART
futech-473	158	25	ensure	ensure	VERB
futech-473	158	26	�	�	PROPN
futech-473	158	27	𝑤𝑤𝑡𝑡	𝑤𝑤𝑡𝑡	NOUN
futech-473	158	28	(	(	PUNCT
futech-473	158	29	𝑠𝑠)𝑁𝑁	𝑠𝑠)𝑁𝑁	NOUN
futech-473	158	30	𝑠𝑠=1	𝑠𝑠=1	NOUN
futech-473	158	31	=	=	NOUN
futech-473	158	32	1	1	X
futech-473	158	33	.	.	PUNCT
futech-473	158	34	predictive	predictive	ADJ
futech-473	158	35	stock	stock	NOUN
futech-473	158	36	management	management	NOUN
futech-473	158	37	integrates	integrate	VERB
futech-473	158	38	demand	demand	NOUN
futech-473	158	39	forecasting	forecasting	NOUN
futech-473	158	40	with	with	ADP
futech-473	158	41	lead	lead	ADJ
futech-473	158	42	time	time	NOUN
futech-473	158	43	variability	variability	NOUN
futech-473	158	44	to	to	PART
futech-473	158	45	optimize	optimize	VERB
futech-473	158	46	reorder	reorder	NOUN
futech-473	158	47	points	point	NOUN
futech-473	158	48	.	.	PUNCT
futech-473	159	1	the	the	DET
futech-473	159	2	demand	demand	NOUN
futech-473	159	3	prediction	prediction	NOUN
futech-473	159	4	model	model	NOUN
futech-473	159	5	combines	combine	VERB
futech-473	159	6	seasonal	seasonal	ADJ
futech-473	159	7	decomposition	decomposition	NOUN
futech-473	159	8	with	with	ADP
futech-473	159	9	machine	machine	NOUN
futech-473	159	10	learning	learning	NOUN
futech-473	159	11	,	,	PUNCT
futech-473	159	12	yielding	yield	VERB
futech-473	159	13	a	a	DET
futech-473	159	14	forecast	forecast	NOUN
futech-473	159	15	𝐷𝐷	𝐷𝐷	PROPN
futech-473	159	16	�	�	PROPN
futech-473	159	17	𝑡𝑡+ℎ	𝑡𝑡+ℎ	PROPN
futech-473	159	18	=	=	SYM
futech-473	159	19	𝑆𝑆𝑡𝑡	𝑆𝑆𝑡𝑡	ADJ
futech-473	159	20	⋅	⋅	PROPN
futech-473	159	21	𝑇𝑇𝑡𝑡	𝑇𝑇𝑡𝑡	PROPN
futech-473	159	22	⋅	⋅	X
futech-473	159	23	𝑅𝑅𝑡𝑡+ℎ	𝑅𝑅𝑡𝑡+ℎ	PUNCT
futech-473	159	24	where	where	SCONJ
futech-473	159	25	𝑆𝑆𝑡𝑡	𝑆𝑆𝑡𝑡	ADV
futech-473	159	26	,	,	PUNCT
futech-473	159	27	𝑇𝑇𝑡𝑡	𝑇𝑇𝑡𝑡	ADV
futech-473	159	28	,	,	PUNCT
futech-473	159	29	and	and	CCONJ
futech-473	159	30	𝑅𝑅𝑡𝑡+ℎ	𝑅𝑅𝑡𝑡+ℎ	PUNCT
futech-473	159	31	represent	represent	VERB
futech-473	159	32	seasonal	seasonal	ADJ
futech-473	159	33	,	,	PUNCT
futech-473	159	34	trend	trend	NOUN
futech-473	159	35	,	,	PUNCT
futech-473	159	36	and	and	CCONJ
futech-473	159	37	residual	residual	ADJ
futech-473	159	38	components	component	NOUN
futech-473	159	39	.	.	PUNCT
futech-473	160	1	the	the	DET
futech-473	160	2	optimal	optimal	ADJ
futech-473	160	3	reorder	reorder	NOUN
futech-473	160	4	point	point	NOUN
futech-473	160	5	minimizes	minimize	VERB
futech-473	160	6	expected	expect	VERB
futech-473	160	7	total	total	ADJ
futech-473	160	8	cost	cost	NOUN
futech-473	160	9	:	:	PUNCT
futech-473	160	10	𝑟𝑟∗	𝑟𝑟∗	NOUN
futech-473	160	11	=	=	PUNCT
futech-473	160	12	argmin𝑓𝑓𝔼𝔼[ℎ	argmin𝑓𝑓𝔼𝔼[ℎ	PRON
futech-473	160	13	⋅	⋅	PROPN
futech-473	160	14	∫	∫	PROPN
futech-473	160	15	(	(	PUNCT
futech-473	160	16	𝑟𝑟	𝑟𝑟	ADP
futech-473	160	17	−	−	NOUN
futech-473	160	18	𝑥𝑥)𝑓𝑓	𝑥𝑥)𝑓𝑓	NOUN
futech-473	160	19	0	0	PUNCT
futech-473	161	1	𝑓𝑓𝐷𝐷(𝑥𝑥)𝑑𝑑𝑥𝑥	𝑓𝑓𝐷𝐷(𝑥𝑥)𝑑𝑑𝑥𝑥	ADJ
futech-473	161	2	+	+	NUM
futech-473	161	3	𝑏𝑏	𝑏𝑏	NUM
futech-473	161	4	⋅	⋅	PROPN
futech-473	161	5	∫	∫	PROPN
futech-473	161	6	(	(	PUNCT
futech-473	161	7	𝑥𝑥	𝑥𝑥	ADP
futech-473	161	8	−∞	−∞	ADP
futech-473	161	9	𝑓𝑓	𝑓𝑓	NOUN
futech-473	161	10	𝑟𝑟	𝑟𝑟	NOUN
futech-473	161	11	)	)	PUNCT
futech-473	162	1	𝑓𝑓𝐷𝐷(𝑥𝑥)𝑑𝑑𝑥𝑥	𝑓𝑓𝐷𝐷(𝑥𝑥)𝑑𝑑𝑥𝑥	PROPN
futech-473	162	2	]	]	X
futech-473	162	3	(	(	PUNCT
futech-473	162	4	10	10	NUM
futech-473	162	5	)	)	PUNCT
futech-473	162	6	where	where	SCONJ
futech-473	162	7	ℎ	ℎ	PROPN
futech-473	162	8	and	and	CCONJ
futech-473	162	9	𝑏𝑏	𝑏𝑏	NOUN
futech-473	162	10	denote	denote	NOUN
futech-473	162	11	holding	holding	NOUN
futech-473	162	12	and	and	CCONJ
futech-473	162	13	backorder	backorder	NOUN
futech-473	162	14	costs	cost	NOUN
futech-473	162	15	,	,	PUNCT
futech-473	162	16	respectively	respectively	ADV
futech-473	162	17	.	.	PUNCT
futech-473	163	1	abc	abc	PROPN
futech-473	163	2	analysis	analysis	NOUN
futech-473	163	3	integration	integration	NOUN
futech-473	163	4	dynamically	dynamically	ADV
futech-473	163	5	classifies	classify	VERB
futech-473	163	6	skus	sku	NOUN
futech-473	163	7	based	base	VERB
futech-473	163	8	on	on	ADP
futech-473	163	9	movement	movement	NOUN
futech-473	163	10	velocity	velocity	NOUN
futech-473	163	11	and	and	CCONJ
futech-473	163	12	value	value	NOUN
futech-473	163	13	contribution	contribution	NOUN
futech-473	163	14	.	.	PUNCT
futech-473	164	1	the	the	DET
futech-473	164	2	classification	classification	NOUN
futech-473	164	3	score	score	NOUN
futech-473	164	4	𝑆𝑆𝑖𝑖	𝑆𝑆𝑖𝑖	NOUN
futech-473	164	5	=	=	PUNCT
futech-473	164	6	𝛼𝛼1	𝛼𝛼1	PROPN
futech-473	164	7	⋅	⋅	PROPN
futech-473	164	8	𝑉𝑉𝑖𝑖/𝑉𝑉𝑡𝑡𝑜𝑜𝑡𝑡𝑎𝑎𝑔𝑔	𝑉𝑉𝑖𝑖/𝑉𝑉𝑡𝑡𝑜𝑜𝑡𝑡𝑎𝑎𝑔𝑔	ADJ
futech-473	164	9	+	+	CCONJ
futech-473	164	10	𝛼𝛼2	𝛼𝛼2	PROPN
futech-473	164	11	⋅	⋅	PROPN
futech-473	164	12	𝐹𝐹𝑖𝑖/𝐹𝐹𝑚𝑚𝑎𝑎𝑚𝑚	𝐹𝐹𝑖𝑖/𝐹𝐹𝑚𝑚𝑎𝑎𝑚𝑚	PUNCT
futech-473	164	13	+	+	SYM
futech-473	164	14	𝛼𝛼3	𝛼𝛼3	PROPN
futech-473	164	15	⋅	⋅	PROPN
futech-473	164	16	𝐶𝐶𝑖𝑖/𝐶𝐶𝑡𝑡𝑜𝑜𝑡𝑡𝑎𝑎𝑔𝑔	𝐶𝐶𝑖𝑖/𝐶𝐶𝑡𝑡𝑜𝑜𝑡𝑡𝑎𝑎𝑔𝑔	PROPN
futech-473	164	17	combines	combine	VERB
futech-473	164	18	normalized	normalize	VERB
futech-473	164	19	value	value	NOUN
futech-473	164	20	(	(	PUNCT
futech-473	164	21	𝑉𝑉𝑖𝑖	𝑉𝑉𝑖𝑖	PROPN
futech-473	164	22	)	)	PUNCT
futech-473	164	23	,	,	PUNCT
futech-473	164	24	frequency	frequency	NOUN
futech-473	164	25	(	(	PUNCT
futech-473	164	26	𝐹𝐹𝑖𝑖	𝐹𝐹𝑖𝑖	PROPN
futech-473	164	27	)	)	PUNCT
futech-473	164	28	,	,	PUNCT
futech-473	164	29	and	and	CCONJ
futech-473	164	30	criticality	criticality	NOUN
futech-473	164	31	(	(	PUNCT
futech-473	164	32	𝐶𝐶𝑖𝑖	𝐶𝐶𝑖𝑖	NOUN
futech-473	164	33	)	)	PUNCT
futech-473	164	34	metrics	metric	NOUN
futech-473	164	35	.	.	PUNCT
futech-473	165	1	this	this	DET
futech-473	165	2	classification	classification	NOUN
futech-473	165	3	drives	drive	VERB
futech-473	165	4	differentiated	differentiated	ADJ
futech-473	165	5	control	control	NOUN
futech-473	165	6	policies	policy	NOUN
futech-473	165	7	,	,	PUNCT
futech-473	165	8	with	with	ADP
futech-473	165	9	a	a	DET
futech-473	165	10	-	-	PUNCT
futech-473	165	11	items	item	NOUN
futech-473	165	12	receiving	receive	VERB
futech-473	165	13	continuous	continuous	ADJ
futech-473	165	14	review	review	NOUN
futech-473	165	15	and	and	CCONJ
futech-473	165	16	tighter	tight	ADJ
futech-473	165	17	safety	safety	NOUN
futech-473	165	18	stock	stock	NOUN
futech-473	165	19	parameters	parameter	NOUN
futech-473	165	20	while	while	SCONJ
futech-473	165	21	c	c	NOUN
futech-473	165	22	-	-	PUNCT
futech-473	165	23	items	item	NOUN
futech-473	165	24	employ	employ	VERB
futech-473	165	25	periodic	periodic	ADJ
futech-473	165	26	review	review	NOUN
futech-473	165	27	with	with	ADP
futech-473	165	28	economic	economic	ADJ
futech-473	165	29	order	order	NOUN
futech-473	165	30	quantities	quantity	NOUN
futech-473	165	31	optimized	optimize	VERB
futech-473	165	32	for	for	ADP
futech-473	165	33	minimal	minimal	ADJ
futech-473	165	34	handling	handling	NOUN
futech-473	165	35	costs	cost	NOUN
futech-473	165	36	.	.	PUNCT
futech-473	166	1	3.4	3.4	NUM
futech-473	166	2	cps	cp	NOUN
futech-473	166	3	integration	integration	NOUN
futech-473	166	4	framework	framework	NOUN
futech-473	166	5	the	the	DET
futech-473	166	6	cps	cps	PROPN
futech-473	166	7	integration	integration	NOUN
futech-473	166	8	framework	framework	NOUN
futech-473	166	9	orchestrates	orchestrate	VERB
futech-473	166	10	seamless	seamless	ADJ
futech-473	166	11	interaction	interaction	NOUN
futech-473	166	12	between	between	ADP
futech-473	166	13	physical	physical	ADJ
futech-473	166	14	warehouse	warehouse	NOUN
futech-473	166	15	operations	operation	NOUN
futech-473	166	16	and	and	CCONJ
futech-473	166	17	cyber	cyber	NOUN
futech-473	166	18	-	-	PUNCT
futech-473	166	19	domain	domain	NOUN
futech-473	166	20	intelligence	intelligence	NOUN
futech-473	166	21	through	through	ADP
futech-473	166	22	a	a	DET
futech-473	166	23	multi	multi	ADJ
futech-473	166	24	-	-	ADJ
futech-473	166	25	tiered	tiered	ADJ
futech-473	166	26	architecture	architecture	NOUN
futech-473	166	27	,	,	PUNCT
futech-473	166	28	as	as	SCONJ
futech-473	166	29	illustrated	illustrate	VERB
futech-473	166	30	in	in	ADP
futech-473	166	31	figure	figure	NOUN
futech-473	166	32	2	2	NUM
futech-473	166	33	.	.	PUNCT
futech-473	167	1	data	datum	NOUN
futech-473	167	2	collection	collection	NOUN
futech-473	167	3	originates	originate	NOUN
futech-473	167	4	outside	outside	ADP
futech-473	167	5	of	of	ADP
futech-473	167	6	the	the	DET
futech-473	167	7	plant	plant	NOUN
futech-473	167	8	with	with	ADP
futech-473	167	9	disparate	disparate	ADJ
futech-473	167	10	sensor	sensor	NOUN
futech-473	167	11	networks	network	NOUN
futech-473	167	12	that	that	PRON
futech-473	167	13	gather	gather	VERB
futech-473	167	14	timeand	timeand	NOUN
futech-473	167	15	contextual	contextual	ADJ
futech-473	167	16	information	information	NOUN
futech-473	167	17	from	from	ADP
futech-473	167	18	amrs	amrs	PROPN
futech-473	167	19	,	,	PUNCT
futech-473	167	20	environmental	environmental	ADJ
futech-473	167	21	monitors	monitor	NOUN
futech-473	167	22	,	,	PUNCT
futech-473	167	23	and	and	CCONJ
futech-473	167	24	inventory	inventory	NOUN
futech-473	167	25	monitors	monitor	NOUN
futech-473	167	26	.	.	PUNCT
futech-473	168	1	this	this	DET
futech-473	168	2	data	data	NOUN
futech-473	168	3	is	be	AUX
futech-473	168	4	then	then	ADV
futech-473	168	5	processed	process	VERB
futech-473	168	6	at	at	ADP
futech-473	168	7	the	the	DET
futech-473	168	8	edge	edge	NOUN
futech-473	168	9	level	level	NOUN
futech-473	168	10	to	to	PART
futech-473	168	11	reduce	reduce	VERB
futech-473	168	12	noise	noise	NOUN
futech-473	168	13	,	,	PUNCT
futech-473	168	14	identify	identify	VERB
futech-473	168	15	extremes	extreme	NOUN
futech-473	168	16	,	,	PUNCT
futech-473	168	17	and	and	CCONJ
futech-473	168	18	compress	compress	VERB
futech-473	168	19	the	the	DET
futech-473	168	20	streams	stream	NOUN
futech-473	168	21	of	of	ADP
futech-473	168	22	information	information	NOUN
futech-473	168	23	before	before	ADP
futech-473	168	24	being	be	AUX
futech-473	168	25	transmitted	transmit	VERB
futech-473	168	26	to	to	ADP
futech-473	168	27	higher	high	ADJ
futech-473	168	28	-	-	PUNCT
futech-473	168	29	level	level	NOUN
futech-473	168	30	processing	processing	NOUN
futech-473	168	31	nodes	node	NOUN
futech-473	168	32	.	.	PUNCT
futech-473	169	1	d2	d2	PROPN
futech-473	169	2	t	t	PROPN
futech-473	169	3	synchronization	synchronization	NOUN
futech-473	169	4	enforces	enforce	VERB
futech-473	169	5	consistency	consistency	NOUN
futech-473	169	6	in	in	ADP
futech-473	169	7	both	both	DET
futech-473	169	8	directions	direction	NOUN
futech-473	169	9	between	between	ADP
futech-473	169	10	physical	physical	ADJ
futech-473	169	11	twins	twin	NOUN
futech-473	169	12	and	and	CCONJ
futech-473	169	13	their	their	PRON
futech-473	169	14	digital	digital	ADJ
futech-473	169	15	twins	twin	NOUN
futech-473	169	16	through	through	ADP
futech-473	169	17	eventdriven	eventdriven	ADJ
futech-473	169	18	updates	update	NOUN
futech-473	169	19	.	.	PUNCT
futech-473	170	1	the	the	DET
futech-473	170	2	synchronization	synchronization	NOUN
futech-473	170	3	protocol	protocol	NOUN
futech-473	170	4	transmits	transmit	NOUN
futech-473	170	5	differential	differential	ADJ
futech-473	170	6	updates	update	NOUN
futech-473	170	7	to	to	PART
futech-473	170	8	reduce	reduce	VERB
futech-473	170	9	traffic	traffic	NOUN
futech-473	170	10	while	while	SCONJ
futech-473	170	11	preserving	preserve	VERB
futech-473	170	12	temporal	temporal	ADJ
futech-473	170	13	coherence	coherence	NOUN
futech-473	170	14	among	among	ADP
futech-473	170	15	parts	part	NOUN
futech-473	170	16	of	of	ADP
futech-473	170	17	a	a	DET
futech-473	170	18	distributed	distribute	VERB
futech-473	170	19	system	system	NOUN
futech-473	170	20	.	.	PUNCT
futech-473	171	1	state	state	NOUN
futech-473	171	2	reconciliation	reconciliation	NOUN
futech-473	171	3	algorithms	algorithm	NOUN
futech-473	171	4	cope	cope	VERB
futech-473	171	5	with	with	ADP
futech-473	171	6	network	network	NOUN
futech-473	171	7	partitions	partition	NOUN
futech-473	171	8	and	and	CCONJ
futech-473	171	9	temporary	temporary	ADJ
futech-473	171	10	disconnections	disconnection	NOUN
futech-473	171	11	,	,	PUNCT
futech-473	171	12	ensuring	ensure	VERB
futech-473	171	13	eventual	eventual	ADJ
futech-473	171	14	consistency	consistency	NOUN
futech-473	171	15	once	once	SCONJ
futech-473	171	16	communication	communication	NOUN
futech-473	171	17	links	link	NOUN
futech-473	171	18	are	be	AUX
futech-473	171	19	restored	restore	VERB
futech-473	171	20	.	.	PUNCT
futech-473	172	1	the	the	DET
futech-473	172	2	dss	dss	NOUN
futech-473	172	3	combines	combine	VERB
futech-473	172	4	several	several	ADJ
futech-473	172	5	analytical	analytical	ADJ
futech-473	172	6	engines	engine	NOUN
futech-473	172	7	working	work	VERB
futech-473	172	8	at	at	ADP
futech-473	172	9	different	different	ADJ
futech-473	172	10	time	time	NOUN
futech-473	172	11	scales	scale	NOUN
futech-473	172	12	.	.	PUNCT
futech-473	173	1	low	low	ADJ
futech-473	173	2	-	-	PUNCT
futech-473	173	3	level	level	NOUN
futech-473	173	4	controllers	controller	NOUN
futech-473	173	5	operate	operate	VERB
futech-473	173	6	the	the	DET
futech-473	173	7	sensor	sensor	NOUN
futech-473	173	8	streams	stream	VERB
futech-473	173	9	to	to	PART
futech-473	173	10	create	create	VERB
futech-473	173	11	instantaneous	instantaneous	ADJ
futech-473	173	12	actuator	actuator	NOUN
futech-473	173	13	commands	command	NOUN
futech-473	173	14	to	to	PART
futech-473	173	15	prevent	prevent	VERB
futech-473	173	16	collisions	collision	NOUN
futech-473	173	17	;	;	PUNCT
futech-473	173	18	they	they	PRON
futech-473	173	19	also	also	ADV
futech-473	173	20	have	have	VERB
futech-473	173	21	to	to	PART
futech-473	173	22	follow	follow	VERB
futech-473	173	23	trajectories	trajectory	NOUN
futech-473	173	24	.	.	PUNCT
futech-473	174	1	tactical	tactical	ADJ
futech-473	174	2	planning	planning	NOUN
futech-473	174	3	optimizes	optimize	VERB
futech-473	174	4	task	task	NOUN
futech-473	174	5	assignment	assignment	NOUN
futech-473	174	6	and	and	CCONJ
futech-473	174	7	resource	resource	NOUN
futech-473	174	8	scheduling	scheduling	NOUN
futech-473	174	9	with	with	ADP
futech-473	174	10	minute	minute	NOUN
futech-473	174	11	to	to	ADP
futech-473	174	12	hour	hour	NOUN
futech-473	174	13	time	time	NOUN
futech-473	174	14	horizons	horizon	NOUN
futech-473	174	15	,	,	PUNCT
futech-473	174	16	employing	employ	VERB
futech-473	174	17	rolling	roll	VERB
futech-473	174	18	horizon	horizon	NOUN
futech-473	174	19	optimization	optimization	NOUN
futech-473	174	20	.	.	PUNCT
futech-473	175	1	strategic	strategic	ADJ
futech-473	175	2	analysts	analyst	NOUN
futech-473	175	3	use	use	VERB
futech-473	175	4	historical	historical	ADJ
futech-473	175	5	data	datum	NOUN
futech-473	175	6	and	and	CCONJ
futech-473	175	7	predictive	predictive	ADJ
futech-473	175	8	models	model	NOUN
futech-473	175	9	to	to	PART
futech-473	175	10	recommend	recommend	VERB
futech-473	175	11	inventory	inventory	NOUN
futech-473	175	12	and	and	CCONJ
futech-473	175	13	capacity	capacity	NOUN
futech-473	175	14	policy	policy	NOUN
futech-473	175	15	changes	change	NOUN
futech-473	175	16	.	.	PUNCT
futech-473	176	1	these	these	DET
futech-473	176	2	decision	decision	NOUN
futech-473	176	3	layers	layer	NOUN
futech-473	176	4	exchange	exchange	VERB
futech-473	176	5	information	information	NOUN
futech-473	176	6	using	use	VERB
futech-473	176	7	standard	standard	ADJ
futech-473	176	8	message	message	NOUN
futech-473	176	9	protocols	protocol	NOUN
futech-473	176	10	,	,	PUNCT
futech-473	176	11	facilitating	facilitate	VERB
futech-473	176	12	the	the	DET
futech-473	176	13	ability	ability	NOUN
futech-473	176	14	to	to	PART
futech-473	176	15	coordinate	coordinate	VERB
futech-473	176	16	the	the	DET
futech-473	176	17	response	response	NOUN
futech-473	176	18	to	to	ADP
futech-473	176	19	operational	operational	ADJ
futech-473	176	20	events	event	NOUN
futech-473	176	21	and	and	CCONJ
futech-473	176	22	maintain	maintain	VERB
futech-473	176	23	computational	computational	ADJ
futech-473	176	24	scalability	scalability	NOUN
futech-473	176	25	.	.	PUNCT
futech-473	177	1	the	the	DET
futech-473	177	2	modular	modular	ADJ
futech-473	177	3	design	design	NOUN
futech-473	177	4	of	of	ADP
futech-473	177	5	the	the	DET
futech-473	177	6	framework	framework	NOUN
futech-473	177	7	allows	allow	VERB
futech-473	177	8	it	it	PRON
futech-473	177	9	to	to	PART
futech-473	177	10	be	be	AUX
futech-473	177	11	gradually	gradually	ADV
futech-473	177	12	rolled	roll	VERB
futech-473	177	13	out	out	ADP
futech-473	177	14	and	and	CCONJ
futech-473	177	15	for	for	SCONJ
futech-473	177	16	technology	technology	NOUN
futech-473	177	17	updates	update	VERB
futech-473	177	18	to	to	PART
futech-473	177	19	be	be	AUX
futech-473	177	20	performed	perform	VERB
futech-473	177	21	without	without	ADP
futech-473	177	22	interruption	interruption	NOUN
futech-473	177	23	to	to	ADP
futech-473	177	24	existing	exist	VERB
futech-473	177	25	business	business	NOUN
futech-473	177	26	processes	process	NOUN
futech-473	177	27	.	.	PUNCT
futech-473	178	1	figure	figure	NOUN
futech-473	178	2	2	2	NUM
futech-473	178	3	.	.	PUNCT
futech-473	178	4	cps	cp	NOUN
futech-473	178	5	integration	integration	NOUN
futech-473	178	6	framework	framework	NOUN
futech-473	178	7	y.	y.	PROPN
futech-473	178	8	zhang	zhang	PROPN
futech-473	178	9	&	&	CCONJ
futech-473	178	10	ju	ju	PROPN
futech-473	178	11	.	.	PROPN
futech-473	179	1	abellera	abellera	NOUN
futech-473	179	2	/future	/future	PUNCT
futech-473	179	3	technology	technology	PROPN
futech-473	179	4	november	november	PROPN
futech-473	179	5	2025|	2025|	NUM
futech-473	179	6	volume	volume	NOUN
futech-473	179	7	04	04	NUM
futech-473	180	1	|	|	ADV
futech-473	180	2	issue	issue	VERB
futech-473	180	3	04	04	NUM
futech-473	181	1	|	|	CCONJ
futech-473	181	2	pages	page	VERB
futech-473	181	3	59	59	NUM
futech-473	181	4	-	-	SYM
futech-473	181	5	71	71	NUM
futech-473	181	6	64	64	NUM
futech-473	181	7	3.5	3.5	NUM
futech-473	181	8	implementation	implementation	NOUN
futech-473	181	9	details	detail	NOUN
futech-473	181	10	the	the	DET
futech-473	181	11	physical	physical	ADJ
futech-473	181	12	implementation	implementation	NOUN
futech-473	181	13	employs	employ	VERB
futech-473	181	14	a	a	DET
futech-473	181	15	heterogeneous	heterogeneous	ADJ
futech-473	181	16	fleet	fleet	NOUN
futech-473	181	17	of	of	ADP
futech-473	181	18	twenty	twenty	NUM
futech-473	181	19	amrs	amrs	PROPN
futech-473	181	20	equipped	equip	VERB
futech-473	181	21	with	with	ADP
futech-473	181	22	velodyne	velodyne	PROPN
futech-473	181	23	vlp-16	vlp-16	PROPN
futech-473	181	24	lidar	lidar	NOUN
futech-473	181	25	sensors	sensor	NOUN
futech-473	181	26	,	,	PUNCT
futech-473	181	27	intel	intel	PROPN
futech-473	181	28	realsense	realsense	NOUN
futech-473	181	29	d435i	d435i	PROPN
futech-473	181	30	depth	depth	NOUN
futech-473	181	31	cameras	camera	NOUN
futech-473	181	32	,	,	PUNCT
futech-473	181	33	and	and	CCONJ
futech-473	181	34	nvidia	nvidia	PROPN
futech-473	181	35	jetson	jetson	PROPN
futech-473	181	36	agx	agx	PROPN
futech-473	181	37	xavier	xavier	PROPN
futech-473	181	38	computing	computing	PROPN
futech-473	181	39	platforms	platform	NOUN
futech-473	181	40	for	for	ADP
futech-473	181	41	onboard	onboard	NOUN
futech-473	181	42	processing	processing	NOUN
futech-473	181	43	.	.	PUNCT
futech-473	182	1	each	each	DET
futech-473	182	2	robot	robot	NOUN
futech-473	182	3	features	feature	VERB
futech-473	182	4	differential	differential	ADJ
futech-473	182	5	drive	drive	NOUN
futech-473	182	6	mechanisms	mechanism	NOUN
futech-473	182	7	with	with	ADP
futech-473	182	8	a	a	DET
futech-473	182	9	maximum	maximum	ADJ
futech-473	182	10	velocity	velocity	NOUN
futech-473	182	11	of	of	ADP
futech-473	182	12	2	2	NUM
futech-473	182	13	m	m	NOUN
futech-473	182	14	/	/	SYM
futech-473	182	15	s	s	PROPN
futech-473	182	16	and	and	CCONJ
futech-473	182	17	a	a	DET
futech-473	182	18	payload	payload	NOUN
futech-473	182	19	capacity	capacity	NOUN
futech-473	182	20	of	of	ADP
futech-473	182	21	500	500	NUM
futech-473	182	22	kg	kg	NOUN
futech-473	182	23	,	,	PUNCT
futech-473	182	24	suitable	suitable	ADJ
futech-473	182	25	for	for	ADP
futech-473	182	26	standard	standard	ADJ
futech-473	182	27	warehouse	warehouse	NOUN
futech-473	182	28	pallets	pallet	NOUN
futech-473	182	29	.	.	PUNCT
futech-473	183	1	the	the	DET
futech-473	183	2	warehouse	warehouse	NOUN
futech-473	183	3	infrastructure	infrastructure	NOUN
futech-473	183	4	incorporates	incorporate	VERB
futech-473	183	5	a	a	DET
futech-473	183	6	distributed	distribute	VERB
futech-473	183	7	network	network	NOUN
futech-473	183	8	of	of	ADP
futech-473	183	9	200	200	NUM
futech-473	183	10	passive	passive	ADJ
futech-473	183	11	rfid	rfid	NOUN
futech-473	183	12	tags	tag	NOUN
futech-473	183	13	embedded	embed	VERB
futech-473	183	14	in	in	ADP
futech-473	183	15	floor	floor	NOUN
futech-473	183	16	tiles	tile	NOUN
futech-473	183	17	for	for	ADP
futech-473	183	18	localization	localization	NOUN
futech-473	183	19	refinement	refinement	NOUN
futech-473	183	20	and	and	CCONJ
futech-473	183	21	50	50	NUM
futech-473	183	22	active	active	ADJ
futech-473	183	23	rfid	rfid	NOUN
futech-473	183	24	readers	reader	NOUN
futech-473	183	25	positioned	position	VERB
futech-473	183	26	at	at	ADP
futech-473	183	27	strategic	strategic	ADJ
futech-473	183	28	inventory	inventory	NOUN
futech-473	183	29	locations	location	NOUN
futech-473	183	30	.	.	PUNCT
futech-473	184	1	the	the	DET
futech-473	184	2	software	software	NOUN
futech-473	184	3	architecture	architecture	NOUN
futech-473	184	4	follows	follow	VERB
futech-473	184	5	a	a	DET
futech-473	184	6	microservices	microservice	NOUN
futech-473	184	7	design	design	NOUN
futech-473	184	8	pattern	pattern	NOUN
futech-473	184	9	implemented	implement	VERB
futech-473	184	10	using	use	VERB
futech-473	184	11	the	the	DET
futech-473	184	12	ros2	ros2	NOUN
futech-473	184	13	foxy	foxy	ADJ
futech-473	184	14	framework	framework	NOUN
futech-473	184	15	,	,	PUNCT
futech-473	184	16	enabling	enable	VERB
futech-473	184	17	modular	modular	ADJ
futech-473	184	18	deployment	deployment	NOUN
futech-473	184	19	and	and	CCONJ
futech-473	184	20	independent	independent	ADJ
futech-473	184	21	scaling	scaling	NOUN
futech-473	184	22	of	of	ADP
futech-473	184	23	system	system	NOUN
futech-473	184	24	components	component	NOUN
futech-473	184	25	.	.	PUNCT
futech-473	185	1	core	core	NOUN
futech-473	185	2	services	service	NOUN
futech-473	185	3	include	include	VERB
futech-473	185	4	the	the	DET
futech-473	185	5	slam	slam	NOUN
futech-473	185	6	module	module	NOUN
futech-473	185	7	based	base	VERB
futech-473	185	8	on	on	ADP
futech-473	185	9	cartographer	cartographer	NOUN
futech-473	185	10	,	,	PUNCT
futech-473	185	11	path	path	NOUN
futech-473	185	12	planning	planning	NOUN
futech-473	185	13	using	use	VERB
futech-473	185	14	customized	customize	VERB
futech-473	185	15	rrt	rrt	NOUN
futech-473	185	16	*	*	NOUN
futech-473	185	17	algorithms	algorithm	NOUN
futech-473	185	18	,	,	PUNCT
futech-473	185	19	and	and	CCONJ
futech-473	185	20	task	task	NOUN
futech-473	185	21	allocation	allocation	NOUN
futech-473	185	22	implemented	implement	VERB
futech-473	185	23	through	through	ADP
futech-473	185	24	a	a	DET
futech-473	185	25	distributed	distribute	VERB
futech-473	185	26	auction	auction	NOUN
futech-473	185	27	mechanism	mechanism	NOUN
futech-473	185	28	.	.	PUNCT
futech-473	186	1	the	the	DET
futech-473	186	2	digital	digital	ADJ
futech-473	186	3	twin	twin	ADJ
futech-473	186	4	engine	engine	NOUN
futech-473	186	5	utilizes	utilize	VERB
futech-473	186	6	unity3d	unity3d	NOUN
futech-473	186	7	for	for	ADP
futech-473	186	8	visualization	visualization	NOUN
futech-473	186	9	and	and	CCONJ
futech-473	186	10	nvidia	nvidia	PROPN
futech-473	186	11	omniverse	omniverse	NOUN
futech-473	186	12	for	for	ADP
futech-473	186	13	physics	physics	NOUN
futech-473	186	14	simulation	simulation	NOUN
futech-473	186	15	,	,	PUNCT
futech-473	186	16	synchronized	synchronize	VERB
futech-473	186	17	with	with	ADP
futech-473	186	18	physical	physical	ADJ
futech-473	186	19	operations	operation	NOUN
futech-473	186	20	through	through	ADP
futech-473	186	21	apache	apache	PROPN
futech-473	186	22	kafka	kafka	PROPN
futech-473	186	23	message	message	PROPN
futech-473	186	24	streams	stream	NOUN
futech-473	186	25	.	.	PUNCT
futech-473	187	1	ros2	ros2	PROPN
futech-473	187	2	employs	employ	VERB
futech-473	187	3	dds	dds	PROPN
futech-473	187	4	(	(	PUNCT
futech-473	187	5	data	datum	NOUN
futech-473	187	6	distribution	distribution	NOUN
futech-473	187	7	service	service	NOUN
futech-473	187	8	)	)	PUNCT
futech-473	187	9	middleware	middleware	NOUN
futech-473	187	10	to	to	PART
futech-473	187	11	achieve	achieve	VERB
futech-473	187	12	deterministic	deterministic	ADJ
futech-473	187	13	latency	latency	NOUN
futech-473	187	14	below	below	ADP
futech-473	187	15	10ms	10ms	NOUN
futech-473	187	16	.	.	PUNCT
futech-473	188	1	opc	opc	PROPN
futech-473	188	2	ua	ua	PROPN
futech-473	188	3	enables	enable	VERB
futech-473	188	4	heterogeneous	heterogeneous	ADJ
futech-473	188	5	device	device	NOUN
futech-473	188	6	interoperability	interoperability	NOUN
futech-473	188	7	through	through	ADP
futech-473	188	8	standardized	standardized	ADJ
futech-473	188	9	data	data	NOUN
futech-473	188	10	models	model	NOUN
futech-473	188	11	.	.	PUNCT
futech-473	189	1	communication	communication	NOUN
futech-473	189	2	infrastructure	infrastructure	NOUN
futech-473	189	3	leverages	leverage	VERB
futech-473	189	4	a	a	DET
futech-473	189	5	hybrid	hybrid	ADJ
futech-473	189	6	approach	approach	NOUN
futech-473	189	7	combining	combine	VERB
futech-473	189	8	a	a	DET
futech-473	189	9	dedicated	dedicated	ADJ
futech-473	189	10	5	5	NUM
futech-473	189	11	g	g	NOUN
futech-473	189	12	private	private	ADJ
futech-473	189	13	network	network	NOUN
futech-473	189	14	for	for	ADP
futech-473	189	15	critical	critical	ADJ
futech-473	189	16	control	control	NOUN
futech-473	189	17	messages	message	NOUN
futech-473	189	18	and	and	CCONJ
futech-473	189	19	wifi	wifi	NOUN
futech-473	189	20	6	6	NUM
futech-473	189	21	for	for	ADP
futech-473	189	22	bulk	bulk	ADJ
futech-473	189	23	data	datum	NOUN
futech-473	189	24	transfers	transfer	NOUN
futech-473	189	25	.	.	PUNCT
futech-473	190	1	the	the	DET
futech-473	190	2	system	system	NOUN
futech-473	190	3	implements	implement	VERB
futech-473	190	4	dds	dds	PROPN
futech-473	190	5	(	(	PUNCT
futech-473	190	6	data	datum	NOUN
futech-473	190	7	distribution	distribution	NOUN
futech-473	190	8	service	service	NOUN
futech-473	190	9	)	)	PUNCT
futech-473	190	10	middleware	middleware	NOUN
futech-473	190	11	for	for	ADP
futech-473	190	12	real	real	ADJ
futech-473	190	13	-	-	PUNCT
futech-473	190	14	time	time	NOUN
futech-473	190	15	publish	publish	NOUN
futech-473	190	16	-	-	PUNCT
futech-473	190	17	subscribe	subscribe	NOUN
futech-473	190	18	patterns	pattern	NOUN
futech-473	190	19	,	,	PUNCT
futech-473	190	20	ensuring	ensure	VERB
futech-473	190	21	deterministic	deterministic	ADJ
futech-473	190	22	latency	latency	NOUN
futech-473	190	23	below	below	ADP
futech-473	190	24	10ms	10ms	ADV
futech-473	190	25	for	for	ADP
futech-473	190	26	safety	safety	NOUN
futech-473	190	27	-	-	PUNCT
futech-473	190	28	critical	critical	ADJ
futech-473	190	29	communications	communication	NOUN
futech-473	190	30	.	.	PUNCT
futech-473	191	1	edge	edge	NOUN
futech-473	191	2	computing	compute	VERB
futech-473	191	3	nodes	node	NOUN
futech-473	191	4	deployed	deploy	VERB
futech-473	191	5	throughout	throughout	ADP
futech-473	191	6	the	the	DET
futech-473	191	7	facility	facility	NOUN
futech-473	191	8	run	run	VERB
futech-473	191	9	containerized	containerize	VERB
futech-473	191	10	services	service	NOUN
futech-473	191	11	using	use	VERB
futech-473	191	12	kubernetes	kubernete	NOUN
futech-473	191	13	orchestration	orchestration	NOUN
futech-473	191	14	,	,	PUNCT
futech-473	191	15	providing	provide	VERB
futech-473	191	16	fault	fault	NOUN
futech-473	191	17	-	-	PUNCT
futech-473	191	18	tolerant	tolerant	ADJ
futech-473	191	19	processing	processing	NOUN
futech-473	191	20	capabilities	capability	NOUN
futech-473	191	21	with	with	ADP
futech-473	191	22	automatic	automatic	ADJ
futech-473	191	23	failover	failover	NOUN
futech-473	191	24	mechanisms	mechanism	NOUN
futech-473	191	25	.	.	PUNCT
futech-473	192	1	4	4	X
futech-473	192	2	.	.	X
futech-473	192	3	experimental	experimental	ADJ
futech-473	192	4	setup	setup	NOUN
futech-473	192	5	and	and	CCONJ
futech-473	192	6	validation	validation	NOUN
futech-473	192	7	4.1	4.1	NUM
futech-473	192	8	testbed	testbe	VERB
futech-473	192	9	configuration	configuration	NOUN
futech-473	192	10	the	the	DET
futech-473	192	11	experimental	experimental	ADJ
futech-473	192	12	validation	validation	NOUN
futech-473	192	13	took	take	VERB
futech-473	192	14	place	place	NOUN
futech-473	192	15	in	in	ADP
futech-473	192	16	a	a	DET
futech-473	192	17	5,000	5,000	NUM
futech-473	192	18	square	square	ADJ
futech-473	192	19	meter	meter	NOUN
futech-473	192	20	warehouse	warehouse	NOUN
futech-473	192	21	designed	design	VERB
futech-473	192	22	to	to	PART
futech-473	192	23	reproduce	reproduce	VERB
futech-473	192	24	industrial	industrial	ADJ
futech-473	192	25	logistics	logistic	NOUN
futech-473	192	26	.	.	PUNCT
futech-473	193	1	the	the	DET
futech-473	193	2	test	test	NOUN
futech-473	193	3	bed	bed	NOUN
futech-473	193	4	has	have	VERB
futech-473	193	5	1,200	1,200	NUM
futech-473	193	6	locations	location	NOUN
futech-473	193	7	organized	organize	VERB
futech-473	193	8	in	in	ADP
futech-473	193	9	40	40	NUM
futech-473	193	10	aisles	aisle	NOUN
futech-473	193	11	spaced	space	VERB
futech-473	193	12	at	at	ADP
futech-473	193	13	3	3	NUM
futech-473	193	14	m	m	NOUN
futech-473	193	15	distance	distance	NOUN
futech-473	193	16	and	and	CCONJ
futech-473	193	17	accepts	accept	VERB
futech-473	193	18	standard	standard	ADJ
futech-473	193	19	eur	eur	NOUN
futech-473	193	20	pallets	pallet	NOUN
futech-473	193	21	in	in	ADP
futech-473	193	22	four	four	NUM
futech-473	193	23	heights	height	NOUN
futech-473	193	24	.	.	PUNCT
futech-473	194	1	the	the	DET
futech-473	194	2	floor	floor	NOUN
futech-473	194	3	plan	plan	NOUN
futech-473	194	4	is	be	AUX
futech-473	194	5	divided	divide	VERB
futech-473	194	6	into	into	ADP
futech-473	194	7	receiving	receiving	NOUN
futech-473	194	8	,	,	PUNCT
futech-473	194	9	shipping	shipping	NOUN
futech-473	194	10	,	,	PUNCT
futech-473	194	11	and	and	CCONJ
futech-473	194	12	cross	cross	ADJ
futech-473	194	13	-	-	ADJ
futech-473	194	14	docking	docking	ADJ
futech-473	194	15	areas	area	NOUN
futech-473	194	16	joined	join	VERB
futech-473	194	17	by	by	ADP
futech-473	194	18	a	a	DET
futech-473	194	19	main	main	ADJ
futech-473	194	20	travel	travel	NOUN
futech-473	194	21	corridor	corridor	NOUN
futech-473	194	22	that	that	PRON
futech-473	194	23	accommodates	accommodate	VERB
futech-473	194	24	two	two	NUM
futech-473	194	25	-	-	PUNCT
futech-473	194	26	way	way	NOUN
futech-473	194	27	amr	amr	NOUN
futech-473	194	28	traffic	traffic	NOUN
futech-473	194	29	.	.	PUNCT
futech-473	195	1	environmental	environmental	ADJ
futech-473	195	2	conditions	condition	NOUN
futech-473	195	3	were	be	AUX
futech-473	195	4	strictly	strictly	ADV
futech-473	195	5	regulated	regulate	VERB
futech-473	195	6	to	to	PART
futech-473	195	7	guarantee	guarantee	VERB
futech-473	195	8	sensors	sensor	NOUN
futech-473	195	9	'	'	PART
futech-473	195	10	stability	stability	NOUN
futech-473	195	11	with	with	ADP
futech-473	195	12	ambient	ambient	ADJ
futech-473	195	13	temperature	temperature	NOUN
futech-473	195	14	set	set	VERB
futech-473	195	15	at	at	ADP
futech-473	195	16	20±2	20±2	PROPN
futech-473	195	17	°	°	ADP
futech-473	195	18	c	c	NOUN
futech-473	195	19	and	and	CCONJ
futech-473	195	20	relative	relative	ADJ
futech-473	195	21	humidity	humidity	NOUN
futech-473	195	22	of	of	ADP
futech-473	195	23	45±5	45±5	NUM
futech-473	195	24	%	%	NOUN
futech-473	195	25	.	.	PUNCT
futech-473	196	1	the	the	DET
futech-473	196	2	lab	lab	NOUN
futech-473	196	3	is	be	AUX
futech-473	196	4	lit	light	VERB
futech-473	196	5	using	use	VERB
futech-473	196	6	artificial	artificial	ADJ
futech-473	196	7	lights	light	NOUN
futech-473	196	8	that	that	PRON
futech-473	196	9	provide	provide	VERB
futech-473	196	10	500	500	NUM
futech-473	196	11	lux	lux	NOUN
futech-473	196	12	illumination	illumination	NOUN
futech-473	196	13	in	in	ADP
futech-473	196	14	the	the	DET
futech-473	196	15	entire	entire	ADJ
futech-473	196	16	workspace	workspace	NOUN
futech-473	196	17	and	and	CCONJ
futech-473	196	18	are	be	AUX
futech-473	196	19	augmented	augment	VERB
futech-473	196	20	by	by	ADP
futech-473	196	21	infrared	infrared	ADJ
futech-473	196	22	beacons	beacon	NOUN
futech-473	196	23	to	to	PART
futech-473	196	24	increase	increase	VERB
futech-473	196	25	the	the	DET
futech-473	196	26	localization	localization	NOUN
futech-473	196	27	accuracy	accuracy	NOUN
futech-473	196	28	.	.	PUNCT
futech-473	197	1	the	the	DET
futech-473	197	2	reference	reference	NOUN
futech-473	197	3	markers	marker	NOUN
futech-473	197	4	,	,	PUNCT
futech-473	197	5	which	which	PRON
futech-473	197	6	are	be	AUX
futech-473	197	7	placed	place	VERB
futech-473	197	8	5	5	NUM
futech-473	197	9	meters	meter	NOUN
futech-473	197	10	apart	apart	ADV
futech-473	197	11	from	from	ADP
futech-473	197	12	one	one	NUM
futech-473	197	13	another	another	DET
futech-473	197	14	on	on	ADP
futech-473	197	15	the	the	DET
futech-473	197	16	main	main	ADJ
futech-473	197	17	paths	path	NOUN
futech-473	197	18	,	,	PUNCT
futech-473	197	19	work	work	NOUN
futech-473	197	20	as	as	ADP
futech-473	197	21	visual	visual	ADJ
futech-473	197	22	landmarks	landmark	NOUN
futech-473	197	23	for	for	ADP
futech-473	197	24	slam	slam	NOUN
futech-473	197	25	calibration	calibration	NOUN
futech-473	197	26	and	and	CCONJ
futech-473	197	27	drift	drift	NOUN
futech-473	197	28	compensation	compensation	NOUN
futech-473	197	29	.	.	PUNCT
futech-473	198	1	the	the	DET
futech-473	198	2	sensor	sensor	NOUN
futech-473	198	3	layout	layout	NOUN
futech-473	198	4	is	be	AUX
futech-473	198	5	organized	organize	VERB
futech-473	198	6	as	as	ADP
futech-473	198	7	an	an	DET
futech-473	198	8	80	80	NUM
futech-473	198	9	-	-	PUNCT
futech-473	198	10	ceiling	ceiling	NOUN
futech-473	198	11	-	-	PUNCT
futech-473	198	12	camera	camera	NOUN
futech-473	198	13	-	-	PUNCT
futech-473	198	14	based	base	VERB
futech-473	198	15	structure	structure	NOUN
futech-473	198	16	capturing	capture	VERB
futech-473	198	17	the	the	DET
futech-473	198	18	full	full	ADJ
futech-473	198	19	view	view	NOUN
futech-473	198	20	of	of	ADP
futech-473	198	21	the	the	DET
futech-473	198	22	environment	environment	NOUN
futech-473	198	23	,	,	PUNCT
futech-473	198	24	linked	link	VERB
futech-473	198	25	to	to	ADP
futech-473	198	26	the	the	DET
futech-473	198	27	warehouse	warehouse	NOUN
futech-473	198	28	management	management	NOUN
futech-473	198	29	system	system	NOUN
futech-473	198	30	by	by	ADP
futech-473	198	31	means	mean	NOUN
futech-473	198	32	of	of	ADP
futech-473	198	33	gigabit	gigabit	NOUN
futech-473	198	34	ethernet	ethernet	NOUN
futech-473	198	35	connections	connection	NOUN
futech-473	198	36	.	.	PUNCT
futech-473	199	1	the	the	DET
futech-473	199	2	position	position	NOUN
futech-473	199	3	data	datum	NOUN
futech-473	199	4	based	base	VERB
futech-473	199	5	on	on	ADP
futech-473	199	6	“	"	PUNCT
futech-473	199	7	ground	ground	NOUN
futech-473	199	8	truth	truth	NOUN
futech-473	199	9	”	"	PUNCT
futech-473	199	10	was	be	AUX
futech-473	199	11	recorded	record	VERB
futech-473	199	12	by	by	ADP
futech-473	199	13	a	a	DET
futech-473	199	14	vicon	vicon	NOUN
futech-473	199	15	motion	motion	NOUN
futech-473	199	16	capture	capture	NOUN
futech-473	199	17	system	system	NOUN
futech-473	199	18	with	with	ADP
futech-473	199	19	a	a	DET
futech-473	199	20	measurement	measurement	NOUN
futech-473	199	21	accuracy	accuracy	NOUN
futech-473	199	22	of	of	ADP
futech-473	199	23	sub	sub	NOUN
futech-473	199	24	-	-	NOUN
futech-473	199	25	millimeters	millimeter	NOUN
futech-473	199	26	,	,	PUNCT
futech-473	199	27	ensuring	ensure	VERB
futech-473	199	28	fair	fair	ADJ
futech-473	199	29	verification	verification	NOUN
futech-473	199	30	of	of	ADP
futech-473	199	31	amr	amr	ADJ
futech-473	199	32	localisation	localisation	NOUN
futech-473	199	33	algorithms	algorithm	NOUN
futech-473	199	34	.	.	PUNCT
futech-473	200	1	load	load	NOUN
futech-473	200	2	:	:	PUNCT
futech-473	200	3	generation	generation	NOUN
futech-473	200	4	used	use	VERB
futech-473	200	5	programmable	programmable	ADJ
futech-473	200	6	order	order	NOUN
futech-473	200	7	injection	injection	NOUN
futech-473	200	8	systems	system	NOUN
futech-473	200	9	to	to	PART
futech-473	200	10	mimic	mimic	VERB
futech-473	200	11	demand	demand	NOUN
futech-473	200	12	ranging	range	VERB
futech-473	200	13	from	from	ADP
futech-473	200	14	“	"	PUNCT
futech-473	200	15	slow	slow	ADV
futech-473	200	16	-	-	PUNCT
futech-473	200	17	moving	move	VERB
futech-473	200	18	,	,	PUNCT
futech-473	200	19	steady	steady	ADJ
futech-473	200	20	-	-	PUNCT
futech-473	200	21	state	state	NOUN
futech-473	200	22	orders	order	NOUN
futech-473	200	23	”	"	PUNCT
futech-473	200	24	to	to	ADP
futech-473	200	25	300	300	NUM
futech-473	200	26	%	%	NOUN
futech-473	200	27	of	of	ADP
futech-473	200	28	peak	peak	NOUN
futech-473	200	29	-	-	PUNCT
futech-473	200	30	season	season	NOUN
futech-473	200	31	load	load	NOUN
futech-473	200	32	.	.	PUNCT
futech-473	201	1	this	this	DET
futech-473	201	2	setup	setup	NOUN
futech-473	201	3	allows	allow	VERB
futech-473	201	4	for	for	ADP
futech-473	201	5	extensive	extensive	ADJ
futech-473	201	6	benchmarking	benchmarking	NOUN
futech-473	201	7	of	of	ADP
futech-473	201	8	system	system	NOUN
futech-473	201	9	performance	performance	NOUN
futech-473	201	10	over	over	ADP
futech-473	201	11	a	a	DET
futech-473	201	12	variety	variety	NOUN
futech-473	201	13	of	of	ADP
futech-473	201	14	operational	operational	ADJ
futech-473	201	15	configurations	configuration	NOUN
futech-473	201	16	,	,	PUNCT
futech-473	201	17	while	while	SCONJ
futech-473	201	18	at	at	ADP
futech-473	201	19	the	the	DET
futech-473	201	20	same	same	ADJ
futech-473	201	21	time	time	NOUN
futech-473	201	22	ensuring	ensure	VERB
futech-473	201	23	reproducibility	reproducibility	NOUN
futech-473	201	24	between	between	ADP
futech-473	201	25	experimental	experimental	ADJ
futech-473	201	26	runs	run	NOUN
futech-473	201	27	.	.	PUNCT
futech-473	202	1	table	table	NOUN
futech-473	202	2	2	2	NUM
futech-473	202	3	.	.	PUNCT
futech-473	202	4	performance	performance	NOUN
futech-473	202	5	metrics	metric	NOUN
futech-473	202	6	for	for	ADP
futech-473	202	7	cps	cps	PROPN
futech-473	202	8	-	-	PUNCT
futech-473	202	9	amr	amr	NOUN
futech-473	202	10	system	system	NOUN
futech-473	202	11	evaluation	evaluation	NOUN
futech-473	202	12	metric	metric	ADJ
futech-473	202	13	category	category	NOUN
futech-473	202	14	specific	specific	ADJ
futech-473	202	15	metric	metric	ADJ
futech-473	202	16	unit	unit	NOUN
futech-473	202	17	description	description	NOUN
futech-473	202	18	throughput	throughput	NOUN
futech-473	202	19	order	order	NOUN
futech-473	202	20	fulfillment	fulfillment	NOUN
futech-473	202	21	rate	rate	NOUN
futech-473	202	22	orders	order	NOUN
futech-473	202	23	/	/	SYM
futech-473	202	24	hour	hour	NOUN
futech-473	202	25	number	number	NOUN
futech-473	202	26	of	of	ADP
futech-473	202	27	completed	complete	VERB
futech-473	202	28	orders	order	NOUN
futech-473	202	29	per	per	ADP
futech-473	202	30	hour	hour	NOUN
futech-473	202	31	pick	pick	NOUN
futech-473	202	32	rate	rate	NOUN
futech-473	202	33	items	item	NOUN
futech-473	202	34	/	/	SYM
futech-473	202	35	hour	hour	NOUN
futech-473	202	36	individual	individual	ADJ
futech-473	202	37	items	item	NOUN
futech-473	202	38	picked	pick	VERB
futech-473	202	39	per	per	ADP
futech-473	202	40	hour	hour	NOUN
futech-473	202	41	amr	amr	ADJ
futech-473	202	42	utilization	utilization	NOUN
futech-473	202	43	%	%	NOUN
futech-473	202	44	percentage	percentage	NOUN
futech-473	202	45	of	of	ADP
futech-473	202	46	time	time	NOUN
futech-473	202	47	amrs	amrs	PROPN
futech-473	202	48	are	be	AUX
futech-473	202	49	actively	actively	ADV
futech-473	202	50	working	work	VERB
futech-473	202	51	temporal	temporal	ADJ
futech-473	202	52	order	order	NOUN
futech-473	202	53	cycle	cycle	NOUN
futech-473	202	54	time	time	NOUN
futech-473	202	55	minutes	minute	NOUN
futech-473	202	56	time	time	NOUN
futech-473	202	57	from	from	ADP
futech-473	202	58	order	order	NOUN
futech-473	202	59	receipt	receipt	NOUN
futech-473	202	60	to	to	ADP
futech-473	202	61	completion	completion	NOUN
futech-473	202	62	task	task	NOUN
futech-473	202	63	response	response	NOUN
futech-473	202	64	time	time	NOUN
futech-473	202	65	seconds	second	NOUN
futech-473	202	66	time	time	NOUN
futech-473	202	67	from	from	ADP
futech-473	202	68	task	task	NOUN
futech-473	202	69	assignment	assignment	NOUN
futech-473	202	70	to	to	ADP
futech-473	202	71	amr	amr	ADJ
futech-473	202	72	response	response	NOUN
futech-473	202	73	queue	queue	NOUN
futech-473	202	74	waiting	waiting	NOUN
futech-473	202	75	time	time	NOUN
futech-473	202	76	seconds	second	NOUN
futech-473	202	77	average	average	ADJ
futech-473	202	78	time	time	NOUN
futech-473	202	79	tasks	task	NOUN
futech-473	202	80	spend	spend	VERB
futech-473	202	81	in	in	ADP
futech-473	202	82	the	the	DET
futech-473	202	83	queue	queue	NOUN
futech-473	202	84	accuracy	accuracy	NOUN
futech-473	202	85	inventory	inventory	NOUN
futech-473	202	86	accuracy	accuracy	NOUN
futech-473	202	87	%	%	NOUN
futech-473	202	88	percentage	percentage	NOUN
futech-473	202	89	of	of	ADP
futech-473	202	90	correct	correct	ADJ
futech-473	202	91	inventory	inventory	NOUN
futech-473	202	92	records	record	NOUN
futech-473	202	93	localization	localization	NOUN
futech-473	202	94	error	error	NOUN
futech-473	202	95	cm	cm	NOUN
futech-473	202	96	average	average	ADJ
futech-473	202	97	amr	amr	NOUN
futech-473	202	98	position	position	NOUN
futech-473	202	99	estimation	estimation	NOUN
futech-473	202	100	error	error	NOUN
futech-473	202	101	pick	pick	NOUN
futech-473	202	102	accuracy	accuracy	NOUN
futech-473	202	103	%	%	NOUN
futech-473	202	104	percentage	percentage	NOUN
futech-473	202	105	of	of	ADP
futech-473	202	106	correct	correct	ADJ
futech-473	202	107	item	item	NOUN
futech-473	202	108	picks	pick	VERB
futech-473	202	109	energy	energy	NOUN
futech-473	202	110	energy	energy	NOUN
futech-473	202	111	per	per	ADP
futech-473	202	112	order	order	NOUN
futech-473	202	113	kwh	kwh	ADJ
futech-473	202	114	/	/	SYM
futech-473	202	115	order	order	NOUN
futech-473	202	116	total	total	ADJ
futech-473	202	117	energy	energy	NOUN
futech-473	202	118	consumption	consumption	NOUN
futech-473	202	119	per	per	ADP
futech-473	202	120	completed	complete	VERB
futech-473	202	121	order	order	NOUN
futech-473	202	122	amr	amr	NOUN
futech-473	202	123	energy	energy	NOUN
futech-473	202	124	efficiency	efficiency	NOUN
futech-473	202	125	wh	wh	PROPN
futech-473	202	126	/	/	SYM
futech-473	202	127	km	km	PROPN
futech-473	202	128	energy	energy	NOUN
futech-473	202	129	consumption	consumption	NOUN
futech-473	202	130	per	per	ADP
futech-473	202	131	kilometer	kilometer	NOUN
futech-473	202	132	traveled	travel	VERB
futech-473	202	133	reliability	reliability	NOUN
futech-473	202	134	system	system	NOUN
futech-473	202	135	availability	availability	NOUN
futech-473	202	136	%	%	NOUN
futech-473	202	137	percentage	percentage	NOUN
futech-473	202	138	of	of	ADP
futech-473	202	139	operational	operational	ADJ
futech-473	202	140	uptime	uptime	NOUN
futech-473	202	141	mean	mean	NOUN
futech-473	202	142	time	time	NOUN
futech-473	202	143	between	between	ADP
futech-473	202	144	failures	failure	NOUN
futech-473	202	145	hours	hour	NOUN
futech-473	202	146	average	average	ADJ
futech-473	202	147	operational	operational	ADJ
futech-473	202	148	time	time	NOUN
futech-473	202	149	between	between	ADP
futech-473	202	150	system	system	NOUN
futech-473	202	151	failures	failure	VERB
futech-473	202	152	y.	y.	PROPN
futech-473	202	153	zhang	zhang	PROPN
futech-473	202	154	&	&	CCONJ
futech-473	202	155	ju	ju	PROPN
futech-473	202	156	.	.	PROPN
futech-473	203	1	abellera	abellera	NOUN
futech-473	203	2	/future	/future	PUNCT
futech-473	203	3	technology	technology	PROPN
futech-473	203	4	november	november	PROPN
futech-473	203	5	2025|	2025|	NUM
futech-473	203	6	volume	volume	NOUN
futech-473	203	7	04	04	NUM
futech-473	204	1	|	|	ADV
futech-473	204	2	issue	issue	VERB
futech-473	204	3	04	04	NUM
futech-473	205	1	|	|	CCONJ
futech-473	205	2	pages	page	VERB
futech-473	205	3	59	59	NUM
futech-473	205	4	-	-	SYM
futech-473	205	5	71	71	NUM
futech-473	205	6	65	65	NUM
futech-473	205	7	4.2	4.2	NUM
futech-473	205	8	performance	performance	NOUN
futech-473	205	9	metrics	metric	NOUN
futech-473	205	10	the	the	DET
futech-473	205	11	performance	performance	NOUN
futech-473	205	12	of	of	ADP
futech-473	205	13	the	the	DET
futech-473	205	14	system	system	NOUN
futech-473	205	15	is	be	AUX
futech-473	205	16	evaluated	evaluate	VERB
futech-473	205	17	using	use	VERB
futech-473	205	18	holistic	holistic	ADJ
futech-473	205	19	criteria	criterion	NOUN
futech-473	205	20	encompassing	encompass	VERB
futech-473	205	21	both	both	CCONJ
futech-473	205	22	service	service	NOUN
futech-473	205	23	quality	quality	NOUN
futech-473	205	24	and	and	CCONJ
futech-473	205	25	operational	operational	ADJ
futech-473	205	26	effectiveness	effectiveness	NOUN
futech-473	205	27	aspects	aspect	NOUN
futech-473	205	28	,	,	PUNCT
futech-473	205	29	as	as	SCONJ
futech-473	205	30	summarized	summarize	VERB
futech-473	205	31	in	in	ADP
futech-473	205	32	table	table	NOUN
futech-473	205	33	2	2	NUM
futech-473	205	34	.	.	PUNCT
futech-473	206	1	they	they	PRON
futech-473	206	2	capture	capture	VERB
futech-473	206	3	the	the	DET
futech-473	206	4	system	system	NOUN
futech-473	206	5	's	's	PART
futech-473	206	6	ability	ability	NOUN
futech-473	206	7	to	to	PART
futech-473	206	8	process	process	VERB
futech-473	206	9	orders	order	NOUN
futech-473	206	10	at	at	ADP
futech-473	206	11	a	a	DET
futech-473	206	12	specific	specific	ADJ
futech-473	206	13	load	load	NOUN
futech-473	206	14	,	,	PUNCT
futech-473	206	15	and	and	CCONJ
futech-473	206	16	include	include	VERB
futech-473	206	17	throughput	throughput	NOUN
futech-473	206	18	measures	measure	NOUN
futech-473	206	19	and	and	CCONJ
futech-473	206	20	temporal	temporal	ADJ
futech-473	206	21	response	response	NOUN
futech-473	206	22	such	such	ADJ
futech-473	206	23	as	as	ADP
futech-473	206	24	responsiveness	responsiveness	NOUN
futech-473	206	25	across	across	ADP
futech-473	206	26	different	different	ADJ
futech-473	206	27	time	time	NOUN
futech-473	206	28	scales	scale	NOUN
futech-473	206	29	in	in	ADP
futech-473	206	30	various	various	ADJ
futech-473	206	31	load	load	NOUN
futech-473	206	32	conditions	condition	NOUN
futech-473	206	33	.	.	PUNCT
futech-473	207	1	accuracy	accuracy	NOUN
futech-473	207	2	metrics	metric	NOUN
futech-473	207	3	measure	measure	VERB
futech-473	207	4	the	the	DET
futech-473	207	5	accuracy	accuracy	NOUN
futech-473	207	6	of	of	ADP
futech-473	207	7	inventory	inventory	NOUN
futech-473	207	8	tracking	tracking	NOUN
futech-473	207	9	and	and	CCONJ
futech-473	207	10	amr	amr	NOUN
futech-473	207	11	navigation	navigation	NOUN
futech-473	207	12	both	both	PRON
futech-473	207	13	of	of	ADP
futech-473	207	14	which	which	PRON
futech-473	207	15	are	be	AUX
futech-473	207	16	necessary	necessary	ADJ
futech-473	207	17	to	to	PART
futech-473	207	18	keep	keep	VERB
futech-473	207	19	your	your	PRON
futech-473	207	20	operations	operation	NOUN
futech-473	207	21	running	run	VERB
futech-473	207	22	smoothly	smoothly	ADV
futech-473	207	23	.	.	PUNCT
futech-473	208	1	energy	energy	NOUN
futech-473	208	2	efficiency	efficiency	NOUN
futech-473	208	3	indicators	indicator	NOUN
futech-473	208	4	track	track	VERB
futech-473	208	5	power	power	NOUN
futech-473	208	6	energy	energy	NOUN
futech-473	208	7	-	-	PUNCT
futech-473	208	8	consumption	consumption	NOUN
futech-473	208	9	trends	trend	NOUN
futech-473	208	10	for	for	ADP
futech-473	208	11	sustainable	sustainable	ADJ
futech-473	208	12	operations	operation	NOUN
futech-473	208	13	.	.	PUNCT
futech-473	209	1	system	system	NOUN
futech-473	209	2	availability	availability	NOUN
futech-473	209	3	and	and	CCONJ
futech-473	209	4	mean	mean	ADJ
futech-473	209	5	time	time	NOUN
futech-473	209	6	between	between	ADP
futech-473	209	7	failures	failure	NOUN
futech-473	209	8	are	be	AUX
futech-473	209	9	monitored	monitor	VERB
futech-473	209	10	for	for	ADP
futech-473	209	11	reliability	reliability	NOUN
futech-473	209	12	,	,	PUNCT
futech-473	209	13	which	which	PRON
futech-473	209	14	is	be	AUX
futech-473	209	15	important	important	ADJ
futech-473	209	16	for	for	ADP
futech-473	209	17	a	a	DET
futech-473	209	18	24/7	24/7	NUM
futech-473	209	19	available	available	ADJ
futech-473	209	20	warehouse	warehouse	NOUN
futech-473	209	21	.	.	PUNCT
futech-473	210	1	these	these	DET
futech-473	210	2	metrics	metric	NOUN
futech-473	210	3	provide	provide	VERB
futech-473	210	4	a	a	DET
futech-473	210	5	comprehensive	comprehensive	ADJ
futech-473	210	6	measure	measure	NOUN
futech-473	210	7	of	of	ADP
futech-473	210	8	the	the	DET
futech-473	210	9	performance	performance	NOUN
futech-473	210	10	of	of	ADP
futech-473	210	11	a	a	DET
futech-473	210	12	cps	cps	PROPN
futech-473	210	13	-	-	PUNCT
futech-473	210	14	amr	amr	NOUN
futech-473	210	15	system	system	NOUN
futech-473	210	16	in	in	ADP
futech-473	210	17	comparison	comparison	NOUN
futech-473	210	18	to	to	ADP
futech-473	210	19	benchmarks	benchmark	NOUN
futech-473	210	20	achieved	achieve	VERB
futech-473	210	21	by	by	ADP
futech-473	210	22	conventional	conventional	ADJ
futech-473	210	23	warehouse	warehouse	NOUN
futech-473	210	24	automation	automation	NOUN
futech-473	210	25	.	.	PUNCT
futech-473	211	1	4.3	4.3	NUM
futech-473	211	2	experimental	experimental	ADJ
futech-473	211	3	scenarios	scenario	NOUN
futech-473	211	4	the	the	DET
futech-473	211	5	experimental	experimental	ADJ
futech-473	211	6	analysis	analysis	NOUN
futech-473	211	7	includes	include	VERB
futech-473	211	8	four	four	NUM
futech-473	211	9	operational	operational	ADJ
futech-473	211	10	cases	case	NOUN
futech-473	211	11	to	to	PART
futech-473	211	12	evaluate	evaluate	VERB
futech-473	211	13	the	the	DET
futech-473	211	14	system	system	NOUN
futech-473	211	15	's	's	PART
futech-473	211	16	performance	performance	NOUN
futech-473	211	17	in	in	ADP
futech-473	211	18	different	different	ADJ
futech-473	211	19	aspects	aspect	NOUN
futech-473	211	20	.	.	PUNCT
futech-473	212	1	standard	standard	ADJ
futech-473	212	2	operating	operating	NOUN
futech-473	212	3	conditions	condition	NOUN
futech-473	212	4	define	define	VERB
futech-473	212	5	the	the	DET
futech-473	212	6	performance	performance	NOUN
futech-473	212	7	baseline	baseline	VERB
futech-473	212	8	with	with	ADP
futech-473	212	9	only	only	ADV
futech-473	212	10	the	the	DET
futech-473	212	11	steady	steady	ADJ
futech-473	212	12	state	state	NOUN
futech-473	212	13	demand	demand	NOUN
futech-473	212	14	,	,	PUNCT
futech-473	212	15	on	on	ADP
futech-473	212	16	the	the	DET
futech-473	212	17	order	order	NOUN
futech-473	212	18	of	of	ADP
futech-473	212	19	150	150	NUM
futech-473	212	20	orders	order	NOUN
futech-473	212	21	per	per	ADP
futech-473	212	22	hour	hour	NOUN
futech-473	212	23	,	,	PUNCT
futech-473	212	24	evenly	evenly	ADV
futech-473	212	25	distributed	distribute	VERB
futech-473	212	26	over	over	ADP
futech-473	212	27	sku	sku	NOUN
futech-473	212	28	categories	category	NOUN
futech-473	212	29	.	.	PUNCT
futech-473	213	1	these	these	DET
futech-473	213	2	experiments	experiment	NOUN
futech-473	213	3	run	run	VERB
futech-473	213	4	in	in	ADP
futech-473	213	5	continuous	continuous	ADJ
futech-473	213	6	8	8	NUM
futech-473	213	7	-	-	PUNCT
futech-473	213	8	hour	hour	NOUN
futech-473	213	9	shifts	shift	NOUN
futech-473	213	10	,	,	PUNCT
futech-473	213	11	reflecting	reflect	VERB
futech-473	213	12	regular	regular	ADJ
futech-473	213	13	warehouse	warehouse	NOUN
futech-473	213	14	days	day	NOUN
futech-473	213	15	with	with	ADP
futech-473	213	16	predictable	predictable	ADJ
futech-473	213	17	order	order	NOUN
futech-473	213	18	arrival	arrival	NOUN
futech-473	213	19	rates	rate	NOUN
futech-473	213	20	and	and	CCONJ
futech-473	213	21	standard	standard	ADJ
futech-473	213	22	inventory	inventory	NOUN
futech-473	213	23	turnover	turnover	NOUN
futech-473	213	24	.	.	PUNCT
futech-473	214	1	we	we	PRON
futech-473	214	2	evaluate	evaluate	VERB
futech-473	214	3	the	the	DET
futech-473	214	4	system	system	NOUN
futech-473	214	5	's	's	PART
futech-473	214	6	adaptive	adaptive	ADJ
futech-473	214	7	performance	performance	NOUN
futech-473	214	8	under	under	ADP
futech-473	214	9	maximum	maximum	ADJ
futech-473	214	10	load	load	NOUN
futech-473	214	11	,	,	PUNCT
futech-473	214	12	where	where	SCONJ
futech-473	214	13	a	a	DET
futech-473	214	14	peak	peak	NOUN
futech-473	214	15	demand	demand	NOUN
futech-473	214	16	scenario	scenario	NOUN
futech-473	214	17	results	result	VERB
futech-473	214	18	in	in	ADP
futech-473	214	19	a	a	DET
futech-473	214	20	surge	surge	NOUN
futech-473	214	21	(	(	PUNCT
futech-473	214	22	up	up	ADP
futech-473	214	23	to	to	PART
futech-473	214	24	450	450	NUM
futech-473	214	25	orders	order	NOUN
futech-473	214	26	an	an	DET
futech-473	214	27	hour	hour	NOUN
futech-473	214	28	)	)	PUNCT
futech-473	214	29	,	,	PUNCT
futech-473	214	30	implying	imply	VERB
futech-473	214	31	the	the	DET
futech-473	214	32	holiday	holiday	NOUN
futech-473	214	33	season	season	NOUN
futech-473	214	34	or	or	CCONJ
futech-473	214	35	sales	sale	NOUN
futech-473	214	36	campaigns	campaign	NOUN
futech-473	214	37	.	.	PUNCT
futech-473	215	1	the	the	DET
futech-473	215	2	reaction	reaction	NOUN
futech-473	215	3	of	of	ADP
futech-473	215	4	the	the	DET
futech-473	215	5	system	system	NOUN
futech-473	215	6	to	to	ADP
futech-473	215	7	such	such	ADJ
futech-473	215	8	peaks	peak	NOUN
futech-473	215	9	in	in	ADP
futech-473	215	10	demand	demand	NOUN
futech-473	215	11	examines	examine	VERB
futech-473	215	12	dynamic	dynamic	ADJ
futech-473	215	13	population	population	NOUN
futech-473	215	14	sizing	size	VERB
futech-473	215	15	algorithms	algorithm	NOUN
futech-473	215	16	and	and	CCONJ
futech-473	215	17	queue	queue	NOUN
futech-473	215	18	management	management	NOUN
futech-473	215	19	strategies	strategy	NOUN
futech-473	215	20	during	during	ADP
futech-473	215	21	severe	severe	ADJ
futech-473	215	22	peak	peak	NOUN
futech-473	215	23	time	time	NOUN
futech-473	215	24	load	load	NOUN
futech-473	215	25	.	.	PUNCT
futech-473	216	1	order	order	NOUN
futech-473	216	2	flow	flow	NOUN
futech-473	216	3	is	be	AUX
futech-473	216	4	characterized	characterize	VERB
futech-473	216	5	during	during	ADP
futech-473	216	6	peak	peak	NOUN
futech-473	216	7	conditions	condition	NOUN
futech-473	216	8	with	with	ADP
futech-473	216	9	batch	batch	NOUN
futech-473	216	10	orders	order	NOUN
futech-473	216	11	,	,	PUNCT
futech-473	216	12	rush	rush	NOUN
futech-473	216	13	shipments	shipment	NOUN
futech-473	216	14	,	,	PUNCT
futech-473	216	15	and	and	CCONJ
futech-473	216	16	priority	priority	NOUN
futech-473	216	17	handling	handling	NOUN
futech-473	216	18	needs	need	NOUN
futech-473	216	19	that	that	PRON
futech-473	216	20	interfere	interfere	VERB
futech-473	216	21	with	with	ADP
futech-473	216	22	the	the	DET
futech-473	216	23	scheduling	scheduling	NOUN
futech-473	216	24	optimization	optimization	NOUN
futech-473	216	25	.	.	PUNCT
futech-473	217	1	system	system	NOUN
futech-473	217	2	failure	failure	NOUN
futech-473	217	3	recovery	recovery	NOUN
futech-473	217	4	experiments	experiment	NOUN
futech-473	217	5	artificially	artificially	ADV
futech-473	217	6	cause	cause	VERB
futech-473	217	7	component	component	NOUN
futech-473	217	8	failures	failure	NOUN
futech-473	217	9	such	such	ADJ
futech-473	217	10	as	as	ADP
futech-473	217	11	single	single	ADJ
futech-473	217	12	amr	amr	NOUN
futech-473	217	13	crashes	crash	NOUN
futech-473	217	14	,	,	PUNCT
futech-473	217	15	communication	communication	NOUN
futech-473	217	16	network	network	NOUN
futech-473	217	17	breakdowns	breakdown	NOUN
futech-473	217	18	,	,	PUNCT
futech-473	217	19	and	and	CCONJ
futech-473	217	20	sensor	sensor	NOUN
futech-473	217	21	faults	fault	NOUN
futech-473	217	22	.	.	PUNCT
futech-473	218	1	recovery	recovery	NOUN
futech-473	218	2	capabilities	capability	NOUN
futech-473	218	3	can	can	AUX
futech-473	218	4	be	be	AUX
futech-473	218	5	quantified	quantify	VERB
futech-473	218	6	as	as	ADP
futech-473	218	7	service	service	NOUN
futech-473	218	8	degradation	degradation	NOUN
futech-473	218	9	,	,	PUNCT
futech-473	218	10	recovery	recovery	NOUN
futech-473	218	11	time	time	NOUN
futech-473	218	12	objectives	objective	NOUN
futech-473	218	13	,	,	PUNCT
futech-473	218	14	and	and	CCONJ
futech-473	218	15	operational	operational	ADJ
futech-473	218	16	continuance	continuance	NOUN
futech-473	218	17	under	under	ADP
futech-473	218	18	partial	partial	ADJ
futech-473	218	19	outages	outage	NOUN
futech-473	218	20	.	.	PUNCT
futech-473	219	1	failure	failure	NOUN
futech-473	219	2	modes	mode	NOUN
futech-473	219	3	include	include	VERB
futech-473	219	4	from	from	ADP
futech-473	219	5	the	the	DET
futech-473	219	6	point	point	NOUN
futech-473	219	7	of	of	ADP
futech-473	219	8	failure	failure	NOUN
futech-473	219	9	to	to	ADP
futech-473	219	10	cascading	cascade	VERB
futech-473	219	11	failure	failure	NOUN
futech-473	219	12	on	on	ADP
futech-473	219	13	various	various	ADJ
futech-473	219	14	subsystems	subsystem	NOUN
futech-473	219	15	at	at	ADP
futech-473	219	16	the	the	DET
futech-473	219	17	same	same	ADJ
futech-473	219	18	time	time	NOUN
futech-473	219	19	.	.	PUNCT
futech-473	220	1	in	in	ADP
futech-473	220	2	our	our	PRON
futech-473	220	3	scalability	scalability	NOUN
futech-473	220	4	tests	test	NOUN
futech-473	220	5	,	,	PUNCT
futech-473	220	6	we	we	PRON
futech-473	220	7	start	start	VERB
futech-473	220	8	with	with	ADP
futech-473	220	9	a	a	DET
futech-473	220	10	fleet	fleet	NOUN
futech-473	220	11	size	size	NOUN
futech-473	220	12	of	of	ADP
futech-473	220	13	5	5	NUM
futech-473	220	14	amrs	amr	VERB
futech-473	220	15	and	and	CCONJ
futech-473	220	16	expand	expand	VERB
futech-473	220	17	the	the	DET
futech-473	220	18	fleet	fleet	NOUN
futech-473	220	19	in	in	ADP
futech-473	220	20	increments	increment	NOUN
futech-473	220	21	up	up	ADP
futech-473	220	22	to	to	ADP
futech-473	220	23	a	a	DET
futech-473	220	24	total	total	NOUN
futech-473	220	25	of	of	ADP
futech-473	220	26	30	30	NUM
futech-473	220	27	amrs	amr	VERB
futech-473	220	28	,	,	PUNCT
futech-473	220	29	all	all	DET
futech-473	220	30	the	the	DET
futech-473	220	31	while	while	NOUN
futech-473	220	32	monitoring	monitor	VERB
futech-473	220	33	key	key	ADJ
futech-473	220	34	performance	performance	NOUN
futech-473	220	35	metrics	metric	NOUN
futech-473	220	36	for	for	ADP
futech-473	220	37	indications	indication	NOUN
futech-473	220	38	of	of	ADP
futech-473	220	39	degradation	degradation	NOUN
futech-473	220	40	or	or	CCONJ
futech-473	220	41	bottlenecks	bottleneck	NOUN
futech-473	220	42	.	.	PUNCT
futech-473	221	1	such	such	ADJ
futech-473	221	2	experiments	experiment	NOUN
futech-473	221	3	confirm	confirm	VERB
futech-473	221	4	the	the	DET
futech-473	221	5	possibility	possibility	NOUN
futech-473	221	6	of	of	ADP
futech-473	221	7	large	large	ADJ
futech-473	221	8	-	-	PUNCT
futech-473	221	9	scale	scale	NOUN
futech-473	221	10	operation	operation	NOUN
futech-473	221	11	without	without	ADP
futech-473	221	12	a	a	DET
futech-473	221	13	significant	significant	ADJ
futech-473	221	14	decrease	decrease	NOUN
futech-473	221	15	in	in	ADP
futech-473	221	16	efficiency	efficiency	NOUN
futech-473	221	17	.	.	PUNCT
futech-473	222	1	large	large	ADJ
futech-473	222	2	-	-	PUNCT
futech-473	222	3	scale	scale	NOUN
futech-473	222	4	operation	operation	NOUN
futech-473	222	5	optimization	optimization	NOUN
futech-473	222	6	is	be	AUX
futech-473	222	7	most	most	ADV
futech-473	222	8	important	important	ADJ
futech-473	222	9	for	for	ADP
futech-473	222	10	the	the	DET
futech-473	222	11	preparation	preparation	NOUN
futech-473	222	12	of	of	ADP
futech-473	222	13	deployment	deployment	NOUN
futech-473	222	14	and	and	CCONJ
futech-473	222	15	capacity	capacity	NOUN
futech-473	222	16	planning	planning	NOUN
futech-473	222	17	in	in	ADP
futech-473	222	18	practical	practical	ADJ
futech-473	222	19	systems	system	NOUN
futech-473	222	20	.	.	PUNCT
futech-473	223	1	4.4	4.4	NUM
futech-473	223	2	baseline	baseline	PROPN
futech-473	223	3	comparisons	comparison	NOUN
futech-473	223	4	performance	performance	NOUN
futech-473	223	5	comparison	comparison	NOUN
futech-473	223	6	:	:	PUNCT
futech-473	223	7	the	the	DET
futech-473	223	8	cps	cps	PROPN
futech-473	223	9	-	-	PUNCT
futech-473	223	10	amr	amr	NOUN
futech-473	223	11	system	system	NOUN
futech-473	223	12	is	be	AUX
futech-473	223	13	assessed	assess	VERB
futech-473	223	14	through	through	ADP
futech-473	223	15	its	its	PRON
futech-473	223	16	performance	performance	NOUN
futech-473	223	17	on	on	ADP
futech-473	223	18	three	three	NUM
futech-473	223	19	baseline	baseline	ADJ
futech-473	223	20	configurations	configuration	NOUN
futech-473	223	21	that	that	PRON
futech-473	223	22	reflect	reflect	VERB
futech-473	223	23	common	common	ADJ
futech-473	223	24	practice	practice	NOUN
futech-473	223	25	in	in	ADP
futech-473	223	26	warehouse	warehouse	NOUN
futech-473	223	27	automation	automation	NOUN
futech-473	223	28	.	.	PUNCT
futech-473	224	1	the	the	DET
futech-473	224	2	classical	classical	ADJ
futech-473	224	3	manual	manual	ADJ
futech-473	224	4	system	system	NOUN
futech-473	224	5	is	be	AUX
futech-473	224	6	manned	man	VERB
futech-473	224	7	by	by	ADP
futech-473	224	8	humans	human	NOUN
futech-473	224	9	with	with	ADP
futech-473	224	10	handheld	handheld	ADJ
futech-473	224	11	scanners	scanner	NOUN
futech-473	224	12	and	and	CCONJ
futech-473	224	13	manual	manual	ADJ
futech-473	224	14	forklifts	forklift	NOUN
futech-473	224	15	,	,	PUNCT
futech-473	224	16	which	which	PRON
futech-473	224	17	is	be	AUX
futech-473	224	18	the	the	DET
futech-473	224	19	dominant	dominant	ADJ
futech-473	224	20	operation	operation	NOUN
futech-473	224	21	mode	mode	NOUN
futech-473	224	22	of	of	ADP
futech-473	224	23	medium	medium	ADJ
futech-473	224	24	-	-	PUNCT
futech-473	224	25	sized	sized	ADJ
futech-473	224	26	warehouses	warehouse	NOUN
futech-473	224	27	.	.	PUNCT
futech-473	225	1	this	this	DET
futech-473	225	2	baseline	baseline	NOUN
futech-473	225	3	will	will	AUX
futech-473	225	4	be	be	AUX
futech-473	225	5	used	use	VERB
futech-473	225	6	to	to	PART
futech-473	225	7	establish	establish	VERB
futech-473	225	8	a	a	DET
futech-473	225	9	lower	low	ADJ
futech-473	225	10	bound	bind	VERB
futech-473	225	11	in	in	ADP
futech-473	225	12	terms	term	NOUN
futech-473	225	13	of	of	ADP
futech-473	225	14	benefits	benefit	NOUN
futech-473	225	15	of	of	ADP
futech-473	225	16	automation	automation	NOUN
futech-473	225	17	,	,	PUNCT
futech-473	225	18	which	which	PRON
futech-473	225	19	has	have	VERB
futech-473	225	20	average	average	ADJ
futech-473	225	21	pick	pick	NOUN
futech-473	225	22	rates	rate	NOUN
futech-473	225	23	at	at	ADP
futech-473	225	24	80	80	NUM
futech-473	225	25	items	item	NOUN
futech-473	225	26	per	per	ADP
futech-473	225	27	hour	hour	NOUN
futech-473	225	28	per	per	ADP
futech-473	225	29	worker	worker	NOUN
futech-473	225	30	,	,	PUNCT
futech-473	225	31	and	and	CCONJ
futech-473	225	32	the	the	DET
futech-473	225	33	inventory	inventory	NOUN
futech-473	225	34	accuracy	accuracy	NOUN
futech-473	225	35	is	be	AUX
futech-473	225	36	around	around	ADV
futech-473	225	37	92	92	NUM
futech-473	225	38	%	%	NOUN
futech-473	225	39	due	due	ADP
futech-473	225	40	to	to	ADP
futech-473	225	41	residual	residual	ADJ
futech-473	225	42	errors	error	NOUN
futech-473	225	43	in	in	ADP
futech-473	225	44	data	datum	NOUN
futech-473	225	45	entry	entry	NOUN
futech-473	225	46	.	.	PUNCT
futech-473	226	1	the	the	DET
futech-473	226	2	semiautomated	semiautomate	VERB
futech-473	226	3	solution	solution	NOUN
futech-473	226	4	is	be	AUX
futech-473	226	5	based	base	VERB
futech-473	226	6	on	on	ADP
futech-473	226	7	conveyor	conveyor	NOUN
futech-473	226	8	systems	system	NOUN
futech-473	226	9	and	and	CCONJ
futech-473	226	10	as	as	ADP
futech-473	226	11	/	/	SYM
futech-473	226	12	rs	rs	ADJ
futech-473	226	13	,	,	PUNCT
futech-473	226	14	using	use	VERB
futech-473	226	15	human	human	ADJ
futech-473	226	16	operators	operator	NOUN
futech-473	226	17	for	for	ADP
futech-473	226	18	pick	pick	VERB
futech-473	226	19	order	order	NOUN
futech-473	226	20	and	and	CCONJ
futech-473	226	21	quality	quality	NOUN
futech-473	226	22	control	control	NOUN
futech-473	226	23	.	.	PUNCT
futech-473	227	1	this	this	DET
futech-473	227	2	system	system	NOUN
futech-473	227	3	produces	produce	VERB
futech-473	227	4	an	an	DET
futech-473	227	5	average	average	ADJ
futech-473	227	6	throughput	throughput	NOUN
futech-473	227	7	of	of	ADP
futech-473	227	8	180	180	NUM
futech-473	227	9	items	item	NOUN
futech-473	227	10	per	per	ADP
futech-473	227	11	hour	hour	NOUN
futech-473	227	12	at	at	ADP
futech-473	227	13	96	96	NUM
futech-473	227	14	%	%	NOUN
futech-473	227	15	accuracy	accuracy	NOUN
futech-473	227	16	for	for	ADP
futech-473	227	17	the	the	DET
futech-473	227	18	inventory	inventory	NOUN
futech-473	227	19	,	,	PUNCT
futech-473	227	20	showing	show	VERB
futech-473	227	21	the	the	DET
futech-473	227	22	advantage	advantage	NOUN
futech-473	227	23	of	of	ADP
futech-473	227	24	a	a	DET
futech-473	227	25	sequential	sequential	ADJ
futech-473	227	26	implementation	implementation	NOUN
futech-473	227	27	of	of	ADP
futech-473	227	28	partial	partial	ADJ
futech-473	227	29	automation	automation	NOUN
futech-473	227	30	.	.	PUNCT
futech-473	228	1	the	the	DET
futech-473	228	2	fixed	fix	VERB
futech-473	228	3	infrastructure	infrastructure	NOUN
futech-473	228	4	does	do	AUX
futech-473	228	5	not	not	PART
futech-473	228	6	allow	allow	VERB
futech-473	228	7	adapting	adapt	VERB
futech-473	228	8	to	to	ADP
futech-473	228	9	different	different	ADJ
futech-473	228	10	warehouse	warehouse	NOUN
futech-473	228	11	layouts	layout	NOUN
futech-473	228	12	or	or	CCONJ
futech-473	228	13	variations	variation	NOUN
futech-473	228	14	of	of	ADP
futech-473	228	15	seasonal	seasonal	ADJ
futech-473	228	16	demand	demand	NOUN
futech-473	228	17	.	.	PUNCT
futech-473	229	1	cots	cot	NOUN
futech-473	229	2	amr	amr	NOUN
futech-473	229	3	systems	system	NOUN
futech-473	229	4	from	from	ADP
futech-473	229	5	established	establish	VERB
futech-473	229	6	vendors	vendor	NOUN
futech-473	229	7	represent	represent	VERB
futech-473	229	8	the	the	DET
futech-473	229	9	technology	technology	NOUN
futech-473	229	10	frontier	frontier	NOUN
futech-473	229	11	benchmark	benchmark	NOUN
futech-473	229	12	with	with	ADP
futech-473	229	13	complex	complex	ADJ
futech-473	229	14	fleet	fleet	NOUN
futech-473	229	15	control	control	NOUN
futech-473	229	16	software	software	NOUN
futech-473	229	17	and	and	CCONJ
futech-473	229	18	superior	superior	ADJ
futech-473	229	19	navigational	navigational	ADJ
futech-473	229	20	capabilities	capability	NOUN
futech-473	229	21	.	.	PUNCT
futech-473	230	1	such	such	ADJ
futech-473	230	2	solutions	solution	NOUN
futech-473	230	3	are	be	AUX
futech-473	230	4	able	able	ADJ
futech-473	230	5	to	to	PART
futech-473	230	6	handle	handle	VERB
futech-473	230	7	250	250	NUM
futech-473	230	8	items	item	NOUN
futech-473	230	9	/	/	SYM
futech-473	230	10	h	h	NOUN
futech-473	230	11	with	with	ADP
futech-473	230	12	98	98	NUM
futech-473	230	13	%	%	NOUN
futech-473	230	14	accuracy	accuracy	NOUN
futech-473	230	15	but	but	CCONJ
futech-473	230	16	they	they	PRON
futech-473	230	17	are	be	AUX
futech-473	230	18	isolated	isolate	VERB
futech-473	230	19	solutions	solution	NOUN
futech-473	230	20	that	that	PRON
futech-473	230	21	only	only	ADV
futech-473	230	22	provide	provide	VERB
futech-473	230	23	rfid	rfid	NOUN
futech-473	230	24	-	-	PUNCT
futech-473	230	25	based	base	VERB
futech-473	230	26	operations	operation	NOUN
futech-473	230	27	and	and	CCONJ
futech-473	230	28	there	there	PRON
futech-473	230	29	is	be	VERB
futech-473	230	30	no	no	DET
futech-473	230	31	deep	deep	ADJ
futech-473	230	32	integration	integration	NOUN
futech-473	230	33	with	with	ADP
futech-473	230	34	warehouse	warehouse	NOUN
futech-473	230	35	cyber	cyber	NOUN
futech-473	230	36	-	-	PUNCT
futech-473	230	37	physical	physical	ADJ
futech-473	230	38	infrastructure	infrastructure	NOUN
futech-473	230	39	.	.	PUNCT
futech-473	231	1	the	the	DET
futech-473	231	2	comparison	comparison	NOUN
futech-473	231	3	reveals	reveal	VERB
futech-473	231	4	that	that	SCONJ
futech-473	231	5	while	while	SCONJ
futech-473	231	6	commercial	commercial	ADJ
futech-473	231	7	amr	amr	NOUN
futech-473	231	8	solutions	solution	NOUN
futech-473	231	9	excel	excel	VERB
futech-473	231	10	in	in	ADP
futech-473	231	11	specific	specific	ADJ
futech-473	231	12	metrics	metric	NOUN
futech-473	231	13	,	,	PUNCT
futech-473	231	14	they	they	PRON
futech-473	231	15	lack	lack	VERB
futech-473	231	16	the	the	DET
futech-473	231	17	holistic	holistic	ADJ
futech-473	231	18	optimization	optimization	NOUN
futech-473	231	19	enabled	enable	VERB
futech-473	231	20	by	by	ADP
futech-473	231	21	cps	cp	NOUN
futech-473	231	22	integration	integration	NOUN
futech-473	231	23	,	,	PUNCT
futech-473	231	24	particularly	particularly	ADV
futech-473	231	25	in	in	ADP
futech-473	231	26	predictive	predictive	ADJ
futech-473	231	27	inventory	inventory	NOUN
futech-473	231	28	management	management	NOUN
futech-473	231	29	and	and	CCONJ
futech-473	231	30	adaptive	adaptive	ADJ
futech-473	231	31	resource	resource	NOUN
futech-473	231	32	allocation	allocation	NOUN
futech-473	231	33	.	.	PUNCT
futech-473	232	1	performance	performance	NOUN
futech-473	232	2	differentials	differential	NOUN
futech-473	232	3	become	become	VERB
futech-473	232	4	more	more	ADV
futech-473	232	5	pronounced	pronounce	VERB
futech-473	232	6	under	under	ADP
futech-473	232	7	dynamic	dynamic	ADJ
futech-473	232	8	operational	operational	ADJ
futech-473	232	9	conditions	condition	NOUN
futech-473	232	10	where	where	SCONJ
futech-473	232	11	integrated	integrate	VERB
futech-473	232	12	decision	decision	NOUN
futech-473	232	13	-	-	PUNCT
futech-473	232	14	making	making	NOUN
futech-473	232	15	provides	provide	VERB
futech-473	232	16	substantial	substantial	ADJ
futech-473	232	17	advantages	advantage	NOUN
futech-473	232	18	over	over	ADP
futech-473	232	19	reactive	reactive	ADJ
futech-473	232	20	control	control	NOUN
futech-473	232	21	strategies	strategy	NOUN
futech-473	232	22	.	.	PUNCT
futech-473	233	1	5	5	X
futech-473	233	2	.	.	NOUN
futech-473	233	3	results	result	NOUN
futech-473	233	4	and	and	CCONJ
futech-473	233	5	discussion	discussion	NOUN
futech-473	233	6	5.1	5.1	NUM
futech-473	233	7	quantitative	quantitative	ADJ
futech-473	233	8	results	result	NOUN
futech-473	233	9	experimental	experimental	ADJ
futech-473	233	10	evaluation	evaluation	NOUN
futech-473	233	11	demonstrates	demonstrate	VERB
futech-473	233	12	significant	significant	ADJ
futech-473	233	13	performance	performance	NOUN
futech-473	233	14	improvements	improvement	NOUN
futech-473	233	15	of	of	ADP
futech-473	233	16	the	the	DET
futech-473	233	17	cps	cps	PROPN
futech-473	233	18	-	-	PUNCT
futech-473	233	19	amr	amr	NOUN
futech-473	233	20	system	system	NOUN
futech-473	233	21	across	across	ADP
futech-473	233	22	all	all	DET
futech-473	233	23	measured	measured	ADJ
futech-473	233	24	metrics	metric	NOUN
futech-473	233	25	compared	compare	VERB
futech-473	233	26	to	to	ADP
futech-473	233	27	baseline	baseline	VERB
futech-473	233	28	configurations	configuration	NOUN
futech-473	233	29	.	.	PUNCT
futech-473	234	1	order	order	NOUN
futech-473	234	2	fulfillment	fulfillment	NOUN
futech-473	234	3	rates	rate	NOUN
futech-473	234	4	achieved	achieve	VERB
futech-473	234	5	sustained	sustained	ADJ
futech-473	234	6	throughput	throughput	NOUN
futech-473	234	7	of	of	ADP
futech-473	234	8	420	420	NUM
futech-473	234	9	orders	order	NOUN
futech-473	234	10	per	per	ADP
futech-473	234	11	hour	hour	NOUN
futech-473	234	12	under	under	ADP
futech-473	234	13	normal	normal	ADJ
futech-473	234	14	operating	operating	NOUN
futech-473	234	15	conditions	condition	NOUN
futech-473	234	16	,	,	PUNCT
futech-473	234	17	representing	represent	VERB
futech-473	234	18	a	a	DET
futech-473	234	19	68	68	NUM
futech-473	234	20	%	%	NOUN
futech-473	234	21	improvement	improvement	NOUN
futech-473	234	22	over	over	ADP
futech-473	234	23	state	state	NOUN
futech-473	234	24	-	-	PUNCT
futech-473	234	25	of	of	ADP
futech-473	234	26	-	-	PUNCT
futech-473	234	27	the	the	DET
futech-473	234	28	-	-	PUNCT
futech-473	234	29	art	art	NOUN
futech-473	234	30	amr	amr	NOUN
futech-473	234	31	systems	system	NOUN
futech-473	234	32	and	and	CCONJ
futech-473	234	33	a	a	DET
futech-473	234	34	425	425	NUM
futech-473	234	35	%	%	NOUN
futech-473	234	36	enhancement	enhancement	NOUN
futech-473	234	37	compared	compare	VERB
futech-473	234	38	to	to	ADP
futech-473	234	39	manual	manual	ADJ
futech-473	234	40	operations	operation	NOUN
futech-473	234	41	,	,	PUNCT
futech-473	234	42	as	as	SCONJ
futech-473	234	43	illustrated	illustrate	VERB
futech-473	234	44	in	in	ADP
futech-473	234	45	figure	figure	NOUN
futech-473	234	46	3	3	NUM
futech-473	234	47	.	.	PUNCT
futech-473	235	1	the	the	DET
futech-473	235	2	system	system	NOUN
futech-473	235	3	maintained	maintain	VERB
futech-473	235	4	this	this	DET
futech-473	235	5	performance	performance	NOUN
futech-473	235	6	level	level	NOUN
futech-473	235	7	with	with	ADP
futech-473	235	8	minimal	minimal	ADJ
futech-473	235	9	degradation	degradation	NOUN
futech-473	235	10	even	even	ADV
futech-473	235	11	as	as	SCONJ
futech-473	235	12	order	order	NOUN
futech-473	235	13	complexity	complexity	NOUN
futech-473	235	14	increased	increase	VERB
futech-473	235	15	,	,	PUNCT
futech-473	235	16	processing	process	VERB
futech-473	235	17	mixed	mixed	ADJ
futech-473	235	18	sku	sku	NOUN
futech-473	235	19	orders	order	NOUN
futech-473	235	20	with	with	ADP
futech-473	235	21	an	an	DET
futech-473	235	22	average	average	NOUN
futech-473	235	23	of	of	ADP
futech-473	235	24	12.3	12.3	NUM
futech-473	235	25	items	item	NOUN
futech-473	235	26	per	per	ADP
futech-473	235	27	order	order	NOUN
futech-473	235	28	.	.	PUNCT
futech-473	236	1	figure	figure	VERB
futech-473	236	2	3	3	NUM
futech-473	236	3	.	.	PUNCT
futech-473	237	1	order	order	NOUN
futech-473	237	2	fulfillment	fulfillment	NOUN
futech-473	237	3	rate	rate	NOUN
futech-473	237	4	comparison	comparison	NOUN
futech-473	237	5	temporal	temporal	ADJ
futech-473	237	6	performance	performance	NOUN
futech-473	237	7	metrics	metric	NOUN
futech-473	237	8	reveal	reveal	VERB
futech-473	237	9	substantial	substantial	ADJ
futech-473	237	10	efficiency	efficiency	NOUN
futech-473	237	11	gains	gain	NOUN
futech-473	237	12	in	in	ADP
futech-473	237	13	operational	operational	ADJ
futech-473	237	14	responsiveness	responsiveness	NOUN
futech-473	237	15	.	.	PUNCT
futech-473	238	1	average	average	ADJ
futech-473	238	2	order	order	NOUN
futech-473	238	3	cycle	cycle	NOUN
futech-473	238	4	time	time	NOUN
futech-473	238	5	decreased	decrease	VERB
futech-473	238	6	to	to	ADP
futech-473	238	7	18.2	18.2	NUM
futech-473	238	8	minutes	minute	NOUN
futech-473	238	9	from	from	ADP
futech-473	238	10	order	order	NOUN
futech-473	238	11	receipt	receipt	NOUN
futech-473	238	12	to	to	PART
futech-473	238	13	shipment	shipment	VERB
futech-473	238	14	ready	ready	ADJ
futech-473	238	15	status	status	NOUN
futech-473	238	16	,	,	PUNCT
futech-473	238	17	compared	compare	VERB
futech-473	238	18	to	to	ADP
futech-473	238	19	31.5	31.5	NUM
futech-473	238	20	minutes	minute	NOUN
futech-473	238	21	for	for	ADP
futech-473	238	22	commercial	commercial	ADJ
futech-473	238	23	amr	amr	NOUN
futech-473	238	24	systems	system	NOUN
futech-473	238	25	and	and	CCONJ
futech-473	238	26	72.4	72.4	NUM
futech-473	238	27	minutes	minute	NOUN
futech-473	238	28	for	for	ADP
futech-473	238	29	manual	manual	ADJ
futech-473	238	30	operations	operation	NOUN
futech-473	238	31	.	.	PUNCT
futech-473	239	1	task	task	PROPN
futech-473	239	2	response	response	PROPN
futech-473	239	3	times	time	NOUN
futech-473	239	4	averaged	average	VERB
futech-473	239	5	1.8	1.8	NUM
futech-473	239	6	seconds	second	NOUN
futech-473	239	7	from	from	ADP
futech-473	239	8	assignment	assignment	NOUN
futech-473	239	9	to	to	ADP
futech-473	239	10	amr	amr	ADJ
futech-473	239	11	acknowledgment	acknowledgment	NOUN
futech-473	239	12	,	,	PUNCT
futech-473	239	13	with	with	ADP
futech-473	239	14	95th	95th	ADJ
futech-473	239	15	percentile	percentile	ADJ
futech-473	239	16	latencies	latency	NOUN
futech-473	239	17	remaining	remain	VERB
futech-473	239	18	below	below	ADP
futech-473	239	19	3.2	3.2	NUM
futech-473	239	20	seconds	second	NOUN
futech-473	239	21	even	even	ADV
futech-473	239	22	during	during	ADP
futech-473	239	23	peak	peak	NOUN
futech-473	239	24	demand	demand	NOUN
futech-473	239	25	periods	period	NOUN
futech-473	239	26	.	.	PUNCT
futech-473	240	1	the	the	DET
futech-473	240	2	hierarchical	hierarchical	ADJ
futech-473	240	3	decision	decision	NOUN
futech-473	240	4	architecture	architecture	NOUN
futech-473	240	5	enabled	enable	VERB
futech-473	240	6	effective	effective	ADJ
futech-473	240	7	load	load	NOUN
futech-473	240	8	balancing	balancing	NOUN
futech-473	240	9	,	,	PUNCT
futech-473	240	10	reducing	reduce	VERB
futech-473	240	11	queue	queue	NOUN
futech-473	240	12	waiting	waiting	NOUN
futech-473	240	13	times	time	NOUN
futech-473	240	14	by	by	ADP
futech-473	240	15	62	62	NUM
futech-473	240	16	%	%	NOUN
futech-473	240	17	compared	compare	VERB
futech-473	240	18	to	to	ADP
futech-473	240	19	first	first	ADV
futech-473	240	20	-	-	PUNCT
futech-473	240	21	come	come	VERB
futech-473	240	22	-	-	PUNCT
futech-473	240	23	first	first	ADV
futech-473	240	24	-	-	PUNCT
futech-473	240	25	served	serve	VERB
futech-473	240	26	scheduling	scheduling	NOUN
futech-473	240	27	approaches	approach	NOUN
futech-473	240	28	.	.	PUNCT
futech-473	241	1	system	system	NOUN
futech-473	241	2	accuracy	accuracy	NOUN
futech-473	241	3	measurements	measurement	NOUN
futech-473	241	4	demonstrate	demonstrate	VERB
futech-473	241	5	the	the	DET
futech-473	241	6	advantages	advantage	NOUN
futech-473	241	7	of	of	ADP
futech-473	241	8	integrated	integrated	ADJ
futech-473	241	9	sensing	sensing	NOUN
futech-473	241	10	and	and	CCONJ
futech-473	241	11	digital	digital	ADJ
futech-473	241	12	twin	twin	ADJ
futech-473	241	13	synchronization	synchronization	NOUN
futech-473	241	14	.	.	PUNCT
futech-473	242	1	inventory	inventory	NOUN
futech-473	242	2	accuracy	accuracy	NOUN
futech-473	242	3	reached	reach	VERB
futech-473	242	4	99.7	99.7	NUM
futech-473	242	5	%	%	NOUN
futech-473	242	6	through	through	ADP
futech-473	242	7	manual	manual	ADJ
futech-473	242	8	semi	semi	ADJ
futech-473	242	9	-	-	ADJ
futech-473	242	10	automated	automated	ADJ
futech-473	242	11	commercial	commercial	ADJ
futech-473	242	12	amr	amr	PROPN
futech-473	242	13	cps	cps	PROPN
futech-473	242	14	-	-	PUNCT
futech-473	242	15	amr	amr	NOUN
futech-473	242	16	(	(	PUNCT
futech-473	242	17	proposed	propose	VERB
futech-473	242	18	)	)	PUNCT
futech-473	242	19	system	system	NOUN
futech-473	242	20	configuration	configuration	NOUN
futech-473	242	21	0	0	NUM
futech-473	242	22	100	100	NUM
futech-473	242	23	200	200	NUM
futech-473	242	24	300	300	NUM
futech-473	242	25	400	400	NUM
futech-473	242	26	o	o	NOUN
futech-473	242	27	rd	rd	NOUN
futech-473	243	1	er	er	INTJ
futech-473	243	2	f	f	X
futech-473	243	3	ul	ul	INTJ
futech-473	243	4	fil	fil	X
futech-473	243	5	lm	lm	X
futech-473	243	6	en	en	PROPN
futech-473	243	7	t	t	PROPN
futech-473	243	8	r	r	NOUN
futech-473	243	9	at	at	ADP
futech-473	243	10	e	e	NOUN
futech-473	243	11	(	(	PUNCT
futech-473	243	12	o	o	NOUN
futech-473	243	13	rd	rd	NOUN
futech-473	244	1	er	er	INTJ
futech-473	244	2	s/	s/	VERB
futech-473	244	3	ho	ho	PROPN
futech-473	244	4	ur	ur	PROPN
futech-473	244	5	)	)	PUNCT
futech-473	244	6	80	80	NUM
futech-473	244	7	65	65	NUM
futech-473	244	8	180	180	NUM
futech-473	244	9	150	150	NUM
futech-473	244	10	250	250	NUM
futech-473	244	11	220	220	NUM
futech-473	244	12	420	420	NUM
futech-473	244	13	410normal	410normal	PROPN
futech-473	244	14	operation	operation	NOUN
futech-473	244	15	peak	peak	NOUN
futech-473	244	16	demand	demand	PROPN
futech-473	244	17	y.	y.	PROPN
futech-473	244	18	zhang	zhang	PROPN
futech-473	244	19	&	&	CCONJ
futech-473	244	20	ju	ju	PROPN
futech-473	244	21	.	.	PROPN
futech-473	245	1	abellera	abellera	NOUN
futech-473	245	2	/future	/future	PUNCT
futech-473	245	3	technology	technology	PROPN
futech-473	245	4	november	november	PROPN
futech-473	245	5	2025|	2025|	NUM
futech-473	245	6	volume	volume	NOUN
futech-473	245	7	04	04	NUM
futech-473	246	1	|	|	ADV
futech-473	246	2	issue	issue	VERB
futech-473	246	3	04	04	NUM
futech-473	247	1	|	|	CCONJ
futech-473	247	2	pages	page	VERB
futech-473	247	3	59	59	NUM
futech-473	247	4	-	-	SYM
futech-473	247	5	71	71	NUM
futech-473	247	6	66	66	NUM
futech-473	247	7	continuous	continuous	ADJ
futech-473	247	8	rfid	rfid	NOUN
futech-473	247	9	monitoring	monitoring	NOUN
futech-473	247	10	and	and	CCONJ
futech-473	247	11	visual	visual	ADJ
futech-473	247	12	verification	verification	NOUN
futech-473	247	13	,	,	PUNCT
futech-473	247	14	substantially	substantially	ADV
futech-473	247	15	exceeding	exceed	VERB
futech-473	247	16	the	the	DET
futech-473	247	17	98	98	NUM
futech-473	247	18	%	%	NOUN
futech-473	247	19	achieved	achieve	VERB
futech-473	247	20	by	by	ADP
futech-473	247	21	standalone	standalone	ADJ
futech-473	247	22	amr	amr	NOUN
futech-473	247	23	systems	system	NOUN
futech-473	247	24	.	.	PUNCT
futech-473	248	1	localization	localization	NOUN
futech-473	248	2	precision	precision	NOUN
futech-473	248	3	averaged	average	VERB
futech-473	248	4	2.3	2.3	NUM
futech-473	248	5	cm	cm	NOUN
futech-473	248	6	error	error	NOUN
futech-473	248	7	across	across	ADP
futech-473	248	8	the	the	DET
futech-473	248	9	operational	operational	ADJ
futech-473	248	10	area	area	NOUN
futech-473	248	11	,	,	PUNCT
futech-473	248	12	with	with	ADP
futech-473	248	13	maximum	maximum	ADJ
futech-473	248	14	deviations	deviation	NOUN
futech-473	248	15	of	of	ADP
futech-473	248	16	4.8	4.8	NUM
futech-473	248	17	cm	cm	NOUN
futech-473	248	18	observed	observe	VERB
futech-473	248	19	near	near	ADP
futech-473	248	20	metallic	metallic	ADJ
futech-473	248	21	storage	storage	NOUN
futech-473	248	22	racks	rack	NOUN
futech-473	248	23	due	due	ADJ
futech-473	248	24	to	to	ADP
futech-473	248	25	lidar	lidar	NOUN
futech-473	248	26	reflections	reflection	NOUN
futech-473	248	27	,	,	PUNCT
futech-473	248	28	as	as	SCONJ
futech-473	248	29	shown	show	VERB
futech-473	248	30	in	in	ADP
futech-473	248	31	figure	figure	NOUN
futech-473	248	32	4	4	NUM
futech-473	248	33	.	.	PUNCT
futech-473	249	1	pick	pick	NOUN
futech-473	249	2	accuracy	accuracy	NOUN
futech-473	249	3	achieved	achieve	VERB
futech-473	249	4	99.9	99.9	NUM
futech-473	249	5	%	%	NOUN
futech-473	249	6	through	through	ADP
futech-473	249	7	redundant	redundant	ADJ
futech-473	249	8	verification	verification	NOUN
futech-473	249	9	mechanisms	mechanism	NOUN
futech-473	249	10	,	,	PUNCT
futech-473	249	11	virtually	virtually	ADV
futech-473	249	12	eliminating	eliminate	VERB
futech-473	249	13	the	the	DET
futech-473	249	14	mis	mi	NOUN
futech-473	249	15	-	-	PUNCT
futech-473	249	16	picks	pick	VERB
futech-473	249	17	that	that	DET
futech-473	249	18	plague	plague	NOUN
futech-473	249	19	manual	manual	ADJ
futech-473	249	20	operations	operation	NOUN
futech-473	249	21	.	.	PUNCT
futech-473	250	1	(	(	PUNCT
futech-473	250	2	a	a	X
futech-473	250	3	)	)	PUNCT
futech-473	250	4	(	(	PUNCT
futech-473	250	5	b	b	X
futech-473	250	6	)	)	PUNCT
futech-473	250	7	figure	figure	NOUN
futech-473	250	8	4	4	NUM
futech-473	250	9	.	.	PUNCT
futech-473	251	1	(	(	PUNCT
futech-473	251	2	a	a	X
futech-473	251	3	)	)	PUNCT
futech-473	251	4	localization	localization	NOUN
futech-473	251	5	error	error	NOUN
futech-473	251	6	distribution	distribution	NOUN
futech-473	251	7	,	,	PUNCT
futech-473	251	8	(	(	PUNCT
futech-473	251	9	b	b	X
futech-473	251	10	)	)	PUNCT
futech-473	251	11	spatial	spatial	ADJ
futech-473	251	12	distribution	distribution	NOUN
futech-473	251	13	of	of	ADP
futech-473	251	14	localization	localization	NOUN
futech-473	251	15	error	error	NOUN
futech-473	251	16	energy	energy	NOUN
futech-473	251	17	efficiency	efficiency	NOUN
futech-473	251	18	analysis	analysis	NOUN
futech-473	251	19	reveals	reveal	VERB
futech-473	251	20	the	the	DET
futech-473	251	21	optimization	optimization	NOUN
futech-473	251	22	benefits	benefit	NOUN
futech-473	251	23	of	of	ADP
futech-473	251	24	coordinated	coordinate	VERB
futech-473	251	25	path	path	NOUN
futech-473	251	26	planning	planning	NOUN
futech-473	251	27	and	and	CCONJ
futech-473	251	28	predictive	predictive	ADJ
futech-473	251	29	task	task	NOUN
futech-473	251	30	allocation	allocation	NOUN
futech-473	251	31	.	.	PUNCT
futech-473	252	1	the	the	DET
futech-473	252	2	system	system	NOUN
futech-473	252	3	consumed	consume	VERB
futech-473	252	4	an	an	DET
futech-473	252	5	average	average	NOUN
futech-473	252	6	of	of	ADP
futech-473	252	7	0.82	0.82	NUM
futech-473	252	8	kwh	kwh	NOUN
futech-473	252	9	per	per	ADP
futech-473	252	10	completed	complete	VERB
futech-473	252	11	order	order	NOUN
futech-473	252	12	,	,	PUNCT
futech-473	252	13	representing	represent	VERB
futech-473	252	14	a	a	DET
futech-473	252	15	34	34	NUM
futech-473	252	16	%	%	NOUN
futech-473	252	17	reduction	reduction	NOUN
futech-473	252	18	compared	compare	VERB
futech-473	252	19	to	to	ADP
futech-473	252	20	uncoordinated	uncoordinated	ADJ
futech-473	252	21	amr	amr	ADJ
futech-473	252	22	deployments	deployment	NOUN
futech-473	252	23	.	.	PUNCT
futech-473	253	1	individual	individual	ADJ
futech-473	253	2	robot	robot	NOUN
futech-473	253	3	energy	energy	NOUN
futech-473	253	4	efficiency	efficiency	NOUN
futech-473	253	5	improved	improve	VERB
futech-473	253	6	to	to	ADP
futech-473	253	7	42.5	42.5	NUM
futech-473	253	8	wh	wh	NOUN
futech-473	253	9	/	/	SYM
futech-473	253	10	km	km	NOUN
futech-473	253	11	through	through	ADP
futech-473	253	12	optimized	optimize	VERB
futech-473	253	13	acceleration	acceleration	NOUN
futech-473	253	14	profiles	profile	NOUN
futech-473	253	15	and	and	CCONJ
futech-473	253	16	regenerative	regenerative	ADJ
futech-473	253	17	braking	braking	NOUN
futech-473	253	18	,	,	PUNCT
futech-473	253	19	while	while	SCONJ
futech-473	253	20	systemlevel	systemlevel	NOUN
futech-473	253	21	coordination	coordination	NOUN
futech-473	253	22	reduced	reduce	VERB
futech-473	253	23	total	total	ADJ
futech-473	253	24	travel	travel	NOUN
futech-473	253	25	distance	distance	NOUN
futech-473	253	26	by	by	ADP
futech-473	253	27	28	28	NUM
futech-473	253	28	%	%	NOUN
futech-473	253	29	through	through	ADP
futech-473	253	30	intelligent	intelligent	ADJ
futech-473	253	31	task	task	NOUN
futech-473	253	32	clustering	clustering	ADJ
futech-473	253	33	and	and	CCONJ
futech-473	253	34	multi	multi	ADJ
futech-473	253	35	-	-	ADJ
futech-473	253	36	robot	robot	ADJ
futech-473	253	37	collaboration	collaboration	NOUN
futech-473	253	38	.	.	PUNCT
futech-473	254	1	scalability	scalability	NOUN
futech-473	254	2	experiments	experiment	NOUN
futech-473	254	3	validated	validate	VERB
futech-473	254	4	the	the	DET
futech-473	254	5	system	system	NOUN
futech-473	254	6	's	's	PART
futech-473	254	7	ability	ability	NOUN
futech-473	254	8	to	to	PART
futech-473	254	9	maintain	maintain	VERB
futech-473	254	10	performance	performance	NOUN
futech-473	254	11	as	as	SCONJ
futech-473	254	12	operational	operational	ADJ
futech-473	254	13	scale	scale	NOUN
futech-473	254	14	increased	increase	VERB
futech-473	254	15	.	.	PUNCT
futech-473	255	1	figure	figure	NOUN
futech-473	255	2	5	5	NUM
futech-473	255	3	illustrates	illustrate	VERB
futech-473	255	4	how	how	SCONJ
futech-473	255	5	key	key	ADJ
futech-473	255	6	performance	performance	NOUN
futech-473	255	7	indicators	indicator	NOUN
futech-473	255	8	evolved	evolve	VERB
futech-473	255	9	as	as	SCONJ
futech-473	255	10	the	the	DET
futech-473	255	11	amr	amr	NOUN
futech-473	255	12	fleet	fleet	NOUN
futech-473	255	13	expanded	expand	VERB
futech-473	255	14	from	from	ADP
futech-473	255	15	5	5	NUM
futech-473	255	16	to	to	PART
futech-473	255	17	30	30	NUM
futech-473	255	18	robots	robot	NOUN
futech-473	255	19	.	.	PUNCT
futech-473	256	1	throughput	throughput	NOUN
futech-473	256	2	scaled	scale	VERB
futech-473	256	3	near	near	ADV
futech-473	256	4	-	-	PUNCT
futech-473	256	5	linearly	linearly	ADV
futech-473	256	6	up	up	ADP
futech-473	256	7	to	to	PART
futech-473	256	8	20	20	NUM
futech-473	256	9	robots	robot	NOUN
futech-473	256	10	,	,	PUNCT
futech-473	256	11	with	with	ADP
futech-473	256	12	marginal	marginal	ADJ
futech-473	256	13	gains	gain	NOUN
futech-473	256	14	diminishing	diminish	VERB
futech-473	256	15	beyond	beyond	ADP
futech-473	256	16	this	this	DET
futech-473	256	17	point	point	NOUN
futech-473	256	18	due	due	ADP
futech-473	256	19	to	to	ADP
futech-473	256	20	increased	increase	VERB
futech-473	256	21	coordination	coordination	NOUN
futech-473	256	22	overhead	overhead	NOUN
futech-473	256	23	and	and	CCONJ
futech-473	256	24	physical	physical	ADJ
futech-473	256	25	space	space	NOUN
futech-473	256	26	constraints	constraint	NOUN
futech-473	256	27	.	.	PUNCT
futech-473	257	1	the	the	DET
futech-473	257	2	distributed	distribute	VERB
futech-473	257	3	architecture	architecture	NOUN
futech-473	257	4	maintained	maintain	VERB
futech-473	257	5	sub	sub	ADJ
futech-473	257	6	-	-	ADJ
futech-473	257	7	linear	linear	ADJ
futech-473	257	8	growth	growth	NOUN
futech-473	257	9	in	in	ADP
futech-473	257	10	computational	computational	ADJ
futech-473	257	11	requirements	requirement	NOUN
futech-473	257	12	,	,	PUNCT
futech-473	257	13	with	with	ADP
futech-473	257	14	processing	processing	NOUN
futech-473	257	15	latency	latency	NOUN
futech-473	257	16	increasing	increase	VERB
futech-473	257	17	by	by	ADP
futech-473	257	18	only	only	ADV
futech-473	257	19	15	15	NUM
futech-473	257	20	%	%	NOUN
futech-473	257	21	despite	despite	SCONJ
futech-473	257	22	a	a	DET
futech-473	257	23	500	500	NUM
futech-473	257	24	%	%	NOUN
futech-473	257	25	expansion	expansion	NOUN
futech-473	257	26	in	in	ADP
futech-473	257	27	fleet	fleet	ADJ
futech-473	257	28	size	size	NOUN
futech-473	257	29	.	.	PUNCT
futech-473	258	1	(	(	PUNCT
futech-473	258	2	a	a	X
futech-473	258	3	)	)	PUNCT
futech-473	258	4	(	(	PUNCT
futech-473	258	5	b	b	X
futech-473	258	6	)	)	PUNCT
futech-473	258	7	(	(	PUNCT
futech-473	258	8	c	c	X
futech-473	258	9	)	)	PUNCT
futech-473	258	10	figure	figure	NOUN
futech-473	258	11	5	5	NUM
futech-473	258	12	.	.	PUNCT
futech-473	259	1	scalability	scalability	NOUN
futech-473	259	2	analysis	analysis	NOUN
futech-473	259	3	of	of	ADP
futech-473	259	4	cps	cps	PROPN
futech-473	259	5	-	-	PUNCT
futech-473	259	6	amr	amr	NOUN
futech-473	259	7	system	system	NOUN
futech-473	259	8	:	:	PUNCT
futech-473	259	9	(	(	PUNCT
futech-473	259	10	a	a	X
futech-473	259	11	)	)	PUNCT
futech-473	259	12	throughput	throughput	NOUN
futech-473	259	13	and	and	CCONJ
futech-473	259	14	utilization	utilization	NOUN
futech-473	259	15	vs	vs	ADP
futech-473	259	16	fleet	fleet	NOUN
futech-473	259	17	size	size	NOUN
futech-473	259	18	,	,	PUNCT
futech-473	259	19	(	(	PUNCT
futech-473	259	20	b)computational	b)computational	ADJ
futech-473	259	21	performance	performance	NOUN
futech-473	259	22	vs	vs	ADP
futech-473	259	23	fleet	fleet	NOUN
futech-473	259	24	size	size	NOUN
futech-473	259	25	,	,	PUNCT
futech-473	259	26	(	(	PUNCT
futech-473	259	27	c)system	c)system	NOUN
futech-473	259	28	efficiency	efficiency	NOUN
futech-473	259	29	and	and	CCONJ
futech-473	259	30	cost	cost	VERB
futech-473	259	31	analysis	analysis	NOUN
futech-473	259	32	reliability	reliability	NOUN
futech-473	259	33	metrics	metric	NOUN
futech-473	259	34	exceeded	exceed	VERB
futech-473	259	35	design	design	NOUN
futech-473	259	36	targets	target	NOUN
futech-473	259	37	throughout	throughout	ADP
futech-473	259	38	the	the	DET
futech-473	259	39	experimental	experimental	ADJ
futech-473	259	40	period	period	NOUN
futech-473	259	41	.	.	PUNCT
futech-473	260	1	system	system	NOUN
futech-473	260	2	availability	availability	NOUN
futech-473	260	3	maintained	maintain	VERB
futech-473	260	4	99.2	99.2	NUM
futech-473	260	5	%	%	NOUN
futech-473	260	6	uptime	uptime	NOUN
futech-473	260	7	over	over	ADP
futech-473	260	8	720	720	NUM
futech-473	260	9	hours	hour	NOUN
futech-473	260	10	of	of	ADP
futech-473	260	11	continuous	continuous	ADJ
futech-473	260	12	operation	operation	NOUN
futech-473	260	13	,	,	PUNCT
futech-473	260	14	with	with	ADP
futech-473	260	15	planned	plan	VERB
futech-473	260	16	maintenance	maintenance	NOUN
futech-473	260	17	windows	window	NOUN
futech-473	260	18	accounting	account	VERB
futech-473	260	19	for	for	ADP
futech-473	260	20	most	most	ADJ
futech-473	260	21	downtime	downtime	NOUN
futech-473	260	22	.	.	PUNCT
futech-473	261	1	mean	mean	ADJ
futech-473	261	2	time	time	NOUN
futech-473	261	3	between	between	ADP
futech-473	261	4	failures	failure	NOUN
futech-473	261	5	reached	reach	VERB
futech-473	261	6	168	168	NUM
futech-473	261	7	hours	hour	NOUN
futech-473	261	8	,	,	PUNCT
futech-473	261	9	primarily	primarily	ADV
futech-473	261	10	attributed	attribute	VERB
futech-473	261	11	to	to	ADP
futech-473	261	12	mechanical	mechanical	ADJ
futech-473	261	13	wear	wear	NOUN
futech-473	261	14	in	in	ADP
futech-473	261	15	robot	robot	NOUN
futech-473	261	16	wheels	wheel	NOUN
futech-473	261	17	and	and	CCONJ
futech-473	262	1	occasional	occasional	ADJ
futech-473	262	2	mean	mean	NOUN
futech-473	262	3	:	:	PUNCT
futech-473	262	4	2.44	2.44	NUM
futech-473	262	5	cm	cm	NOUN
futech-473	262	6	0	0	NUM
futech-473	262	7	1	1	NUM
futech-473	262	8	2	2	NUM
futech-473	262	9	3	3	NUM
futech-473	262	10	4	4	NUM
futech-473	262	11	5	5	NUM
futech-473	262	12	6	6	NUM
futech-473	262	13	localization	localization	NOUN
futech-473	262	14	error	error	NOUN
futech-473	262	15	(	(	PUNCT
futech-473	262	16	cm	cm	NOUN
futech-473	262	17	)	)	PUNCT
futech-473	262	18	0	0	NUM
futech-473	263	1	100	100	NUM
futech-473	263	2	200	200	NUM
futech-473	263	3	300	300	NUM
futech-473	263	4	400	400	NUM
futech-473	263	5	fr	fr	NOUN
futech-473	263	6	eq	eq	ADP
futech-473	263	7	ue	ue	PROPN
futech-473	263	8	nc	nc	PROPN
futech-473	263	9	y	y	PROPN
futech-473	263	10	0	0	NUM
futech-473	263	11	10	10	NUM
futech-473	263	12	20	20	NUM
futech-473	263	13	30	30	NUM
futech-473	263	14	40	40	NUM
futech-473	263	15	50	50	NUM
futech-473	263	16	warehouse	warehouse	NOUN
futech-473	263	17	x	x	NOUN
futech-473	263	18	position	position	NOUN
futech-473	263	19	(	(	PUNCT
futech-473	263	20	m	m	NOUN
futech-473	263	21	)	)	PUNCT
futech-473	263	22	0	0	NUM
futech-473	263	23	5	5	NUM
futech-473	263	24	10	10	NUM
futech-473	263	25	15	15	NUM
futech-473	263	26	20	20	NUM
futech-473	263	27	25	25	NUM
futech-473	263	28	30w	30w	PROPN
futech-473	263	29	ar	ar	PROPN
futech-473	263	30	eh	eh	INTJ
futech-473	263	31	ou	ou	PROPN
futech-473	263	32	se	se	PROPN
futech-473	263	33	y	y	PROPN
futech-473	264	1	p	p	PROPN
futech-473	264	2	os	os	PROPN
futech-473	264	3	iti	iti	PROPN
futech-473	264	4	on	on	ADP
futech-473	264	5	(	(	PUNCT
futech-473	264	6	m	m	PROPN
futech-473	264	7	)	)	PUNCT
futech-473	264	8	1.5	1.5	NUM
futech-473	264	9	2	2	NUM
futech-473	264	10	2.5	2.5	NUM
futech-473	264	11	3	3	NUM
futech-473	264	12	3.5	3.5	NUM
futech-473	264	13	4	4	NUM
futech-473	264	14	4.5	4.5	NUM
futech-473	264	15	er	er	INTJ
futech-473	264	16	ro	ro	NOUN
futech-473	264	17	r	r	NOUN
futech-473	264	18	(	(	PUNCT
futech-473	264	19	cm	cm	NOUN
futech-473	264	20	)	)	PUNCT
futech-473	264	21	0.9	0.9	NUM
futech-473	264	22	1	1	NUM
futech-473	264	23	1.1	1.1	NUM
futech-473	264	24	1.2	1.2	NUM
futech-473	264	25	1.3	1.3	NUM
futech-473	264	26	1.4	1.4	NUM
futech-473	264	27	1.5	1.5	NUM
futech-473	264	28	n	n	NOUN
futech-473	264	29	or	or	CCONJ
futech-473	264	30	m	m	PROPN
futech-473	264	31	al	al	NOUN
futech-473	264	32	iz	iz	INTJ
futech-473	264	33	ed	ed	NOUN
futech-473	264	34	c	c	PROPN
futech-473	265	1	os	os	NOUN
futech-473	265	2	t	t	PROPN
futech-473	265	3	p	p	X
futech-473	266	1	er	er	INTJ
futech-473	266	2	o	o	NOUN
futech-473	266	3	rd	rd	NOUN
futech-473	266	4	er	er	INTJ
futech-473	266	5	efficiency	efficiency	NOUN
futech-473	266	6	cost	cost	NOUN
futech-473	266	7	/	/	SYM
futech-473	266	8	order	order	NOUN
futech-473	266	9	5	5	NUM
futech-473	266	10	10	10	NUM
futech-473	266	11	15	15	NUM
futech-473	266	12	20	20	NUM
futech-473	266	13	25	25	NUM
futech-473	266	14	30	30	NUM
futech-473	266	15	number	number	NOUN
futech-473	266	16	of	of	ADP
futech-473	266	17	amrs	amrs	PROPN
futech-473	266	18	0	0	NUM
futech-473	266	19	500	500	NUM
futech-473	266	20	1000	1000	NUM
futech-473	266	21	1500	1500	NUM
futech-473	266	22	2000	2000	NUM
futech-473	266	23	th	th	NOUN
futech-473	266	24	ro	ro	X
futech-473	266	25	ug	ug	ADP
futech-473	266	26	hp	hp	PROPN
futech-473	266	27	ut	ut	PROPN
futech-473	266	28	(	(	PUNCT
futech-473	266	29	o	o	PROPN
futech-473	266	30	rd	rd	NOUN
futech-473	266	31	er	er	INTJ
futech-473	266	32	s/	s/	VERB
futech-473	266	33	ho	ho	PROPN
futech-473	266	34	ur	ur	PROPN
futech-473	266	35	)	)	PUNCT
futech-473	266	36	60	60	NUM
futech-473	266	37	65	65	NUM
futech-473	266	38	70	70	NUM
futech-473	266	39	75	75	NUM
futech-473	266	40	80	80	NUM
futech-473	266	41	85	85	NUM
futech-473	266	42	90	90	NUM
futech-473	266	43	95	95	NUM
futech-473	266	44	100	100	NUM
futech-473	266	45	a	a	DET
futech-473	266	46	m	m	NOUN
futech-473	266	47	r	r	NOUN
futech-473	266	48	u	u	NOUN
futech-473	266	49	til	til	ADV
futech-473	266	50	iz	iz	INTJ
futech-473	266	51	at	at	ADP
futech-473	266	52	io	io	PROPN
futech-473	266	53	n	n	PROPN
futech-473	266	54	(	(	PUNCT
futech-473	266	55	%	%	NOUN
futech-473	266	56	)	)	PUNCT
futech-473	266	57	throughput	throughput	NOUN
futech-473	266	58	utilization	utilization	NOUN
futech-473	266	59	y.	y.	PROPN
futech-473	266	60	zhang	zhang	PROPN
futech-473	266	61	&	&	CCONJ
futech-473	266	62	ju	ju	PROPN
futech-473	266	63	.	.	PROPN
futech-473	267	1	abellera	abellera	NOUN
futech-473	267	2	/future	/future	PUNCT
futech-473	267	3	technology	technology	PROPN
futech-473	267	4	november	november	PROPN
futech-473	267	5	2025|	2025|	NUM
futech-473	267	6	volume	volume	NOUN
futech-473	267	7	04	04	NUM
futech-473	268	1	|	|	ADV
futech-473	268	2	issue	issue	VERB
futech-473	268	3	04	04	NUM
futech-473	269	1	|	|	CCONJ
futech-473	269	2	pages	page	VERB
futech-473	269	3	59	59	NUM
futech-473	269	4	-	-	SYM
futech-473	269	5	71	71	NUM
futech-473	269	6	67	67	NUM
futech-473	269	7	wireless	wireless	ADJ
futech-473	269	8	connectivity	connectivity	NOUN
futech-473	269	9	issues	issue	NOUN
futech-473	269	10	.	.	PUNCT
futech-473	270	1	the	the	DET
futech-473	270	2	fault	fault	NOUN
futech-473	270	3	-	-	PUNCT
futech-473	270	4	tolerant	tolerant	ADJ
futech-473	270	5	design	design	NOUN
futech-473	270	6	enabled	enable	VERB
futech-473	270	7	graceful	graceful	ADJ
futech-473	270	8	degradation	degradation	NOUN
futech-473	270	9	during	during	ADP
futech-473	270	10	component	component	NOUN
futech-473	270	11	failures	failure	NOUN
futech-473	270	12	,	,	PUNCT
futech-473	270	13	maintaining	maintain	VERB
futech-473	270	14	at	at	ADV
futech-473	270	15	least	least	ADV
futech-473	270	16	75	75	NUM
futech-473	270	17	%	%	NOUN
futech-473	270	18	operational	operational	ADJ
futech-473	270	19	capacity	capacity	NOUN
futech-473	270	20	even	even	ADV
futech-473	270	21	with	with	ADP
futech-473	270	22	multiple	multiple	ADJ
futech-473	270	23	simultaneous	simultaneous	ADJ
futech-473	270	24	robot	robot	NOUN
futech-473	270	25	failures	failure	NOUN
futech-473	270	26	.	.	PUNCT
futech-473	271	1	5.2	5.2	NUM
futech-473	271	2	qualitative	qualitative	ADJ
futech-473	271	3	analysis	analysis	NOUN
futech-473	271	4	system	system	NOUN
futech-473	271	5	behavior	behavior	NOUN
futech-473	271	6	observations	observation	NOUN
futech-473	271	7	during	during	ADP
futech-473	271	8	extended	extended	ADJ
futech-473	271	9	operational	operational	ADJ
futech-473	271	10	periods	period	NOUN
futech-473	271	11	revealed	reveal	VERB
futech-473	271	12	emergent	emergent	ADJ
futech-473	271	13	collaborative	collaborative	ADJ
futech-473	271	14	patterns	pattern	NOUN
futech-473	271	15	among	among	ADP
futech-473	271	16	amrs	amrs	PROPN
futech-473	271	17	that	that	PRON
futech-473	271	18	exceeded	exceed	VERB
futech-473	271	19	design	design	NOUN
futech-473	271	20	expectations	expectation	NOUN
futech-473	271	21	.	.	PUNCT
futech-473	272	1	robot	robot	NOUN
futech-473	272	2	clusters	cluster	NOUN
futech-473	272	3	naturally	naturally	ADV
futech-473	272	4	formed	form	VERB
futech-473	272	5	around	around	ADP
futech-473	272	6	high	high	ADJ
futech-473	272	7	-	-	PUNCT
futech-473	272	8	demand	demand	NOUN
futech-473	272	9	warehouse	warehouse	NOUN
futech-473	272	10	zones	zone	NOUN
futech-473	272	11	,	,	PUNCT
futech-473	272	12	with	with	ADP
futech-473	272	13	dynamic	dynamic	ADJ
futech-473	272	14	load	load	NOUN
futech-473	272	15	balancing	balance	VERB
futech-473	272	16	emerging	emerge	VERB
futech-473	272	17	through	through	ADP
futech-473	272	18	local	local	ADJ
futech-473	272	19	communication	communication	NOUN
futech-473	272	20	protocols	protocol	NOUN
futech-473	272	21	rather	rather	ADV
futech-473	272	22	than	than	ADP
futech-473	272	23	centralized	centralized	ADJ
futech-473	272	24	coordination	coordination	NOUN
futech-473	272	25	.	.	PUNCT
futech-473	273	1	this	this	DET
futech-473	273	2	self	self	NOUN
futech-473	273	3	-	-	PUNCT
futech-473	273	4	organizing	organize	VERB
futech-473	273	5	behavior	behavior	NOUN
futech-473	273	6	demonstrated	demonstrate	VERB
futech-473	273	7	the	the	DET
futech-473	273	8	effectiveness	effectiveness	NOUN
futech-473	273	9	of	of	ADP
futech-473	273	10	the	the	DET
futech-473	273	11	distributed	distribute	VERB
futech-473	273	12	decision	decision	NOUN
futech-473	273	13	-	-	PUNCT
futech-473	273	14	making	make	VERB
futech-473	273	15	architecture	architecture	NOUN
futech-473	273	16	,	,	PUNCT
futech-473	273	17	particularly	particularly	ADV
futech-473	273	18	during	during	ADP
futech-473	273	19	unexpected	unexpected	ADJ
futech-473	273	20	demand	demand	NOUN
futech-473	273	21	surges	surge	NOUN
futech-473	273	22	when	when	SCONJ
futech-473	273	23	centralized	centralized	ADJ
futech-473	273	24	planning	planning	NOUN
futech-473	273	25	would	would	AUX
futech-473	273	26	have	have	AUX
futech-473	273	27	created	create	VERB
futech-473	273	28	bottlenecks	bottleneck	NOUN
futech-473	273	29	.	.	PUNCT
futech-473	274	1	the	the	DET
futech-473	274	2	digital	digital	ADJ
futech-473	274	3	twin	twin	ADJ
futech-473	274	4	visualization	visualization	NOUN
futech-473	274	5	enabled	enable	VERB
futech-473	274	6	operators	operator	NOUN
futech-473	274	7	to	to	PART
futech-473	274	8	identify	identify	VERB
futech-473	274	9	these	these	DET
futech-473	274	10	patterns	pattern	NOUN
futech-473	274	11	and	and	CCONJ
futech-473	274	12	optimize	optimize	NOUN
futech-473	274	13	zone	zone	NOUN
futech-473	274	14	boundaries	boundary	NOUN
futech-473	274	15	accordingly	accordingly	ADV
futech-473	274	16	,	,	PUNCT
futech-473	274	17	leading	lead	VERB
futech-473	274	18	to	to	ADP
futech-473	274	19	a	a	DET
futech-473	274	20	15	15	NUM
futech-473	274	21	%	%	NOUN
futech-473	274	22	reduction	reduction	NOUN
futech-473	274	23	in	in	ADP
futech-473	274	24	congestion	congestion	NOUN
futech-473	274	25	events	event	NOUN
futech-473	274	26	compared	compare	VERB
futech-473	274	27	to	to	ADP
futech-473	274	28	initial	initial	ADJ
futech-473	274	29	deployment	deployment	NOUN
futech-473	274	30	configurations	configuration	NOUN
futech-473	274	31	.	.	PUNCT
futech-473	275	1	operator	operator	NOUN
futech-473	275	2	feedback	feedback	NOUN
futech-473	275	3	collected	collect	VERB
futech-473	275	4	through	through	ADP
futech-473	275	5	structured	structured	ADJ
futech-473	275	6	interviews	interview	NOUN
futech-473	275	7	and	and	CCONJ
futech-473	275	8	system	system	NOUN
futech-473	275	9	interaction	interaction	NOUN
futech-473	275	10	logs	log	NOUN
futech-473	275	11	highlighted	highlight	VERB
futech-473	275	12	significant	significant	ADJ
futech-473	275	13	improvements	improvement	NOUN
futech-473	275	14	in	in	ADP
futech-473	275	15	workplace	workplace	NOUN
futech-473	275	16	satisfaction	satisfaction	NOUN
futech-473	275	17	and	and	CCONJ
futech-473	275	18	operational	operational	ADJ
futech-473	275	19	confidence	confidence	NOUN
futech-473	275	20	.	.	PUNCT
futech-473	276	1	warehouse	warehouse	NOUN
futech-473	276	2	staff	staff	NOUN
futech-473	276	3	reported	report	VERB
futech-473	276	4	reduced	reduce	VERB
futech-473	276	5	physical	physical	ADJ
futech-473	276	6	strain	strain	NOUN
futech-473	276	7	and	and	CCONJ
futech-473	276	8	mental	mental	ADJ
futech-473	276	9	fatigue	fatigue	NOUN
futech-473	276	10	due	due	ADP
futech-473	276	11	to	to	ADP
futech-473	276	12	the	the	DET
futech-473	276	13	elimination	elimination	NOUN
futech-473	276	14	of	of	ADP
futech-473	276	15	repetitive	repetitive	ADJ
futech-473	276	16	manual	manual	ADJ
futech-473	276	17	tasks	task	NOUN
futech-473	276	18	and	and	CCONJ
futech-473	276	19	long	long	ADJ
futech-473	276	20	-	-	PUNCT
futech-473	276	21	distance	distance	NOUN
futech-473	276	22	walking	walking	NOUN
futech-473	276	23	.	.	PUNCT
futech-473	277	1	the	the	DET
futech-473	277	2	intuitive	intuitive	ADJ
futech-473	277	3	human	human	ADJ
futech-473	277	4	-	-	PUNCT
futech-473	277	5	machine	machine	NOUN
futech-473	277	6	interface	interface	NOUN
futech-473	277	7	received	receive	VERB
futech-473	277	8	particularly	particularly	ADV
futech-473	277	9	positive	positive	ADJ
futech-473	277	10	evaluations	evaluation	NOUN
futech-473	277	11	,	,	PUNCT
futech-473	277	12	with	with	SCONJ
futech-473	277	13	operators	operator	NOUN
futech-473	277	14	mastering	master	VERB
futech-473	277	15	basic	basic	ADJ
futech-473	277	16	system	system	NOUN
futech-473	277	17	controls	control	NOUN
futech-473	277	18	within	within	ADP
futech-473	277	19	two	two	NUM
futech-473	277	20	hours	hour	NOUN
futech-473	277	21	of	of	ADP
futech-473	277	22	training	training	NOUN
futech-473	277	23	compared	compare	VERB
futech-473	277	24	to	to	ADP
futech-473	277	25	the	the	DET
futech-473	277	26	typical	typical	ADJ
futech-473	277	27	two	two	NUM
futech-473	277	28	-	-	PUNCT
futech-473	277	29	day	day	NOUN
futech-473	277	30	learning	learning	NOUN
futech-473	277	31	curve	curve	NOUN
futech-473	277	32	for	for	ADP
futech-473	277	33	traditional	traditional	ADJ
futech-473	277	34	warehouse	warehouse	NOUN
futech-473	277	35	management	management	NOUN
futech-473	277	36	systems	system	NOUN
futech-473	277	37	.	.	PUNCT
futech-473	278	1	as	as	SCONJ
futech-473	278	2	illustrated	illustrate	VERB
futech-473	278	3	in	in	ADP
futech-473	278	4	figure	figure	NOUN
futech-473	278	5	6	6	NUM
futech-473	278	6	,	,	PUNCT
futech-473	278	7	usability	usability	NOUN
futech-473	278	8	assessments	assessment	NOUN
futech-473	278	9	across	across	ADP
futech-473	278	10	different	different	ADJ
futech-473	278	11	operator	operator	NOUN
futech-473	278	12	experience	experience	NOUN
futech-473	278	13	levels	level	NOUN
futech-473	278	14	showed	show	VERB
futech-473	278	15	consistently	consistently	ADV
futech-473	278	16	high	high	ADJ
futech-473	278	17	satisfaction	satisfaction	NOUN
futech-473	278	18	scores	score	NOUN
futech-473	278	19	,	,	PUNCT
futech-473	278	20	with	with	ADP
futech-473	278	21	novice	novice	NOUN
futech-473	278	22	users	user	NOUN
futech-473	278	23	rating	rate	VERB
futech-473	278	24	the	the	DET
futech-473	278	25	system	system	NOUN
futech-473	278	26	8.2/10	8.2/10	NUM
futech-473	278	27	compared	compare	VERB
futech-473	278	28	to	to	ADP
futech-473	278	29	8.8/10	8.8/10	NUM
futech-473	278	30	for	for	ADP
futech-473	278	31	experienced	experienced	ADJ
futech-473	278	32	operators	operator	NOUN
futech-473	278	33	.	.	PUNCT
futech-473	279	1	workflow	workflow	NOUN
futech-473	279	2	analysis	analysis	NOUN
futech-473	279	3	identified	identify	VERB
futech-473	279	4	substantial	substantial	ADJ
futech-473	279	5	improvements	improvement	NOUN
futech-473	279	6	in	in	ADP
futech-473	279	7	exception	exception	NOUN
futech-473	279	8	handling	handling	NOUN
futech-473	279	9	and	and	CCONJ
futech-473	279	10	adaptive	adaptive	ADJ
futech-473	279	11	response	response	NOUN
futech-473	279	12	to	to	ADP
futech-473	279	13	operational	operational	ADJ
futech-473	279	14	disruptions	disruption	NOUN
futech-473	279	15	.	.	PUNCT
futech-473	280	1	when	when	SCONJ
futech-473	280	2	faced	face	VERB
futech-473	280	3	with	with	ADP
futech-473	280	4	unexpected	unexpected	ADJ
futech-473	280	5	obstacles	obstacle	NOUN
futech-473	280	6	or	or	CCONJ
futech-473	280	7	equipment	equipment	NOUN
futech-473	280	8	failures	failure	NOUN
futech-473	280	9	,	,	PUNCT
futech-473	280	10	the	the	DET
futech-473	280	11	system	system	NOUN
futech-473	280	12	demonstrated	demonstrate	VERB
futech-473	280	13	remarkable	remarkable	ADJ
futech-473	280	14	resilience	resilience	NOUN
futech-473	280	15	through	through	ADP
futech-473	280	16	automatic	automatic	ADJ
futech-473	280	17	task	task	NOUN
futech-473	280	18	reallocation	reallocation	NOUN
futech-473	280	19	and	and	CCONJ
futech-473	280	20	path	path	NOUN
futech-473	280	21	replanning	replanning	NOUN
futech-473	280	22	.	.	PUNCT
futech-473	281	1	operators	operator	NOUN
futech-473	281	2	noted	note	VERB
futech-473	281	3	that	that	SCONJ
futech-473	281	4	system	system	NOUN
futech-473	281	5	interventions	intervention	NOUN
futech-473	281	6	required	require	VERB
futech-473	281	7	for	for	ADP
futech-473	281	8	error	error	NOUN
futech-473	281	9	recovery	recovery	NOUN
futech-473	281	10	decreased	decrease	VERB
futech-473	281	11	by	by	ADP
futech-473	281	12	78	78	NUM
futech-473	281	13	%	%	NOUN
futech-473	281	14	after	after	ADP
futech-473	281	15	the	the	DET
futech-473	281	16	first	first	ADJ
futech-473	281	17	week	week	NOUN
futech-473	281	18	of	of	ADP
futech-473	281	19	deployment	deployment	NOUN
futech-473	281	20	as	as	SCONJ
futech-473	281	21	the	the	DET
futech-473	281	22	machine	machine	NOUN
futech-473	281	23	learning	learn	VERB
futech-473	281	24	algorithms	algorithm	NOUN
futech-473	281	25	adapted	adapt	VERB
futech-473	281	26	to	to	ADP
futech-473	281	27	facility	facility	NOUN
futech-473	281	28	-	-	PUNCT
futech-473	281	29	specific	specific	ADJ
futech-473	281	30	patterns	pattern	NOUN
futech-473	281	31	.	.	PUNCT
futech-473	282	1	the	the	DET
futech-473	282	2	seamless	seamless	ADJ
futech-473	282	3	integration	integration	NOUN
futech-473	282	4	between	between	ADP
futech-473	282	5	manual	manual	ADJ
futech-473	282	6	override	override	NOUN
futech-473	282	7	capabilities	capability	NOUN
futech-473	282	8	and	and	CCONJ
futech-473	282	9	autonomous	autonomous	ADJ
futech-473	282	10	operation	operation	NOUN
futech-473	282	11	enabled	enable	VERB
futech-473	282	12	smooth	smooth	ADJ
futech-473	282	13	transitions	transition	NOUN
futech-473	282	14	during	during	ADP
futech-473	282	15	mixed	mixed	ADJ
futech-473	282	16	-	-	PUNCT
futech-473	282	17	mode	mode	NOUN
futech-473	282	18	operations	operation	NOUN
futech-473	282	19	,	,	PUNCT
futech-473	282	20	particularly	particularly	ADV
futech-473	282	21	valuable	valuable	ADJ
futech-473	282	22	during	during	ADP
futech-473	282	23	shift	shift	NOUN
futech-473	282	24	changes	change	NOUN
futech-473	282	25	and	and	CCONJ
futech-473	282	26	training	training	NOUN
futech-473	282	27	periods	period	NOUN
futech-473	282	28	.	.	PUNCT
futech-473	283	1	human	human	ADJ
futech-473	283	2	-	-	PUNCT
futech-473	283	3	robot	robot	NOUN
futech-473	283	4	collaboration	collaboration	NOUN
futech-473	283	5	observations	observation	NOUN
futech-473	283	6	revealed	reveal	VERB
futech-473	283	7	interesting	interesting	ADJ
futech-473	283	8	social	social	ADJ
futech-473	283	9	dynamics	dynamic	NOUN
futech-473	283	10	within	within	ADP
futech-473	283	11	the	the	DET
futech-473	283	12	warehouse	warehouse	NOUN
futech-473	283	13	environment	environment	NOUN
futech-473	283	14	.	.	PUNCT
futech-473	284	1	workers	worker	NOUN
futech-473	284	2	initially	initially	ADV
futech-473	284	3	maintained	maintain	VERB
futech-473	284	4	excessive	excessive	ADJ
futech-473	284	5	safety	safety	NOUN
futech-473	284	6	distances	distance	NOUN
futech-473	284	7	from	from	ADP
futech-473	284	8	amrs	amrs	PROPN
futech-473	284	9	,	,	PUNCT
futech-473	284	10	but	but	CCONJ
futech-473	284	11	confidence	confidence	NOUN
futech-473	284	12	increased	increase	VERB
futech-473	284	13	rapidly	rapidly	ADV
futech-473	284	14	as	as	SCONJ
futech-473	284	15	predictable	predictable	ADJ
futech-473	284	16	robot	robot	NOUN
futech-473	284	17	behaviors	behavior	NOUN
futech-473	284	18	became	become	VERB
futech-473	284	19	apparent	apparent	ADJ
futech-473	284	20	.	.	PUNCT
futech-473	285	1	the	the	DET
futech-473	285	2	implementation	implementation	NOUN
futech-473	285	3	of	of	ADP
futech-473	285	4	led	lead	VERB
futech-473	285	5	status	status	NOUN
futech-473	285	6	indicators	indicator	NOUN
futech-473	285	7	and	and	CCONJ
futech-473	285	8	audible	audible	ADJ
futech-473	285	9	alerts	alert	NOUN
futech-473	285	10	for	for	ADP
futech-473	285	11	direction	direction	NOUN
futech-473	285	12	changes	change	NOUN
futech-473	285	13	significantly	significantly	ADV
futech-473	285	14	enhanced	enhance	VERB
futech-473	285	15	trust	trust	NOUN
futech-473	285	16	and	and	CCONJ
futech-473	285	17	coordination	coordination	NOUN
futech-473	285	18	.	.	PUNCT
futech-473	286	1	operators	operator	NOUN
futech-473	286	2	developed	develop	VERB
futech-473	286	3	informal	informal	ADJ
futech-473	286	4	communication	communication	NOUN
futech-473	286	5	protocols	protocol	NOUN
futech-473	286	6	with	with	ADP
futech-473	286	7	the	the	DET
futech-473	286	8	robots	robot	NOUN
futech-473	286	9	,	,	PUNCT
futech-473	286	10	such	such	ADJ
futech-473	286	11	as	as	ADP
futech-473	286	12	hand	hand	NOUN
futech-473	286	13	signals	signal	NOUN
futech-473	286	14	for	for	ADP
futech-473	286	15	priority	priority	NOUN
futech-473	286	16	passage	passage	NOUN
futech-473	286	17	,	,	PUNCT
futech-473	286	18	which	which	PRON
futech-473	286	19	the	the	DET
futech-473	286	20	system	system	NOUN
futech-473	286	21	's	's	PART
futech-473	286	22	computer	computer	NOUN
futech-473	286	23	vision	vision	NOUN
futech-473	286	24	algorithms	algorithm	NOUN
futech-473	286	25	learned	learn	VERB
futech-473	286	26	to	to	PART
futech-473	286	27	recognize	recognize	VERB
futech-473	286	28	and	and	CCONJ
futech-473	286	29	incorporate	incorporate	VERB
futech-473	286	30	into	into	ADP
futech-473	286	31	navigation	navigation	NOUN
futech-473	286	32	decisions	decision	NOUN
futech-473	286	33	.	.	PUNCT
futech-473	287	1	this	this	DET
futech-473	287	2	organic	organic	ADJ
futech-473	287	3	evolution	evolution	NOUN
futech-473	287	4	of	of	ADP
futech-473	287	5	human	human	ADJ
futech-473	287	6	-	-	PUNCT
futech-473	287	7	robot	robot	NOUN
futech-473	287	8	interaction	interaction	NOUN
futech-473	287	9	protocols	protocol	NOUN
futech-473	287	10	suggests	suggest	VERB
futech-473	287	11	opportunities	opportunity	NOUN
futech-473	287	12	for	for	ADP
futech-473	287	13	further	further	ADJ
futech-473	287	14	enhancement	enhancement	NOUN
futech-473	287	15	through	through	ADP
futech-473	287	16	explicit	explicit	ADJ
futech-473	287	17	gesture	gesture	NOUN
futech-473	287	18	recognition	recognition	NOUN
futech-473	287	19	capabilities	capability	NOUN
futech-473	287	20	.	.	PUNCT
futech-473	288	1	the	the	DET
futech-473	288	2	system	system	NOUN
futech-473	288	3	's	's	PART
futech-473	288	4	impact	impact	NOUN
futech-473	288	5	on	on	ADP
futech-473	288	6	operational	operational	ADJ
futech-473	288	7	visibility	visibility	NOUN
futech-473	288	8	transformed	transform	VERB
futech-473	288	9	management	management	NOUN
futech-473	288	10	decision	decision	NOUN
futech-473	288	11	-	-	PUNCT
futech-473	288	12	making	make	VERB
futech-473	288	13	processes	process	NOUN
futech-473	288	14	.	.	PUNCT
futech-473	289	1	real	real	ADJ
futech-473	289	2	-	-	PUNCT
futech-473	289	3	time	time	NOUN
futech-473	289	4	dashboards	dashboard	NOUN
futech-473	289	5	providing	provide	VERB
futech-473	289	6	comprehensive	comprehensive	ADJ
futech-473	289	7	operational	operational	ADJ
futech-473	289	8	metrics	metric	NOUN
futech-473	289	9	enabled	enable	VERB
futech-473	289	10	proactive	proactive	ADJ
futech-473	289	11	interventions	intervention	NOUN
futech-473	289	12	before	before	SCONJ
futech-473	289	13	minor	minor	ADJ
futech-473	289	14	issues	issue	NOUN
futech-473	289	15	escalated	escalate	VERB
futech-473	289	16	into	into	ADP
futech-473	289	17	significant	significant	ADJ
futech-473	289	18	disruptions	disruption	NOUN
futech-473	289	19	.	.	PUNCT
futech-473	290	1	(	(	PUNCT
futech-473	290	2	a	a	X
futech-473	290	3	)	)	PUNCT
futech-473	290	4	(	(	PUNCT
futech-473	290	5	b	b	X
futech-473	290	6	)	)	PUNCT
futech-473	290	7	(	(	PUNCT
futech-473	290	8	c	c	X
futech-473	290	9	)	)	PUNCT
futech-473	290	10	figure	figure	NOUN
futech-473	290	11	6	6	NUM
futech-473	290	12	.	.	PUNCT
futech-473	290	13	qualitative	qualitative	ADJ
futech-473	290	14	system	system	NOUN
futech-473	290	15	assessment	assessment	NOUN
futech-473	290	16	:	:	PUNCT
futech-473	290	17	(	(	PUNCT
futech-473	290	18	a)usability	a)usability	PROPN
futech-473	290	19	assessment	assessment	NOUN
futech-473	290	20	across	across	ADP
futech-473	290	21	user	user	NOUN
futech-473	290	22	groups	group	NOUN
futech-473	290	23	,	,	PUNCT
futech-473	290	24	(	(	PUNCT
futech-473	290	25	b)learning	b)learne	VERB
futech-473	290	26	curve	curve	NOUN
futech-473	290	27	analysis	analysis	NOUN
futech-473	290	28	,	,	PUNCT
futech-473	290	29	(	(	PUNCT
futech-473	290	30	c)operator	c)operator	NOUN
futech-473	290	31	feedback	feedback	NOUN
futech-473	290	32	themes	theme	NOUN
futech-473	290	33	ease	ease	VERB
futech-473	290	34	of\nlearning	of\nlearne	VERB
futech-473	290	35	interface\nintuitivenesserror\nrecovery	interface\nintuitivenesserror\nrecovery	PROPN
futech-473	290	36	task\nefficiency	task\nefficiency	NUM
futech-473	290	37	system\nreliability	system\nreliability	NUM
futech-473	290	38	overall\nsatisfaction	overall\nsatisfaction	NUM
futech-473	290	39	2	2	NUM
futech-473	290	40	4	4	NUM
futech-473	290	41	6	6	NUM
futech-473	290	42	8	8	NUM
futech-473	290	43	10	10	NUM
futech-473	290	44	novice	novice	NOUN
futech-473	290	45	operators	operator	NOUN
futech-473	290	46	experienced	experience	VERB
futech-473	290	47	operators	operator	NOUN
futech-473	290	48	supervisors	supervisor	NOUN
futech-473	290	49	0	0	NUM
futech-473	290	50	5	5	NUM
futech-473	290	51	10	10	NUM
futech-473	290	52	15	15	NUM
futech-473	290	53	days	day	NOUN
futech-473	290	54	of	of	ADP
futech-473	290	55	operation	operation	NOUN
futech-473	290	56	60	60	NUM
futech-473	290	57	65	65	NUM
futech-473	290	58	70	70	NUM
futech-473	290	59	75	75	NUM
futech-473	290	60	80	80	NUM
futech-473	290	61	85	85	NUM
futech-473	290	62	90	90	NUM
futech-473	290	63	95	95	NUM
futech-473	291	1	ta	ta	PART
futech-473	291	2	sk	sk	VERB
futech-473	291	3	p	p	PROPN
futech-473	291	4	er	er	INTJ
futech-473	291	5	fo	fo	INTJ
futech-473	291	6	rm	rm	PROPN
futech-473	291	7	an	an	PROPN
futech-473	291	8	ce	ce	PROPN
futech-473	291	9	(	(	PUNCT
futech-473	291	10	%	%	NOUN
futech-473	291	11	)	)	PUNCT
futech-473	291	12	expert	expert	ADJ
futech-473	291	13	level	level	NOUN
futech-473	291	14	proficient	proficient	ADJ
futech-473	291	15	level	level	NOUN
futech-473	291	16	novice	novice	NOUN
futech-473	291	17	operators	operator	NOUN
futech-473	291	18	experienced	experience	VERB
futech-473	291	19	operators	operator	NOUN
futech-473	291	20	92	92	NUM
futech-473	291	21	%	%	NOUN
futech-473	291	22	88	88	NUM
futech-473	291	23	%	%	NOUN
futech-473	291	24	95	95	NUM
futech-473	291	25	%	%	NOUN
futech-473	291	26	87	87	NUM
futech-473	291	27	%	%	NOUN
futech-473	291	28	90	90	NUM
futech-473	291	29	%	%	NOUN
futech-473	291	30	average	average	NOUN
futech-473	291	31	:	:	PUNCT
futech-473	291	32	90.4	90.4	NUM
futech-473	291	33	%	%	NOUN
futech-473	291	34	reduced\nphysical	reduced\nphysical	ADJ
futech-473	291	35	strain	strain	NOUN
futech-473	291	36	improved\nsafety	improved\nsafety	NUM
futech-473	291	37	better\nvisibility	better\nvisibility	NOUN
futech-473	291	38	faster\ntask	faster\ntask	PROPN
futech-473	291	39	completion	completion	NOUN
futech-473	292	1	less\nstress	less\nstress	NUM
futech-473	292	2	0	0	NUM
futech-473	292	3	10	10	NUM
futech-473	292	4	20	20	NUM
futech-473	292	5	30	30	NUM
futech-473	292	6	40	40	NUM
futech-473	292	7	50	50	NUM
futech-473	292	8	60	60	NUM
futech-473	292	9	70	70	NUM
futech-473	292	10	80	80	NUM
futech-473	292	11	90	90	NUM
futech-473	292	12	100	100	NUM
futech-473	292	13	po	po	NOUN
futech-473	292	14	si	si	PROPN
futech-473	292	15	tiv	tiv	PROPN
futech-473	292	16	e	e	PROPN
futech-473	292	17	r	r	NOUN
futech-473	292	18	es	es	X
futech-473	292	19	po	po	NOUN
futech-473	292	20	ns	ns	NUM
futech-473	292	21	e	e	NOUN
futech-473	292	22	(	(	PUNCT
futech-473	292	23	%	%	NOUN
futech-473	292	24	)	)	PUNCT
futech-473	292	25	n	n	NOUN
futech-473	292	26	=	=	SYM
futech-473	292	27	45	45	NUM
futech-473	292	28	operators	operator	NOUN
futech-473	292	29	surveyed	survey	VERB
futech-473	292	30	y.	y.	PROPN
futech-473	292	31	zhang	zhang	PROPN
futech-473	292	32	&	&	CCONJ
futech-473	292	33	ju	ju	PROPN
futech-473	292	34	.	.	PROPN
futech-473	293	1	abellera	abellera	NOUN
futech-473	293	2	/future	/future	PUNCT
futech-473	293	3	technology	technology	PROPN
futech-473	293	4	november	november	PROPN
futech-473	293	5	2025|	2025|	NUM
futech-473	293	6	volume	volume	NOUN
futech-473	293	7	04	04	NUM
futech-473	294	1	|	|	ADV
futech-473	294	2	issue	issue	VERB
futech-473	294	3	04	04	NUM
futech-473	295	1	|	|	CCONJ
futech-473	295	2	pages	page	VERB
futech-473	295	3	59	59	NUM
futech-473	295	4	-	-	SYM
futech-473	295	5	71	71	NUM
futech-473	295	6	68	68	NUM
futech-473	295	7	supervisors	supervisor	NOUN
futech-473	295	8	reported	report	VERB
futech-473	295	9	that	that	SCONJ
futech-473	295	10	the	the	DET
futech-473	295	11	predictive	predictive	ADJ
futech-473	295	12	analytics	analytic	NOUN
futech-473	295	13	capabilities	capability	NOUN
futech-473	295	14	allowed	allow	VERB
futech-473	295	15	them	they	PRON
futech-473	295	16	to	to	PART
futech-473	295	17	anticipate	anticipate	VERB
futech-473	295	18	bottlenecks	bottleneck	NOUN
futech-473	295	19	and	and	CCONJ
futech-473	295	20	adjust	adjust	VERB
futech-473	295	21	staffing	staffing	NOUN
futech-473	295	22	levels	level	NOUN
futech-473	295	23	dynamically	dynamically	ADV
futech-473	295	24	,	,	PUNCT
futech-473	295	25	resulting	result	VERB
futech-473	295	26	in	in	ADP
futech-473	295	27	more	more	ADV
futech-473	295	28	stable	stable	ADJ
futech-473	295	29	performance	performance	NOUN
futech-473	295	30	across	across	ADP
futech-473	295	31	varying	vary	VERB
futech-473	295	32	demand	demand	NOUN
futech-473	295	33	conditions	condition	NOUN
futech-473	295	34	.	.	PUNCT
futech-473	296	1	the	the	DET
futech-473	296	2	ability	ability	NOUN
futech-473	296	3	to	to	PART
futech-473	296	4	replay	replay	VERB
futech-473	296	5	operational	operational	ADJ
futech-473	296	6	scenarios	scenario	NOUN
futech-473	296	7	through	through	ADP
futech-473	296	8	the	the	DET
futech-473	296	9	digital	digital	ADJ
futech-473	296	10	twin	twin	NOUN
futech-473	296	11	proved	prove	VERB
futech-473	296	12	invaluable	invaluable	ADJ
futech-473	296	13	for	for	ADP
futech-473	296	14	training	training	NOUN
futech-473	296	15	purposes	purpose	NOUN
futech-473	296	16	and	and	CCONJ
futech-473	296	17	continuous	continuous	ADJ
futech-473	296	18	process	process	NOUN
futech-473	296	19	improvement	improvement	NOUN
futech-473	296	20	initiatives	initiative	NOUN
futech-473	296	21	.	.	PUNCT
futech-473	297	1	5.3	5.3	NUM
futech-473	297	2	case	case	NOUN
futech-473	297	3	studies	study	VERB
futech-473	297	4	implementation	implementation	NOUN
futech-473	297	5	of	of	ADP
futech-473	297	6	the	the	DET
futech-473	297	7	cps	cps	PROPN
futech-473	297	8	-	-	PUNCT
futech-473	297	9	amr	amr	NOUN
futech-473	297	10	system	system	NOUN
futech-473	297	11	across	across	ADP
futech-473	297	12	diverse	diverse	ADJ
futech-473	297	13	warehouse	warehouse	NOUN
futech-473	297	14	environments	environment	NOUN
futech-473	297	15	demonstrated	demonstrate	VERB
futech-473	297	16	remarkable	remarkable	ADJ
futech-473	297	17	adaptability	adaptability	NOUN
futech-473	297	18	and	and	CCONJ
futech-473	297	19	consistent	consistent	ADJ
futech-473	297	20	performance	performance	NOUN
futech-473	297	21	improvements	improvement	NOUN
futech-473	297	22	,	,	PUNCT
futech-473	297	23	validating	validate	VERB
futech-473	297	24	the	the	DET
futech-473	297	25	framework	framework	NOUN
futech-473	297	26	's	's	PART
futech-473	297	27	generalizability	generalizability	NOUN
futech-473	297	28	beyond	beyond	ADP
futech-473	297	29	controlled	control	VERB
futech-473	297	30	experimental	experimental	ADJ
futech-473	297	31	conditions	condition	NOUN
futech-473	297	32	.	.	PUNCT
futech-473	298	1	the	the	DET
futech-473	298	2	first	first	ADJ
futech-473	298	3	deployment	deployment	NOUN
futech-473	298	4	occurred	occur	VERB
futech-473	298	5	in	in	ADP
futech-473	298	6	a	a	DET
futech-473	298	7	12,000	12,000	NUM
futech-473	298	8	square	square	ADJ
futech-473	298	9	meter	meter	NOUN
futech-473	298	10	e	e	NOUN
futech-473	298	11	-	-	NOUN
futech-473	298	12	commerce	commerce	PROPN
futech-473	298	13	fulfillment	fulfillment	NOUN
futech-473	298	14	center	center	NOUN
futech-473	298	15	handling	handle	VERB
futech-473	298	16	over	over	ADP
futech-473	298	17	50,000	50,000	NUM
futech-473	298	18	skus	sku	NOUN
futech-473	298	19	with	with	ADP
futech-473	298	20	daily	daily	ADJ
futech-473	298	21	order	order	NOUN
futech-473	298	22	volumes	volume	NOUN
futech-473	298	23	ranging	range	VERB
futech-473	298	24	from	from	ADP
futech-473	298	25	8,000	8,000	NUM
futech-473	298	26	to	to	PART
futech-473	298	27	25,000	25,000	NUM
futech-473	298	28	during	during	ADP
futech-473	298	29	peak	peak	ADJ
futech-473	298	30	seasons	season	NOUN
futech-473	298	31	.	.	PUNCT
futech-473	299	1	prior	prior	ADV
futech-473	299	2	to	to	ADP
futech-473	299	3	implementation	implementation	NOUN
futech-473	299	4	,	,	PUNCT
futech-473	299	5	the	the	DET
futech-473	299	6	facility	facility	NOUN
futech-473	299	7	operated	operate	VERB
futech-473	299	8	with	with	ADP
futech-473	299	9	120	120	NUM
futech-473	299	10	manual	manual	ADJ
futech-473	299	11	workers	worker	NOUN
futech-473	299	12	achieving	achieve	VERB
futech-473	299	13	average	average	ADJ
futech-473	299	14	pick	pick	NOUN
futech-473	299	15	rates	rate	NOUN
futech-473	299	16	of	of	ADP
futech-473	299	17	85	85	NUM
futech-473	299	18	items	item	NOUN
futech-473	299	19	per	per	ADP
futech-473	299	20	hour	hour	NOUN
futech-473	299	21	.	.	PUNCT
futech-473	300	1	following	follow	VERB
futech-473	300	2	a	a	DET
futech-473	300	3	phased	phase	VERB
futech-473	300	4	three	three	NUM
futech-473	300	5	-	-	PUNCT
futech-473	300	6	month	month	NOUN
futech-473	300	7	deployment	deployment	NOUN
futech-473	300	8	of	of	ADP
futech-473	300	9	25	25	NUM
futech-473	300	10	amrs	amr	VERB
futech-473	300	11	integrated	integrate	VERB
futech-473	300	12	with	with	ADP
futech-473	300	13	the	the	DET
futech-473	300	14	cps	cps	PROPN
futech-473	300	15	framework	framework	NOUN
futech-473	300	16	,	,	PUNCT
futech-473	300	17	the	the	DET
futech-473	300	18	facility	facility	NOUN
futech-473	300	19	achieved	achieve	VERB
futech-473	300	20	380	380	NUM
futech-473	300	21	orders	order	NOUN
futech-473	300	22	per	per	ADP
futech-473	300	23	hour	hour	NOUN
futech-473	300	24	with	with	ADP
futech-473	300	25	only	only	ADV
futech-473	300	26	45	45	NUM
futech-473	300	27	human	human	ADJ
futech-473	300	28	operators	operator	NOUN
futech-473	300	29	focusing	focus	VERB
futech-473	300	30	on	on	ADP
futech-473	300	31	value	value	NOUN
futech-473	300	32	-	-	PUNCT
futech-473	300	33	added	add	VERB
futech-473	300	34	tasks	task	NOUN
futech-473	300	35	such	such	ADJ
futech-473	300	36	as	as	ADP
futech-473	300	37	quality	quality	NOUN
futech-473	300	38	control	control	NOUN
futech-473	300	39	and	and	CCONJ
futech-473	300	40	exception	exception	NOUN
futech-473	300	41	handling	handling	NOUN
futech-473	300	42	.	.	PUNCT
futech-473	301	1	the	the	DET
futech-473	301	2	dramatic	dramatic	ADJ
futech-473	301	3	workforce	workforce	NOUN
futech-473	301	4	reallocation	reallocation	NOUN
futech-473	301	5	enabled	enable	VERB
futech-473	301	6	the	the	DET
futech-473	301	7	company	company	NOUN
futech-473	301	8	to	to	PART
futech-473	301	9	redeploy	redeploy	VERB
futech-473	301	10	personnel	personnel	NOUN
futech-473	301	11	to	to	ADP
futech-473	301	12	customer	customer	NOUN
futech-473	301	13	service	service	NOUN
futech-473	301	14	roles	role	NOUN
futech-473	301	15	,	,	PUNCT
futech-473	301	16	improving	improve	VERB
futech-473	301	17	overall	overall	ADJ
futech-473	301	18	business	business	NOUN
futech-473	301	19	performance	performance	NOUN
futech-473	301	20	beyond	beyond	ADP
futech-473	301	21	warehouse	warehouse	NOUN
futech-473	301	22	metrics	metric	NOUN
futech-473	301	23	.	.	PUNCT
futech-473	302	1	a	a	DET
futech-473	302	2	pharmaceutical	pharmaceutical	ADJ
futech-473	302	3	distribution	distribution	NOUN
futech-473	302	4	center	center	NOUN
futech-473	302	5	presented	present	VERB
futech-473	302	6	unique	unique	ADJ
futech-473	302	7	challenges	challenge	NOUN
futech-473	302	8	requiring	require	VERB
futech-473	302	9	stringent	stringent	ADJ
futech-473	302	10	temperature	temperature	NOUN
futech-473	302	11	control	control	NOUN
futech-473	302	12	,	,	PUNCT
futech-473	302	13	batch	batch	VERB
futech-473	302	14	tracking	tracking	NOUN
futech-473	302	15	,	,	PUNCT
futech-473	302	16	and	and	CCONJ
futech-473	302	17	regulatory	regulatory	ADJ
futech-473	302	18	compliance	compliance	NOUN
futech-473	302	19	.	.	PUNCT
futech-473	303	1	the	the	DET
futech-473	303	2	8,000	8,000	NUM
futech-473	303	3	square	square	ADJ
futech-473	303	4	meter	meter	NOUN
futech-473	303	5	facility	facility	NOUN
futech-473	303	6	implemented	implement	VERB
futech-473	303	7	15	15	NUM
futech-473	303	8	specialized	specialized	ADJ
futech-473	303	9	amrs	amr	VERB
futech-473	303	10	equipped	equip	VERB
futech-473	303	11	with	with	ADP
futech-473	303	12	temperature	temperature	NOUN
futech-473	303	13	sensors	sensor	NOUN
futech-473	303	14	and	and	CCONJ
futech-473	303	15	sealed	seal	VERB
futech-473	303	16	compartments	compartment	NOUN
futech-473	303	17	for	for	ADP
futech-473	303	18	handling	handle	VERB
futech-473	303	19	sensitive	sensitive	ADJ
futech-473	303	20	medications	medication	NOUN
futech-473	303	21	.	.	PUNCT
futech-473	304	1	the	the	DET
futech-473	304	2	cps	cps	PROPN
futech-473	304	3	integration	integration	NOUN
futech-473	304	4	proved	prove	VERB
futech-473	304	5	particularly	particularly	ADV
futech-473	304	6	valuable	valuable	ADJ
futech-473	304	7	in	in	ADP
futech-473	304	8	maintaining	maintain	VERB
futech-473	304	9	cold	cold	ADJ
futech-473	304	10	chain	chain	NOUN
futech-473	304	11	integrity	integrity	NOUN
futech-473	304	12	,	,	PUNCT
futech-473	304	13	with	with	ADP
futech-473	304	14	digital	digital	ADJ
futech-473	304	15	twins	twin	NOUN
futech-473	304	16	continuously	continuously	ADV
futech-473	304	17	monitoring	monitor	VERB
futech-473	304	18	environmental	environmental	ADJ
futech-473	304	19	conditions	condition	NOUN
futech-473	304	20	and	and	CCONJ
futech-473	304	21	predicting	predict	VERB
futech-473	304	22	potential	potential	ADJ
futech-473	304	23	temperature	temperature	NOUN
futech-473	304	24	excursions	excursion	NOUN
futech-473	304	25	.	.	PUNCT
futech-473	305	1	real	real	ADJ
futech-473	305	2	-	-	PUNCT
futech-473	305	3	time	time	NOUN
futech-473	305	4	alerts	alert	NOUN
futech-473	305	5	enabled	enable	VERB
futech-473	305	6	preemptive	preemptive	ADJ
futech-473	305	7	interventions	intervention	NOUN
futech-473	305	8	that	that	PRON
futech-473	305	9	reduced	reduce	VERB
futech-473	305	10	product	product	NOUN
futech-473	305	11	spoilage	spoilage	NOUN
futech-473	305	12	by	by	ADP
futech-473	305	13	94	94	NUM
futech-473	305	14	%	%	NOUN
futech-473	305	15	compared	compare	VERB
futech-473	305	16	to	to	ADP
futech-473	305	17	the	the	DET
futech-473	305	18	previous	previous	ADJ
futech-473	305	19	manual	manual	ADJ
futech-473	305	20	monitoring	monitoring	NOUN
futech-473	305	21	system	system	NOUN
futech-473	305	22	.	.	PUNCT
futech-473	306	1	the	the	DET
futech-473	306	2	system	system	NOUN
futech-473	306	3	's	's	PART
futech-473	306	4	batch	batch	NOUN
futech-473	306	5	tracking	tracking	NOUN
futech-473	306	6	capabilities	capability	NOUN
futech-473	306	7	streamlined	streamline	VERB
futech-473	306	8	fda	fda	PROPN
futech-473	306	9	compliance	compliance	NOUN
futech-473	306	10	reporting	reporting	NOUN
futech-473	306	11	,	,	PUNCT
futech-473	306	12	reducing	reduce	VERB
futech-473	306	13	audit	audit	NOUN
futech-473	306	14	preparation	preparation	NOUN
futech-473	306	15	time	time	NOUN
futech-473	306	16	from	from	ADP
futech-473	306	17	two	two	NUM
futech-473	306	18	weeks	week	NOUN
futech-473	306	19	to	to	ADP
futech-473	306	20	two	two	NUM
futech-473	306	21	days	day	NOUN
futech-473	306	22	while	while	SCONJ
futech-473	306	23	achieving	achieve	VERB
futech-473	306	24	100	100	NUM
futech-473	306	25	%	%	NOUN
futech-473	306	26	traceability	traceability	NOUN
futech-473	306	27	for	for	ADP
futech-473	306	28	all	all	DET
futech-473	306	29	pharmaceutical	pharmaceutical	ADJ
futech-473	306	30	products	product	NOUN
futech-473	306	31	.	.	PUNCT
futech-473	307	1	the	the	DET
futech-473	307	2	third	third	ADJ
futech-473	307	3	case	case	NOUN
futech-473	307	4	study	study	NOUN
futech-473	307	5	involved	involve	VERB
futech-473	307	6	an	an	DET
futech-473	307	7	automotive	automotive	ADJ
futech-473	307	8	parts	part	NOUN
futech-473	307	9	warehouse	warehouse	NOUN
futech-473	307	10	serving	serve	VERB
futech-473	307	11	just	just	ADV
futech-473	307	12	-	-	PUNCT
futech-473	307	13	in	in	ADP
futech-473	307	14	-	-	PUNCT
futech-473	307	15	time	time	NOUN
futech-473	307	16	manufacturing	manufacturing	NOUN
futech-473	307	17	operations	operation	NOUN
futech-473	307	18	where	where	SCONJ
futech-473	307	19	delivery	delivery	NOUN
futech-473	307	20	precision	precision	NOUN
futech-473	307	21	directly	directly	ADV
futech-473	307	22	impacts	impact	VERB
futech-473	307	23	production	production	NOUN
futech-473	307	24	line	line	NOUN
futech-473	307	25	efficiency	efficiency	NOUN
futech-473	307	26	.	.	PUNCT
futech-473	308	1	this	this	DET
futech-473	308	2	15,000	15,000	NUM
futech-473	308	3	square	square	ADJ
futech-473	308	4	meter	meter	NOUN
futech-473	308	5	facility	facility	NOUN
futech-473	308	6	faced	face	VERB
futech-473	308	7	extreme	extreme	ADJ
futech-473	308	8	variability	variability	NOUN
futech-473	308	9	in	in	ADP
futech-473	308	10	demand	demand	NOUN
futech-473	308	11	patterns	pattern	NOUN
futech-473	308	12	,	,	PUNCT
futech-473	308	13	with	with	ADP
futech-473	308	14	order	order	NOUN
futech-473	308	15	sizes	size	NOUN
futech-473	308	16	ranging	range	VERB
futech-473	308	17	from	from	ADP
futech-473	308	18	single	single	ADJ
futech-473	308	19	components	component	NOUN
futech-473	308	20	to	to	ADP
futech-473	308	21	full	full	ADJ
futech-473	308	22	pallet	pallet	NOUN
futech-473	308	23	loads	load	NOUN
futech-473	308	24	.	.	PUNCT
futech-473	309	1	the	the	DET
futech-473	309	2	implementation	implementation	NOUN
futech-473	309	3	of	of	ADP
futech-473	309	4	30	30	NUM
futech-473	309	5	amrs	amr	VERB
futech-473	309	6	with	with	ADP
futech-473	309	7	dynamic	dynamic	ADJ
futech-473	309	8	task	task	NOUN
futech-473	309	9	allocation	allocation	NOUN
futech-473	309	10	algorithms	algorithm	NOUN
futech-473	309	11	enabled	enable	VERB
futech-473	309	12	the	the	DET
futech-473	309	13	facility	facility	NOUN
futech-473	309	14	to	to	PART
futech-473	309	15	maintain	maintain	VERB
futech-473	309	16	99.8	99.8	NUM
futech-473	309	17	%	%	NOUN
futech-473	309	18	on	on	ADP
futech-473	309	19	-	-	PUNCT
futech-473	309	20	time	time	NOUN
futech-473	309	21	delivery	delivery	NOUN
futech-473	309	22	performance	performance	NOUN
futech-473	309	23	despite	despite	SCONJ
futech-473	309	24	40	40	NUM
futech-473	309	25	%	%	NOUN
futech-473	309	26	daily	daily	ADJ
futech-473	309	27	demand	demand	NOUN
futech-473	309	28	fluctuations	fluctuation	NOUN
futech-473	309	29	.	.	PUNCT
futech-473	310	1	the	the	DET
futech-473	310	2	cps	cps	PROPN
futech-473	310	3	framework	framework	NOUN
futech-473	310	4	's	's	PART
futech-473	310	5	predictive	predictive	ADJ
futech-473	310	6	analytics	analytic	NOUN
futech-473	310	7	identified	identify	VERB
futech-473	310	8	recurring	recur	VERB
futech-473	310	9	patterns	pattern	NOUN
futech-473	310	10	in	in	ADP
futech-473	310	11	manufacturer	manufacturer	NOUN
futech-473	310	12	ordering	ordering	NOUN
futech-473	310	13	behavior	behavior	NOUN
futech-473	310	14	,	,	PUNCT
futech-473	310	15	enabling	enable	VERB
futech-473	310	16	proactive	proactive	ADJ
futech-473	310	17	inventory	inventory	NOUN
futech-473	310	18	positioning	positioning	NOUN
futech-473	310	19	that	that	PRON
futech-473	310	20	reduced	reduce	VERB
futech-473	310	21	average	average	ADJ
futech-473	310	22	pick	pick	NOUN
futech-473	310	23	times	time	NOUN
futech-473	310	24	by	by	ADP
futech-473	310	25	52	52	NUM
futech-473	310	26	%	%	NOUN
futech-473	310	27	.	.	PUNCT
futech-473	311	1	as	as	SCONJ
futech-473	311	2	illustrated	illustrate	VERB
futech-473	311	3	in	in	ADP
futech-473	311	4	figure	figure	NOUN
futech-473	311	5	7	7	NUM
futech-473	311	6	,	,	PUNCT
futech-473	311	7	the	the	DET
futech-473	311	8	comparative	comparative	ADJ
futech-473	311	9	performance	performance	NOUN
futech-473	311	10	across	across	ADP
futech-473	311	11	all	all	DET
futech-473	311	12	three	three	NUM
futech-473	311	13	implementations	implementation	NOUN
futech-473	311	14	shows	show	VERB
futech-473	311	15	consistent	consistent	ADJ
futech-473	311	16	improvements	improvement	NOUN
futech-473	311	17	in	in	ADP
futech-473	311	18	key	key	ADJ
futech-473	311	19	operational	operational	ADJ
futech-473	311	20	metrics	metric	NOUN
futech-473	311	21	despite	despite	SCONJ
futech-473	311	22	vastly	vastly	ADV
futech-473	311	23	different	different	ADJ
futech-473	311	24	operational	operational	ADJ
futech-473	311	25	contexts	contexts	NOUN
futech-473	311	26	.	.	PUNCT
futech-473	312	1	return	return	VERB
futech-473	312	2	on	on	ADP
futech-473	312	3	investment	investment	NOUN
futech-473	312	4	analysis	analysis	NOUN
futech-473	312	5	revealed	reveal	VERB
futech-473	312	6	compelling	compelling	ADJ
futech-473	312	7	financial	financial	ADJ
futech-473	312	8	benefits	benefit	NOUN
futech-473	312	9	across	across	ADP
futech-473	312	10	all	all	DET
futech-473	312	11	deployments	deployment	NOUN
futech-473	312	12	.	.	PUNCT
futech-473	313	1	the	the	DET
futech-473	313	2	e	e	PROPN
futech-473	313	3	-	-	PROPN
futech-473	313	4	commerce	commerce	NOUN
futech-473	313	5	facility	facility	NOUN
futech-473	313	6	achieved	achieve	VERB
futech-473	313	7	full	full	ADJ
futech-473	313	8	payback	payback	NOUN
futech-473	313	9	in	in	ADP
futech-473	313	10	14	14	NUM
futech-473	313	11	months	month	NOUN
futech-473	313	12	through	through	ADP
futech-473	313	13	labor	labor	NOUN
futech-473	313	14	cost	cost	NOUN
futech-473	313	15	savings	saving	NOUN
futech-473	313	16	and	and	CCONJ
futech-473	313	17	increased	increase	VERB
futech-473	313	18	throughput	throughput	NOUN
futech-473	313	19	capacity	capacity	NOUN
futech-473	313	20	.	.	PUNCT
futech-473	314	1	the	the	DET
futech-473	314	2	pharmaceutical	pharmaceutical	NOUN
futech-473	314	3	distributor	distributor	NOUN
futech-473	314	4	's	's	PART
futech-473	314	5	investment	investment	NOUN
futech-473	314	6	was	be	AUX
futech-473	314	7	justified	justify	VERB
futech-473	314	8	primarily	primarily	ADV
futech-473	314	9	through	through	ADP
futech-473	314	10	spoilage	spoilage	NOUN
futech-473	314	11	reduction	reduction	NOUN
futech-473	314	12	and	and	CCONJ
futech-473	314	13	compliance	compliance	NOUN
futech-473	314	14	cost	cost	NOUN
futech-473	314	15	savings	saving	NOUN
futech-473	314	16	,	,	PUNCT
futech-473	314	17	reaching	reach	VERB
futech-473	314	18	break	break	NOUN
futech-473	314	19	-	-	PUNCT
futech-473	314	20	even	even	ADV
futech-473	314	21	in	in	ADP
futech-473	314	22	18	18	NUM
futech-473	314	23	months	month	NOUN
futech-473	314	24	.	.	PUNCT
futech-473	315	1	the	the	DET
futech-473	315	2	automotive	automotive	ADJ
futech-473	315	3	parts	part	NOUN
futech-473	315	4	warehouse	warehouse	NOUN
futech-473	315	5	demonstrated	demonstrate	VERB
futech-473	315	6	the	the	DET
futech-473	315	7	fastest	fast	ADJ
futech-473	315	8	roi	roi	NOUN
futech-473	315	9	at	at	ADP
futech-473	315	10	11	11	NUM
futech-473	315	11	months	month	NOUN
futech-473	315	12	,	,	PUNCT
futech-473	315	13	driven	drive	VERB
futech-473	315	14	by	by	ADP
futech-473	315	15	penalty	penalty	NOUN
futech-473	315	16	avoidance	avoidance	NOUN
futech-473	315	17	for	for	ADP
futech-473	315	18	late	late	ADJ
futech-473	315	19	deliveries	delivery	NOUN
futech-473	315	20	and	and	CCONJ
futech-473	315	21	reduced	reduce	VERB
futech-473	315	22	expedited	expedite	VERB
futech-473	315	23	shipping	shipping	NOUN
futech-473	315	24	costs	cost	NOUN
futech-473	315	25	.	.	PUNCT
futech-473	316	1	long	long	ADJ
futech-473	316	2	-	-	PUNCT
futech-473	316	3	term	term	NOUN
futech-473	316	4	projections	projection	NOUN
futech-473	316	5	indicate	indicate	VERB
futech-473	316	6	cumulative	cumulative	ADJ
futech-473	316	7	savings	saving	NOUN
futech-473	316	8	exceeding	exceed	VERB
futech-473	316	9	300	300	NUM
futech-473	316	10	%	%	NOUN
futech-473	316	11	of	of	ADP
futech-473	316	12	initial	initial	ADJ
futech-473	316	13	investment	investment	NOUN
futech-473	316	14	over	over	ADP
futech-473	316	15	five	five	NUM
futech-473	316	16	years	year	NOUN
futech-473	316	17	when	when	SCONJ
futech-473	316	18	accounting	account	VERB
futech-473	316	19	for	for	ADP
futech-473	316	20	scalability	scalability	NOUN
futech-473	316	21	benefits	benefit	NOUN
futech-473	316	22	and	and	CCONJ
futech-473	316	23	continuous	continuous	ADJ
futech-473	316	24	improvement	improvement	NOUN
futech-473	316	25	through	through	ADP
futech-473	316	26	machine	machine	NOUN
futech-473	316	27	learning	learn	VERB
futech-473	316	28	optimization	optimization	NOUN
futech-473	316	29	.	.	PUNCT
futech-473	317	1	(	(	PUNCT
futech-473	317	2	a	a	X
futech-473	317	3	)	)	PUNCT
futech-473	317	4	(	(	PUNCT
futech-473	317	5	b	b	X
futech-473	317	6	)	)	PUNCT
futech-473	317	7	(	(	PUNCT
futech-473	317	8	c	c	X
futech-473	317	9	)	)	PUNCT
futech-473	317	10	figure	figure	NOUN
futech-473	317	11	7	7	NUM
futech-473	317	12	.	.	PUNCT
futech-473	317	13	case	case	NOUN
futech-473	317	14	study	study	NOUN
futech-473	317	15	performance	performance	NOUN
futech-473	317	16	comparison	comparison	NOUN
futech-473	317	17	:	:	PUNCT
futech-473	317	18	(	(	PUNCT
futech-473	317	19	a	a	X
futech-473	317	20	)	)	PUNCT
futech-473	317	21	performance	performance	NOUN
futech-473	317	22	improvements	improvement	NOUN
futech-473	317	23	by	by	ADP
futech-473	317	24	facility	facility	NOUN
futech-473	317	25	type	type	NOUN
futech-473	317	26	,	,	PUNCT
futech-473	317	27	(	(	PUNCT
futech-473	317	28	b	b	NOUN
futech-473	317	29	)	)	PUNCT
futech-473	317	30	return	return	NOUN
futech-473	317	31	on	on	ADP
futech-473	317	32	investment	investment	NOUN
futech-473	317	33	timeline	timeline	NOUN
futech-473	317	34	,	,	PUNCT
futech-473	317	35	(	(	PUNCT
futech-473	317	36	c	c	NOUN
futech-473	317	37	)	)	PUNCT
futech-473	317	38	facility	facility	NOUN
futech-473	317	39	-	-	PUNCT
futech-473	317	40	specific	specific	ADJ
futech-473	317	41	adaptation	adaptation	NOUN
futech-473	317	42	scores	score	NOUN
futech-473	317	43	flexibility	flexibility	NOUN
futech-473	317	44	compliance	compliance	NOUN
futech-473	317	45	accuracy	accuracy	NOUN
futech-473	317	46	speed	speed	NOUN
futech-473	317	47	cost\nsavings	cost\nsaving	NOUN
futech-473	317	48	0	0	NUM
futech-473	317	49	2	2	NUM
futech-473	317	50	4	4	NUM
futech-473	317	51	6	6	NUM
futech-473	317	52	8	8	NUM
futech-473	317	53	10	10	NUM
futech-473	317	54	sc	sc	NOUN
futech-473	317	55	or	or	CCONJ
futech-473	317	56	e	e	X
futech-473	317	57	(	(	PUNCT
futech-473	317	58	0	0	NUM
futech-473	317	59	-1	-1	NUM
futech-473	317	60	0	0	NUM
futech-473	317	61	)	)	PUNCT
futech-473	317	62	e	e	NOUN
futech-473	317	63	-	-	NOUN
futech-473	317	64	commerce	commerce	NOUN
futech-473	318	1	pharmaceutical	pharmaceutical	ADJ
futech-473	318	2	automotive	automotive	ADJ
futech-473	318	3	+212	+212	NUM
futech-473	318	4	%	%	NOUN
futech-473	318	5	+5	+5	PROPN
futech-473	318	6	%	%	NOUN
futech-473	318	7	+167	+167	NUM
futech-473	318	8	%	%	NOUN
futech-473	318	9	+8	+8	NOUN
futech-473	318	10	%	%	NOUN
futech-473	318	11	+65	+65	NOUN
futech-473	318	12	%	%	NOUN
futech-473	318	13	+78	+78	NOUN
futech-473	318	14	%	%	NOUN
futech-473	318	15	baseline	baseline	ADJ
futech-473	318	16	+347	+347	ADJ
futech-473	318	17	%	%	NOUN
futech-473	318	18	+295	+295	ADJ
futech-473	318	19	%	%	NOUN
futech-473	318	20	+12	+12	NUM
futech-473	318	21	%	%	NOUN
futech-473	318	22	+9	+9	NUM
futech-473	318	23	%	%	NOUN
futech-473	318	24	+15	+15	NUM
futech-473	318	25	%	%	NOUN
futech-473	318	26	+20	+20	NUM
futech-473	318	27	%	%	NOUN
futech-473	318	28	+322	+322	PROPN
futech-473	318	29	%	%	NOUN
futech-473	318	30	+280	+280	ADJ
futech-473	318	31	%	%	NOUN
futech-473	318	32	+94	+94	ADJ
futech-473	318	33	%	%	NOUN
futech-473	318	34	order\nfulfillm	order\nfulfillm	PUNCT
futech-473	318	35	ent\nrate	ent\nrate	VERB
futech-473	318	36	inventory\naccuracy	inventory\naccuracy	NUM
futech-473	318	37	on	on	ADP
futech-473	318	38	-	-	PUNCT
futech-473	318	39	tim	tim	PROPN
futech-473	318	40	e\ndelivery	e\ndelivery	PROPN
futech-473	318	41	labor\nproductivity	labor\nproductivity	PROPN
futech-473	318	42	error\nreduction	error\nreduction	NOUN
futech-473	318	43	0	0	NUM
futech-473	318	44	100	100	NUM
futech-473	318	45	200	200	NUM
futech-473	318	46	300	300	NUM
futech-473	318	47	400	400	NUM
futech-473	318	48	500	500	NUM
futech-473	318	49	pe	pe	INTJ
futech-473	319	1	rf	rf	NOUN
futech-473	319	2	or	or	CCONJ
futech-473	319	3	m	m	VERB
futech-473	319	4	an	an	DET
futech-473	319	5	ce	ce	PROPN
futech-473	319	6	(	(	PUNCT
futech-473	319	7	%	%	INTJ
futech-473	320	1	o	o	X
futech-473	320	2	f	f	PROPN
futech-473	320	3	b	b	PROPN
futech-473	320	4	as	as	ADP
futech-473	320	5	el	el	PROPN
futech-473	320	6	in	in	ADP
futech-473	320	7	e	e	NOUN
futech-473	320	8	)	)	PUNCT
futech-473	320	9	e	e	NOUN
futech-473	320	10	-	-	NOUN
futech-473	320	11	commerce	commerce	NOUN
futech-473	320	12	pharmaceutical	pharmaceutical	NOUN
futech-473	320	13	automotive	automotive	ADJ
futech-473	320	14	0	0	NUM
futech-473	320	15	5	5	NUM
futech-473	320	16	10	10	NUM
futech-473	320	17	15	15	NUM
futech-473	320	18	20	20	NUM
futech-473	320	19	months	month	NOUN
futech-473	320	20	after	after	ADP
futech-473	320	21	implementation	implementation	NOUN
futech-473	320	22	-100	-100	PROPN
futech-473	320	23	-50	-50	PROPN
futech-473	320	24	0	0	NUM
futech-473	320	25	50	50	NUM
futech-473	320	26	100	100	NUM
futech-473	321	1	r	r	NOUN
futech-473	321	2	o	o	X
futech-473	321	3	i	i	PRON
futech-473	321	4	(	(	PUNCT
futech-473	321	5	%	%	NOUN
futech-473	321	6	)	)	PUNCT
futech-473	321	7	14	14	NUM
futech-473	321	8	mo	mo	NOUN
futech-473	321	9	18	18	NUM
futech-473	321	10	mo11	mo11	PROPN
futech-473	321	11	mo	mo	PROPN
futech-473	321	12	e	e	PROPN
futech-473	321	13	-	-	PROPN
futech-473	321	14	commerce	commerce	NOUN
futech-473	321	15	pharmaceutical	pharmaceutical	NOUN
futech-473	321	16	automotive	automotive	PROPN
futech-473	321	17	y.	y.	PROPN
futech-473	321	18	zhang	zhang	PROPN
futech-473	321	19	&	&	CCONJ
futech-473	321	20	ju	ju	PROPN
futech-473	321	21	.	.	PROPN
futech-473	322	1	abellera	abellera	NOUN
futech-473	322	2	/future	/future	PUNCT
futech-473	322	3	technology	technology	PROPN
futech-473	322	4	november	november	PROPN
futech-473	322	5	2025|	2025|	NUM
futech-473	322	6	volume	volume	NOUN
futech-473	322	7	04	04	NUM
futech-473	323	1	|	|	ADV
futech-473	323	2	issue	issue	VERB
futech-473	323	3	04	04	NUM
futech-473	324	1	|	|	CCONJ
futech-473	324	2	pages	page	VERB
futech-473	324	3	59	59	NUM
futech-473	324	4	-	-	SYM
futech-473	324	5	71	71	NUM
futech-473	324	6	69	69	NUM
futech-473	324	7	industry	industry	NOUN
futech-473	324	8	-	-	PUNCT
futech-473	324	9	specific	specific	ADJ
futech-473	324	10	adaptations	adaptation	NOUN
futech-473	324	11	emerged	emerge	VERB
futech-473	324	12	organically	organically	ADV
futech-473	324	13	through	through	ADP
futech-473	324	14	the	the	DET
futech-473	324	15	cps	cps	PROPN
futech-473	324	16	framework	framework	NOUN
futech-473	324	17	's	's	PART
futech-473	324	18	learning	learn	VERB
futech-473	324	19	capabilities	capability	NOUN
futech-473	324	20	.	.	PUNCT
futech-473	325	1	the	the	DET
futech-473	325	2	ecommerce	ecommerce	NOUN
futech-473	325	3	deployment	deployment	PROPN
futech-473	325	4	developed	develop	VERB
futech-473	325	5	specialized	specialized	ADJ
futech-473	325	6	algorithms	algorithm	NOUN
futech-473	325	7	for	for	ADP
futech-473	325	8	handling	handle	VERB
futech-473	325	9	seasonal	seasonal	ADJ
futech-473	325	10	sku	sku	NOUN
futech-473	325	11	variations	variation	NOUN
futech-473	325	12	and	and	CCONJ
futech-473	325	13	gift	gift	NOUN
futech-473	325	14	-	-	PUNCT
futech-473	325	15	wrapping	wrap	VERB
futech-473	325	16	stations	station	NOUN
futech-473	325	17	.	.	PUNCT
futech-473	326	1	pharmaceutical	pharmaceutical	ADJ
futech-473	326	2	operations	operation	NOUN
futech-473	326	3	incorporated	incorporate	VERB
futech-473	326	4	validated	validated	ADJ
futech-473	326	5	cleaning	cleaning	NOUN
futech-473	326	6	cycles	cycle	NOUN
futech-473	326	7	and	and	CCONJ
futech-473	326	8	contamination	contamination	NOUN
futech-473	326	9	prevention	prevention	NOUN
futech-473	326	10	protocols	protocol	NOUN
futech-473	326	11	into	into	ADP
futech-473	326	12	robot	robot	NOUN
futech-473	326	13	scheduling	scheduling	NOUN
futech-473	326	14	.	.	PUNCT
futech-473	327	1	automotive	automotive	ADJ
futech-473	327	2	logistics	logistic	NOUN
futech-473	327	3	evolved	evolve	VERB
futech-473	327	4	sophisticated	sophisticated	ADJ
futech-473	327	5	kitting	kitting	NOUN
futech-473	327	6	procedures	procedure	NOUN
futech-473	327	7	for	for	ADP
futech-473	327	8	complex	complex	ADJ
futech-473	327	9	assembly	assembly	NOUN
futech-473	327	10	requirements	requirement	NOUN
futech-473	327	11	.	.	PUNCT
futech-473	328	1	these	these	DET
futech-473	328	2	adaptations	adaptation	NOUN
futech-473	328	3	occurred	occur	VERB
futech-473	328	4	without	without	ADP
futech-473	328	5	fundamental	fundamental	ADJ
futech-473	328	6	system	system	NOUN
futech-473	328	7	modifications	modification	NOUN
futech-473	328	8	,	,	PUNCT
futech-473	328	9	demonstrating	demonstrate	VERB
futech-473	328	10	the	the	DET
futech-473	328	11	framework	framework	NOUN
futech-473	328	12	's	's	PART
futech-473	328	13	inherent	inherent	ADJ
futech-473	328	14	flexibility	flexibility	NOUN
futech-473	328	15	,	,	PUNCT
futech-473	328	16	as	as	SCONJ
futech-473	328	17	detailed	detailed	ADJ
futech-473	328	18	in	in	ADP
futech-473	328	19	figure	figure	NOUN
futech-473	328	20	8	8	NUM
futech-473	328	21	.	.	PUNCT
futech-473	329	1	cross	cross	ADJ
futech-473	329	2	-	-	ADJ
futech-473	329	3	facility	facility	ADJ
futech-473	329	4	knowledge	knowledge	NOUN
futech-473	329	5	transfer	transfer	NOUN
futech-473	329	6	experiments	experiment	NOUN
futech-473	329	7	showed	show	VERB
futech-473	329	8	that	that	SCONJ
futech-473	329	9	learned	learn	VERB
futech-473	329	10	optimizations	optimization	NOUN
futech-473	329	11	from	from	ADP
futech-473	329	12	one	one	NUM
futech-473	329	13	deployment	deployment	NOUN
futech-473	329	14	could	could	AUX
futech-473	329	15	accelerate	accelerate	VERB
futech-473	329	16	performance	performance	NOUN
futech-473	329	17	improvements	improvement	NOUN
futech-473	329	18	in	in	ADP
futech-473	329	19	similar	similar	ADJ
futech-473	329	20	facilities	facility	NOUN
futech-473	329	21	by	by	ADP
futech-473	329	22	approximately	approximately	ADV
futech-473	329	23	40	40	NUM
futech-473	329	24	%	%	NOUN
futech-473	329	25	,	,	PUNCT
futech-473	329	26	suggesting	suggest	VERB
futech-473	329	27	significant	significant	ADJ
futech-473	329	28	network	network	NOUN
futech-473	329	29	effects	effect	NOUN
futech-473	329	30	as	as	SCONJ
futech-473	329	31	adoption	adoption	NOUN
futech-473	329	32	scales	scale	VERB
futech-473	329	33	across	across	ADP
futech-473	329	34	the	the	DET
futech-473	329	35	industry	industry	NOUN
futech-473	329	36	.	.	PUNCT
futech-473	330	1	5.4	5.4	NUM
futech-473	330	2	discussion	discussion	NOUN
futech-473	330	3	the	the	DET
futech-473	330	4	experimental	experimental	ADJ
futech-473	330	5	results	result	NOUN
futech-473	330	6	demonstrate	demonstrate	VERB
futech-473	330	7	that	that	SCONJ
futech-473	330	8	integrating	integrate	VERB
futech-473	330	9	autonomous	autonomous	ADJ
futech-473	330	10	mobile	mobile	ADJ
futech-473	330	11	robots	robot	NOUN
futech-473	330	12	with	with	ADP
futech-473	330	13	cyber	cyber	ADJ
futech-473	330	14	-	-	PUNCT
futech-473	330	15	physical	physical	ADJ
futech-473	330	16	systems	system	NOUN
futech-473	330	17	fundamentally	fundamentally	ADV
futech-473	330	18	transforms	transform	VERB
futech-473	330	19	warehouse	warehouse	NOUN
futech-473	330	20	operations	operation	NOUN
futech-473	330	21	beyond	beyond	ADP
futech-473	330	22	incremental	incremental	ADJ
futech-473	330	23	automation	automation	NOUN
futech-473	330	24	improvements	improvement	NOUN
futech-473	330	25	.	.	PUNCT
futech-473	331	1	the	the	DET
futech-473	331	2	68	68	NUM
futech-473	331	3	%	%	NOUN
futech-473	331	4	throughput	throughput	NOUN
futech-473	331	5	enhancement	enhancement	NOUN
futech-473	331	6	and	and	CCONJ
futech-473	331	7	99.7	99.7	NUM
futech-473	331	8	%	%	NOUN
futech-473	331	9	inventory	inventory	NOUN
futech-473	331	10	accuracy	accuracy	NOUN
futech-473	331	11	achieved	achieve	VERB
futech-473	331	12	through	through	ADP
futech-473	331	13	digital	digital	ADJ
futech-473	331	14	twin	twin	ADJ
futech-473	331	15	synchronization	synchronization	NOUN
futech-473	331	16	validate	validate	VERB
futech-473	331	17	the	the	DET
futech-473	331	18	theoretical	theoretical	ADJ
futech-473	331	19	framework	framework	NOUN
futech-473	331	20	's	's	PART
futech-473	331	21	premise	premise	NOUN
futech-473	331	22	that	that	SCONJ
futech-473	331	23	bidirectional	bidirectional	ADJ
futech-473	331	24	information	information	NOUN
futech-473	331	25	flow	flow	NOUN
futech-473	331	26	between	between	ADP
futech-473	331	27	physical	physical	ADJ
futech-473	331	28	and	and	CCONJ
futech-473	331	29	cyber	cyber	NOUN
futech-473	331	30	domains	domain	NOUN
futech-473	331	31	enables	enable	VERB
futech-473	331	32	emergent	emergent	ADJ
futech-473	331	33	system	system	NOUN
futech-473	331	34	intelligence	intelligence	NOUN
futech-473	331	35	.	.	PUNCT
futech-473	332	1	these	these	DET
futech-473	332	2	performance	performance	NOUN
futech-473	332	3	gains	gain	NOUN
futech-473	332	4	stem	stem	VERB
futech-473	332	5	not	not	PART
futech-473	332	6	from	from	ADP
futech-473	332	7	superior	superior	ADJ
futech-473	332	8	individual	individual	ADJ
futech-473	332	9	robot	robot	NOUN
futech-473	332	10	capabilities	capability	NOUN
futech-473	332	11	but	but	CCONJ
futech-473	332	12	from	from	ADP
futech-473	332	13	the	the	DET
futech-473	332	14	coordinated	coordinate	VERB
futech-473	332	15	decision	decision	NOUN
futech-473	332	16	-	-	PUNCT
futech-473	332	17	making	making	NOUN
futech-473	332	18	enabled	enable	VERB
futech-473	332	19	by	by	ADP
futech-473	332	20	real	real	ADJ
futech-473	332	21	-	-	PUNCT
futech-473	332	22	time	time	NOUN
futech-473	332	23	state	state	NOUN
futech-473	332	24	estimation	estimation	NOUN
futech-473	332	25	and	and	CCONJ
futech-473	332	26	predictive	predictive	ADJ
futech-473	332	27	optimization	optimization	NOUN
futech-473	332	28	across	across	ADP
futech-473	332	29	the	the	DET
futech-473	332	30	entire	entire	ADJ
futech-473	332	31	operational	operational	ADJ
futech-473	332	32	ecosystem	ecosystem	NOUN
futech-473	332	33	.	.	PUNCT
futech-473	333	1	the	the	DET
futech-473	333	2	successful	successful	ADJ
futech-473	333	3	deployment	deployment	NOUN
futech-473	333	4	across	across	ADP
futech-473	333	5	diverse	diverse	ADJ
futech-473	333	6	industrial	industrial	ADJ
futech-473	333	7	contexts	context	NOUN
futech-473	333	8	reveals	reveal	VERB
futech-473	333	9	important	important	ADJ
futech-473	333	10	insights	insight	NOUN
futech-473	333	11	about	about	ADP
futech-473	333	12	technology	technology	NOUN
futech-473	333	13	adoption	adoption	NOUN
futech-473	333	14	in	in	ADP
futech-473	333	15	logistics	logistic	NOUN
futech-473	333	16	environments	environment	NOUN
futech-473	333	17	.	.	PUNCT
futech-473	334	1	while	while	SCONJ
futech-473	334	2	initial	initial	ADJ
futech-473	334	3	implementation	implementation	NOUN
futech-473	334	4	costs	cost	NOUN
futech-473	334	5	exceed	exceed	VERB
futech-473	334	6	conventional	conventional	ADJ
futech-473	334	7	amr	amr	ADJ
futech-473	334	8	solutions	solution	NOUN
futech-473	334	9	by	by	ADP
futech-473	334	10	15	15	NUM
futech-473	334	11	%	%	NOUN
futech-473	334	12	,	,	PUNCT
futech-473	334	13	the	the	DET
futech-473	334	14	rapid	rapid	ADJ
futech-473	334	15	payback	payback	NOUN
futech-473	334	16	periods	period	NOUN
futech-473	334	17	ranging	range	VERB
futech-473	334	18	from	from	ADP
futech-473	334	19	11	11	NUM
futech-473	334	20	to	to	PART
futech-473	334	21	18	18	NUM
futech-473	334	22	months	month	NOUN
futech-473	334	23	indicate	indicate	VERB
futech-473	334	24	that	that	SCONJ
futech-473	334	25	organizations	organization	NOUN
futech-473	334	26	prioritize	prioritize	VERB
futech-473	334	27	long	long	ADJ
futech-473	334	28	-	-	PUNCT
futech-473	334	29	term	term	NOUN
futech-473	334	30	operational	operational	ADJ
futech-473	334	31	excellence	excellence	NOUN
futech-473	334	32	over	over	ADP
futech-473	334	33	upfront	upfront	ADJ
futech-473	334	34	savings	saving	NOUN
futech-473	334	35	.	.	PUNCT
futech-473	335	1	the	the	DET
futech-473	335	2	unexpected	unexpected	ADJ
futech-473	335	3	emergence	emergence	NOUN
futech-473	335	4	of	of	ADP
futech-473	335	5	self	self	NOUN
futech-473	335	6	-	-	PUNCT
futech-473	335	7	organizing	organize	VERB
futech-473	335	8	robot	robot	NOUN
futech-473	335	9	behaviors	behavior	NOUN
futech-473	335	10	and	and	CCONJ
futech-473	335	11	organic	organic	ADJ
futech-473	335	12	human	human	ADJ
futech-473	335	13	-	-	PUNCT
futech-473	335	14	robot	robot	NOUN
futech-473	335	15	collaboration	collaboration	NOUN
futech-473	335	16	protocols	protocol	NOUN
futech-473	335	17	suggests	suggest	VERB
futech-473	335	18	that	that	SCONJ
futech-473	335	19	effective	effective	ADJ
futech-473	335	20	automation	automation	NOUN
futech-473	335	21	design	design	NOUN
futech-473	335	22	should	should	AUX
futech-473	335	23	embrace	embrace	VERB
futech-473	335	24	adaptability	adaptability	NOUN
futech-473	335	25	rather	rather	ADV
futech-473	335	26	than	than	ADP
futech-473	335	27	rigid	rigid	ADJ
futech-473	335	28	optimization	optimization	NOUN
futech-473	335	29	.	.	PUNCT
futech-473	336	1	particularly	particularly	ADV
futech-473	336	2	noteworthy	noteworthy	ADJ
futech-473	336	3	is	be	AUX
futech-473	336	4	the	the	DET
futech-473	336	5	40	40	NUM
futech-473	336	6	%	%	NOUN
futech-473	336	7	acceleration	acceleration	NOUN
futech-473	336	8	in	in	ADP
futech-473	336	9	performance	performance	NOUN
futech-473	336	10	improvements	improvement	NOUN
futech-473	336	11	when	when	SCONJ
futech-473	336	12	transferring	transfer	VERB
futech-473	336	13	learned	learn	VERB
futech-473	336	14	optimizations	optimization	NOUN
futech-473	336	15	between	between	ADP
futech-473	336	16	facilities	facility	NOUN
futech-473	336	17	,	,	PUNCT
futech-473	336	18	indicating	indicate	VERB
futech-473	336	19	potential	potential	ADJ
futech-473	336	20	network	network	NOUN
futech-473	336	21	effects	effect	NOUN
futech-473	336	22	that	that	PRON
futech-473	336	23	could	could	AUX
futech-473	336	24	reshape	reshape	VERB
futech-473	336	25	competitive	competitive	ADJ
futech-473	336	26	dynamics	dynamic	NOUN
futech-473	336	27	in	in	ADP
futech-473	336	28	the	the	DET
futech-473	336	29	logistics	logistic	NOUN
futech-473	336	30	industry	industry	NOUN
futech-473	336	31	.	.	PUNCT
futech-473	337	1	despite	despite	SCONJ
futech-473	337	2	compelling	compelling	ADJ
futech-473	337	3	results	result	NOUN
futech-473	337	4	,	,	PUNCT
futech-473	337	5	several	several	ADJ
futech-473	337	6	limitations	limitation	NOUN
futech-473	337	7	warrant	warrant	VERB
futech-473	337	8	consideration	consideration	NOUN
futech-473	337	9	.	.	PUNCT
futech-473	338	1	the	the	DET
futech-473	338	2	evaluation	evaluation	NOUN
futech-473	338	3	focused	focus	VERB
futech-473	338	4	on	on	ADP
futech-473	338	5	single	single	ADJ
futech-473	338	6	-	-	PUNCT
futech-473	338	7	building	building	NOUN
futech-473	338	8	warehouses	warehouse	NOUN
futech-473	338	9	,	,	PUNCT
futech-473	338	10	leaving	leave	VERB
futech-473	338	11	multi	multi	ADJ
futech-473	338	12	-	-	ADJ
futech-473	338	13	facility	facility	NOUN
futech-473	338	14	coordination	coordination	NOUN
futech-473	338	15	and	and	CCONJ
futech-473	338	16	outdoor	outdoor	ADJ
futech-473	338	17	logistics	logistic	NOUN
futech-473	338	18	scenarios	scenario	NOUN
futech-473	338	19	unexplored	unexplored	ADJ
futech-473	338	20	.	.	PUNCT
futech-473	339	1	cybersecurity	cybersecurity	NOUN
futech-473	339	2	vulnerabilities	vulnerabilitie	VERB
futech-473	339	3	inherent	inherent	ADJ
futech-473	339	4	in	in	ADP
futech-473	339	5	increased	increase	VERB
futech-473	339	6	connectivity	connectivity	NOUN
futech-473	339	7	require	require	VERB
futech-473	339	8	continuous	continuous	ADJ
futech-473	339	9	vigilance	vigilance	NOUN
futech-473	339	10	and	and	CCONJ
futech-473	339	11	investment	investment	NOUN
futech-473	339	12	.	.	PUNCT
futech-473	340	1	future	future	ADJ
futech-473	340	2	research	research	NOUN
futech-473	340	3	should	should	AUX
futech-473	340	4	investigate	investigate	VERB
futech-473	340	5	federated	federated	ADJ
futech-473	340	6	learning	learning	NOUN
futech-473	340	7	approaches	approach	NOUN
futech-473	340	8	for	for	ADP
futech-473	340	9	privacy	privacy	NOUN
futech-473	340	10	-	-	PUNCT
futech-473	340	11	preserving	preserve	VERB
futech-473	340	12	knowledge	knowledge	NOUN
futech-473	340	13	transfer	transfer	NOUN
futech-473	340	14	across	across	ADP
futech-473	340	15	competing	compete	VERB
futech-473	340	16	organizations	organization	NOUN
futech-473	340	17	and	and	CCONJ
futech-473	340	18	develop	develop	VERB
futech-473	340	19	standardized	standardized	ADJ
futech-473	340	20	interfaces	interface	NOUN
futech-473	340	21	enabling	enable	VERB
futech-473	340	22	vendor	vendor	NOUN
futech-473	340	23	-	-	PUNCT
futech-473	340	24	agnostic	agnostic	ADJ
futech-473	340	25	implementations	implementation	NOUN
futech-473	340	26	.	.	PUNCT
futech-473	341	1	(	(	PUNCT
futech-473	341	2	a	a	X
futech-473	341	3	)	)	PUNCT
futech-473	341	4	(	(	PUNCT
futech-473	341	5	b	b	X
futech-473	341	6	)	)	PUNCT
futech-473	341	7	(	(	PUNCT
futech-473	341	8	c	c	X
futech-473	341	9	)	)	PUNCT
futech-473	341	10	(	(	PUNCT
futech-473	341	11	d	d	X
futech-473	341	12	)	)	PUNCT
futech-473	341	13	figure	figure	NOUN
futech-473	341	14	8	8	NUM
futech-473	341	15	.	.	PUNCT
futech-473	342	1	industry	industry	NOUN
futech-473	342	2	-	-	PUNCT
futech-473	342	3	specific	specific	ADJ
futech-473	342	4	adaptation	adaptation	NOUN
futech-473	342	5	and	and	CCONJ
futech-473	342	6	performance	performance	NOUN
futech-473	342	7	:	:	PUNCT
futech-473	342	8	(	(	PUNCT
futech-473	342	9	a	a	X
futech-473	342	10	)	)	PUNCT
futech-473	342	11	e	e	NOUN
futech-473	342	12	-	-	NOUN
futech-473	342	13	commerce	commerce	NOUN
futech-473	342	14	:	:	PUNCT
futech-473	342	15	seasonal	seasonal	ADJ
futech-473	342	16	order	order	NOUN
futech-473	342	17	handling	handling	NOUN
futech-473	342	18	,	,	PUNCT
futech-473	342	19	(	(	PUNCT
futech-473	342	20	b	b	NOUN
futech-473	342	21	)	)	PUNCT
futech-473	342	22	pharmaceutical	pharmaceutical	NOUN
futech-473	342	23	:	:	PUNCT
futech-473	342	24	temperature	temperature	NOUN
futech-473	342	25	control	control	NOUN
futech-473	342	26	,	,	PUNCT
futech-473	342	27	(	(	PUNCT
futech-473	342	28	c	c	X
futech-473	342	29	)	)	PUNCT
futech-473	342	30	automotive	automotive	NOUN
futech-473	342	31	:	:	PUNCT
futech-473	342	32	jit	jit	PROPN
futech-473	342	33	delivery	delivery	NOUN
futech-473	342	34	accuracy	accuracy	NOUN
futech-473	342	35	,	,	PUNCT
futech-473	342	36	(	(	PUNCT
futech-473	342	37	d	d	X
futech-473	342	38	)	)	PUNCT
futech-473	342	39	knowledge	knowledge	NOUN
futech-473	342	40	transfer	transfer	NOUN
futech-473	342	41	benefits	benefit	NOUN
futech-473	342	42	peak	peak	NOUN
futech-473	342	43	season	season	NOUN
futech-473	342	44	ja	ja	PROPN
futech-473	342	45	n	n	PROPN
futech-473	342	46	feb	feb	PROPN
futech-473	342	47	mar	mar	PROPN
futech-473	342	48	apr	apr	PROPN
futech-473	342	49	may	may	AUX
futech-473	342	50	ju	ju	PROPN
futech-473	342	51	n	n	PROPN
futech-473	342	52	ju	ju	PROPN
futech-473	342	53	l	l	PROPN
futech-473	342	54	aug	aug	PROPN
futech-473	342	55	sep	sep	PROPN
futech-473	342	56	oct	oct	PROPN
futech-473	342	57	nov	nov	PROPN
futech-473	342	58	dec	dec	PROPN
futech-473	342	59	0	0	NUM
futech-473	342	60	1	1	NUM
futech-473	342	61	2	2	NUM
futech-473	342	62	3	3	NUM
futech-473	342	63	4	4	NUM
futech-473	342	64	d	d	NOUN
futech-473	342	65	ai	ai	VERB
futech-473	342	66	ly	ly	ADP
futech-473	342	67	o	o	PROPN
futech-473	342	68	rd	rd	PROPN
futech-473	343	1	er	er	INTJ
futech-473	343	2	s	s	VERB
futech-473	343	3	before	before	ADP
futech-473	343	4	cps	cps	PROPN
futech-473	343	5	-	-	PUNCT
futech-473	343	6	amr	amr	NOUN
futech-473	343	7	after	after	ADP
futech-473	343	8	cps	cps	PROPN
futech-473	343	9	-	-	PUNCT
futech-473	343	10	amr	amr	NOUN
futech-473	343	11	data1	data1	NOUN
futech-473	343	12	75	75	NUM
futech-473	343	13	80	80	NUM
futech-473	343	14	85	85	NUM
futech-473	343	15	90	90	NUM
futech-473	343	16	95	95	NUM
futech-473	343	17	100	100	NUM
futech-473	343	18	sp	sp	ADP
futech-473	343	19	oi	oi	PROPN
futech-473	343	20	la	la	PROPN
futech-473	343	21	ge	ge	PROPN
futech-473	344	1	r	r	PROPN
futech-473	344	2	ed	ed	NOUN
futech-473	344	3	uc	uc	PROPN
futech-473	344	4	tio	tio	PROPN
futech-473	344	5	n	n	PROPN
futech-473	344	6	(	(	PUNCT
futech-473	344	7	%	%	NOUN
futech-473	344	8	)	)	PUNCT
futech-473	344	9	5	5	NUM
futech-473	344	10	10	10	NUM
futech-473	344	11	15	15	NUM
futech-473	344	12	20	20	NUM
futech-473	344	13	25	25	NUM
futech-473	344	14	hour	hour	NOUN
futech-473	344	15	of	of	ADP
futech-473	344	16	day	day	NOUN
futech-473	344	17	80	80	NUM
futech-473	344	18	85	85	NUM
futech-473	344	19	90	90	NUM
futech-473	344	20	95	95	NUM
futech-473	344	21	100	100	NUM
futech-473	344	22	o	o	NOUN
futech-473	344	23	ntim	ntim	PROPN
futech-473	344	24	e	e	PROPN
futech-473	344	25	d	d	PROPN
futech-473	344	26	el	el	PROPN
futech-473	344	27	iv	iv	INTJ
futech-473	344	28	er	er	INTJ
futech-473	344	29	y	y	PROPN
futech-473	344	30	(	(	PUNCT
futech-473	344	31	%	%	NOUN
futech-473	344	32	)	)	PUNCT
futech-473	344	33	jit	jit	PROPN
futech-473	344	34	requirement	requirement	NOUN
futech-473	344	35	before	before	ADP
futech-473	344	36	cps	cps	PROPN
futech-473	344	37	-	-	PUNCT
futech-473	344	38	amr	amr	NOUN
futech-473	344	39	after	after	ADP
futech-473	344	40	cps	cps	PROPN
futech-473	344	41	-	-	PUNCT
futech-473	344	42	amr	amr	NOUN
futech-473	344	43	0	0	NUM
futech-473	344	44	2	2	NUM
futech-473	344	45	4	4	NUM
futech-473	344	46	6	6	NUM
futech-473	344	47	8	8	NUM
futech-473	344	48	10	10	NUM
futech-473	344	49	12	12	NUM
futech-473	344	50	weeks	week	NOUN
futech-473	344	51	after	after	ADP
futech-473	344	52	deployment	deployment	NOUN
futech-473	344	53	60	60	NUM
futech-473	344	54	70	70	NUM
futech-473	344	55	80	80	NUM
futech-473	344	56	90	90	NUM
futech-473	344	57	pe	pe	INTJ
futech-473	344	58	rf	rf	NOUN
futech-473	344	59	or	or	CCONJ
futech-473	344	60	m	m	VERB
futech-473	344	61	an	an	DET
futech-473	344	62	ce	ce	PROPN
futech-473	344	63	l	l	PROPN
futech-473	344	64	ev	ev	PROPN
futech-473	344	65	el	el	PROPN
futech-473	344	66	(	(	PUNCT
futech-473	344	67	%	%	NOUN
futech-473	344	68	)	)	PUNCT
futech-473	344	69	←	←	PROPN
futech-473	344	70	40	40	NUM
futech-473	344	71	%	%	NOUN
futech-473	344	72	→	→	SYM
futech-473	344	73	standard	standard	ADJ
futech-473	344	74	deployment	deployment	NOUN
futech-473	344	75	with	with	ADP
futech-473	344	76	knowledge	knowledge	NOUN
futech-473	344	77	transfer	transfer	NOUN
futech-473	344	78	y.	y.	PROPN
futech-473	344	79	zhang	zhang	PROPN
futech-473	344	80	&	&	CCONJ
futech-473	344	81	ju	ju	PROPN
futech-473	344	82	.	.	PROPN
futech-473	345	1	abellera	abellera	NOUN
futech-473	345	2	/future	/future	PUNCT
futech-473	345	3	technology	technology	PROPN
futech-473	345	4	november	november	PROPN
futech-473	345	5	2025|	2025|	NUM
futech-473	345	6	volume	volume	NOUN
futech-473	345	7	04	04	NUM
futech-473	346	1	|	|	ADV
futech-473	346	2	issue	issue	VERB
futech-473	346	3	04	04	NUM
futech-473	347	1	|	|	CCONJ
futech-473	347	2	pages	page	VERB
futech-473	347	3	59	59	NUM
futech-473	347	4	-	-	SYM
futech-473	347	5	71	71	NUM
futech-473	347	6	70	70	NUM
futech-473	347	7	6	6	NUM
futech-473	347	8	.	.	PUNCT
futech-473	348	1	conclusion	conclusion	NOUN
futech-473	348	2	this	this	DET
futech-473	348	3	research	research	NOUN
futech-473	348	4	presented	present	VERB
futech-473	348	5	a	a	DET
futech-473	348	6	novel	novel	ADJ
futech-473	348	7	cyber	cyber	ADJ
futech-473	348	8	-	-	PUNCT
futech-473	348	9	physical	physical	ADJ
futech-473	348	10	systems	system	NOUN
futech-473	348	11	framework	framework	NOUN
futech-473	348	12	for	for	ADP
futech-473	348	13	autonomous	autonomous	ADJ
futech-473	348	14	mobile	mobile	ADJ
futech-473	348	15	robot	robot	NOUN
futech-473	348	16	integration	integration	NOUN
futech-473	348	17	in	in	ADP
futech-473	348	18	warehouse	warehouse	NOUN
futech-473	348	19	environments	environment	NOUN
futech-473	348	20	,	,	PUNCT
futech-473	348	21	demonstrating	demonstrate	VERB
futech-473	348	22	transformative	transformative	ADJ
futech-473	348	23	potential	potential	NOUN
futech-473	348	24	for	for	ADP
futech-473	348	25	intelligent	intelligent	ADJ
futech-473	348	26	inventory	inventory	NOUN
futech-473	348	27	management	management	NOUN
futech-473	348	28	.	.	PUNCT
futech-473	349	1	the	the	DET
futech-473	349	2	proposed	propose	VERB
futech-473	349	3	hierarchical	hierarchical	ADJ
futech-473	349	4	architecture	architecture	NOUN
futech-473	349	5	successfully	successfully	ADV
futech-473	349	6	addressed	address	VERB
futech-473	349	7	critical	critical	ADJ
futech-473	349	8	challenges	challenge	NOUN
futech-473	349	9	in	in	ADP
futech-473	349	10	multi	multi	ADJ
futech-473	349	11	-	-	ADJ
futech-473	349	12	robot	robot	ADJ
futech-473	349	13	coordination	coordination	NOUN
futech-473	349	14	,	,	PUNCT
futech-473	349	15	real	real	ADJ
futech-473	349	16	-	-	PUNCT
futech-473	349	17	time	time	NOUN
futech-473	349	18	optimization	optimization	NOUN
futech-473	349	19	,	,	PUNCT
futech-473	349	20	and	and	CCONJ
futech-473	349	21	human	human	ADJ
futech-473	349	22	-	-	PUNCT
futech-473	349	23	robot	robot	NOUN
futech-473	349	24	collaboration	collaboration	NOUN
futech-473	349	25	through	through	ADP
futech-473	349	26	innovative	innovative	ADJ
futech-473	349	27	digital	digital	ADJ
futech-473	349	28	twin	twin	ADJ
futech-473	349	29	synchronization	synchronization	NOUN
futech-473	349	30	and	and	CCONJ
futech-473	349	31	distributed	distribute	VERB
futech-473	349	32	decision	decision	NOUN
futech-473	349	33	-	-	PUNCT
futech-473	349	34	making	make	VERB
futech-473	349	35	mechanisms	mechanism	NOUN
futech-473	349	36	.	.	PUNCT
futech-473	350	1	experimental	experimental	ADJ
futech-473	350	2	validation	validation	NOUN
futech-473	350	3	across	across	ADP
futech-473	350	4	diverse	diverse	ADJ
futech-473	350	5	industrial	industrial	ADJ
futech-473	350	6	deployments	deployment	NOUN
futech-473	350	7	confirmed	confirm	VERB
futech-473	350	8	substantial	substantial	ADJ
futech-473	350	9	improvements	improvement	NOUN
futech-473	350	10	in	in	ADP
futech-473	350	11	operational	operational	ADJ
futech-473	350	12	efficiency	efficiency	NOUN
futech-473	350	13	,	,	PUNCT
futech-473	350	14	with	with	ADP
futech-473	350	15	420	420	NUM
futech-473	350	16	orders	order	NOUN
futech-473	350	17	per	per	ADP
futech-473	350	18	hour	hour	NOUN
futech-473	350	19	throughput	throughput	NOUN
futech-473	350	20	,	,	PUNCT
futech-473	350	21	99.7	99.7	NUM
futech-473	350	22	%	%	NOUN
futech-473	350	23	inventory	inventory	NOUN
futech-473	350	24	accuracy	accuracy	NOUN
futech-473	350	25	,	,	PUNCT
futech-473	350	26	and	and	CCONJ
futech-473	350	27	34	34	NUM
futech-473	350	28	%	%	NOUN
futech-473	350	29	reduction	reduction	NOUN
futech-473	350	30	in	in	ADP
futech-473	350	31	energy	energy	NOUN
futech-473	350	32	consumption	consumption	NOUN
futech-473	350	33	compared	compare	VERB
futech-473	350	34	to	to	ADP
futech-473	350	35	state	state	NOUN
futech-473	350	36	-	-	PUNCT
futech-473	350	37	of	of	ADP
futech-473	350	38	-	-	PUNCT
futech-473	350	39	theart	theart	NOUN
futech-473	350	40	alternatives	alternative	NOUN
futech-473	350	41	.	.	PUNCT
futech-473	351	1	the	the	DET
futech-473	351	2	practical	practical	ADJ
futech-473	351	3	implications	implication	NOUN
futech-473	351	4	extend	extend	VERB
futech-473	351	5	beyond	beyond	ADP
futech-473	351	6	performance	performance	NOUN
futech-473	351	7	metrics	metric	NOUN
futech-473	351	8	to	to	ADP
futech-473	351	9	fundamental	fundamental	ADJ
futech-473	351	10	changes	change	NOUN
futech-473	351	11	in	in	ADP
futech-473	351	12	warehouse	warehouse	NOUN
futech-473	351	13	design	design	NOUN
futech-473	351	14	and	and	CCONJ
futech-473	351	15	workforce	workforce	NOUN
futech-473	351	16	dynamics	dynamic	NOUN
futech-473	351	17	.	.	PUNCT
futech-473	352	1	organizations	organization	NOUN
futech-473	352	2	implementing	implement	VERB
futech-473	352	3	the	the	DET
futech-473	352	4	cps	cps	PROPN
futech-473	352	5	-	-	PUNCT
futech-473	352	6	amr	amr	NOUN
futech-473	352	7	framework	framework	NOUN
futech-473	352	8	reported	report	VERB
futech-473	352	9	enhanced	enhance	VERB
futech-473	352	10	employee	employee	NOUN
futech-473	352	11	satisfaction	satisfaction	NOUN
futech-473	352	12	,	,	PUNCT
futech-473	352	13	reduced	reduce	VERB
futech-473	352	14	training	training	NOUN
futech-473	352	15	requirements	requirement	NOUN
futech-473	352	16	,	,	PUNCT
futech-473	352	17	and	and	CCONJ
futech-473	352	18	unexpected	unexpected	ADJ
futech-473	352	19	emergent	emergent	ADJ
futech-473	352	20	behaviors	behavior	NOUN
futech-473	352	21	that	that	PRON
futech-473	352	22	improved	improve	VERB
futech-473	352	23	system	system	NOUN
futech-473	352	24	resilience	resilience	NOUN
futech-473	352	25	.	.	PUNCT
futech-473	353	1	the	the	DET
futech-473	353	2	economic	economic	ADJ
futech-473	353	3	viability	viability	NOUN
futech-473	353	4	demonstrated	demonstrate	VERB
futech-473	353	5	through	through	ADP
futech-473	353	6	11	11	NUM
futech-473	353	7	-	-	SYM
futech-473	353	8	18	18	NUM
futech-473	353	9	month	month	NOUN
futech-473	353	10	payback	payback	NOUN
futech-473	353	11	periods	period	NOUN
futech-473	353	12	and	and	CCONJ
futech-473	353	13	scalability	scalability	NOUN
futech-473	353	14	to	to	ADP
futech-473	353	15	30	30	NUM
futech-473	353	16	+	+	NUM
futech-473	353	17	robot	robot	NOUN
futech-473	353	18	deployments	deployment	NOUN
futech-473	353	19	positions	position	VERB
futech-473	353	20	this	this	DET
futech-473	353	21	technology	technology	NOUN
futech-473	353	22	for	for	ADP
futech-473	353	23	widespread	widespread	ADJ
futech-473	353	24	adoption	adoption	NOUN
futech-473	353	25	across	across	ADP
futech-473	353	26	the	the	DET
futech-473	353	27	logistics	logistic	NOUN
futech-473	353	28	industry	industry	NOUN
futech-473	353	29	.	.	PUNCT
futech-473	354	1	future	future	ADJ
futech-473	354	2	research	research	NOUN
futech-473	354	3	directions	direction	NOUN
futech-473	354	4	include	include	VERB
futech-473	354	5	extending	extend	VERB
futech-473	354	6	the	the	DET
futech-473	354	7	framework	framework	NOUN
futech-473	354	8	to	to	ADP
futech-473	354	9	outdoor	outdoor	ADJ
futech-473	354	10	environments	environment	NOUN
futech-473	354	11	and	and	CCONJ
futech-473	354	12	crossdocking	crossdocking	NOUN
futech-473	354	13	operations	operation	NOUN
futech-473	354	14	where	where	SCONJ
futech-473	354	15	environmental	environmental	ADJ
futech-473	354	16	uncertainties	uncertainty	NOUN
futech-473	354	17	pose	pose	VERB
futech-473	354	18	additional	additional	ADJ
futech-473	354	19	challenges	challenge	NOUN
futech-473	354	20	.	.	PUNCT
futech-473	355	1	integration	integration	NOUN
futech-473	355	2	of	of	ADP
futech-473	355	3	advanced	advanced	ADJ
futech-473	355	4	ai	ai	NOUN
futech-473	355	5	techniques	technique	NOUN
futech-473	355	6	such	such	ADJ
futech-473	355	7	as	as	ADP
futech-473	355	8	reinforcement	reinforcement	NOUN
futech-473	355	9	learning	learning	NOUN
futech-473	355	10	and	and	CCONJ
futech-473	355	11	large	large	ADJ
futech-473	355	12	language	language	NOUN
futech-473	355	13	models	model	NOUN
futech-473	355	14	could	could	AUX
futech-473	355	15	enable	enable	VERB
futech-473	355	16	natural	natural	ADJ
futech-473	355	17	language	language	NOUN
futech-473	355	18	task	task	NOUN
futech-473	355	19	specification	specification	NOUN
futech-473	355	20	and	and	CCONJ
futech-473	355	21	adaptive	adaptive	ADJ
futech-473	355	22	behavior	behavior	NOUN
futech-473	355	23	generation	generation	NOUN
futech-473	355	24	.	.	PUNCT
futech-473	356	1	development	development	NOUN
futech-473	356	2	of	of	ADP
futech-473	356	3	blockchain	blockchain	PROPN
futech-473	356	4	-	-	PUNCT
futech-473	356	5	based	base	VERB
futech-473	356	6	coordination	coordination	NOUN
futech-473	356	7	protocols	protocol	NOUN
futech-473	356	8	would	would	AUX
futech-473	356	9	address	address	VERB
futech-473	356	10	trust	trust	NOUN
futech-473	356	11	and	and	CCONJ
futech-473	356	12	security	security	NOUN
futech-473	356	13	concerns	concern	NOUN
futech-473	356	14	in	in	ADP
futech-473	356	15	multi	multi	ADJ
futech-473	356	16	-	-	ADJ
futech-473	356	17	stakeholder	stakeholder	ADJ
futech-473	356	18	warehouse	warehouse	NOUN
futech-473	356	19	ecosystems	ecosystem	NOUN
futech-473	356	20	.	.	PUNCT
futech-473	357	1	as	as	SCONJ
futech-473	357	2	global	global	ADJ
futech-473	357	3	supply	supply	NOUN
futech-473	357	4	chains	chain	NOUN
futech-473	357	5	face	face	VERB
futech-473	357	6	increasing	increase	VERB
futech-473	357	7	pressure	pressure	NOUN
futech-473	357	8	for	for	ADP
futech-473	357	9	efficiency	efficiency	NOUN
futech-473	357	10	and	and	CCONJ
futech-473	357	11	sustainability	sustainability	NOUN
futech-473	357	12	,	,	PUNCT
futech-473	357	13	the	the	DET
futech-473	357	14	cps	cps	PROPN
futech-473	357	15	-	-	PUNCT
futech-473	357	16	amr	amr	NOUN
futech-473	357	17	paradigm	paradigm	NOUN
futech-473	357	18	offers	offer	VERB
futech-473	357	19	a	a	DET
futech-473	357	20	pathway	pathway	NOUN
futech-473	357	21	toward	toward	ADP
futech-473	357	22	truly	truly	ADV
futech-473	357	23	intelligent	intelligent	ADJ
futech-473	357	24	logistics	logistic	NOUN
futech-473	357	25	systems	system	NOUN
futech-473	357	26	.	.	PUNCT
futech-473	358	1	ethical	ethical	ADJ
futech-473	358	2	issue	issue	NOUN
futech-473	358	3	the	the	DET
futech-473	358	4	authors	author	NOUN
futech-473	358	5	are	be	AUX
futech-473	358	6	aware	aware	ADJ
futech-473	358	7	of	of	ADP
futech-473	358	8	and	and	CCONJ
futech-473	358	9	comply	comply	ADJ
futech-473	358	10	with	with	ADP
futech-473	358	11	best	good	ADJ
futech-473	358	12	practices	practice	NOUN
futech-473	358	13	in	in	ADP
futech-473	358	14	publication	publication	NOUN
futech-473	358	15	ethics	ethic	NOUN
futech-473	358	16	,	,	PUNCT
futech-473	358	17	specifically	specifically	ADV
futech-473	358	18	with	with	ADP
futech-473	358	19	regard	regard	NOUN
futech-473	358	20	to	to	ADP
futech-473	358	21	authorship	authorship	NOUN
futech-473	358	22	(	(	PUNCT
futech-473	358	23	avoidance	avoidance	NOUN
futech-473	358	24	of	of	ADP
futech-473	358	25	guest	guest	NOUN
futech-473	358	26	authorship	authorship	NOUN
futech-473	358	27	)	)	PUNCT
futech-473	358	28	,	,	PUNCT
futech-473	358	29	dual	dual	ADJ
futech-473	358	30	submission	submission	NOUN
futech-473	358	31	,	,	PUNCT
futech-473	358	32	manipulation	manipulation	NOUN
futech-473	358	33	of	of	ADP
futech-473	358	34	figures	figure	NOUN
futech-473	358	35	,	,	PUNCT
futech-473	358	36	competing	compete	VERB
futech-473	358	37	interests	interest	NOUN
futech-473	358	38	,	,	PUNCT
futech-473	358	39	and	and	CCONJ
futech-473	358	40	compliance	compliance	NOUN
futech-473	358	41	with	with	ADP
futech-473	358	42	policies	policy	NOUN
futech-473	358	43	on	on	ADP
futech-473	358	44	research	research	NOUN
futech-473	358	45	ethics	ethic	NOUN
futech-473	358	46	.	.	PUNCT
futech-473	359	1	the	the	DET
futech-473	359	2	author	author	NOUN
futech-473	359	3	adheres	adhere	VERB
futech-473	359	4	to	to	ADP
futech-473	359	5	publication	publication	NOUN
futech-473	359	6	requirements	requirement	NOUN
futech-473	359	7	that	that	SCONJ
futech-473	359	8	the	the	DET
futech-473	359	9	submitted	submit	VERB
futech-473	359	10	work	work	NOUN
futech-473	359	11	is	be	AUX
futech-473	359	12	original	original	ADJ
futech-473	359	13	and	and	CCONJ
futech-473	359	14	has	have	AUX
futech-473	359	15	not	not	PART
futech-473	359	16	been	be	AUX
futech-473	359	17	published	publish	VERB
futech-473	359	18	elsewhere	elsewhere	ADV
futech-473	359	19	.	.	PUNCT
futech-473	360	1	data	datum	NOUN
futech-473	360	2	availability	availability	NOUN
futech-473	360	3	statement	statement	NOUN
futech-473	360	4	the	the	DET
futech-473	360	5	manuscript	manuscript	NOUN
futech-473	360	6	contains	contain	VERB
futech-473	360	7	all	all	DET
futech-473	360	8	the	the	DET
futech-473	360	9	data	datum	NOUN
futech-473	360	10	.	.	PUNCT
futech-473	361	1	however	however	ADV
futech-473	361	2	,	,	PUNCT
futech-473	361	3	more	more	ADJ
futech-473	361	4	data	datum	NOUN
futech-473	361	5	will	will	AUX
futech-473	361	6	be	be	AUX
futech-473	361	7	available	available	ADJ
futech-473	361	8	upon	upon	SCONJ
futech-473	361	9	request	request	NOUN
futech-473	361	10	from	from	ADP
futech-473	361	11	the	the	DET
futech-473	361	12	authors	author	NOUN
futech-473	361	13	.	.	PUNCT
futech-473	362	1	conflict	conflict	NOUN
futech-473	362	2	of	of	ADP
futech-473	362	3	interest	interest	NOUN
futech-473	362	4	the	the	DET
futech-473	362	5	authors	author	NOUN
futech-473	362	6	declare	declare	VERB
futech-473	362	7	no	no	DET
futech-473	362	8	potential	potential	ADJ
futech-473	362	9	conflict	conflict	NOUN
futech-473	362	10	of	of	ADP
futech-473	362	11	interest	interest	NOUN
futech-473	362	12	.	.	PUNCT
futech-473	363	1	references	reference	NOUN
futech-473	363	2	[	[	X
futech-473	363	3	1	1	NUM
futech-473	363	4	]	]	X
futech-473	363	5	g.	g.	PROPN
futech-473	363	6	fragapane	fragapane	PROPN
futech-473	363	7	,	,	PUNCT
futech-473	363	8	r.	r.	PROPN
futech-473	363	9	de	de	X
futech-473	363	10	koster	koster	PROPN
futech-473	363	11	,	,	PUNCT
futech-473	363	12	f.	f.	PROPN
futech-473	363	13	sgarbossa	sgarbossa	PROPN
futech-473	363	14	,	,	PUNCT
futech-473	363	15	j.o	j.o	PROPN
futech-473	363	16	.	.	PROPN
futech-473	363	17	strandhagen	strandhagen	PROPN
futech-473	363	18	,	,	PUNCT
futech-473	363	19	planning	planning	NOUN
futech-473	363	20	and	and	CCONJ
futech-473	363	21	control	control	NOUN
futech-473	363	22	of	of	ADP
futech-473	363	23	autonomous	autonomous	ADJ
futech-473	363	24	mobile	mobile	ADJ
futech-473	363	25	robots	robot	NOUN
futech-473	363	26	for	for	ADP
futech-473	363	27	intralogistics	intralogistic	NOUN
futech-473	363	28	:	:	PUNCT
futech-473	363	29	literature	literature	NOUN
futech-473	363	30	review	review	PROPN
futech-473	363	31	and	and	CCONJ
futech-473	363	32	research	research	NOUN
futech-473	363	33	agenda	agenda	NOUN
futech-473	363	34	,	,	PUNCT
futech-473	363	35	european	european	PROPN
futech-473	363	36	journal	journal	PROPN
futech-473	363	37	of	of	ADP
futech-473	363	38	operational	operational	ADJ
futech-473	363	39	research	research	NOUN
futech-473	363	40	294(2	294(2	NUM
futech-473	363	41	)	)	PUNCT
futech-473	363	42	(	(	PUNCT
futech-473	363	43	2021	2021	NUM
futech-473	363	44	)	)	PUNCT
futech-473	363	45	405	405	NUM
futech-473	363	46	-	-	SYM
futech-473	363	47	426	426	NUM
futech-473	363	48	.	.	PUNCT
futech-473	364	1	https://doi.org/10.1016/j.ejor.2021.01.019	https://doi.org/10.1016/j.ejor.2021.01.019	PROPN
futech-473	364	2	[	[	X
futech-473	364	3	2	2	NUM
futech-473	364	4	]	]	X
futech-473	364	5	a.k	a.k	PROPN
futech-473	364	6	.	.	PROPN
futech-473	364	7	grover	grover	PROPN
futech-473	364	8	,	,	PUNCT
futech-473	364	9	m.h	m.h	PROPN
futech-473	364	10	.	.	PROPN
futech-473	364	11	ashraf	ashraf	PROPN
futech-473	364	12	,	,	PUNCT
futech-473	364	13	leveraging	leverage	VERB
futech-473	364	14	autonomous	autonomous	ADJ
futech-473	364	15	mobile	mobile	ADJ
futech-473	364	16	robots	robot	NOUN
futech-473	364	17	for	for	ADP
futech-473	364	18	industry	industry	NOUN
futech-473	364	19	4.0	4.0	NUM
futech-473	364	20	warehouses	warehouse	NOUN
futech-473	364	21	:	:	PUNCT
futech-473	364	22	a	a	DET
futech-473	364	23	multiple	multiple	ADJ
futech-473	364	24	case	case	NOUN
futech-473	364	25	study	study	NOUN
futech-473	364	26	analysis	analysis	NOUN
futech-473	364	27	,	,	PUNCT
futech-473	364	28	the	the	DET
futech-473	364	29	international	international	ADJ
futech-473	364	30	journal	journal	NOUN
futech-473	364	31	of	of	ADP
futech-473	364	32	logistics	logistic	NOUN
futech-473	364	33	management	management	NOUN
futech-473	364	34	35(4	35(4	NUM
futech-473	364	35	)	)	PUNCT
futech-473	364	36	(	(	PUNCT
futech-473	364	37	2023	2023	NUM
futech-473	364	38	)	)	PUNCT
futech-473	364	39	1168	1168	NUM
futech-473	364	40	-	-	SYM
futech-473	364	41	1199	1199	NUM
futech-473	364	42	.	.	PUNCT
futech-473	365	1	https://doi.org/10.1108/ijlm-09-2022-0362	https://doi.org/10.1108/ijlm-09-2022-0362	VERB
futech-473	366	1	[	[	X
futech-473	366	2	3	3	X
futech-473	366	3	]	]	X
futech-473	366	4	b.	b.	PROPN
futech-473	366	5	cherniavskyi	cherniavskyi	PROPN
futech-473	366	6	,	,	PUNCT
futech-473	366	7	h.	h.	PROPN
futech-473	366	8	blakyta	blakyta	PROPN
futech-473	366	9	,	,	PUNCT
futech-473	366	10	v.	v.	PROPN
futech-473	366	11	susidenko	susidenko	PROPN
futech-473	366	12	,	,	PUNCT
futech-473	366	13	a.	a.	NOUN
futech-473	366	14	andreichenko	andreichenko	PROPN
futech-473	366	15	,	,	PUNCT
futech-473	366	16	y.	y.	PROPN
futech-473	366	17	remyha	remyha	PROPN
futech-473	366	18	,	,	PUNCT
futech-473	366	19	o.	o.	PROPN
futech-473	366	20	podmazko	podmazko	PROPN
futech-473	366	21	,	,	PUNCT
futech-473	366	22	innovative	innovative	ADJ
futech-473	366	23	technologies	technology	NOUN
futech-473	366	24	and	and	CCONJ
futech-473	366	25	digital	digital	ADJ
futech-473	366	26	models	model	NOUN
futech-473	366	27	in	in	ADP
futech-473	366	28	the	the	DET
futech-473	366	29	post	post	ADJ
futech-473	366	30	-	-	ADJ
futech-473	366	31	war	war	ADJ
futech-473	366	32	recovery	recovery	NOUN
futech-473	366	33	of	of	ADP
futech-473	366	34	the	the	DET
futech-473	366	35	transport	transport	NOUN
futech-473	366	36	and	and	CCONJ
futech-473	366	37	logistics	logistic	NOUN
futech-473	366	38	system	system	NOUN
futech-473	366	39	of	of	ADP
futech-473	366	40	ukraine	ukraine	NOUN
futech-473	366	41	,	,	PUNCT
futech-473	366	42	economy	economy	NOUN
futech-473	366	43	in	in	ADP
futech-473	366	44	the	the	DET
futech-473	366	45	era	era	NOUN
futech-473	366	46	of	of	ADP
futech-473	366	47	digital	digital	ADJ
futech-473	366	48	transformation	transformation	NOUN
futech-473	366	49	:	:	PUNCT
futech-473	366	50	trends	trend	NOUN
futech-473	366	51	,	,	PUNCT
futech-473	366	52	opportunities	opportunity	NOUN
futech-473	366	53	(	(	PUNCT
futech-473	366	54	2025	2025	NUM
futech-473	366	55	)	)	PUNCT
futech-473	366	56	110	110	NUM
futech-473	366	57	.	.	PUNCT
futech-473	367	1	doi:10.21303/978	doi:10.21303/978	PROPN
futech-473	367	2	-	-	PUNCT
futech-473	367	3	9908	9908	NUM
futech-473	367	4	-	-	PUNCT
futech-473	367	5	9706	9706	NUM
futech-473	367	6	-	-	PUNCT
futech-473	367	7	0	0	NUM
futech-473	367	8	-	-	PUNCT
futech-473	367	9	8.ch5	8.ch5	NUM
futech-473	367	10	[	[	X
futech-473	367	11	4	4	NUM
futech-473	367	12	]	]	PUNCT
futech-473	367	13	s.	s.	PROPN
futech-473	367	14	warita	warita	PROPN
futech-473	367	15	,	,	PUNCT
futech-473	367	16	k.	k.	PROPN
futech-473	367	17	fujita	fujita	PROPN
futech-473	367	18	,	,	PUNCT
futech-473	368	1	online	online	PROPN
futech-473	368	2	planning	planning	NOUN
futech-473	368	3	for	for	ADP
futech-473	368	4	autonomous	autonomous	ADJ
futech-473	368	5	mobile	mobile	ADJ
futech-473	368	6	robots	robot	NOUN
futech-473	368	7	with	with	ADP
futech-473	368	8	different	different	ADJ
futech-473	368	9	objectives	objective	NOUN
futech-473	368	10	in	in	ADP
futech-473	368	11	warehouse	warehouse	NOUN
futech-473	368	12	commissioning	commissioning	NOUN
futech-473	368	13	task	task	NOUN
futech-473	368	14	,	,	PUNCT
futech-473	368	15	information	information	NOUN
futech-473	368	16	15(3	15(3	NUM
futech-473	368	17	)	)	PUNCT
futech-473	368	18	(	(	PUNCT
futech-473	368	19	2024	2024	NUM
futech-473	368	20	)	)	PUNCT
futech-473	368	21	130	130	NUM
futech-473	368	22	.	.	PUNCT
futech-473	369	1	https://doi.org/10.3390/info15030130	https://doi.org/10.3390/info15030130	NOUN
futech-473	369	2	[	[	X
futech-473	369	3	5	5	NUM
futech-473	369	4	]	]	X
futech-473	369	5	r.	r.	PROPN
futech-473	369	6	keith	keith	PROPN
futech-473	369	7	,	,	PUNCT
futech-473	369	8	h.m	h.m	PROPN
futech-473	369	9	.	.	PROPN
futech-473	369	10	la	la	PROPN
futech-473	369	11	,	,	PUNCT
futech-473	369	12	review	review	NOUN
futech-473	369	13	of	of	ADP
futech-473	369	14	autonomous	autonomous	ADJ
futech-473	369	15	mobile	mobile	ADJ
futech-473	369	16	robots	robot	NOUN
futech-473	369	17	for	for	ADP
futech-473	369	18	the	the	DET
futech-473	369	19	warehouse	warehouse	NOUN
futech-473	369	20	environment	environment	NOUN
futech-473	369	21	,	,	PUNCT
futech-473	369	22	arxiv	arxiv	PROPN
futech-473	369	23	preprint	preprint	NOUN
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futech-473	369	25	(	(	PUNCT
futech-473	369	26	2024	2024	NUM
futech-473	369	27	)	)	PUNCT
futech-473	369	28	.	.	PUNCT
futech-473	370	1	https://doi.org/10.48550/arxiv.2406.08333	https://doi.org/10.48550/arxiv.2406.08333	PROPN
futech-473	370	2	[	[	X
futech-473	370	3	6	6	NUM
futech-473	370	4	]	]	PUNCT
futech-473	370	5	s.	s.	PROPN
futech-473	370	6	attaran	attaran	PROPN
futech-473	370	7	,	,	PUNCT
futech-473	370	8	m.	m.	NOUN
futech-473	370	9	attaran	attaran	PROPN
futech-473	370	10	,	,	PUNCT
futech-473	370	11	b.g	b.g	PROPN
futech-473	370	12	.	.	PROPN
futech-473	370	13	celik	celik	PROPN
futech-473	370	14	,	,	PUNCT
futech-473	370	15	digital	digital	ADJ
futech-473	370	16	twins	twin	NOUN
futech-473	370	17	and	and	CCONJ
futech-473	370	18	industrial	industrial	ADJ
futech-473	370	19	internet	internet	NOUN
futech-473	370	20	of	of	ADP
futech-473	370	21	things	thing	NOUN
futech-473	370	22	:	:	PUNCT
futech-473	370	23	uncovering	uncover	VERB
futech-473	370	24	operational	operational	ADJ
futech-473	370	25	intelligence	intelligence	NOUN
futech-473	370	26	in	in	ADP
futech-473	370	27	industry	industry	NOUN
futech-473	370	28	4.0	4.0	NUM
futech-473	370	29	,	,	PUNCT
futech-473	370	30	decision	decision	NOUN
futech-473	370	31	analytics	analytic	NOUN
futech-473	370	32	journal	journal	NOUN
futech-473	370	33	10	10	NUM
futech-473	370	34	(	(	PUNCT
futech-473	370	35	2024	2024	NUM
futech-473	370	36	)	)	PUNCT
futech-473	370	37	100398	100398	NUM
futech-473	370	38	.	.	PUNCT
futech-473	371	1	https://doi.org/10.1016/j.dajour.2024.100398	https://doi.org/10.1016/j.dajour.2024.100398	NOUN
futech-473	372	1	[	[	X
futech-473	372	2	7	7	X
futech-473	372	3	]	]	X
futech-473	372	4	e.	e.	PROPN
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futech-473	372	6	,	,	PUNCT
futech-473	372	7	d.	d.	PROPN
futech-473	372	8	ivanov	ivanov	PROPN
futech-473	372	9	,	,	PUNCT
futech-473	372	10	integrating	integrate	VERB
futech-473	372	11	digital	digital	ADJ
futech-473	372	12	twin	twin	NOUN
futech-473	372	13	and	and	CCONJ
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futech-473	372	15	for	for	ADP
futech-473	372	16	responsive	responsive	ADJ
futech-473	372	17	working	working	NOUN
futech-473	372	18	capital	capital	NOUN
futech-473	372	19	management	management	NOUN
futech-473	372	20	in	in	ADP
futech-473	372	21	supply	supply	NOUN
futech-473	372	22	chains	chain	NOUN
futech-473	372	23	facing	face	VERB
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futech-473	372	25	disruptions	disruption	NOUN
futech-473	372	26	,	,	PUNCT
futech-473	372	27	international	international	ADJ
futech-473	372	28	journal	journal	NOUN
futech-473	372	29	of	of	ADP
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futech-473	372	31	research	research	NOUN
futech-473	372	32	(	(	PUNCT
futech-473	372	33	2025	2025	NUM
futech-473	372	34	)	)	PUNCT
futech-473	372	35	1	1	NUM
futech-473	372	36	-	-	SYM
futech-473	372	37	35	35	NUM
futech-473	372	38	.	.	PUNCT
futech-473	373	1	https://doi.org/10.1080/00207543.2025.2507112	https://doi.org/10.1080/00207543.2025.2507112	PUNCT
futech-473	374	1	[	[	X
futech-473	374	2	8	8	NUM
futech-473	374	3	]	]	X
futech-473	374	4	o.	o.	PROPN
futech-473	374	5	mata	mata	PROPN
futech-473	374	6	,	,	PUNCT
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futech-473	374	8	ponce	ponce	PROPN
futech-473	374	9	,	,	PUNCT
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futech-473	374	18	,	,	PUNCT
futech-473	374	19	b.	b.	PROPN
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futech-473	374	21	,	,	PUNCT
futech-473	374	22	p.	p.	PROPN
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futech-473	374	25	b.	b.	PROPN
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futech-473	374	32	twin	twin	ADJ
futech-473	374	33	designs	design	NOUN
futech-473	374	34	with	with	ADP
futech-473	374	35	generative	generative	ADJ
futech-473	374	36	ai	ai	NOUN
futech-473	374	37	:	:	PUNCT
futech-473	374	38	crafting	craft	VERB
futech-473	374	39	a	a	DET
futech-473	374	40	comprehensive	comprehensive	ADJ
futech-473	374	41	framework	framework	NOUN
futech-473	374	42	for	for	ADP
futech-473	374	43	manufacturing	manufacturing	NOUN
futech-473	374	44	systems	system	NOUN
futech-473	374	45	,	,	PUNCT
futech-473	374	46	journal	journal	NOUN
futech-473	374	47	of	of	ADP
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futech-473	374	50	(	(	PUNCT
futech-473	374	51	2025	2025	NUM
futech-473	374	52	)	)	PUNCT
futech-473	374	53	1	1	NUM
futech-473	374	54	-	-	SYM
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futech-473	374	56	.	.	PUNCT
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futech-473	375	8	v.	v.	X
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futech-473	375	12	-	-	ADJ
futech-473	375	13	robot	robot	ADJ
futech-473	375	14	coordination	coordination	NOUN
futech-473	375	15	analysis	analysis	NOUN
futech-473	375	16	,	,	PUNCT
futech-473	375	17	taxonomy	taxonomy	NOUN
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futech-473	375	20	and	and	CCONJ
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futech-473	375	22	scope	scope	NOUN
futech-473	375	23	,	,	PUNCT
futech-473	375	24	journal	journal	NOUN
futech-473	375	25	of	of	ADP
futech-473	375	26	intelligent	intelligent	ADJ
futech-473	375	27	&	&	CCONJ
futech-473	375	28	robotic	robotic	ADJ
futech-473	375	29	systems	system	NOUN
futech-473	375	30	102(1	102(1	NUM
futech-473	375	31	)	)	PUNCT
futech-473	375	32	(	(	PUNCT
futech-473	375	33	2021	2021	NUM
futech-473	375	34	)	)	PUNCT
futech-473	375	35	10	10	NUM
futech-473	375	36	.	.	PUNCT
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futech-473	376	2	[	[	X
futech-473	376	3	10	10	NUM
futech-473	376	4	]	]	X
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futech-473	376	11	n.	n.	PROPN
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futech-473	376	13	,	,	PUNCT
futech-473	376	14	a	a	DET
futech-473	376	15	novel	novel	ADJ
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futech-473	376	17	for	for	ADP
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futech-473	376	19	-	-	ADJ
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futech-473	376	21	task	task	NOUN
futech-473	376	22	assignment	assignment	NOUN
futech-473	376	23	in	in	ADP
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futech-473	376	26	,	,	PUNCT
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futech-473	376	28	conference	conference	NOUN
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futech-473	376	31	intelligent	intelligent	ADJ
futech-473	376	32	industrial	industrial	ADJ
futech-473	376	33	production	production	NOUN
futech-473	376	34	and	and	CCONJ
futech-473	376	35	logistics	logistic	NOUN
futech-473	376	36	,	,	PUNCT
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futech-473	376	39	2024	2024	NUM
futech-473	376	40	,	,	PUNCT
futech-473	376	41	pp	pp	ADJ
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futech-473	377	1	343	343	NUM
futech-473	377	2	-	-	SYM
futech-473	377	3	353	353	NUM
futech-473	377	4	.	.	PUNCT
futech-473	378	1	https://doi.org/10.1007/978-3-03180775-6_24	https://doi.org/10.1007/978-3-03180775-6_24	PROPN
futech-473	379	1	[	[	X
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futech-473	379	17	tolerant	tolerant	ADJ
futech-473	379	18	multi	multi	ADJ
futech-473	379	19	-	-	ADJ
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futech-473	379	22	with	with	ADP
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futech-473	381	3	]	]	PUNCT
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futech-473	383	6	,	,	PUNCT
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futech-473	383	31	,	,	PUNCT
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futech-473	383	35	:	:	PUNCT
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futech-473	383	41	,	,	PUNCT
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futech-473	384	1	543550	543550	NUM
futech-473	384	2	.	.	PUNCT
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futech-473	386	3	]	]	PUNCT
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futech-473	386	10	s.	s.	PROPN
futech-473	386	11	abrar	abrar	PROPN
futech-473	386	12	,	,	PUNCT
futech-473	386	13	l.	l.	PROPN
futech-473	386	14	zhou	zhou	PROPN
futech-473	386	15	,	,	PUNCT
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futech-473	386	17	language	language	NOUN
futech-473	386	18	models	model	NOUN
futech-473	386	19	for	for	ADP
futech-473	386	20	multi	multi	ADJ
futech-473	386	21	-	-	ADJ
futech-473	386	22	robot	robot	ADJ
futech-473	386	23	systems	system	NOUN
futech-473	386	24	:	:	PUNCT
futech-473	386	25	a	a	DET
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futech-473	386	27	,	,	PUNCT
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futech-473	386	30	arxiv:2502.03814	arxiv:2502.03814	NOUN
futech-473	386	31	(	(	PUNCT
futech-473	386	32	2025	2025	NUM
futech-473	386	33	)	)	PUNCT
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futech-473	387	1	https://doi.org/10.48550/arxiv.2502.03814	https://doi.org/10.48550/arxiv.2502.03814	PROPN
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futech-473	388	22	,	,	PUNCT
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futech-473	389	2	,	,	PUNCT
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futech-473	390	5	2025|	2025|	NUM
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futech-473	391	1	|	|	ADV
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futech-473	392	1	|	|	CCONJ
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futech-473	392	4	-	-	SYM
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futech-473	392	13	:	:	PUNCT
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futech-473	392	15	review	review	PROPN
futech-473	392	16	,	,	PUNCT
futech-473	392	17	applied	apply	VERB
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futech-473	392	23	)	)	PUNCT
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futech-473	392	25	.	.	PUNCT
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futech-473	393	4	]	]	X
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futech-473	393	6	.	.	PROPN
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futech-473	393	9	,	,	PUNCT
futech-473	393	10	d.	d.	PROPN
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futech-473	393	18	.	.	PROPN
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futech-473	396	37	-	-	SYM
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futech-473	399	1	https://doi.org/10.3390/s23084105	https://doi.org/10.3390/s23084105	NUM
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futech-473	401	2	/	/	SYM
futech-473	401	3	jbl.70005	jbl.70005	NUM
futech-473	402	1	[	[	X
futech-473	402	2	20	20	NUM
futech-473	402	3	]	]	X
futech-473	402	4	y.	y.	PROPN
futech-473	402	5	zhang	zhang	PROPN
futech-473	402	6	,	,	PUNCT
futech-473	402	7	m.c	m.c	PROPN
futech-473	402	8	.	.	PROPN
futech-473	402	9	fontaine	fontaine	PROPN
futech-473	402	10	,	,	PUNCT
futech-473	402	11	v.	v.	PROPN
futech-473	402	12	bhatt	bhatt	PROPN
futech-473	402	13	,	,	PUNCT
futech-473	402	14	s.	s.	PROPN
futech-473	402	15	nikolaidis	nikolaidis	PROPN
futech-473	402	16	,	,	PUNCT
futech-473	402	17	j.	j.	PROPN
futech-473	402	18	li	li	PROPN
futech-473	402	19	,	,	PUNCT
futech-473	402	20	multi	multi	ADJ
futech-473	402	21	-	-	ADJ
futech-473	402	22	robot	robot	ADJ
futech-473	402	23	coordination	coordination	NOUN
futech-473	402	24	and	and	CCONJ
futech-473	402	25	layout	layout	NOUN
futech-473	402	26	design	design	NOUN
futech-473	402	27	for	for	ADP
futech-473	402	28	automated	automate	VERB
futech-473	402	29	warehousing	warehousing	NOUN
futech-473	402	30	,	,	PUNCT
futech-473	402	31	proceedings	proceeding	NOUN
futech-473	402	32	of	of	ADP
futech-473	402	33	the	the	DET
futech-473	402	34	international	international	ADJ
futech-473	402	35	symposium	symposium	NOUN
futech-473	402	36	on	on	ADP
futech-473	402	37	combinatorial	combinatorial	ADJ
futech-473	402	38	search	search	NOUN
futech-473	402	39	,	,	PUNCT
futech-473	402	40	2024	2024	NUM
futech-473	402	41	,	,	PUNCT
futech-473	402	42	pp	pp	ADJ
futech-473	402	43	.	.	PUNCT
futech-473	403	1	305	305	NUM
futech-473	403	2	-	-	SYM
futech-473	403	3	306	306	NUM
futech-473	403	4	.	.	PUNCT
futech-473	404	1	doi	doi	NOUN
futech-473	404	2	:	:	PUNCT
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futech-473	404	6	[	[	X
futech-473	404	7	21	21	NUM
futech-473	404	8	]	]	PUNCT
futech-473	404	9	vamsi	vamsi	PROPN
futech-473	404	10	krishna	krishna	PROPN
futech-473	404	11	yarlagadda	yarlagadda	NOUN
futech-473	404	12	.	.	PUNCT
futech-473	405	1	cutting	cut	VERB
futech-473	405	2	-	-	PUNCT
futech-473	405	3	edge	edge	NOUN
futech-473	405	4	developments	development	NOUN
futech-473	405	5	in	in	ADP
futech-473	405	6	robotics	robotic	NOUN
futech-473	405	7	for	for	ADP
futech-473	405	8	smart	smart	ADJ
futech-473	405	9	warehousing	warehousing	NOUN
futech-473	405	10	and	and	CCONJ
futech-473	405	11	logistics	logistic	NOUN
futech-473	405	12	optimization	optimization	NOUN
futech-473	405	13	.	.	PUNCT
futech-473	406	1	robotics	robotic	NOUN
futech-473	406	2	xplore	xplore	PROPN
futech-473	406	3	:	:	PUNCT
futech-473	406	4	usa	usa	PROPN
futech-473	406	5	automation	automation	PROPN
futech-473	406	6	digest	digest	PROPN
futech-473	406	7	,	,	PUNCT
futech-473	406	8	2024	2024	NUM
futech-473	406	9	,	,	PUNCT
futech-473	406	10	1	1	NUM
futech-473	406	11	(	(	PUNCT
futech-473	406	12	1	1	NUM
futech-473	406	13	)	)	PUNCT
futech-473	406	14	,	,	PUNCT
futech-473	406	15	pp.61	pp.61	NOUN
futech-473	406	16	-	-	PUNCT
futech-473	406	17	79	79	NUM
futech-473	406	18	.	.	PUNCT
futech-473	407	1	⟨hal04787280⟩.	⟨hal04787280⟩.	ADJ
futech-473	408	1	[	[	X
futech-473	408	2	22	22	NUM
futech-473	408	3	]	]	X
futech-473	408	4	sattarov	sattarov	ADJ
futech-473	408	5	a.	a.	NOUN
futech-473	408	6	warehouse	warehouse	NOUN
futech-473	408	7	automation	automation	NOUN
futech-473	408	8	and	and	CCONJ
futech-473	408	9	materials	material	NOUN
futech-473	408	10	handling	handling	NOUN
futech-473	408	11	:	:	PUNCT
futech-473	408	12	an	an	DET
futech-473	408	13	emerging	emerge	VERB
futech-473	408	14	industry	industry	NOUN
futech-473	408	15	,	,	PUNCT
futech-473	408	16	its	its	PRON
futech-473	408	17	market	market	NOUN
futech-473	408	18	impact	impact	NOUN
futech-473	408	19	,	,	PUNCT
futech-473	408	20	and	and	CCONJ
futech-473	408	21	the	the	DET
futech-473	408	22	forces	force	NOUN
futech-473	408	23	challenging	challenge	VERB
futech-473	408	24	its	its	PRON
futech-473	408	25	growth	growth	NOUN
futech-473	408	26	.	.	PUNCT
futech-473	409	1	journal	journal	NOUN
futech-473	409	2	of	of	ADP
futech-473	409	3	data	datum	NOUN
futech-473	409	4	analysis	analysis	NOUN
futech-473	409	5	and	and	CCONJ
futech-473	409	6	information	information	NOUN
futech-473	409	7	processing	processing	NOUN
futech-473	409	8	.	.	PUNCT
futech-473	410	1	2025	2025	NUM
futech-473	410	2	apr	apr	NOUN
futech-473	410	3	11;13(2):199	11;13(2):199	NUM
futech-473	410	4	-	-	PUNCT
futech-473	410	5	212	212	NUM
futech-473	410	6	.	.	PUNCT
futech-473	410	7	doi	doi	NOUN
futech-473	410	8	:	:	PUNCT
futech-473	410	9	10.4236	10.4236	NUM
futech-473	410	10	/	/	SYM
futech-473	410	11	jdaip.2025.132012	jdaip.2025.132012	NOUN
futech-473	410	12	[	[	X
futech-473	410	13	23	23	NUM
futech-473	410	14	]	]	X
futech-473	410	15	k.f.e	k.f.e	PROPN
futech-473	410	16	.	.	PUNCT
futech-473	411	1	tsang	tsang	PROPN
futech-473	411	2	,	,	PUNCT
futech-473	411	3	y.	y.	PROPN
futech-473	411	4	ni	ni	PROPN
futech-473	411	5	,	,	PUNCT
futech-473	411	6	c.f.r	c.f.r	PROPN
futech-473	411	7	.	.	PUNCT
futech-473	412	1	wong	wong	PROPN
futech-473	412	2	,	,	PUNCT
futech-473	412	3	l.	l.	PROPN
futech-473	412	4	shi	shi	PROPN
futech-473	412	5	,	,	PUNCT
futech-473	412	6	a	a	DET
futech-473	412	7	novel	novel	ADJ
futech-473	412	8	warehouse	warehouse	NOUN
futech-473	412	9	multi	multi	ADJ
futech-473	412	10	-	-	ADJ
futech-473	412	11	robot	robot	ADJ
futech-473	412	12	automation	automation	NOUN
futech-473	412	13	system	system	NOUN
futech-473	412	14	with	with	ADP
futech-473	412	15	semi	semi	ADJ
futech-473	412	16	-	-	ADJ
futech-473	412	17	complete	complete	ADJ
futech-473	412	18	and	and	CCONJ
futech-473	412	19	computationally	computationally	ADV
futech-473	412	20	efficient	efficient	ADJ
futech-473	412	21	path	path	NOUN
futech-473	412	22	planning	planning	NOUN
futech-473	412	23	and	and	CCONJ
futech-473	412	24	adaptive	adaptive	ADJ
futech-473	412	25	genetic	genetic	ADJ
futech-473	412	26	task	task	NOUN
futech-473	412	27	allocation	allocation	NOUN
futech-473	412	28	algorithms	algorithm	NOUN
futech-473	412	29	,	,	PUNCT
futech-473	412	30	2018	2018	NUM
futech-473	412	31	15th	15th	ADJ
futech-473	412	32	international	international	ADJ
futech-473	412	33	conference	conference	NOUN
futech-473	412	34	on	on	ADP
futech-473	412	35	control	control	NOUN
futech-473	412	36	,	,	PUNCT
futech-473	412	37	automation	automation	NOUN
futech-473	412	38	,	,	PUNCT
futech-473	412	39	robotics	robotic	NOUN
futech-473	412	40	and	and	CCONJ
futech-473	412	41	vision	vision	NOUN
futech-473	412	42	(	(	PUNCT
futech-473	412	43	icarcv	icarcv	PROPN
futech-473	412	44	)	)	PUNCT
futech-473	412	45	,	,	PUNCT
futech-473	412	46	ieee	ieee	NOUN
futech-473	412	47	,	,	PUNCT
futech-473	412	48	2018	2018	NUM
futech-473	412	49	,	,	PUNCT
futech-473	412	50	pp	pp	ADJ
futech-473	412	51	.	.	PUNCT
futech-473	413	1	1671	1671	NUM
futech-473	413	2	-	-	SYM
futech-473	413	3	1676	1676	NUM
futech-473	413	4	.	.	PUNCT
futech-473	414	1	doi	doi	NOUN
futech-473	414	2	:	:	PUNCT
futech-473	414	3	10.1109	10.1109	NUM
futech-473	414	4	/	/	SYM
futech-473	414	5	icarcv.2018.8581092	icarcv.2018.8581092	NOUN
futech-473	414	6	[	[	PUNCT
futech-473	414	7	24	24	NUM
futech-473	414	8	]	]	PUNCT
futech-473	414	9	m.	m.	NOUN
futech-473	414	10	singh	singh	PROPN
futech-473	414	11	,	,	PUNCT
futech-473	414	12	r.	r.	PROPN
futech-473	414	13	srivastava	srivastava	PROPN
futech-473	414	14	,	,	PUNCT
futech-473	414	15	e.	e.	PROPN
futech-473	414	16	fuenmayor	fuenmayor	PROPN
futech-473	414	17	,	,	PUNCT
futech-473	414	18	v.	v.	CCONJ
futech-473	414	19	kuts	kuts	PROPN
futech-473	414	20	,	,	PUNCT
futech-473	414	21	y.	y.	PROPN
futech-473	414	22	qiao	qiao	PROPN
futech-473	414	23	,	,	PUNCT
futech-473	414	24	n.	n.	PROPN
futech-473	414	25	murray	murray	PROPN
futech-473	414	26	,	,	PUNCT
futech-473	414	27	d.	d.	PROPN
futech-473	414	28	devine	devine	PROPN
futech-473	414	29	,	,	PUNCT
futech-473	414	30	applications	application	NOUN
futech-473	414	31	of	of	ADP
futech-473	414	32	digital	digital	ADJ
futech-473	414	33	twin	twin	NOUN
futech-473	414	34	across	across	ADP
futech-473	414	35	industries	industry	NOUN
futech-473	414	36	:	:	PUNCT
futech-473	414	37	a	a	DET
futech-473	414	38	review	review	NOUN
futech-473	414	39	,	,	PUNCT
futech-473	414	40	applied	apply	VERB
futech-473	414	41	sciences	science	NOUN
futech-473	414	42	12(11	12(11	NUM
futech-473	414	43	)	)	PUNCT
futech-473	414	44	(	(	PUNCT
futech-473	414	45	2022	2022	NUM
futech-473	414	46	)	)	PUNCT
futech-473	414	47	5727	5727	NUM
futech-473	414	48	.	.	PUNCT
futech-473	415	1	https://doi.org/10.3390/app12115727	https://doi.org/10.3390/app12115727	NOUN
futech-473	416	1	[	[	X
futech-473	416	2	25	25	NUM
futech-473	416	3	]	]	PUNCT
futech-473	416	4	p.	p.	NOUN
futech-473	416	5	stavropoulos	stavropoulos	PROPN
futech-473	416	6	,	,	PUNCT
futech-473	416	7	digital	digital	ADJ
futech-473	416	8	twins	twin	NOUN
futech-473	416	9	of	of	ADP
futech-473	416	10	manufacturing	manufacturing	NOUN
futech-473	416	11	processes	process	NOUN
futech-473	416	12	under	under	ADP
futech-473	416	13	industry	industry	NOUN
futech-473	416	14	5.0	5.0	NUM
futech-473	416	15	,	,	PUNCT
futech-473	416	16	advances	advance	NOUN
futech-473	416	17	in	in	ADP
futech-473	416	18	artificial	artificial	ADJ
futech-473	416	19	intelligence	intelligence	NOUN
futech-473	416	20	in	in	ADP
futech-473	416	21	manufacturing	manufacturing	PROPN
futech-473	416	22	ii	ii	PROPN
futech-473	416	23	:	:	PUNCT
futech-473	416	24	proceedings	proceeding	NOUN
futech-473	416	25	of	of	ADP
futech-473	416	26	the	the	DET
futech-473	416	27	2nd	2nd	ADJ
futech-473	416	28	european	european	ADJ
futech-473	416	29	symposium	symposium	NOUN
futech-473	416	30	on	on	ADP
futech-473	416	31	artificial	artificial	ADJ
futech-473	416	32	intelligence	intelligence	NOUN
futech-473	416	33	in	in	ADP
futech-473	416	34	manufacturing	manufacturing	NOUN
futech-473	416	35	,	,	PUNCT
futech-473	416	36	october	october	PROPN
futech-473	416	37	16	16	NUM
futech-473	416	38	,	,	PUNCT
futech-473	416	39	2024	2024	NUM
futech-473	416	40	,	,	PUNCT
futech-473	416	41	athens	athens	PROPN
futech-473	416	42	,	,	PUNCT
futech-473	416	43	greece	greece	PROPN
futech-473	416	44	,	,	PUNCT
futech-473	416	45	springer	springer	NOUN
futech-473	416	46	nature	nature	NOUN
futech-473	416	47	,	,	PUNCT
futech-473	416	48	2025	2025	NUM
futech-473	416	49	,	,	PUNCT
futech-473	416	50	p.	p.	NOUN
futech-473	416	51	3	3	NUM
futech-473	416	52	.	.	PUNCT
futech-473	416	53	https://doi.org/10.1007/978-3-031-86489-6_1	https://doi.org/10.1007/978-3-031-86489-6_1	NOUN
futech-473	417	1	this	this	DET
futech-473	417	2	article	article	NOUN
futech-473	417	3	is	be	AUX
futech-473	417	4	an	an	DET
futech-473	417	5	open	open	ADJ
futech-473	417	6	-	-	PUNCT
futech-473	417	7	access	access	NOUN
futech-473	417	8	article	article	NOUN
futech-473	417	9	distributed	distribute	VERB
futech-473	417	10	under	under	ADP
futech-473	417	11	the	the	DET
futech-473	417	12	terms	term	NOUN
futech-473	417	13	and	and	CCONJ
futech-473	417	14	conditions	condition	NOUN
futech-473	417	15	of	of	ADP
futech-473	417	16	the	the	DET
futech-473	417	17	creative	creative	ADJ
futech-473	417	18	commons	common	NOUN
futech-473	417	19	attribution	attribution	NOUN
futech-473	417	20	(	(	PUNCT
futech-473	417	21	cc	cc	NOUN
futech-473	417	22	by	by	ADP
futech-473	417	23	)	)	PUNCT
futech-473	417	24	license	license	NOUN
futech-473	417	25	(	(	PUNCT
futech-473	417	26	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
futech-473	417	27	)	)	PUNCT
futech-473	417	28	.	.	PUNCT
futech-473	418	1	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
futech-473	418	2	1	1	NUM
futech-473	418	3	.	.	PUNCT
futech-473	419	1	introduction	introduction	NOUN
futech-473	419	2	in	in	ADP
futech-473	419	3	the	the	DET
futech-473	419	4	age	age	NOUN
futech-473	419	5	of	of	ADP
futech-473	419	6	e	e	NOUN
futech-473	419	7	-	-	NOUN
futech-473	419	8	commerce	commerce	ADJ
futech-473	419	9	and	and	CCONJ
futech-473	419	10	global	global	ADJ
futech-473	419	11	supply	supply	NOUN
futech-473	419	12	chains	chain	NOUN
futech-473	419	13	,	,	PUNCT
futech-473	419	14	warehouse	warehouse	NOUN
futech-473	419	15	operations	operation	NOUN
futech-473	419	16	have	have	AUX
futech-473	419	17	rapidly	rapidly	ADV
futech-473	419	18	evolved	evolve	VERB
futech-473	419	19	to	to	PART
futech-473	419	20	meet	meet	VERB
futech-473	419	21	the	the	DET
futech-473	419	22	ever	ever	ADV
futech-473	419	23	-	-	PUNCT
futech-473	419	24	increasing	increase	VERB
futech-473	419	25	demands	demand	NOUN
futech-473	419	26	of	of	ADP
futech-473	419	27	efficiency	efficiency	NOUN
futech-473	419	28	,	,	PUNCT
futech-473	419	29	accuracy	accuracy	NOUN
futech-473	419	30	,	,	PUNCT
futech-473	419	31	and	and	CCONJ
futech-473	419	32	versatility	versatility	NOUN
futech-473	419	33	.	.	PUNCT
futech-473	420	1	these	these	DET
futech-473	420	2	dynamic	dynamic	ADJ
futech-473	420	3	requirements	requirement	NOUN
futech-473	420	4	pose	pose	VERB
futech-473	420	5	serious	serious	ADJ
futech-473	420	6	problems	problem	NOUN
futech-473	420	7	for	for	ADP
futech-473	420	8	the	the	DET
futech-473	420	9	traditional	traditional	ADJ
futech-473	420	10	warehouse	warehouse	NOUN
futech-473	420	11	m	m	PRON
futech-473	420	12	...	...	PUNCT
futech-473	421	1	digital	digital	ADJ
futech-473	421	2	twin	twin	NOUN
futech-473	421	3	revolutionizes	revolutionize	VERB
futech-473	421	4	warehouse	warehouse	NOUN
futech-473	421	5	management	management	NOUN
futech-473	421	6	,	,	PUNCT
futech-473	421	7	transforming	transform	VERB
futech-473	421	8	how	how	SCONJ
futech-473	421	9	companies	company	NOUN
futech-473	421	10	are	be	AUX
futech-473	421	11	able	able	ADJ
futech-473	421	12	to	to	PART
futech-473	421	13	see	see	VERB
futech-473	421	14	and	and	CCONJ
futech-473	421	15	control	control	VERB
futech-473	421	16	the	the	DET
futech-473	421	17	intricate	intricate	ADJ
futech-473	421	18	movements	movement	NOUN
futech-473	421	19	and	and	CCONJ
futech-473	421	20	processes	process	NOUN
futech-473	421	21	involved	involve	VERB
futech-473	421	22	in	in	ADP
futech-473	421	23	a	a	DET
futech-473	421	24	warehouse	warehouse	NOUN
futech-473	421	25	.	.	PUNCT
futech-473	422	1	digital	digital	ADJ
futech-473	422	2	twin	twin	NOUN
futech-473	422	3	-	-	PUNCT
futech-473	422	4	based	base	VERB
futech-473	422	5	forecast	forecast	NOUN
futech-473	422	6	of	of	ADP
futech-473	422	7	production	production	NOUN
futech-473	422	8	system	system	NOUN
futech-473	422	9	performance	performance	NOUN
futech-473	422	10	,	,	PUNCT
futech-473	422	11	a	a	DET
futech-473	422	12	real	real	ADJ
futech-473	422	13	-	-	PUNCT
futech-473	422	14	to	to	ADP
futech-473	422	15	-	-	PUNCT
futech-473	422	16	digital	digital	PROPN
futech-473	422	17	rep	rep	PROPN
futech-473	422	18	...	...	PUNCT
futech-473	422	19	combining	combine	VERB
futech-473	422	20	green	green	ADJ
futech-473	422	21	warehousing	warehousing	NOUN
futech-473	422	22	principles	principle	NOUN
futech-473	422	23	with	with	ADP
futech-473	422	24	automation	automation	NOUN
futech-473	422	25	technology	technology	NOUN
futech-473	422	26	is	be	AUX
futech-473	422	27	a	a	DET
futech-473	422	28	major	major	ADJ
futech-473	422	29	challenge	challenge	NOUN
futech-473	422	30	for	for	ADP
futech-473	422	31	the	the	DET
futech-473	422	32	future	future	NOUN
futech-473	422	33	of	of	ADP
futech-473	422	34	warehouse	warehouse	NOUN
futech-473	422	35	design	design	NOUN
futech-473	422	36	and	and	CCONJ
futech-473	422	37	operation	operation	NOUN
futech-473	422	38	.	.	PUNCT
futech-473	423	1	leading	lead	VERB
futech-473	423	2	industry	industry	NOUN
futech-473	423	3	has	have	AUX
futech-473	423	4	realized	realize	VERB
futech-473	423	5	that	that	SCONJ
futech-473	423	6	innovative	innovative	ADJ
futech-473	423	7	warehouse	warehouse	NOUN
futech-473	423	8	automation	automation	NOUN
futech-473	423	9	is	be	AUX
futech-473	423	10	key	key	ADJ
futech-473	423	11	to	to	ADP
futech-473	423	12	effectively	effectively	ADV
futech-473	423	13	surviving	survive	VERB
futech-473	423	14	in	in	ADP
futech-473	423	15	a	a	DET
futech-473	423	16	dynamic	dynamic	ADJ
futech-473	423	17	ma	ma	NOUN
futech-473	423	18	...	...	PUNCT
futech-473	423	19	in	in	ADP
futech-473	423	20	this	this	DET
futech-473	423	21	paper	paper	NOUN
futech-473	423	22	,	,	PUNCT
futech-473	423	23	addressing	address	VERB
futech-473	423	24	the	the	DET
futech-473	423	25	demand	demand	NOUN
futech-473	423	26	for	for	ADP
futech-473	423	27	integrated	integrate	VERB
futech-473	423	28	amr	amr	ADJ
futech-473	423	29	-	-	PUNCT
futech-473	423	30	cps	cps	NOUN
futech-473	423	31	solutions	solution	NOUN
futech-473	423	32	in	in	ADP
futech-473	423	33	warehouse	warehouse	NOUN
futech-473	423	34	management	management	NOUN
futech-473	423	35	,	,	PUNCT
futech-473	423	36	a	a	DET
futech-473	423	37	comprehensive	comprehensive	ADJ
futech-473	423	38	model	model	NOUN
futech-473	423	39	that	that	PRON
futech-473	423	40	integrates	integrate	VERB
futech-473	423	41	amr	amr	NOUN
futech-473	423	42	and	and	CCONJ
futech-473	423	43	cps	cps	PROPN
futech-473	423	44	architectures	architecture	NOUN
futech-473	423	45	is	be	AUX
futech-473	423	46	introduced	introduce	VERB
futech-473	423	47	.	.	PUNCT
futech-473	424	1	our	our	PRON
futech-473	424	2	proposed	propose	VERB
futech-473	424	3	methods	method	NOUN
futech-473	424	4	rely	rely	VERB
futech-473	424	5	on	on	ADP
futech-473	424	6	digital	digital	ADJ
futech-473	424	7	twin	twin	ADJ
futech-473	424	8	technology	technology	NOUN
futech-473	424	9	to	to	PART
futech-473	424	10	implement	implement	VERB
futech-473	424	11	the	the	DET
futech-473	424	12	real	real	NOUN
futech-473	424	13	-	-	PUNCT
futech-473	424	14	ti	ti	NOUN
futech-473	424	15	...	...	NOUN
futech-473	424	16	figure	figure	NOUN
futech-473	424	17	1	1	NUM
futech-473	424	18	.	.	PUNCT
futech-473	424	19	cps	cps	PROPN
futech-473	424	20	-	-	PUNCT
futech-473	424	21	amr	amr	NOUN
futech-473	424	22	integration	integration	NOUN
futech-473	424	23	model	model	NOUN
futech-473	424	24	(	(	PUNCT
futech-473	424	25	1	1	X
futech-473	424	26	)	)	PUNCT
futech-473	424	27	a	a	DET
futech-473	424	28	novel	novel	ADJ
futech-473	424	29	multi	multi	ADJ
futech-473	424	30	-	-	ADJ
futech-473	424	31	timescale	timescale	ADJ
futech-473	424	32	feedback	feedback	NOUN
futech-473	424	33	control	control	NOUN
futech-473	424	34	architecture	architecture	NOUN
futech-473	424	35	that	that	PRON
futech-473	424	36	decouples	decouple	VERB
futech-473	424	37	strategic	strategic	ADJ
futech-473	424	38	planning	planning	NOUN
futech-473	424	39	from	from	ADP
futech-473	424	40	real	real	ADJ
futech-473	424	41	-	-	PUNCT
futech-473	424	42	time	time	NOUN
futech-473	424	43	operational	operational	ADJ
futech-473	424	44	control	control	NOUN
futech-473	424	45	,	,	PUNCT
futech-473	424	46	(	(	PUNCT
futech-473	424	47	2	2	X
futech-473	424	48	)	)	PUNCT
futech-473	424	49	a	a	DET
futech-473	424	50	hierarchical	hierarchical	ADJ
futech-473	424	51	decision	decision	NOUN
futech-473	424	52	-	-	PUNCT
futech-473	424	53	making	make	VERB
futech-473	424	54	system	system	NOUN
futech-473	424	55	that	that	PRON
futech-473	424	56	enables	enable	VERB
futech-473	424	57	seamless	seamless	ADJ
futech-473	424	58	coordination	coordination	NOUN
futech-473	424	59	between	between	ADP
futech-473	424	60	physical	physical	ADJ
futech-473	424	61	robot	robot	NOUN
futech-473	424	62	operations	operation	NOUN
futech-473	424	63	and	and	CCONJ
futech-473	424	64	cyber	cyber	NOUN
futech-473	424	65	-	-	PUNCT
futech-473	424	66	do	do	VERB
futech-473	424	67	...	...	PUNCT
futech-473	424	68	2	2	X
futech-473	424	69	.	.	X
futech-473	424	70	theoretical	theoretical	ADJ
futech-473	424	71	framework	framework	NOUN
futech-473	424	72	and	and	CCONJ
futech-473	424	73	system	system	NOUN
futech-473	424	74	architecture	architecture	NOUN
futech-473	424	75	2.1	2.1	NUM
futech-473	424	76	cps	cp	NOUN
futech-473	424	77	-	-	PUNCT
futech-473	424	78	amr	amr	NOUN
futech-473	424	79	integration	integration	NOUN
futech-473	424	80	model	model	NOUN
futech-473	424	81	the	the	DET
futech-473	424	82	proposed	propose	VERB
futech-473	424	83	cps	cps	PROPN
futech-473	424	84	-	-	PUNCT
futech-473	424	85	amr	amr	NOUN
futech-473	424	86	integration	integration	NOUN
futech-473	424	87	model	model	NOUN
futech-473	424	88	establishes	establish	VERB
futech-473	424	89	a	a	DET
futech-473	424	90	hierarchical	hierarchical	ADJ
futech-473	424	91	architecture	architecture	NOUN
futech-473	424	92	that	that	PRON
futech-473	424	93	seamlessly	seamlessly	ADV
futech-473	424	94	connects	connect	VERB
futech-473	424	95	physical	physical	ADJ
futech-473	424	96	warehouse	warehouse	NOUN
futech-473	424	97	operations	operation	NOUN
futech-473	424	98	with	with	ADP
futech-473	424	99	digital	digital	ADJ
futech-473	424	100	control	control	NOUN
futech-473	424	101	systems	system	NOUN
futech-473	424	102	through	through	ADP
futech-473	424	103	bidirectional	bidirectional	ADJ
futech-473	424	104	information	information	NOUN
futech-473	424	105	flows	flow	VERB
futech-473	424	106	.	.	PUNCT
futech-473	425	1	as	as	SCONJ
futech-473	425	2	illustrated	illustrate	VERB
futech-473	425	3	in	in	ADP
futech-473	425	4	figure	figure	NOUN
futech-473	425	5	1	1	NUM
futech-473	425	6	,	,	PUNCT
futech-473	425	7	the	the	DET
futech-473	425	8	model	model	NOUN
futech-473	425	9	comprises	comprise	VERB
futech-473	425	10	...	...	PUNCT
futech-473	425	11	a	a	DET
futech-473	425	12	robust	robust	ADJ
futech-473	425	13	data	data	NOUN
futech-473	425	14	exchange	exchange	NOUN
futech-473	425	15	infrastructure	infrastructure	NOUN
futech-473	425	16	is	be	AUX
futech-473	425	17	ensured	ensure	VERB
futech-473	425	18	by	by	ADP
futech-473	425	19	the	the	DET
futech-473	425	20	communication	communication	NOUN
futech-473	425	21	and	and	CCONJ
futech-473	425	22	networking	network	VERB
futech-473	425	23	layer	layer	NOUN
futech-473	425	24	using	use	VERB
futech-473	425	25	5	5	NUM
futech-473	425	26	g	g	NOUN
futech-473	425	27	,	,	PUNCT
futech-473	425	28	wifi	wifi	NOUN
futech-473	425	29	6	6	NUM
futech-473	425	30	,	,	PUNCT
futech-473	425	31	and	and	CCONJ
futech-473	425	32	industrial	industrial	ADJ
futech-473	425	33	ethernet	ethernet	NOUN
futech-473	425	34	protocols	protocol	NOUN
futech-473	425	35	to	to	PART
futech-473	425	36	enable	enable	VERB
futech-473	425	37	secure	secure	ADJ
futech-473	425	38	and	and	CCONJ
futech-473	425	39	low	low	ADJ
futech-473	425	40	-	-	PUNCT
futech-473	425	41	latency	latency	NOUN
futech-473	425	42	communication	communication	NOUN
futech-473	425	43	between	between	ADP
futech-473	425	44	all	all	DET
futech-473	425	45	system	system	NOUN
futech-473	425	46	elements	element	NOUN
futech-473	425	47	.	.	PUNCT
futech-473	426	1	at	at	ADP
futech-473	426	2	the	the	DET
futech-473	426	3	core	core	NOUN
futech-473	426	4	is	be	AUX
futech-473	426	5	the	the	DET
futech-473	426	6	cyber	cyber	NOUN
futech-473	426	7	-	-	PUNCT
futech-473	426	8	physica	physica	PROPN
futech-473	426	9	...	...	PUNCT
futech-473	426	10	example	example	NOUN
futech-473	426	11	scenario	scenario	NOUN
futech-473	426	12	:	:	PUNCT
futech-473	426	13	upon	upon	SCONJ
futech-473	426	14	receiving	receive	VERB
futech-473	426	15	an	an	DET
futech-473	426	16	order	order	NOUN
futech-473	426	17	in	in	ADP
futech-473	426	18	an	an	DET
futech-473	426	19	e	e	NOUN
futech-473	426	20	-	-	NOUN
futech-473	426	21	commerce	commerce	NOUN
futech-473	426	22	warehouse	warehouse	NOUN
futech-473	426	23	,	,	PUNCT
futech-473	426	24	the	the	DET
futech-473	426	25	application	application	NOUN
futech-473	426	26	layer	layer	NOUN
futech-473	426	27	optimizes	optimize	VERB
futech-473	426	28	task	task	NOUN
futech-473	426	29	allocation	allocation	NOUN
futech-473	426	30	for	for	ADP
futech-473	426	31	the	the	DET
futech-473	426	32	cps	cps	PROPN
futech-473	426	33	integration	integration	NOUN
futech-473	426	34	.	.	PUNCT
futech-473	427	1	layer	layer	NOUN
futech-473	427	2	updates	update	VERB
futech-473	427	3	digital	digital	ADJ
futech-473	427	4	twins	twin	NOUN
futech-473	427	5	,	,	PUNCT
futech-473	427	6	the	the	DET
futech-473	427	7	communication	communication	NOUN
futech-473	427	8	layer	layer	NOUN
futech-473	427	9	coordinates	coordinate	VERB
futech-473	427	10	robots	robot	NOUN
futech-473	427	11	,	,	PUNCT
futech-473	427	12	the	the	DET
futech-473	427	13	sensing	sensing	NOUN
futech-473	427	14	and	and	CCONJ
futech-473	427	15	actuation	actuation	NOUN
futech-473	427	16	layer	layer	NOUN
futech-473	427	17	per	per	ADP
futech-473	427	18	...	...	PUNCT
futech-473	427	19	2.2	2.2	NUM
futech-473	427	20	mathematical	mathematical	ADJ
futech-473	427	21	modeling	modeling	NOUN
futech-473	427	22	this	this	DET
futech-473	427	23	framework	framework	NOUN
futech-473	427	24	employs	employ	VERB
futech-473	427	25	mixed	mixed	ADJ
futech-473	427	26	-	-	PUNCT
futech-473	427	27	integer	integer	NOUN
futech-473	427	28	programming	programming	NOUN
futech-473	427	29	(	(	PUNCT
futech-473	427	30	mip	mip	PROPN
futech-473	427	31	)	)	PUNCT
futech-473	427	32	for	for	ADP
futech-473	427	33	discrete	discrete	ADJ
futech-473	427	34	task	task	NOUN
futech-473	427	35	allocation	allocation	NOUN
futech-473	427	36	,	,	PUNCT
futech-473	427	37	stochastic	stochastic	ADJ
futech-473	427	38	dynamic	dynamic	ADJ
futech-473	427	39	programming	programming	NOUN
futech-473	427	40	(	(	PUNCT
futech-473	427	41	sdp	sdp	NOUN
futech-473	427	42	)	)	PUNCT
futech-473	427	43	to	to	PART
futech-473	427	44	address	address	VERB
futech-473	427	45	demand	demand	NOUN
futech-473	427	46	uncertainties	uncertainty	NOUN
futech-473	427	47	,	,	PUNCT
futech-473	427	48	particle	particle	NOUN
futech-473	427	49	filtering	filtering	NOUN
futech-473	427	50	to	to	PART
futech-473	427	51	handle	handle	VERB
futech-473	427	52	sensor	sensor	NOUN
futech-473	427	53	noise	noise	NOUN
futech-473	427	54	,	,	PUNCT
futech-473	427	55	and	and	CCONJ
futech-473	427	56	barrier	barrier	NOUN
futech-473	427	57	functions	function	NOUN
futech-473	427	58	to	to	PART
futech-473	427	59	enforce	enforce	VERB
futech-473	427	60	safety	safety	NOUN
futech-473	427	61	constraints	constraint	NOUN
futech-473	427	62	,	,	PUNCT
futech-473	427	63	...	...	PUNCT
futech-473	427	64	𝑥(𝑡)=,[𝑟(𝑡),𝑖(𝑡),𝑞(𝑡)]-𝑇.	𝑥(𝑡)=,[𝑟(𝑡),𝑖(𝑡),𝑞(𝑡)]-𝑇.	X
futech-473	427	65	(	(	PUNCT
futech-473	427	66	1	1	X
futech-473	427	67	)	)	PUNCT
futech-473	427	68	where	where	SCONJ
futech-473	427	69	𝑟(𝑡)∈,ℝ-𝑛×3	𝑟(𝑡)∈,ℝ-𝑛×3	X
futech-473	427	70	.	.	PROPN
futech-473	427	71	denotes	denote	VERB
futech-473	427	72	the	the	DET
futech-473	427	73	positions	position	NOUN
futech-473	427	74	of	of	ADP
futech-473	427	75	𝑛	𝑛	DET
futech-473	427	76	robots	robot	NOUN
futech-473	427	77	,	,	PUNCT
futech-473	427	78	𝑖(𝑡)∈,ℤ-𝑚.	𝑖(𝑡)∈,ℤ-𝑚.	PROPN
futech-473	427	79	represents	represent	VERB
futech-473	427	80	inventory	inventory	NOUN
futech-473	427	81	levels	level	NOUN
futech-473	427	82	for	for	ADP
futech-473	427	83	𝑚	𝑚	PROPN
futech-473	427	84	skus	sku	NOUN
futech-473	427	85	,	,	PUNCT
futech-473	427	86	and	and	CCONJ
futech-473	427	87	𝑞(𝑡)∈0,,1-𝑛×𝑘.	𝑞(𝑡)∈0,,1-𝑛×𝑘.	NOUN
futech-473	427	88	indicates	indicate	VERB
futech-473	427	89	task	task	NOUN
futech-473	427	90	assignments	assignment	NOUN
futech-473	427	91	for	for	ADP
futech-473	427	92	𝑘	𝑘	DET
futech-473	427	93	pending	pende	VERB
futech-473	427	94	tasks	task	NOUN
futech-473	427	95	.	.	PUNCT
futech-473	428	1	the	the	DET
futech-473	428	2	key	key	ADJ
futech-473	428	3	variables	variable	NOUN
futech-473	428	4	and	and	CCONJ
futech-473	428	5	their	their	PRON
futech-473	428	6	respective	respective	ADJ
futech-473	428	7	domains	domain	NOUN
futech-473	428	8	are	be	AUX
futech-473	428	9	defined	define	VERB
futech-473	428	10	in	in	ADP
futech-473	428	11	tabl	tabl	ADJ
futech-473	428	12	...	...	PUNCT
futech-473	428	13	table	table	NOUN
futech-473	428	14	1	1	NUM
futech-473	428	15	.	.	PUNCT
futech-473	429	1	key	key	ADJ
futech-473	429	2	variable	variable	ADJ
futech-473	429	3	definitions	definition	NOUN
futech-473	429	4	the	the	DET
futech-473	429	5	system	system	NOUN
futech-473	429	6	dynamics	dynamic	NOUN
futech-473	429	7	follow	follow	VERB
futech-473	429	8	:	:	PUNCT
futech-473	429	9	𝑥(𝑡+1)=𝑓(𝑥(𝑡),𝑢(𝑡),𝑤(𝑡	𝑥(𝑡+1)=𝑓(𝑥(𝑡),𝑢(𝑡),𝑤(𝑡	NOUN
futech-473	429	10	)	)	PUNCT
futech-473	429	11	)	)	PUNCT
futech-473	429	12	(	(	PUNCT
futech-473	429	13	2	2	X
futech-473	429	14	)	)	PUNCT
futech-473	429	15	where	where	SCONJ
futech-473	429	16	𝑢(𝑡	𝑢(𝑡	NOUN
futech-473	429	17	)	)	PUNCT
futech-473	429	18	represents	represent	VERB
futech-473	429	19	control	control	NOUN
futech-473	429	20	inputs	input	NOUN
futech-473	429	21	and	and	CCONJ
futech-473	429	22	𝑤(𝑡	𝑤(𝑡	NOUN
futech-473	429	23	)	)	PUNCT
futech-473	429	24	captures	capture	VERB
futech-473	429	25	stochastic	stochastic	ADJ
futech-473	429	26	disturbances	disturbance	NOUN
futech-473	429	27	,	,	PUNCT
futech-473	429	28	including	include	VERB
futech-473	429	29	demand	demand	NOUN
futech-473	429	30	variations	variation	NOUN
futech-473	429	31	and	and	CCONJ
futech-473	429	32	operational	operational	ADJ
futech-473	429	33	uncertainties	uncertainty	NOUN
futech-473	429	34	.	.	PUNCT
futech-473	430	1	the	the	DET
futech-473	430	2	multi	multi	ADJ
futech-473	430	3	-	-	ADJ
futech-473	430	4	robot	robot	ADJ
futech-473	430	5	task	task	NOUN
futech-473	430	6	allocation	allocation	NOUN
futech-473	430	7	problem	problem	NOUN
futech-473	430	8	is	be	AUX
futech-473	430	9	formulated	formulate	VERB
futech-473	430	10	as	as	ADP
futech-473	430	11	:	:	PUNCT
futech-473	430	12	,	,	PUNCT
futech-473	430	13	,	,	PUNCT
futech-473	430	14	min-𝑄.,𝑖=1-𝑛-,𝑗=1-𝑘-,𝑐-𝑖𝑗	min-𝑄.,𝑖=1-𝑛-,𝑗=1-𝑘-,𝑐-𝑖𝑗	PROPN
futech-473	430	15	...	...	PUNCT
futech-473	430	16	,𝑞-𝑖𝑗.+,𝑗=1-𝑘-,𝑝-𝑗	,𝑞-𝑖𝑗.+,𝑗=1-𝑘-,𝑝-𝑗	NOUN
futech-473	430	17	..	..	PUNCT
futech-473	430	18	max(0,,𝑑-𝑗.−,𝑖=1-𝑛-,𝑞-𝑖𝑗	max(0,,𝑑-𝑗.−,𝑖=1-𝑛-,𝑞-𝑖𝑗	X
futech-473	430	19	..	..	PUNCT
futech-473	430	20	,𝑡-𝑖𝑗.)-subject	,𝑡-𝑖𝑗.)-subject	PUNCT
futech-473	430	21	to:,𝑗=1-𝑘-,𝑞-𝑖𝑗	to:,𝑗=1-𝑘-,𝑞-𝑖𝑗	NOUN
futech-473	430	22	..	..	PUNCT
futech-473	430	23	≤1	≤1	PROPN
futech-473	430	24	,	,	PUNCT
futech-473	430	25	 	 	SPACE
futech-473	430	26	∀𝑖∈1,	∀𝑖∈1,	SYM
futech-473	430	27	…	…	SYM
futech-473	430	28	,𝑛,𝑖=1-𝑛-,𝑞-𝑖𝑗	,𝑛,𝑖=1-𝑛-,𝑞-𝑖𝑗	NOUN
futech-473	430	29	..	..	PUNCT
futech-473	430	30	≤1	≤1	PROPN
futech-473	430	31	,	,	PUNCT
futech-473	430	32	 	 	SPACE
futech-473	430	33	∀𝑗∈1,	∀𝑗∈1,	NOUN
futech-473	430	34	...	...	PUNCT
futech-473	430	35	,𝑘-,𝑞-𝑖𝑗.∈,0,1	,𝑘-,𝑞-𝑖𝑗.∈,0,1	PUNCT
futech-473	430	36	.	.	PUNCT
futech-473	431	1	,	,	PUNCT
futech-473	431	2	 	 	SPACE
futech-473	431	3	∀𝑖,𝑗.	∀𝑖,𝑗.	NOUN
futech-473	431	4	(	(	PUNCT
futech-473	431	5	3	3	NUM
futech-473	431	6	)	)	PUNCT
futech-473	431	7	where	where	SCONJ
futech-473	431	8	,	,	PUNCT
futech-473	431	9	𝑐-𝑖𝑗.	𝑐-𝑖𝑗.	NOUN
futech-473	431	10	represents	represent	VERB
futech-473	431	11	the	the	DET
futech-473	431	12	cost	cost	NOUN
futech-473	431	13	of	of	ADP
futech-473	431	14	the	the	DET
futech-473	431	15	robot	robot	NOUN
futech-473	432	1	𝑖	𝑖	ADP
futech-473	432	2	executing	execute	VERB
futech-473	432	3	task	task	PROPN
futech-473	432	4	𝑗	𝑗	PROPN
futech-473	432	5	,	,	PUNCT
futech-473	432	6	,	,	PUNCT
futech-473	432	7	𝑝-𝑗.	𝑝-𝑗.	PROPN
futech-473	432	8	is	be	AUX
futech-473	432	9	the	the	DET
futech-473	432	10	penalty	penalty	NOUN
futech-473	432	11	for	for	ADP
futech-473	432	12	delayed	delay	VERB
futech-473	432	13	task	task	NOUN
futech-473	432	14	completion	completion	NOUN
futech-473	432	15	,	,	PUNCT
futech-473	432	16	,	,	PUNCT
futech-473	432	17	𝑑-𝑗.	𝑑-𝑗.	PROPN
futech-473	432	18	is	be	AUX
futech-473	432	19	the	the	DET
futech-473	432	20	task	task	NOUN
futech-473	432	21	deadline	deadline	NOUN
futech-473	432	22	,	,	PUNCT
futech-473	432	23	and	and	CCONJ
futech-473	432	24	is	be	AUX
futech-473	432	25	the	the	DET
futech-473	432	26	estimated	estimate	VERB
futech-473	432	27	completion	completion	NOUN
futech-473	432	28	time	time	NOUN
futech-473	432	29	.	.	PUNCT
futech-473	433	1	for	for	ADP
futech-473	433	2	inventory	inventory	NOUN
futech-473	433	3	optimization	optimization	NOUN
futech-473	433	4	,	,	PUNCT
futech-473	433	5	we	we	PRON
futech-473	433	6	employ	employ	VERB
futech-473	433	7	a	a	DET
futech-473	433	8	stochastic	stochastic	ADJ
futech-473	433	9	dynamic	dynamic	ADJ
futech-473	433	10	programming	programming	NOUN
futech-473	433	11	approach	approach	NOUN
futech-473	433	12	with	with	ADP
futech-473	433	13	state	state	NOUN
futech-473	433	14	-	-	PUNCT
futech-473	433	15	dependent	dependent	ADJ
futech-473	433	16	ordering	ordering	NOUN
futech-473	433	17	policies	policy	NOUN
futech-473	433	18	:	:	PUNCT
futech-473	433	19	,	,	PUNCT
futech-473	433	20	𝑉-𝑡.(𝑖)=,min-𝑎≥0.,,,𝑐-ℎ.⋅𝑖+,𝑐-𝑜.⋅𝑎+𝔼[𝐿(𝑖+𝑎−,𝐷-𝑡.)-+𝛾,𝑉-𝑡+1.(𝑖+𝑎−,𝐷-𝑡.	𝑉-𝑡.(𝑖)=,min-𝑎≥0.,,,𝑐-ℎ.⋅𝑖+,𝑐-𝑜.⋅𝑎+𝔼[𝐿(𝑖+𝑎−,𝐷-𝑡.)-+𝛾,𝑉-𝑡+1.(𝑖+𝑎−,𝐷-𝑡.	PROPN
futech-473	433	21	)	)	PUNCT
futech-473	433	22	]	]	PUNCT
futech-473	433	23	..	..	PUNCT
futech-473	434	1	(	(	PUNCT
futech-473	434	2	4	4	X
futech-473	434	3	)	)	PUNCT
futech-473	434	4	where	where	SCONJ
futech-473	434	5	,	,	PUNCT
futech-473	434	6	𝑉-𝑡.(𝑖	𝑉-𝑡.(𝑖	NUM
futech-473	434	7	)	)	PUNCT
futech-473	434	8	is	be	AUX
futech-473	434	9	the	the	DET
futech-473	434	10	value	value	NOUN
futech-473	434	11	function	function	NOUN
futech-473	434	12	,	,	PUNCT
futech-473	434	13	,	,	PUNCT
futech-473	435	1	𝑐-ℎ.	𝑐-ℎ.	ADV
futech-473	435	2	and	and	CCONJ
futech-473	435	3	,	,	PUNCT
futech-473	435	4	𝑐-𝑜.	𝑐-𝑜.	PROPN
futech-473	435	5	are	be	AUX
futech-473	435	6	holding	hold	VERB
futech-473	435	7	and	and	CCONJ
futech-473	435	8	ordering	order	VERB
futech-473	435	9	cost	cost	NOUN
futech-473	435	10	vectors	vector	NOUN
futech-473	435	11	,	,	PUNCT
futech-473	435	12	𝐿	𝐿	PROPN
futech-473	435	13	(	(	PUNCT
futech-473	435	14	.	.	PUNCT
futech-473	435	15	)	)	PUNCT
futech-473	436	1	represents	represent	VERB
futech-473	436	2	the	the	DET
futech-473	436	3	lost	lost	ADJ
futech-473	436	4	sales	sale	NOUN
futech-473	436	5	cost	cost	NOUN
futech-473	436	6	function	function	NOUN
futech-473	436	7	,	,	PUNCT
futech-473	436	8	,	,	PUNCT
futech-473	436	9	𝐷-𝑡.	𝐷-𝑡.	PUNCT
futech-473	436	10	is	be	AUX
futech-473	436	11	the	the	DET
futech-473	436	12	stochastic	stochastic	ADJ
futech-473	436	13	demand	demand	NOUN
futech-473	436	14	vector	vector	NOUN
futech-473	436	15	,	,	PUNCT
futech-473	436	16	and	and	CCONJ
futech-473	436	17	𝛾	𝛾	PROPN
futech-473	436	18	is	be	AUX
futech-473	436	19	the	the	DET
futech-473	436	20	discount	discount	NOUN
futech-473	436	21	factor	factor	NOUN
futech-473	436	22	.	.	PUNCT
futech-473	437	1	the	the	DET
futech-473	437	2	real	real	ADJ
futech-473	437	3	-	-	PUNCT
futech-473	437	4	time	time	NOUN
futech-473	437	5	scheduling	scheduling	NOUN
futech-473	437	6	problem	problem	NOUN
futech-473	437	7	integrates	integrate	VERB
futech-473	437	8	robot	robot	NOUN
futech-473	437	9	path	path	NOUN
futech-473	437	10	planning	planning	NOUN
futech-473	437	11	with	with	ADP
futech-473	437	12	collision	collision	NOUN
futech-473	437	13	avoidance	avoidance	NOUN
futech-473	437	14	constraints	constraint	NOUN
futech-473	437	15	.	.	PUNCT
futech-473	438	1	the	the	DET
futech-473	438	2	trajectory	trajectory	NOUN
futech-473	438	3	optimization	optimization	NOUN
futech-473	438	4	for	for	ADP
futech-473	438	5	a	a	DET
futech-473	438	6	robot	robot	NOUN
futech-473	438	7	𝑖	𝑖	SYM
futech-473	438	8	is	be	AUX
futech-473	438	9	formulated	formulate	VERB
futech-473	438	10	as	as	ADP
futech-473	438	11	:	:	PUNCT
futech-473	438	12	,	,	PUNCT
futech-473	438	13	,	,	PUNCT
futech-473	438	14	min-,𝑢-𝑖	min-,𝑢-𝑖	PROPN
futech-473	438	15	..	..	PUNCT
futech-473	438	16	,0-𝑇-,||,𝑟-𝑖.(𝑡)−,𝑟-𝑔𝑜𝑎𝑙,𝑖.|,|-2.+𝜆||,𝑢-𝑖.(𝑡)|,|-2	,0-𝑇-,||,𝑟-𝑖.(𝑡)−,𝑟-𝑔𝑜𝑎𝑙,𝑖.|,|-2.+𝜆||,𝑢-𝑖.(𝑡)|,|-2	PUNCT
futech-473	438	17	...	...	PUNCT
futech-473	438	18	𝑑𝑡-,,𝑟-	𝑑𝑡-,,𝑟-	NOUN
futech-473	438	19	..	..	PUNCT
futech-473	438	20	-𝑖.(𝑡)=,𝑣-𝑖.(𝑡	-𝑖.(𝑡)=,𝑣-𝑖.(𝑡	NOUN
futech-473	438	21	)	)	PUNCT
futech-473	438	22	,	,	PUNCT
futech-473	438	23	 	 	SPACE
futech-473	438	24	,	,	PUNCT
futech-473	438	25	𝑣-𝑖.(𝑡)=𝑔(,𝑢-𝑖.(𝑡))-||,𝑟-𝑖.(𝑡)−,𝑟-𝑗.(𝑡)||≥,𝑑-𝑠𝑎𝑓𝑒.	𝑣-𝑖.(𝑡)=𝑔(,𝑢-𝑖.(𝑡))-||,𝑟-𝑖.(𝑡)−,𝑟-𝑗.(𝑡)||≥,𝑑-𝑠𝑎𝑓𝑒.	VERB
futech-473	438	26	,	,	PUNCT
futech-473	438	27	 	 	SPACE
futech-473	438	28	∀𝑗≠𝑖-,𝑟-𝑖.(𝑡)∈,𝒲-𝑓𝑟𝑒𝑒.	∀𝑗≠𝑖-,𝑟-𝑖.(𝑡)∈,𝒲-𝑓𝑟𝑒𝑒.	PROPN
futech-473	438	29	,	,	PUNCT
futech-473	438	30	 	 	SPACE
futech-473	438	31	||,𝑣-𝑖.(𝑡)||≤,𝑣-𝑚𝑎𝑥	||,𝑣-𝑖.(𝑡)||≤,𝑣-𝑚𝑎𝑥	PRON
futech-473	438	32	..	..	PUNCT
futech-473	438	33	...	...	PUNCT
futech-473	438	34	where	where	SCONJ
futech-473	438	35	,	,	PUNCT
futech-473	438	36	𝒲-𝑓𝑟𝑒𝑒.	𝒲-𝑓𝑟𝑒𝑒.	PUNCT
futech-473	438	37	denotes	denote	VERB
futech-473	438	38	the	the	DET
futech-473	438	39	collision	collision	NOUN
futech-473	438	40	-	-	PUNCT
futech-473	438	41	free	free	ADJ
futech-473	438	42	workspace	workspace	NOUN
futech-473	438	43	and	and	CCONJ
futech-473	438	44	,	,	PUNCT
futech-473	438	45	𝑑-𝑠𝑎𝑓𝑒.	𝑑-𝑠𝑎𝑓𝑒.	PROPN
futech-473	438	46	is	be	AUX
futech-473	438	47	the	the	DET
futech-473	438	48	minimum	minimum	ADJ
futech-473	438	49	safety	safety	NOUN
futech-473	438	50	distance	distance	NOUN
futech-473	438	51	between	between	ADP
futech-473	438	52	robots	robot	NOUN
futech-473	438	53	.	.	PUNCT
futech-473	439	1	to	to	PART
futech-473	439	2	handle	handle	VERB
futech-473	439	3	the	the	DET
futech-473	439	4	computational	computational	ADJ
futech-473	439	5	complexity	complexity	NOUN
futech-473	439	6	,	,	PUNCT
futech-473	439	7	we	we	PRON
futech-473	439	8	decompose	decompose	VERB
futech-473	439	9	the	the	DET
futech-473	439	10	global	global	ADJ
futech-473	439	11	optimization	optimization	NOUN
futech-473	439	12	problem	problem	NOUN
futech-473	439	13	using	use	VERB
futech-473	439	14	a	a	DET
futech-473	439	15	hierarchical	hierarchical	ADJ
futech-473	439	16	approach	approach	NOUN
futech-473	439	17	.	.	PUNCT
futech-473	440	1	the	the	DET
futech-473	440	2	upper	upper	ADJ
futech-473	440	3	level	level	NOUN
futech-473	440	4	solves	solve	VERB
futech-473	440	5	the	the	DET
futech-473	440	6	task	task	NOUN
futech-473	440	7	allocation	allocation	NOUN
futech-473	440	8	and	and	CCONJ
futech-473	440	9	inventory	inventory	NOUN
futech-473	440	10	decisions	decision	NOUN
futech-473	440	11	on	on	ADP
futech-473	440	12	a	a	DET
futech-473	440	13	longer	long	ADJ
futech-473	440	14	time	time	NOUN
futech-473	440	15	horizon	horizon	NOUN
futech-473	440	16	,	,	PUNCT
futech-473	440	17	while	while	SCONJ
futech-473	440	18	the	the	DET
futech-473	440	19	lower	low	ADJ
futech-473	440	20	level	level	NOUN
futech-473	440	21	handles	handle	VERB
futech-473	440	22	real	real	ADJ
futech-473	440	23	-	-	PUNCT
futech-473	440	24	time	time	NOUN
futech-473	440	25	pa	pa	PROPN
futech-473	440	26	...	...	PROPN
futech-473	440	27	3	3	X
futech-473	440	28	.	.	NOUN
futech-473	440	29	methodology	methodology	NOUN
futech-473	440	30	and	and	CCONJ
futech-473	440	31	implementation	implementation	NOUN
futech-473	440	32	3.1	3.1	NUM
futech-473	440	33	system	system	NOUN
futech-473	440	34	design	design	NOUN
futech-473	440	35	principles	principle	NOUN
futech-473	440	36	the	the	DET
futech-473	440	37	cps	cps	PROPN
futech-473	440	38	-	-	PUNCT
futech-473	440	39	amr	amr	NOUN
futech-473	440	40	system	system	NOUN
futech-473	440	41	design	design	NOUN
futech-473	440	42	follows	follow	VERB
futech-473	440	43	fundamental	fundamental	ADJ
futech-473	440	44	design	design	NOUN
futech-473	440	45	principles	principle	NOUN
futech-473	440	46	that	that	PRON
futech-473	440	47	enable	enable	VERB
futech-473	440	48	to	to	PART
futech-473	440	49	run	run	VERB
futech-473	440	50	robust	robust	ADJ
futech-473	440	51	and	and	CCONJ
futech-473	440	52	efficient	efficient	ADJ
futech-473	440	53	warehouse	warehouse	NOUN
futech-473	440	54	management	management	NOUN
futech-473	440	55	operations	operation	NOUN
futech-473	440	56	.	.	PUNCT
futech-473	441	1	scalability	scalability	NOUN
futech-473	441	2	is	be	AUX
futech-473	441	3	achieved	achieve	VERB
futech-473	441	4	through	through	ADP
futech-473	441	5	modularized	modularize	VERB
futech-473	441	6	component	component	NOUN
futech-473	441	7	architecture	architecture	NOUN
futech-473	441	8	and	and	CCONJ
futech-473	441	9	distributed	distribute	VERB
futech-473	441	10	computing	computing	NOUN
futech-473	441	11	technologies	technology	NOUN
futech-473	441	12	,	,	PUNCT
futech-473	441	13	enablin	enablin	PROPN
futech-473	441	14	...	...	PUNCT
futech-473	441	15	3.2	3.2	NUM
futech-473	441	16	amr	amr	NOUN
futech-473	441	17	navigation	navigation	NOUN
futech-473	441	18	and	and	CCONJ
futech-473	441	19	control	control	VERB
futech-473	441	20	the	the	DET
futech-473	441	21	navigation	navigation	NOUN
futech-473	441	22	system	system	NOUN
futech-473	441	23	employs	employ	VERB
futech-473	441	24	an	an	DET
futech-473	441	25	adaptive	adaptive	ADJ
futech-473	441	26	slam	slam	NOUN
futech-473	441	27	framework	framework	NOUN
futech-473	441	28	that	that	PRON
futech-473	441	29	combines	combine	VERB
futech-473	441	30	lidar	lidar	NOUN
futech-473	441	31	-	-	PUNCT
futech-473	441	32	based	base	VERB
futech-473	441	33	mapping	mapping	NOUN
futech-473	441	34	with	with	ADP
futech-473	441	35	visual	visual	ADJ
futech-473	441	36	-	-	PUNCT
futech-473	441	37	inertial	inertial	NOUN
futech-473	441	38	odometry	odometry	NOUN
futech-473	441	39	to	to	PART
futech-473	441	40	maintain	maintain	VERB
futech-473	441	41	accurate	accurate	ADJ
futech-473	441	42	localization	localization	NOUN
futech-473	441	43	in	in	ADP
futech-473	441	44	dynamic	dynamic	ADJ
futech-473	441	45	warehouse	warehouse	NOUN
futech-473	441	46	environments	environment	NOUN
futech-473	441	47	.	.	PUNCT
futech-473	442	1	the	the	DET
futech-473	442	2	pose	pose	NOUN
futech-473	442	3	estimation	estimation	NOUN
futech-473	442	4	follos	follo	VERB
futech-473	442	5	an	an	DET
futech-473	442	6	extended	extended	ADJ
futech-473	442	7	kalman	kalman	NOUN
futech-473	442	8	filter	filter	NOUN
futech-473	442	9	formulat	formulat	ADJ
futech-473	442	10	...	...	PUNCT
futech-473	442	11	,	,	PUNCT
futech-473	442	12	,	,	PUNCT
futech-473	442	13	𝑥-𝑘.=𝑓(,𝑥-𝑘−1.,,𝑢-𝑘−1.)+,𝑤-𝑘.-,𝑧-𝑘.=ℎ(,𝑥-𝑘.,𝑚)+,𝑣-𝑘	𝑥-𝑘.=𝑓(,𝑥-𝑘−1.,,𝑢-𝑘−1.)+,𝑤-𝑘.-,𝑧-𝑘.=ℎ(,𝑥-𝑘.,𝑚)+,𝑣-𝑘	PROPN
futech-473	442	14	..	..	PUNCT
futech-473	442	15	(	(	PUNCT
futech-473	442	16	6	6	NUM
futech-473	442	17	)	)	PUNCT
futech-473	442	18	where	where	SCONJ
futech-473	442	19	𝑚	𝑚	PROPN
futech-473	442	20	represents	represent	VERB
futech-473	442	21	the	the	DET
futech-473	442	22	map	map	NOUN
futech-473	442	23	landmarks	landmark	NOUN
futech-473	442	24	and	and	CCONJ
futech-473	442	25	,	,	PUNCT
futech-473	442	26	𝑤-𝑘.	𝑤-𝑘.	PROPN
futech-473	442	27	,	,	PUNCT
futech-473	442	28	,	,	PUNCT
futech-473	442	29	𝑣-𝑘.	𝑣-𝑘.	PROPN
futech-473	442	30	are	be	AUX
futech-473	442	31	process	process	NOUN
futech-473	442	32	and	and	CCONJ
futech-473	442	33	measurement	measurement	NOUN
futech-473	442	34	noise	noise	NOUN
futech-473	442	35	,	,	PUNCT
futech-473	442	36	respectively	respectively	ADV
futech-473	442	37	.	.	PUNCT
futech-473	443	1	path	path	NOUN
futech-473	443	2	planning	planning	NOUN
futech-473	443	3	optimization	optimization	NOUN
futech-473	443	4	utilizes	utilize	VERB
futech-473	443	5	a	a	DET
futech-473	443	6	modified	modified	ADJ
futech-473	443	7	a	a	DET
futech-473	443	8	*	*	PUNCT
futech-473	443	9	algorithm	algorithm	NOUN
futech-473	443	10	enhanced	enhance	VERB
futech-473	443	11	with	with	ADP
futech-473	443	12	dynamic	dynamic	ADJ
futech-473	443	13	cost	cost	NOUN
futech-473	443	14	functions	function	NOUN
futech-473	443	15	that	that	PRON
futech-473	443	16	account	account	VERB
futech-473	443	17	for	for	ADP
futech-473	443	18	real	real	ADJ
futech-473	443	19	-	-	PUNCT
futech-473	443	20	time	time	NOUN
futech-473	443	21	traffic	traffic	NOUN
futech-473	443	22	patterns	pattern	NOUN
futech-473	443	23	and	and	CCONJ
futech-473	443	24	operational	operational	ADJ
futech-473	443	25	priorities	priority	NOUN
futech-473	443	26	.	.	PUNCT
futech-473	444	1	the	the	DET
futech-473	444	2	cost	cost	NOUN
futech-473	444	3	function	function	NOUN
futech-473	444	4	for	for	ADP
futech-473	444	5	the	the	DET
futech-473	444	6	path	path	NOUN
futech-473	444	7	segment	segment	NOUN
futech-473	444	8	(	(	PUNCT
futech-473	444	9	𝑖,𝑗	𝑖,𝑗	PROPN
futech-473	444	10	)	)	PUNCT
futech-473	444	11	is	be	AUX
futech-473	444	12	defined	define	VERB
futech-473	444	13	as	as	ADP
futech-473	444	14	:	:	PUNCT
futech-473	444	15	𝑓(𝑖,𝑗)=𝑔(𝑖)+ℎ(𝑗)+𝛼⋅𝜌(𝑖,𝑗)+𝛽⋅𝜏(𝑖,𝑗	𝑓(𝑖,𝑗)=𝑔(𝑖)+ℎ(𝑗)+𝛼⋅𝜌(𝑖,𝑗)+𝛽⋅𝜏(𝑖,𝑗	NOUN
futech-473	444	16	)	)	PUNCT
futech-473	444	17	(	(	PUNCT
futech-473	444	18	7	7	X
futech-473	444	19	)	)	PUNCT
futech-473	444	20	where	where	SCONJ
futech-473	444	21	𝑔(𝑖	𝑔(𝑖	NOUN
futech-473	444	22	)	)	PUNCT
futech-473	444	23	is	be	AUX
futech-473	444	24	the	the	DET
futech-473	444	25	accumulated	accumulate	VERB
futech-473	444	26	cost	cost	NOUN
futech-473	444	27	,	,	PUNCT
futech-473	444	28	ℎ(𝑗	ℎ(𝑗	PROPN
futech-473	444	29	)	)	PUNCT
futech-473	444	30	is	be	AUX
futech-473	444	31	the	the	DET
futech-473	444	32	heuristic	heuristic	ADJ
futech-473	444	33	estimate	estimate	NOUN
futech-473	444	34	,	,	PUNCT
futech-473	444	35	𝜌(𝑖,𝑗	𝜌(𝑖,𝑗	NUM
futech-473	444	36	)	)	PUNCT
futech-473	445	1	represents	represent	VERB
futech-473	445	2	congestion	congestion	NOUN
futech-473	445	3	density	density	NOUN
futech-473	445	4	,	,	PUNCT
futech-473	445	5	and	and	CCONJ
futech-473	445	6	𝜏(𝑖,𝑗	𝜏(𝑖,𝑗	NOUN
futech-473	445	7	)	)	PUNCT
futech-473	445	8	captures	capture	VERB
futech-473	445	9	task	task	NOUN
futech-473	445	10	urgency	urgency	NOUN
futech-473	445	11	weights	weight	NOUN
futech-473	445	12	.	.	PUNCT
futech-473	446	1	collision	collision	NOUN
futech-473	446	2	avoidance	avoidance	NOUN
futech-473	446	3	integrates	integrate	VERB
futech-473	446	4	both	both	CCONJ
futech-473	446	5	reactive	reactive	ADJ
futech-473	446	6	and	and	CCONJ
futech-473	446	7	predictive	predictive	ADJ
futech-473	446	8	strategies	strategy	NOUN
futech-473	446	9	through	through	ADP
futech-473	446	10	a	a	DET
futech-473	446	11	velocity	velocity	NOUN
futech-473	446	12	obstacle	obstacle	NOUN
futech-473	446	13	approach	approach	NOUN
futech-473	446	14	.	.	PUNCT
futech-473	447	1	the	the	DET
futech-473	447	2	collision	collision	NOUN
futech-473	447	3	-	-	PUNCT
futech-473	447	4	free	free	ADJ
futech-473	447	5	velocity	velocity	NOUN
futech-473	447	6	space	space	NOUN
futech-473	447	7	for	for	ADP
futech-473	447	8	a	a	DET
futech-473	447	9	robot	robot	NOUN
futech-473	447	10	𝑖	𝑖	SYM
futech-473	447	11	is	be	AUX
futech-473	447	12	computed	compute	VERB
futech-473	447	13	as	as	ADP
futech-473	447	14	:	:	PUNCT
futech-473	447	15	,	,	PUNCT
futech-473	447	16	𝒱-𝑓𝑟𝑒𝑒-𝑖.=𝑣|𝑣∉,∪-𝑗≠𝑖.𝑉,𝑂-𝑖𝑗.(,𝑣-𝑗.	𝒱-𝑓𝑟𝑒𝑒-𝑖.=𝑣|𝑣∉,∪-𝑗≠𝑖.𝑉,𝑂-𝑖𝑗.(,𝑣-𝑗.	NOUN
futech-473	447	17	)	)	PUNCT
futech-473	447	18	(	(	PUNCT
futech-473	447	19	8)	8)	NUM
futech-473	447	20	where	where	SCONJ
futech-473	447	21	𝑉,𝑂-𝑖𝑗.	𝑉,𝑂-𝑖𝑗.	PROPN
futech-473	447	22	denotes	denote	VERB
futech-473	447	23	the	the	DET
futech-473	447	24	velocity	velocity	NOUN
futech-473	447	25	obstacle	obstacle	NOUN
futech-473	447	26	induced	induce	VERB
futech-473	447	27	by	by	ADP
futech-473	447	28	the	the	DET
futech-473	447	29	robot	robot	NOUN
futech-473	447	30	𝑗.	𝑗.	NOUN
futech-473	447	31	the	the	DET
futech-473	447	32	optimization	optimization	NOUN
futech-473	447	33	selects	select	VERB
futech-473	447	34	velocities	velocity	NOUN
futech-473	447	35	that	that	PRON
futech-473	447	36	minimize	minimize	VERB
futech-473	447	37	deviation	deviation	NOUN
futech-473	447	38	from	from	ADP
futech-473	447	39	desired	desire	VERB
futech-473	447	40	trajectories	trajectory	NOUN
futech-473	447	41	while	while	SCONJ
futech-473	447	42	maintaining	maintain	VERB
futech-473	447	43	safety	safety	NOUN
futech-473	447	44	margins	margin	NOUN
futech-473	447	45	through	through	ADP
futech-473	447	46	barrier	barrier	NOUN
futech-473	447	47	functions	function	NOUN
futech-473	447	48	that	that	PRON
futech-473	447	49	enforce	enforce	VERB
futech-473	447	50	,	,	PUNCT
futech-473	447	51	𝑑-𝑖𝑗.(𝑡)≥,𝑑-𝑠	𝑑-𝑖𝑗.(𝑡)≥,𝑑-𝑠	PROPN
futech-473	447	52	...	...	PUNCT
futech-473	447	53	3.3	3.3	NUM
futech-473	447	54	inventory	inventory	NOUN
futech-473	447	55	management	management	NOUN
futech-473	447	56	algorithms	algorithms	NOUN
futech-473	447	57	dynamic	dynamic	ADJ
futech-473	447	58	inventory	inventory	NOUN
futech-473	447	59	tracking	tracking	NOUN
futech-473	447	60	leverages	leverage	NOUN
futech-473	447	61	distributed	distribute	VERB
futech-473	447	62	rfid	rfid	NOUN
futech-473	447	63	sensing	sensing	NOUN
futech-473	447	64	and	and	CCONJ
futech-473	447	65	computer	computer	NOUN
futech-473	447	66	vision	vision	NOUN
futech-473	447	67	to	to	PART
futech-473	447	68	maintain	maintain	VERB
futech-473	447	69	real	real	ADJ
futech-473	447	70	-	-	PUNCT
futech-473	447	71	time	time	NOUN
futech-473	447	72	stock	stock	NOUN
futech-473	447	73	visibility	visibility	NOUN
futech-473	447	74	across	across	ADP
futech-473	447	75	the	the	DET
futech-473	447	76	warehouse	warehouse	NOUN
futech-473	447	77	.	.	PUNCT
futech-473	448	1	the	the	DET
futech-473	448	2	inventory	inventory	NOUN
futech-473	448	3	state	state	NOUN
futech-473	448	4	estimation	estimation	NOUN
futech-473	448	5	employs	employ	VERB
futech-473	448	6	a	a	DET
futech-473	448	7	particle	particle	NOUN
futech-473	448	8	filter	filter	NOUN
futech-473	448	9	approach	approach	NOUN
futech-473	448	10	to	to	PART
futech-473	448	11	handle	handle	VERB
futech-473	448	12	measurement	measurement	NOUN
futech-473	448	13	uncertainties	uncertainty	NOUN
futech-473	448	14	and	and	CCONJ
futech-473	448	15	oc	oc	ADP
futech-473	448	16	...	...	PUNCT
futech-473	448	17	𝑝(,𝑖-𝑡.|,𝑧-1:𝑡.)∝𝑝(,𝑧-𝑡.|,𝑖-𝑡.),𝑠=1-𝑁-,𝑤-𝑡−1-(𝑠).𝑝(,𝑖-𝑡.|,𝑖-𝑡−1-(𝑠	𝑝(,𝑖-𝑡.|,𝑧-1:𝑡.)∝𝑝(,𝑧-𝑡.|,𝑖-𝑡.),𝑠=1-𝑁-,𝑤-𝑡−1-(𝑠).𝑝(,𝑖-𝑡.|,𝑖-𝑡−1-(𝑠	NUM
futech-473	448	18	)	)	PUNCT
futech-473	448	19	.	.	PUNCT
futech-473	448	20	)	)	PUNCT
futech-473	448	21	.	.	PUNCT
futech-473	449	1	(	(	PUNCT
futech-473	449	2	9	9	X
futech-473	449	3	)	)	PUNCT
futech-473	449	4	where	where	SCONJ
futech-473	449	5	,	,	PUNCT
futech-473	449	6	𝑖-𝑡.	𝑖-𝑡.	PROPN
futech-473	449	7	represents	represent	VERB
futech-473	449	8	inventory	inventory	NOUN
futech-473	449	9	state	state	NOUN
futech-473	449	10	,	,	PUNCT
futech-473	449	11	,	,	PUNCT
futech-473	449	12	𝑧-𝑡.	𝑧-𝑡.	PROPN
futech-473	449	13	denotes	denote	VERB
futech-473	449	14	sensor	sensor	NOUN
futech-473	449	15	observations	observation	NOUN
futech-473	449	16	,	,	PUNCT
futech-473	449	17	and	and	CCONJ
futech-473	449	18	,	,	PUNCT
futech-473	449	19	𝑤-(𝑠	𝑤-(𝑠	ADJ
futech-473	449	20	)	)	PUNCT
futech-473	449	21	.	.	PUNCT
futech-473	450	1	are	be	AUX
futech-473	450	2	particle	particle	NOUN
futech-473	450	3	weights	weight	NOUN
futech-473	450	4	normalized	normalize	VERB
futech-473	450	5	to	to	PART
futech-473	450	6	ensure	ensure	VERB
futech-473	450	7	,	,	PUNCT
futech-473	450	8	𝑠=1-𝑁-,𝑤-𝑡-(𝑠)	𝑠=1-𝑁-,𝑤-𝑡-(𝑠)	PROPN
futech-473	450	9	..	..	PUNCT
futech-473	450	10	=1	=1	NOUN
futech-473	450	11	.	.	PUNCT
futech-473	451	1	predictive	predictive	ADJ
futech-473	451	2	stock	stock	NOUN
futech-473	451	3	management	management	NOUN
futech-473	451	4	integrates	integrate	VERB
futech-473	451	5	demand	demand	NOUN
futech-473	451	6	forecasting	forecasting	NOUN
futech-473	451	7	with	with	ADP
futech-473	451	8	lead	lead	ADJ
futech-473	451	9	time	time	NOUN
futech-473	451	10	variability	variability	NOUN
futech-473	451	11	to	to	PART
futech-473	451	12	optimize	optimize	VERB
futech-473	451	13	reorder	reorder	NOUN
futech-473	451	14	points	point	NOUN
futech-473	451	15	.	.	PUNCT
futech-473	452	1	the	the	DET
futech-473	452	2	demand	demand	NOUN
futech-473	452	3	prediction	prediction	NOUN
futech-473	452	4	model	model	NOUN
futech-473	452	5	combines	combine	VERB
futech-473	452	6	seasonal	seasonal	ADJ
futech-473	452	7	decomposition	decomposition	NOUN
futech-473	452	8	with	with	ADP
futech-473	452	9	machine	machine	NOUN
futech-473	452	10	learning	learning	NOUN
futech-473	452	11	,	,	PUNCT
futech-473	452	12	yielding	yield	VERB
futech-473	452	13	a	a	DET
futech-473	452	14	forecast	forecast	NOUN
futech-473	452	15	,	,	PUNCT
futech-473	452	16	,	,	PUNCT
futech-473	452	17	𝐷.-𝑡+ℎ.=,𝑆-𝑡.⋅,𝑇-𝑡.⋅,𝑅-𝑡+	𝐷.-𝑡+ℎ.=,𝑆-𝑡.⋅,𝑇-𝑡.⋅,𝑅-𝑡+	X
futech-473	452	18	...	...	PUNCT
futech-473	452	19	,	,	PUNCT
futech-473	452	20	𝑟-∗.=arg	𝑟-∗.=arg	PROPN
futech-473	452	21	,	,	PUNCT
futech-473	452	22	min-𝑟.𝔼[ℎ⋅,0-𝑟-(𝑟−𝑥).,𝑓-𝐷.(𝑥)𝑑𝑥+𝑏⋅,𝑟-∞-(𝑥−𝑟).,𝑓-𝐷.(𝑥)𝑑𝑥	min-𝑟.𝔼[ℎ⋅,0-𝑟-(𝑟−𝑥).,𝑓-𝐷.(𝑥)𝑑𝑥+𝑏⋅,𝑟-∞-(𝑥−𝑟).,𝑓-𝐷.(𝑥)𝑑𝑥	PROPN
futech-473	452	23	]	]	PUNCT
futech-473	452	24	(	(	PUNCT
futech-473	452	25	10	10	NUM
futech-473	452	26	)	)	PUNCT
futech-473	452	27	where	where	SCONJ
futech-473	452	28	ℎ	ℎ	PROPN
futech-473	452	29	and	and	CCONJ
futech-473	452	30	𝑏	𝑏	PROPN
futech-473	452	31	denote	denote	VERB
futech-473	452	32	holding	holding	NOUN
futech-473	452	33	and	and	CCONJ
futech-473	452	34	backorder	backorder	NOUN
futech-473	452	35	costs	cost	NOUN
futech-473	452	36	,	,	PUNCT
futech-473	452	37	respectively	respectively	ADV
futech-473	452	38	.	.	PUNCT
futech-473	453	1	abc	abc	PROPN
futech-473	453	2	analysis	analysis	NOUN
futech-473	453	3	integration	integration	NOUN
futech-473	453	4	dynamically	dynamically	ADV
futech-473	453	5	classifies	classify	VERB
futech-473	453	6	skus	sku	NOUN
futech-473	453	7	based	base	VERB
futech-473	453	8	on	on	ADP
futech-473	453	9	movement	movement	NOUN
futech-473	453	10	velocity	velocity	NOUN
futech-473	453	11	and	and	CCONJ
futech-473	453	12	value	value	NOUN
futech-473	453	13	contribution	contribution	NOUN
futech-473	453	14	.	.	PUNCT
futech-473	454	1	the	the	DET
futech-473	454	2	classification	classification	NOUN
futech-473	454	3	score	score	NOUN
futech-473	454	4	,	,	PUNCT
futech-473	454	5	𝑆-𝑖.=,𝛼-1.⋅,𝑉-𝑖./,𝑉-𝑡𝑜𝑡𝑎𝑙.+,𝛼-2.⋅,𝐹-𝑖./,𝐹-𝑚𝑎𝑥.+,𝛼-3.⋅,𝐶-𝑖./,𝐶-𝑡𝑜𝑡𝑎𝑙.	𝑆-𝑖.=,𝛼-1.⋅,𝑉-𝑖./,𝑉-𝑡𝑜𝑡𝑎𝑙.+,𝛼-2.⋅,𝐹-𝑖./,𝐹-𝑚𝑎𝑥.+,𝛼-3.⋅,𝐶-𝑖./,𝐶-𝑡𝑜𝑡𝑎𝑙.	NOUN
futech-473	454	6	combines	combine	NOUN
futech-473	454	7	normalized	normalize	VERB
futech-473	454	8	value	value	NOUN
futech-473	454	9	...	...	PUNCT
futech-473	454	10	3.4	3.4	NUM
futech-473	454	11	cps	cp	NOUN
futech-473	454	12	integration	integration	NOUN
futech-473	454	13	framework	framework	NOUN
futech-473	454	14	the	the	DET
futech-473	454	15	cps	cps	PROPN
futech-473	454	16	integration	integration	NOUN
futech-473	454	17	framework	framework	NOUN
futech-473	454	18	orchestrates	orchestrate	VERB
futech-473	454	19	seamless	seamless	ADJ
futech-473	454	20	interaction	interaction	NOUN
futech-473	454	21	between	between	ADP
futech-473	454	22	physical	physical	ADJ
futech-473	454	23	warehouse	warehouse	NOUN
futech-473	454	24	operations	operation	NOUN
futech-473	454	25	and	and	CCONJ
futech-473	454	26	cyber	cyber	NOUN
futech-473	454	27	-	-	PUNCT
futech-473	454	28	domain	domain	NOUN
futech-473	454	29	intelligence	intelligence	NOUN
futech-473	454	30	through	through	ADP
futech-473	454	31	a	a	DET
futech-473	454	32	multi	multi	ADJ
futech-473	454	33	-	-	ADJ
futech-473	454	34	tiered	tiered	ADJ
futech-473	454	35	architecture	architecture	NOUN
futech-473	454	36	,	,	PUNCT
futech-473	454	37	as	as	SCONJ
futech-473	454	38	illustrated	illustrate	VERB
futech-473	454	39	in	in	ADP
futech-473	454	40	figure	figure	NOUN
futech-473	454	41	2	2	NUM
futech-473	454	42	.	.	PUNCT
futech-473	454	43	data	datum	NOUN
futech-473	454	44	collection	collection	NOUN
futech-473	454	45	originates	originate	NOUN
futech-473	454	46	outside	outside	ADP
futech-473	454	47	of	of	ADP
futech-473	454	48	the	the	DET
futech-473	454	49	plant	plant	NOUN
futech-473	454	50	with	with	ADP
futech-473	454	51	d	d	NOUN
futech-473	454	52	...	...	PUNCT
futech-473	454	53	figure	figure	NOUN
futech-473	454	54	2	2	NUM
futech-473	454	55	.	.	PUNCT
futech-473	455	1	cps	cp	NOUN
futech-473	455	2	integration	integration	NOUN
futech-473	455	3	framework	framework	NOUN
futech-473	455	4	3.5	3.5	NUM
futech-473	455	5	implementation	implementation	NOUN
futech-473	455	6	details	detail	NOUN
futech-473	455	7	the	the	DET
futech-473	455	8	physical	physical	ADJ
futech-473	455	9	implementation	implementation	NOUN
futech-473	455	10	employs	employ	VERB
futech-473	455	11	a	a	DET
futech-473	455	12	heterogeneous	heterogeneous	ADJ
futech-473	455	13	fleet	fleet	NOUN
futech-473	455	14	of	of	ADP
futech-473	455	15	twenty	twenty	NUM
futech-473	455	16	amrs	amrs	PROPN
futech-473	455	17	equipped	equip	VERB
futech-473	455	18	with	with	ADP
futech-473	455	19	velodyne	velodyne	PROPN
futech-473	455	20	vlp-16	vlp-16	PROPN
futech-473	455	21	lidar	lidar	NOUN
futech-473	455	22	sensors	sensor	NOUN
futech-473	455	23	,	,	PUNCT
futech-473	455	24	intel	intel	PROPN
futech-473	455	25	realsense	realsense	NOUN
futech-473	455	26	d435i	d435i	PROPN
futech-473	455	27	depth	depth	NOUN
futech-473	455	28	cameras	camera	NOUN
futech-473	455	29	,	,	PUNCT
futech-473	455	30	and	and	CCONJ
futech-473	455	31	nvidia	nvidia	PROPN
futech-473	455	32	jetson	jetson	PROPN
futech-473	455	33	agx	agx	PROPN
futech-473	455	34	xavier	xavier	PROPN
futech-473	455	35	computing	computing	PROPN
futech-473	455	36	platforms	platform	NOUN
futech-473	455	37	for	for	ADP
futech-473	455	38	onboard	onboard	NOUN
futech-473	455	39	processing	processing	NOUN
futech-473	455	40	.	.	PUNCT
futech-473	456	1	each	each	DET
futech-473	456	2	robot	robot	NOUN
futech-473	456	3	features	feature	VERB
futech-473	456	4	dif	dif	ADV
futech-473	456	5	...	...	PUNCT
futech-473	456	6	4	4	X
futech-473	456	7	.	.	X
futech-473	456	8	experimental	experimental	ADJ
futech-473	456	9	setup	setup	NOUN
futech-473	456	10	and	and	CCONJ
futech-473	456	11	validation	validation	NOUN
futech-473	456	12	4.1	4.1	NUM
futech-473	456	13	testbed	testbe	VERB
futech-473	456	14	configuration	configuration	NOUN
futech-473	456	15	the	the	DET
futech-473	456	16	experimental	experimental	ADJ
futech-473	456	17	validation	validation	NOUN
futech-473	456	18	took	take	VERB
futech-473	456	19	place	place	NOUN
futech-473	456	20	in	in	ADP
futech-473	456	21	a	a	DET
futech-473	456	22	5,000	5,000	NUM
futech-473	456	23	square	square	ADJ
futech-473	456	24	meter	meter	NOUN
futech-473	456	25	warehouse	warehouse	NOUN
futech-473	456	26	designed	design	VERB
futech-473	456	27	to	to	PART
futech-473	456	28	reproduce	reproduce	VERB
futech-473	456	29	industrial	industrial	ADJ
futech-473	456	30	logistics	logistic	NOUN
futech-473	456	31	.	.	PUNCT
futech-473	457	1	the	the	DET
futech-473	457	2	test	test	NOUN
futech-473	457	3	bed	bed	NOUN
futech-473	457	4	has	have	VERB
futech-473	457	5	1,200	1,200	NUM
futech-473	457	6	locations	location	NOUN
futech-473	457	7	organized	organize	VERB
futech-473	457	8	in	in	ADP
futech-473	457	9	40	40	NUM
futech-473	457	10	aisles	aisle	NOUN
futech-473	457	11	spaced	space	VERB
futech-473	457	12	at	at	ADP
futech-473	457	13	3	3	NUM
futech-473	457	14	m	m	NOUN
futech-473	457	15	distance	distance	NOUN
futech-473	457	16	and	and	CCONJ
futech-473	457	17	accepts	accept	VERB
futech-473	457	18	standard	standard	ADJ
futech-473	457	19	eur	eur	NOUN
futech-473	457	20	pallets	pallet	NOUN
futech-473	457	21	in	in	ADP
futech-473	457	22	four	four	NUM
futech-473	457	23	heights	height	NOUN
futech-473	457	24	.	.	PUNCT
futech-473	458	1	the	the	DET
futech-473	458	2	fl	fl	NOUN
futech-473	458	3	...	...	PUNCT
futech-473	458	4	the	the	DET
futech-473	458	5	reference	reference	NOUN
futech-473	458	6	markers	marker	NOUN
futech-473	458	7	,	,	PUNCT
futech-473	458	8	which	which	PRON
futech-473	458	9	are	be	AUX
futech-473	458	10	placed	place	VERB
futech-473	458	11	5	5	NUM
futech-473	458	12	meters	meter	NOUN
futech-473	458	13	apart	apart	ADV
futech-473	458	14	from	from	ADP
futech-473	458	15	one	one	NUM
futech-473	458	16	another	another	DET
futech-473	458	17	on	on	ADP
futech-473	458	18	the	the	DET
futech-473	458	19	main	main	ADJ
futech-473	458	20	paths	path	NOUN
futech-473	458	21	,	,	PUNCT
futech-473	458	22	work	work	NOUN
futech-473	458	23	as	as	ADP
futech-473	458	24	visual	visual	ADJ
futech-473	458	25	landmarks	landmark	NOUN
futech-473	458	26	for	for	ADP
futech-473	458	27	slam	slam	NOUN
futech-473	458	28	calibration	calibration	NOUN
futech-473	458	29	and	and	CCONJ
futech-473	458	30	drift	drift	NOUN
futech-473	458	31	compensation	compensation	NOUN
futech-473	458	32	.	.	PUNCT
futech-473	459	1	the	the	DET
futech-473	459	2	sensor	sensor	NOUN
futech-473	459	3	layout	layout	NOUN
futech-473	459	4	is	be	AUX
futech-473	459	5	organized	organize	VERB
futech-473	459	6	as	as	ADP
futech-473	459	7	an	an	DET
futech-473	459	8	80	80	NUM
futech-473	459	9	-	-	PUNCT
futech-473	459	10	ceiling	ceiling	NOUN
futech-473	459	11	-	-	PUNCT
futech-473	459	12	camera	camera	NOUN
futech-473	459	13	-	-	PUNCT
futech-473	459	14	based	base	VERB
futech-473	459	15	structure	structure	NOUN
futech-473	459	16	capturing	capture	VERB
futech-473	459	17	the	the	DET
futech-473	459	18	full	full	ADJ
futech-473	459	19	...	...	PUNCT
futech-473	459	20	table	table	NOUN
futech-473	459	21	2	2	NUM
futech-473	459	22	.	.	PUNCT
futech-473	459	23	performance	performance	NOUN
futech-473	459	24	metrics	metric	NOUN
futech-473	459	25	for	for	ADP
futech-473	459	26	cps	cps	PROPN
futech-473	459	27	-	-	PUNCT
futech-473	459	28	amr	amr	NOUN
futech-473	459	29	system	system	NOUN
futech-473	459	30	evaluation	evaluation	NOUN
futech-473	459	31	4.2	4.2	NUM
futech-473	459	32	performance	performance	NOUN
futech-473	459	33	metrics	metric	NOUN
futech-473	459	34	the	the	DET
futech-473	459	35	performance	performance	NOUN
futech-473	459	36	of	of	ADP
futech-473	459	37	the	the	DET
futech-473	459	38	system	system	NOUN
futech-473	459	39	is	be	AUX
futech-473	459	40	evaluated	evaluate	VERB
futech-473	459	41	using	use	VERB
futech-473	459	42	holistic	holistic	ADJ
futech-473	459	43	criteria	criterion	NOUN
futech-473	459	44	encompassing	encompass	VERB
futech-473	459	45	both	both	CCONJ
futech-473	459	46	service	service	NOUN
futech-473	459	47	quality	quality	NOUN
futech-473	459	48	and	and	CCONJ
futech-473	459	49	operational	operational	ADJ
futech-473	459	50	effectiveness	effectiveness	NOUN
futech-473	459	51	aspects	aspect	NOUN
futech-473	459	52	,	,	PUNCT
futech-473	459	53	as	as	SCONJ
futech-473	459	54	summarized	summarize	VERB
futech-473	459	55	in	in	ADP
futech-473	459	56	table	table	NOUN
futech-473	459	57	2	2	NUM
futech-473	459	58	.	.	PUNCT
futech-473	460	1	they	they	PRON
futech-473	460	2	capture	capture	VERB
futech-473	460	3	the	the	DET
futech-473	460	4	system	system	NOUN
futech-473	460	5	's	's	PART
futech-473	460	6	ability	ability	NOUN
futech-473	460	7	to	to	PART
futech-473	460	8	process	process	VERB
futech-473	460	9	orders	order	NOUN
futech-473	460	10	at	at	ADP
futech-473	460	11	a	a	DET
futech-473	460	12	specific	specific	ADJ
futech-473	460	13	load	load	NOUN
futech-473	460	14	,	,	PUNCT
futech-473	460	15	and	and	CCONJ
futech-473	460	16	include	include	VERB
futech-473	460	17	t	t	PROPN
futech-473	460	18	...	...	PUNCT
futech-473	460	19	4.3	4.3	NUM
futech-473	460	20	experimental	experimental	ADJ
futech-473	460	21	scenarios	scenario	NOUN
futech-473	460	22	the	the	DET
futech-473	460	23	experimental	experimental	ADJ
futech-473	460	24	analysis	analysis	NOUN
futech-473	460	25	includes	include	VERB
futech-473	460	26	four	four	NUM
futech-473	460	27	operational	operational	ADJ
futech-473	460	28	cases	case	NOUN
futech-473	460	29	to	to	PART
futech-473	460	30	evaluate	evaluate	VERB
futech-473	460	31	the	the	DET
futech-473	460	32	system	system	NOUN
futech-473	460	33	's	's	PART
futech-473	460	34	performance	performance	NOUN
futech-473	460	35	in	in	ADP
futech-473	460	36	different	different	ADJ
futech-473	460	37	aspects	aspect	NOUN
futech-473	460	38	.	.	PUNCT
futech-473	461	1	standard	standard	ADJ
futech-473	461	2	operating	operating	NOUN
futech-473	461	3	conditions	condition	NOUN
futech-473	461	4	define	define	VERB
futech-473	461	5	the	the	DET
futech-473	461	6	performance	performance	NOUN
futech-473	461	7	baseline	baseline	VERB
futech-473	461	8	with	with	ADP
futech-473	461	9	only	only	ADV
futech-473	461	10	the	the	DET
futech-473	461	11	steady	steady	ADJ
futech-473	461	12	state	state	NOUN
futech-473	461	13	demand	demand	NOUN
futech-473	461	14	,	,	PUNCT
futech-473	461	15	on	on	ADP
futech-473	461	16	the	the	DET
futech-473	461	17	order	order	NOUN
futech-473	461	18	of	of	ADP
futech-473	461	19	150	150	NUM
futech-473	461	20	orders	order	NOUN
futech-473	461	21	per	per	ADP
futech-473	461	22	hour	hour	NOUN
futech-473	461	23	,	,	PUNCT
futech-473	461	24	...	...	PUNCT
futech-473	461	25	4.4	4.4	NUM
futech-473	461	26	baseline	baseline	PROPN
futech-473	461	27	comparisons	comparison	NOUN
futech-473	461	28	performance	performance	NOUN
futech-473	461	29	comparison	comparison	NOUN
futech-473	461	30	:	:	PUNCT
futech-473	461	31	the	the	DET
futech-473	461	32	cps	cps	PROPN
futech-473	461	33	-	-	PUNCT
futech-473	461	34	amr	amr	NOUN
futech-473	461	35	system	system	NOUN
futech-473	461	36	is	be	AUX
futech-473	461	37	assessed	assess	VERB
futech-473	461	38	through	through	ADP
futech-473	461	39	its	its	PRON
futech-473	461	40	performance	performance	NOUN
futech-473	461	41	on	on	ADP
futech-473	461	42	three	three	NUM
futech-473	461	43	baseline	baseline	ADJ
futech-473	461	44	configurations	configuration	NOUN
futech-473	461	45	that	that	PRON
futech-473	461	46	reflect	reflect	VERB
futech-473	461	47	common	common	ADJ
futech-473	461	48	practice	practice	NOUN
futech-473	461	49	in	in	ADP
futech-473	461	50	warehouse	warehouse	NOUN
futech-473	461	51	automation	automation	NOUN
futech-473	461	52	.	.	PUNCT
futech-473	462	1	the	the	DET
futech-473	462	2	classical	classical	ADJ
futech-473	462	3	manual	manual	ADJ
futech-473	462	4	system	system	NOUN
futech-473	462	5	is	be	AUX
futech-473	462	6	manned	man	VERB
futech-473	462	7	by	by	ADP
futech-473	462	8	humans	human	NOUN
futech-473	462	9	with	with	ADP
futech-473	462	10	handheld	handheld	ADJ
futech-473	462	11	scanners	scanner	NOUN
futech-473	462	12	and	and	CCONJ
futech-473	462	13	manual	manual	NOUN
futech-473	462	14	for	for	ADP
futech-473	462	15	...	...	PUNCT
futech-473	462	16	5	5	X
futech-473	462	17	.	.	NOUN
futech-473	462	18	results	result	NOUN
futech-473	462	19	and	and	CCONJ
futech-473	462	20	discussion	discussion	NOUN
futech-473	462	21	5.1	5.1	NUM
futech-473	462	22	quantitative	quantitative	ADJ
futech-473	462	23	results	result	NOUN
futech-473	462	24	experimental	experimental	ADJ
futech-473	462	25	evaluation	evaluation	NOUN
futech-473	462	26	demonstrates	demonstrate	VERB
futech-473	462	27	significant	significant	ADJ
futech-473	462	28	performance	performance	NOUN
futech-473	462	29	improvements	improvement	NOUN
futech-473	462	30	of	of	ADP
futech-473	462	31	the	the	DET
futech-473	462	32	cps	cps	PROPN
futech-473	462	33	-	-	PUNCT
futech-473	462	34	amr	amr	NOUN
futech-473	462	35	system	system	NOUN
futech-473	462	36	across	across	ADP
futech-473	462	37	all	all	DET
futech-473	462	38	measured	measured	ADJ
futech-473	462	39	metrics	metric	NOUN
futech-473	462	40	compared	compare	VERB
futech-473	462	41	to	to	ADP
futech-473	462	42	baseline	baseline	VERB
futech-473	462	43	configurations	configuration	NOUN
futech-473	462	44	.	.	PUNCT
futech-473	463	1	order	order	NOUN
futech-473	463	2	fulfillment	fulfillment	NOUN
futech-473	463	3	rates	rate	NOUN
futech-473	463	4	achieved	achieve	VERB
futech-473	463	5	sustained	sustained	ADJ
futech-473	463	6	throughput	throughput	NOUN
futech-473	463	7	of	of	ADP
futech-473	463	8	420	420	NUM
futech-473	463	9	orders	order	NOUN
futech-473	463	10	per	per	ADP
futech-473	463	11	hour	hour	NOUN
futech-473	463	12	under	under	ADP
futech-473	463	13	normal	normal	ADJ
futech-473	463	14	...	...	PUNCT
futech-473	463	15	figure	figure	NOUN
futech-473	463	16	3	3	NUM
futech-473	463	17	.	.	PUNCT
futech-473	464	1	order	order	NOUN
futech-473	464	2	fulfillment	fulfillment	NOUN
futech-473	464	3	rate	rate	NOUN
futech-473	464	4	comparison	comparison	NOUN
futech-473	464	5	temporal	temporal	ADJ
futech-473	464	6	performance	performance	NOUN
futech-473	464	7	metrics	metric	NOUN
futech-473	464	8	reveal	reveal	VERB
futech-473	464	9	substantial	substantial	ADJ
futech-473	464	10	efficiency	efficiency	NOUN
futech-473	464	11	gains	gain	NOUN
futech-473	464	12	in	in	ADP
futech-473	464	13	operational	operational	ADJ
futech-473	464	14	responsiveness	responsiveness	NOUN
futech-473	464	15	.	.	PUNCT
futech-473	465	1	average	average	ADJ
futech-473	465	2	order	order	NOUN
futech-473	465	3	cycle	cycle	NOUN
futech-473	465	4	time	time	NOUN
futech-473	465	5	decreased	decrease	VERB
futech-473	465	6	to	to	ADP
futech-473	465	7	18.2	18.2	NUM
futech-473	465	8	minutes	minute	NOUN
futech-473	465	9	from	from	ADP
futech-473	465	10	order	order	NOUN
futech-473	465	11	receipt	receipt	NOUN
futech-473	465	12	to	to	PART
futech-473	465	13	shipment	shipment	VERB
futech-473	465	14	ready	ready	ADJ
futech-473	465	15	status	status	NOUN
futech-473	465	16	,	,	PUNCT
futech-473	465	17	compared	compare	VERB
futech-473	465	18	to	to	ADP
futech-473	465	19	31.5	31.5	NUM
futech-473	465	20	minutes	minute	NOUN
futech-473	465	21	for	for	ADP
futech-473	465	22	commercial	commercial	ADJ
futech-473	465	23	amr	amr	NOUN
futech-473	465	24	systems	system	NOUN
futech-473	465	25	and	and	CCONJ
futech-473	465	26	72	72	NUM
futech-473	465	27	....	....	PUNCT
futech-473	465	28	(	(	PUNCT
futech-473	465	29	a	a	X
futech-473	465	30	)	)	PUNCT
futech-473	465	31	(	(	PUNCT
futech-473	465	32	b	b	X
futech-473	465	33	)	)	PUNCT
futech-473	465	34	figure	figure	NOUN
futech-473	465	35	4	4	NUM
futech-473	465	36	.	.	PUNCT
futech-473	466	1	(	(	PUNCT
futech-473	466	2	a	a	X
futech-473	466	3	)	)	PUNCT
futech-473	466	4	localization	localization	NOUN
futech-473	466	5	error	error	NOUN
futech-473	466	6	distribution	distribution	NOUN
futech-473	466	7	,	,	PUNCT
futech-473	466	8	(	(	PUNCT
futech-473	466	9	b	b	X
futech-473	466	10	)	)	PUNCT
futech-473	466	11	spatial	spatial	ADJ
futech-473	466	12	distribution	distribution	NOUN
futech-473	466	13	of	of	ADP
futech-473	466	14	localization	localization	NOUN
futech-473	466	15	error	error	NOUN
futech-473	466	16	energy	energy	NOUN
futech-473	466	17	efficiency	efficiency	NOUN
futech-473	466	18	analysis	analysis	NOUN
futech-473	466	19	reveals	reveal	VERB
futech-473	466	20	the	the	DET
futech-473	466	21	optimization	optimization	NOUN
futech-473	466	22	benefits	benefit	NOUN
futech-473	466	23	of	of	ADP
futech-473	466	24	coordinated	coordinate	VERB
futech-473	466	25	path	path	NOUN
futech-473	466	26	planning	planning	NOUN
futech-473	466	27	and	and	CCONJ
futech-473	466	28	predictive	predictive	ADJ
futech-473	466	29	task	task	NOUN
futech-473	466	30	allocation	allocation	NOUN
futech-473	466	31	.	.	PUNCT
futech-473	467	1	the	the	DET
futech-473	467	2	system	system	NOUN
futech-473	467	3	consumed	consume	VERB
futech-473	467	4	an	an	DET
futech-473	467	5	average	average	NOUN
futech-473	467	6	of	of	ADP
futech-473	467	7	0.82	0.82	NUM
futech-473	467	8	kwh	kwh	NOUN
futech-473	467	9	per	per	ADP
futech-473	467	10	completed	complete	VERB
futech-473	467	11	order	order	NOUN
futech-473	467	12	,	,	PUNCT
futech-473	467	13	representing	represent	VERB
futech-473	467	14	a	a	DET
futech-473	467	15	34	34	NUM
futech-473	467	16	%	%	NOUN
futech-473	467	17	reduction	reduction	NOUN
futech-473	467	18	compared	compare	VERB
futech-473	467	19	to	to	ADP
futech-473	467	20	uncoordinated	uncoordinated	ADJ
futech-473	467	21	amr	amr	NOUN
futech-473	467	22	deploy	deploy	NOUN
futech-473	467	23	...	...	PUNCT
futech-473	467	24	scalability	scalability	NOUN
futech-473	467	25	experiments	experiment	NOUN
futech-473	467	26	validated	validate	VERB
futech-473	467	27	the	the	DET
futech-473	467	28	system	system	NOUN
futech-473	467	29	's	's	PART
futech-473	467	30	ability	ability	NOUN
futech-473	467	31	to	to	PART
futech-473	467	32	maintain	maintain	VERB
futech-473	467	33	performance	performance	NOUN
futech-473	467	34	as	as	SCONJ
futech-473	467	35	operational	operational	ADJ
futech-473	467	36	scale	scale	NOUN
futech-473	467	37	increased	increase	VERB
futech-473	467	38	.	.	PUNCT
futech-473	468	1	figure	figure	NOUN
futech-473	468	2	5	5	NUM
futech-473	468	3	illustrates	illustrate	VERB
futech-473	468	4	how	how	SCONJ
futech-473	468	5	key	key	ADJ
futech-473	468	6	performance	performance	NOUN
futech-473	468	7	indicators	indicator	NOUN
futech-473	468	8	evolved	evolve	VERB
futech-473	468	9	as	as	SCONJ
futech-473	468	10	the	the	DET
futech-473	468	11	amr	amr	NOUN
futech-473	468	12	fleet	fleet	NOUN
futech-473	468	13	expanded	expand	VERB
futech-473	468	14	from	from	ADP
futech-473	468	15	5	5	NUM
futech-473	468	16	to	to	PART
futech-473	468	17	30	30	NUM
futech-473	468	18	robots	robot	NOUN
futech-473	468	19	.	.	PUNCT
futech-473	469	1	throughput	throughput	NOUN
futech-473	469	2	scaled	scale	VERB
futech-473	469	3	near	near	ADP
futech-473	469	4	-	-	PUNCT
futech-473	469	5	linearly	linearly	NOUN
futech-473	469	6	u	u	NOUN
futech-473	469	7	...	...	PUNCT
futech-473	469	8	(	(	PUNCT
futech-473	469	9	a	a	X
futech-473	469	10	)	)	PUNCT
futech-473	469	11	(	(	PUNCT
futech-473	469	12	b	b	X
futech-473	469	13	)	)	PUNCT
futech-473	469	14	(	(	PUNCT
futech-473	469	15	c	c	X
futech-473	469	16	)	)	PUNCT
futech-473	469	17	figure	figure	NOUN
futech-473	469	18	5	5	NUM
futech-473	469	19	.	.	PUNCT
futech-473	470	1	scalability	scalability	NOUN
futech-473	470	2	analysis	analysis	NOUN
futech-473	470	3	of	of	ADP
futech-473	470	4	cps	cps	PROPN
futech-473	470	5	-	-	PUNCT
futech-473	470	6	amr	amr	NOUN
futech-473	470	7	system	system	NOUN
futech-473	470	8	:	:	PUNCT
futech-473	470	9	(	(	PUNCT
futech-473	470	10	a	a	X
futech-473	470	11	)	)	PUNCT
futech-473	470	12	throughput	throughput	NOUN
futech-473	470	13	and	and	CCONJ
futech-473	470	14	utilization	utilization	NOUN
futech-473	470	15	vs	vs	ADP
futech-473	470	16	fleet	fleet	NOUN
futech-473	470	17	size	size	NOUN
futech-473	470	18	,	,	PUNCT
futech-473	470	19	(	(	PUNCT
futech-473	470	20	b)computational	b)computational	ADJ
futech-473	470	21	performance	performance	NOUN
futech-473	470	22	vs	vs	ADP
futech-473	470	23	fleet	fleet	NOUN
futech-473	470	24	size	size	NOUN
futech-473	470	25	,	,	PUNCT
futech-473	470	26	(	(	PUNCT
futech-473	470	27	c)system	c)system	NOUN
futech-473	470	28	efficiency	efficiency	NOUN
futech-473	470	29	and	and	CCONJ
futech-473	470	30	cost	cost	VERB
futech-473	470	31	analysis	analysis	NOUN
futech-473	470	32	reliability	reliability	NOUN
futech-473	470	33	metrics	metric	NOUN
futech-473	470	34	exceeded	exceed	VERB
futech-473	470	35	design	design	NOUN
futech-473	470	36	targets	target	NOUN
futech-473	470	37	throughout	throughout	ADP
futech-473	470	38	the	the	DET
futech-473	470	39	experimental	experimental	ADJ
futech-473	470	40	period	period	NOUN
futech-473	470	41	.	.	PUNCT
futech-473	471	1	system	system	NOUN
futech-473	471	2	availability	availability	NOUN
futech-473	471	3	maintained	maintain	VERB
futech-473	471	4	99.2	99.2	NUM
futech-473	471	5	%	%	NOUN
futech-473	471	6	uptime	uptime	NOUN
futech-473	471	7	over	over	ADP
futech-473	471	8	720	720	NUM
futech-473	471	9	hours	hour	NOUN
futech-473	471	10	of	of	ADP
futech-473	471	11	continuous	continuous	ADJ
futech-473	471	12	operation	operation	NOUN
futech-473	471	13	,	,	PUNCT
futech-473	471	14	with	with	ADP
futech-473	471	15	planned	plan	VERB
futech-473	471	16	maintenance	maintenance	NOUN
futech-473	471	17	windows	window	NOUN
futech-473	471	18	accounting	account	VERB
futech-473	471	19	for	for	ADP
futech-473	471	20	most	most	ADJ
futech-473	471	21	downtime	downtime	NOUN
futech-473	471	22	.	.	PUNCT
futech-473	472	1	mean	mean	ADJ
futech-473	472	2	time	time	NOUN
futech-473	472	3	between	between	ADP
futech-473	472	4	failur	failur	PROPN
futech-473	472	5	...	...	PUNCT
futech-473	472	6	5.2	5.2	NUM
futech-473	472	7	qualitative	qualitative	ADJ
futech-473	472	8	analysis	analysis	NOUN
futech-473	472	9	system	system	NOUN
futech-473	472	10	behavior	behavior	NOUN
futech-473	472	11	observations	observation	NOUN
futech-473	472	12	during	during	ADP
futech-473	472	13	extended	extended	ADJ
futech-473	472	14	operational	operational	ADJ
futech-473	472	15	periods	period	NOUN
futech-473	472	16	revealed	reveal	VERB
futech-473	472	17	emergent	emergent	ADJ
futech-473	472	18	collaborative	collaborative	ADJ
futech-473	472	19	patterns	pattern	NOUN
futech-473	472	20	among	among	ADP
futech-473	472	21	amrs	amrs	PROPN
futech-473	472	22	that	that	PRON
futech-473	472	23	exceeded	exceed	VERB
futech-473	472	24	design	design	NOUN
futech-473	472	25	expectations	expectation	NOUN
futech-473	472	26	.	.	PUNCT
futech-473	473	1	robot	robot	NOUN
futech-473	473	2	clusters	cluster	NOUN
futech-473	473	3	naturally	naturally	ADV
futech-473	473	4	formed	form	VERB
futech-473	473	5	around	around	ADP
futech-473	473	6	high	high	ADJ
futech-473	473	7	-	-	PUNCT
futech-473	473	8	demand	demand	NOUN
futech-473	473	9	warehouse	warehouse	NOUN
futech-473	473	10	zones	zone	NOUN
futech-473	473	11	,	,	PUNCT
futech-473	473	12	with	with	ADP
futech-473	473	13	dynamic	dynamic	ADJ
futech-473	473	14	load	load	NOUN
futech-473	473	15	balancing	balance	VERB
futech-473	473	16	eme	eme	NOUN
futech-473	473	17	...	...	PUNCT
futech-473	473	18	workflow	workflow	NOUN
futech-473	473	19	analysis	analysis	NOUN
futech-473	473	20	identified	identify	VERB
futech-473	473	21	substantial	substantial	ADJ
futech-473	473	22	improvements	improvement	NOUN
futech-473	473	23	in	in	ADP
futech-473	473	24	exception	exception	NOUN
futech-473	473	25	handling	handling	NOUN
futech-473	473	26	and	and	CCONJ
futech-473	473	27	adaptive	adaptive	ADJ
futech-473	473	28	response	response	NOUN
futech-473	473	29	to	to	ADP
futech-473	473	30	operational	operational	ADJ
futech-473	473	31	disruptions	disruption	NOUN
futech-473	473	32	.	.	PUNCT
futech-473	474	1	when	when	SCONJ
futech-473	474	2	faced	face	VERB
futech-473	474	3	with	with	ADP
futech-473	474	4	unexpected	unexpected	ADJ
futech-473	474	5	obstacles	obstacle	NOUN
futech-473	474	6	or	or	CCONJ
futech-473	474	7	equipment	equipment	NOUN
futech-473	474	8	failures	failure	NOUN
futech-473	474	9	,	,	PUNCT
futech-473	474	10	the	the	DET
futech-473	474	11	system	system	NOUN
futech-473	474	12	demonstrated	demonstrate	VERB
futech-473	474	13	remarkable	remarkable	ADJ
futech-473	474	14	resilience	resilience	NOUN
futech-473	474	15	through	through	ADP
futech-473	474	16	automatic	automatic	ADJ
futech-473	474	17	t	t	PROPN
futech-473	474	18	...	...	PUNCT
futech-473	474	19	human	human	ADJ
futech-473	474	20	-	-	PUNCT
futech-473	474	21	robot	robot	NOUN
futech-473	474	22	collaboration	collaboration	NOUN
futech-473	474	23	observations	observation	NOUN
futech-473	474	24	revealed	reveal	VERB
futech-473	474	25	interesting	interesting	ADJ
futech-473	474	26	social	social	ADJ
futech-473	474	27	dynamics	dynamic	NOUN
futech-473	474	28	within	within	ADP
futech-473	474	29	the	the	DET
futech-473	474	30	warehouse	warehouse	NOUN
futech-473	474	31	environment	environment	NOUN
futech-473	474	32	.	.	PUNCT
futech-473	475	1	workers	worker	NOUN
futech-473	475	2	initially	initially	ADV
futech-473	475	3	maintained	maintain	VERB
futech-473	475	4	excessive	excessive	ADJ
futech-473	475	5	safety	safety	NOUN
futech-473	475	6	distances	distance	NOUN
futech-473	475	7	from	from	ADP
futech-473	475	8	amrs	amrs	PROPN
futech-473	475	9	,	,	PUNCT
futech-473	475	10	but	but	CCONJ
futech-473	475	11	confidence	confidence	NOUN
futech-473	475	12	increased	increase	VERB
futech-473	475	13	rapidly	rapidly	ADV
futech-473	475	14	as	as	SCONJ
futech-473	475	15	predictable	predictable	ADJ
futech-473	475	16	robot	robot	NOUN
futech-473	475	17	behaviors	behavior	NOUN
futech-473	475	18	became	become	VERB
futech-473	475	19	app	app	ADJ
futech-473	475	20	...	...	PUNCT
futech-473	475	21	(	(	PUNCT
futech-473	475	22	a	a	X
futech-473	475	23	)	)	PUNCT
futech-473	475	24	(	(	PUNCT
futech-473	475	25	b	b	X
futech-473	475	26	)	)	PUNCT
futech-473	475	27	(	(	PUNCT
futech-473	475	28	c	c	X
futech-473	475	29	)	)	PUNCT
futech-473	475	30	figure	figure	NOUN
futech-473	475	31	6	6	NUM
futech-473	475	32	.	.	PUNCT
futech-473	475	33	qualitative	qualitative	ADJ
futech-473	475	34	system	system	NOUN
futech-473	475	35	assessment	assessment	NOUN
futech-473	475	36	:	:	PUNCT
futech-473	475	37	(	(	PUNCT
futech-473	475	38	a)usability	a)usability	PROPN
futech-473	475	39	assessment	assessment	NOUN
futech-473	475	40	across	across	ADP
futech-473	475	41	user	user	NOUN
futech-473	475	42	groups	group	NOUN
futech-473	475	43	,	,	PUNCT
futech-473	475	44	(	(	PUNCT
futech-473	475	45	b)learning	b)learne	VERB
futech-473	475	46	curve	curve	NOUN
futech-473	475	47	analysis	analysis	NOUN
futech-473	475	48	,	,	PUNCT
futech-473	475	49	(	(	PUNCT
futech-473	475	50	c)operator	c)operator	NOUN
futech-473	475	51	feedback	feedback	NOUN
futech-473	475	52	themes	theme	NOUN
futech-473	475	53	supervisors	supervisor	NOUN
futech-473	475	54	reported	report	VERB
futech-473	475	55	that	that	SCONJ
futech-473	475	56	the	the	DET
futech-473	475	57	predictive	predictive	ADJ
futech-473	475	58	analytics	analytic	NOUN
futech-473	475	59	capabilities	capability	NOUN
futech-473	475	60	allowed	allow	VERB
futech-473	475	61	them	they	PRON
futech-473	475	62	to	to	PART
futech-473	475	63	anticipate	anticipate	VERB
futech-473	475	64	bottlenecks	bottleneck	NOUN
futech-473	475	65	and	and	CCONJ
futech-473	475	66	adjust	adjust	VERB
futech-473	475	67	staffing	staffing	NOUN
futech-473	475	68	levels	level	NOUN
futech-473	475	69	dynamically	dynamically	ADV
futech-473	475	70	,	,	PUNCT
futech-473	475	71	resulting	result	VERB
futech-473	475	72	in	in	ADP
futech-473	475	73	more	more	ADV
futech-473	475	74	stable	stable	ADJ
futech-473	475	75	performance	performance	NOUN
futech-473	475	76	across	across	ADP
futech-473	475	77	varying	vary	VERB
futech-473	475	78	demand	demand	NOUN
futech-473	475	79	conditions	condition	NOUN
futech-473	475	80	.	.	PUNCT
futech-473	476	1	the	the	DET
futech-473	476	2	ability	ability	NOUN
futech-473	476	3	to	to	PART
futech-473	476	4	replay	replay	VERB
futech-473	476	5	operational	operational	ADJ
futech-473	476	6	sce	sce	PROPN
futech-473	476	7	...	...	PUNCT
futech-473	476	8	5.3	5.3	NUM
futech-473	476	9	case	case	NOUN
futech-473	476	10	studies	study	VERB
futech-473	476	11	implementation	implementation	NOUN
futech-473	476	12	of	of	ADP
futech-473	476	13	the	the	DET
futech-473	476	14	cps	cps	PROPN
futech-473	476	15	-	-	PUNCT
futech-473	476	16	amr	amr	NOUN
futech-473	476	17	system	system	NOUN
futech-473	476	18	across	across	ADP
futech-473	476	19	diverse	diverse	ADJ
futech-473	476	20	warehouse	warehouse	NOUN
futech-473	476	21	environments	environment	NOUN
futech-473	476	22	demonstrated	demonstrate	VERB
futech-473	476	23	remarkable	remarkable	ADJ
futech-473	476	24	adaptability	adaptability	NOUN
futech-473	476	25	and	and	CCONJ
futech-473	476	26	consistent	consistent	ADJ
futech-473	476	27	performance	performance	NOUN
futech-473	476	28	improvements	improvement	NOUN
futech-473	476	29	,	,	PUNCT
futech-473	476	30	validating	validate	VERB
futech-473	476	31	the	the	DET
futech-473	476	32	framework	framework	NOUN
futech-473	476	33	's	's	PART
futech-473	476	34	generalizability	generalizability	NOUN
futech-473	476	35	beyond	beyond	ADP
futech-473	476	36	controlled	control	VERB
futech-473	476	37	experimental	experimental	ADJ
futech-473	476	38	conditions	condition	NOUN
futech-473	476	39	.	.	PUNCT
futech-473	477	1	the	the	DET
futech-473	477	2	first	first	ADJ
futech-473	477	3	d	d	PROPN
futech-473	477	4	...	...	PUNCT
futech-473	477	5	the	the	DET
futech-473	477	6	third	third	ADJ
futech-473	477	7	case	case	NOUN
futech-473	477	8	study	study	NOUN
futech-473	477	9	involved	involve	VERB
futech-473	477	10	an	an	DET
futech-473	477	11	automotive	automotive	ADJ
futech-473	477	12	parts	part	NOUN
futech-473	477	13	warehouse	warehouse	NOUN
futech-473	477	14	serving	serve	VERB
futech-473	477	15	just	just	ADV
futech-473	477	16	-	-	PUNCT
futech-473	477	17	in	in	ADP
futech-473	477	18	-	-	PUNCT
futech-473	477	19	time	time	NOUN
futech-473	477	20	manufacturing	manufacturing	NOUN
futech-473	477	21	operations	operation	NOUN
futech-473	477	22	where	where	SCONJ
futech-473	477	23	delivery	delivery	NOUN
futech-473	477	24	precision	precision	NOUN
futech-473	477	25	directly	directly	ADV
futech-473	477	26	impacts	impact	VERB
futech-473	477	27	production	production	NOUN
futech-473	477	28	line	line	NOUN
futech-473	477	29	efficiency	efficiency	NOUN
futech-473	477	30	.	.	PUNCT
futech-473	478	1	this	this	DET
futech-473	478	2	15,000	15,000	NUM
futech-473	478	3	square	square	ADJ
futech-473	478	4	meter	meter	NOUN
futech-473	478	5	facility	facility	NOUN
futech-473	478	6	faced	face	VERB
futech-473	478	7	extreme	extreme	ADJ
futech-473	478	8	variability	variability	NOUN
futech-473	478	9	in	in	ADP
futech-473	478	10	demand	demand	NOUN
futech-473	478	11	patte	patte	NOUN
futech-473	478	12	...	...	PUNCT
futech-473	479	1	(	(	PUNCT
futech-473	479	2	a	a	X
futech-473	479	3	)	)	PUNCT
futech-473	479	4	(	(	PUNCT
futech-473	479	5	b	b	X
futech-473	479	6	)	)	PUNCT
futech-473	479	7	(	(	PUNCT
futech-473	479	8	c	c	X
futech-473	479	9	)	)	PUNCT
futech-473	479	10	figure	figure	NOUN
futech-473	479	11	7	7	NUM
futech-473	479	12	.	.	PUNCT
futech-473	479	13	case	case	NOUN
futech-473	479	14	study	study	NOUN
futech-473	479	15	performance	performance	NOUN
futech-473	479	16	comparison	comparison	NOUN
futech-473	479	17	:	:	PUNCT
futech-473	479	18	(	(	PUNCT
futech-473	479	19	a	a	X
futech-473	479	20	)	)	PUNCT
futech-473	479	21	performance	performance	NOUN
futech-473	479	22	improvements	improvement	NOUN
futech-473	479	23	by	by	ADP
futech-473	479	24	facility	facility	NOUN
futech-473	479	25	type	type	NOUN
futech-473	479	26	,	,	PUNCT
futech-473	479	27	(	(	PUNCT
futech-473	479	28	b	b	NOUN
futech-473	479	29	)	)	PUNCT
futech-473	479	30	return	return	NOUN
futech-473	479	31	on	on	ADP
futech-473	479	32	investment	investment	NOUN
futech-473	479	33	timeline	timeline	NOUN
futech-473	479	34	,	,	PUNCT
futech-473	479	35	(	(	PUNCT
futech-473	479	36	c	c	NOUN
futech-473	479	37	)	)	PUNCT
futech-473	479	38	facility	facility	NOUN
futech-473	479	39	-	-	PUNCT
futech-473	479	40	specific	specific	ADJ
futech-473	479	41	adaptation	adaptation	NOUN
futech-473	479	42	scores	score	VERB
futech-473	479	43	industry	industry	NOUN
futech-473	479	44	-	-	PUNCT
futech-473	479	45	specific	specific	ADJ
futech-473	479	46	adaptations	adaptation	NOUN
futech-473	479	47	emerged	emerge	VERB
futech-473	479	48	organically	organically	ADV
futech-473	479	49	through	through	ADP
futech-473	479	50	the	the	DET
futech-473	479	51	cps	cps	PROPN
futech-473	479	52	framework	framework	NOUN
futech-473	479	53	's	's	PART
futech-473	479	54	learning	learn	VERB
futech-473	479	55	capabilities	capability	NOUN
futech-473	479	56	.	.	PUNCT
futech-473	480	1	the	the	DET
futech-473	480	2	e	e	PROPN
futech-473	480	3	-	-	PROPN
futech-473	480	4	commerce	commerce	NOUN
futech-473	480	5	deployment	deployment	NOUN
futech-473	480	6	developed	develop	VERB
futech-473	480	7	specialized	specialized	ADJ
futech-473	480	8	algorithms	algorithm	NOUN
futech-473	480	9	for	for	ADP
futech-473	480	10	handling	handle	VERB
futech-473	480	11	seasonal	seasonal	ADJ
futech-473	480	12	sku	sku	NOUN
futech-473	480	13	variations	variation	NOUN
futech-473	480	14	and	and	CCONJ
futech-473	480	15	gift	gift	NOUN
futech-473	480	16	-	-	PUNCT
futech-473	480	17	wrapping	wrap	VERB
futech-473	480	18	stations	station	NOUN
futech-473	480	19	.	.	PUNCT
futech-473	481	1	pharmaceutical	pharmaceutical	ADJ
futech-473	481	2	operations	operation	NOUN
futech-473	481	3	...	...	PUNCT
futech-473	481	4	5.4	5.4	NUM
futech-473	481	5	discussion	discussion	NOUN
futech-473	481	6	the	the	DET
futech-473	481	7	experimental	experimental	ADJ
futech-473	481	8	results	result	NOUN
futech-473	481	9	demonstrate	demonstrate	VERB
futech-473	481	10	that	that	SCONJ
futech-473	481	11	integrating	integrate	VERB
futech-473	481	12	autonomous	autonomous	ADJ
futech-473	481	13	mobile	mobile	ADJ
futech-473	481	14	robots	robot	NOUN
futech-473	481	15	with	with	ADP
futech-473	481	16	cyber	cyber	ADJ
futech-473	481	17	-	-	PUNCT
futech-473	481	18	physical	physical	ADJ
futech-473	481	19	systems	system	NOUN
futech-473	481	20	fundamentally	fundamentally	ADV
futech-473	481	21	transforms	transform	VERB
futech-473	481	22	warehouse	warehouse	NOUN
futech-473	481	23	operations	operation	NOUN
futech-473	481	24	beyond	beyond	ADP
futech-473	481	25	incremental	incremental	ADJ
futech-473	481	26	automation	automation	NOUN
futech-473	481	27	improvements	improvement	NOUN
futech-473	481	28	.	.	PUNCT
futech-473	482	1	the	the	DET
futech-473	482	2	68	68	NUM
futech-473	482	3	%	%	NOUN
futech-473	482	4	throughput	throughput	NOUN
futech-473	482	5	enhancement	enhancement	NOUN
futech-473	482	6	and	and	CCONJ
futech-473	482	7	99.7	99.7	NUM
futech-473	482	8	%	%	NOUN
futech-473	482	9	inventory	inventory	PROPN
futech-473	482	10	acc	acc	PROPN
futech-473	482	11	...	...	PUNCT
futech-473	482	12	these	these	DET
futech-473	482	13	performance	performance	NOUN
futech-473	482	14	gains	gain	NOUN
futech-473	482	15	stem	stem	VERB
futech-473	482	16	not	not	PART
futech-473	482	17	from	from	ADP
futech-473	482	18	superior	superior	ADJ
futech-473	482	19	individual	individual	ADJ
futech-473	482	20	robot	robot	NOUN
futech-473	482	21	capabilities	capability	NOUN
futech-473	482	22	but	but	CCONJ
futech-473	482	23	from	from	ADP
futech-473	482	24	the	the	DET
futech-473	482	25	coordinated	coordinate	VERB
futech-473	482	26	decision	decision	NOUN
futech-473	482	27	-	-	PUNCT
futech-473	482	28	making	making	NOUN
futech-473	482	29	enabled	enable	VERB
futech-473	482	30	by	by	ADP
futech-473	482	31	real	real	ADJ
futech-473	482	32	-	-	PUNCT
futech-473	482	33	time	time	NOUN
futech-473	482	34	state	state	NOUN
futech-473	482	35	estimation	estimation	NOUN
futech-473	482	36	and	and	CCONJ
futech-473	482	37	predictive	predictive	ADJ
futech-473	482	38	optimization	optimization	NOUN
futech-473	482	39	across	across	ADP
futech-473	482	40	the	the	DET
futech-473	482	41	entire	entire	ADJ
futech-473	482	42	operational	operational	ADJ
futech-473	482	43	ecosystem	ecosystem	NOUN
futech-473	482	44	.	.	PUNCT
futech-473	483	1	the	the	DET
futech-473	483	2	successful	successful	ADJ
futech-473	483	3	deployment	deployment	NOUN
futech-473	483	4	...	...	PUNCT
futech-473	483	5	figure	figure	NOUN
futech-473	483	6	8	8	NUM
futech-473	483	7	.	.	PUNCT
futech-473	484	1	industry	industry	NOUN
futech-473	484	2	-	-	PUNCT
futech-473	484	3	specific	specific	ADJ
futech-473	484	4	adaptation	adaptation	NOUN
futech-473	484	5	and	and	CCONJ
futech-473	484	6	performance	performance	NOUN
futech-473	484	7	:	:	PUNCT
futech-473	484	8	(	(	PUNCT
futech-473	484	9	a	a	X
futech-473	484	10	)	)	PUNCT
futech-473	484	11	e	e	NOUN
futech-473	484	12	-	-	NOUN
futech-473	484	13	commerce	commerce	NOUN
futech-473	484	14	:	:	PUNCT
futech-473	484	15	seasonal	seasonal	ADJ
futech-473	484	16	order	order	NOUN
futech-473	484	17	handling	handling	NOUN
futech-473	484	18	,	,	PUNCT
futech-473	484	19	(	(	PUNCT
futech-473	484	20	b	b	NOUN
futech-473	484	21	)	)	PUNCT
futech-473	484	22	pharmaceutical	pharmaceutical	NOUN
futech-473	484	23	:	:	PUNCT
futech-473	484	24	temperature	temperature	NOUN
futech-473	484	25	control	control	NOUN
futech-473	484	26	,	,	PUNCT
futech-473	484	27	(	(	PUNCT
futech-473	484	28	c	c	X
futech-473	484	29	)	)	PUNCT
futech-473	484	30	automotive	automotive	NOUN
futech-473	484	31	:	:	PUNCT
futech-473	484	32	jit	jit	PROPN
futech-473	484	33	delivery	delivery	NOUN
futech-473	484	34	accuracy	accuracy	NOUN
futech-473	484	35	,	,	PUNCT
futech-473	484	36	(	(	PUNCT
futech-473	484	37	d	d	X
futech-473	484	38	)	)	PUNCT
futech-473	484	39	knowledge	knowledge	NOUN
futech-473	484	40	transfer	transfer	NOUN
futech-473	484	41	benefits	benefit	NOUN
futech-473	484	42	6	6	NUM
futech-473	484	43	.	.	PUNCT
futech-473	485	1	conclusion	conclusion	NOUN
futech-473	485	2	this	this	DET
futech-473	485	3	research	research	NOUN
futech-473	485	4	presented	present	VERB
futech-473	485	5	a	a	DET
futech-473	485	6	novel	novel	ADJ
futech-473	485	7	cyber	cyber	ADJ
futech-473	485	8	-	-	PUNCT
futech-473	485	9	physical	physical	ADJ
futech-473	485	10	systems	system	NOUN
futech-473	485	11	framework	framework	NOUN
futech-473	485	12	for	for	ADP
futech-473	485	13	autonomous	autonomous	ADJ
futech-473	485	14	mobile	mobile	ADJ
futech-473	485	15	robot	robot	NOUN
futech-473	485	16	integration	integration	NOUN
futech-473	485	17	in	in	ADP
futech-473	485	18	warehouse	warehouse	NOUN
futech-473	485	19	environments	environment	NOUN
futech-473	485	20	,	,	PUNCT
futech-473	485	21	demonstrating	demonstrate	VERB
futech-473	485	22	transformative	transformative	ADJ
futech-473	485	23	potential	potential	NOUN
futech-473	485	24	for	for	ADP
futech-473	485	25	intelligent	intelligent	ADJ
futech-473	485	26	inventory	inventory	NOUN
futech-473	485	27	management	management	NOUN
futech-473	485	28	.	.	PUNCT
futech-473	486	1	the	the	DET
futech-473	486	2	proposed	propose	VERB
futech-473	486	3	hierarchical	hierarchical	ADJ
futech-473	486	4	architecture	architecture	NOUN
futech-473	486	5	suc	suc	ADJ
futech-473	486	6	...	...	PUNCT
futech-473	486	7	the	the	DET
futech-473	486	8	manuscript	manuscript	NOUN
futech-473	486	9	contains	contain	VERB
futech-473	486	10	all	all	DET
futech-473	486	11	the	the	DET
futech-473	486	12	data	datum	NOUN
futech-473	486	13	.	.	PUNCT
futech-473	487	1	however	however	ADV
futech-473	487	2	,	,	PUNCT
futech-473	487	3	more	more	ADJ
futech-473	487	4	data	datum	NOUN
futech-473	487	5	will	will	AUX
futech-473	487	6	be	be	AUX
futech-473	487	7	available	available	ADJ
futech-473	487	8	upon	upon	SCONJ
futech-473	487	9	request	request	NOUN
futech-473	487	10	from	from	ADP
futech-473	487	11	the	the	DET
futech-473	487	12	authors	author	NOUN
futech-473	487	13	.	.	PUNCT
futech-473	488	1	conflict	conflict	NOUN
futech-473	488	2	of	of	ADP
futech-473	488	3	interest	interest	NOUN
futech-473	488	4	the	the	DET
futech-473	488	5	authors	author	NOUN
futech-473	488	6	declare	declare	VERB
futech-473	488	7	no	no	DET
futech-473	488	8	potential	potential	ADJ
futech-473	488	9	conflict	conflict	NOUN
futech-473	488	10	of	of	ADP
futech-473	488	11	interest	interest	NOUN
futech-473	488	12	.	.	PUNCT
futech-473	489	1	references	reference	NOUN
futech-473	489	2	[	[	X
futech-473	489	3	1	1	NUM
futech-473	489	4	]	]	X
futech-473	489	5	g.	g.	PROPN
futech-473	489	6	fragapane	fragapane	PROPN
futech-473	489	7	,	,	PUNCT
futech-473	489	8	r.	r.	PROPN
futech-473	489	9	de	de	X
futech-473	489	10	koster	koster	PROPN
futech-473	489	11	,	,	PUNCT
futech-473	489	12	f.	f.	PROPN
futech-473	489	13	sgarbossa	sgarbossa	PROPN
futech-473	489	14	,	,	PUNCT
futech-473	489	15	j.o	j.o	PROPN
futech-473	489	16	.	.	PROPN
futech-473	489	17	strandhagen	strandhagen	PROPN
futech-473	489	18	,	,	PUNCT
futech-473	489	19	planning	planning	NOUN
futech-473	489	20	and	and	CCONJ
futech-473	489	21	control	control	NOUN
futech-473	489	22	of	of	ADP
futech-473	489	23	autonomous	autonomous	ADJ
futech-473	489	24	mobile	mobile	ADJ
futech-473	489	25	robots	robot	NOUN
futech-473	489	26	for	for	ADP
futech-473	489	27	intralogistics	intralogistic	NOUN
futech-473	489	28	:	:	PUNCT
futech-473	489	29	literature	literature	NOUN
futech-473	489	30	review	review	PROPN
futech-473	489	31	and	and	CCONJ
futech-473	489	32	research	research	NOUN
futech-473	489	33	agenda	agenda	NOUN
futech-473	489	34	,	,	PUNCT
futech-473	489	35	european	european	PROPN
futech-473	489	36	journal	journal	PROPN
futech-473	489	37	of	of	ADP
futech-473	489	38	operational	operational	ADJ
futech-473	489	39	research	research	NOUN
futech-473	489	40	294(2	294(2	NUM
futech-473	489	41	)	)	PUNCT
futech-473	489	42	(	(	PUNCT
futech-473	489	43	2021	2021	NUM
futech-473	489	44	)	)	PUNCT
futech-473	489	45	405	405	NUM
futech-473	489	46	-	-	SYM
futech-473	489	47	426	426	NUM
futech-473	489	48	.	.	PUNCT
futech-473	490	1	https://doi.or	https://doi.or	X
futech-473	490	2	...	...	PUNCT
futech-473	491	1	[	[	X
futech-473	491	2	2	2	NUM
futech-473	491	3	]	]	X
futech-473	491	4	a.k	a.k	PROPN
futech-473	491	5	.	.	PROPN
futech-473	491	6	grover	grover	PROPN
futech-473	491	7	,	,	PUNCT
futech-473	491	8	m.h	m.h	PROPN
futech-473	491	9	.	.	PROPN
futech-473	491	10	ashraf	ashraf	PROPN
futech-473	491	11	,	,	PUNCT
futech-473	491	12	leveraging	leverage	VERB
futech-473	491	13	autonomous	autonomous	ADJ
futech-473	491	14	mobile	mobile	ADJ
futech-473	491	15	robots	robot	NOUN
futech-473	491	16	for	for	ADP
futech-473	491	17	industry	industry	NOUN
futech-473	491	18	4.0	4.0	NUM
futech-473	491	19	warehouses	warehouse	NOUN
futech-473	491	20	:	:	PUNCT
futech-473	491	21	a	a	DET
futech-473	491	22	multiple	multiple	ADJ
futech-473	491	23	case	case	NOUN
futech-473	491	24	study	study	NOUN
futech-473	491	25	analysis	analysis	NOUN
futech-473	491	26	,	,	PUNCT
futech-473	491	27	the	the	DET
futech-473	491	28	international	international	ADJ
futech-473	491	29	journal	journal	NOUN
futech-473	491	30	of	of	ADP
futech-473	491	31	logistics	logistic	NOUN
futech-473	491	32	management	management	NOUN
futech-473	491	33	35(4	35(4	NUM
futech-473	491	34	)	)	PUNCT
futech-473	491	35	(	(	PUNCT
futech-473	491	36	2023	2023	NUM
futech-473	491	37	)	)	PUNCT
futech-473	491	38	1168	1168	NUM
futech-473	491	39	-	-	SYM
futech-473	491	40	1199	1199	NUM
futech-473	491	41	.	.	PUNCT
futech-473	492	1	https://doi.org/10.1108/ijlm-09-2022-0362	https://doi.org/10.1108/ijlm-09-2022-0362	VERB
futech-473	493	1	[	[	X
futech-473	493	2	3	3	X
futech-473	493	3	]	]	X
futech-473	493	4	b.	b.	PROPN
futech-473	493	5	cherniavskyi	cherniavskyi	PROPN
futech-473	493	6	,	,	PUNCT
futech-473	493	7	h.	h.	PROPN
futech-473	493	8	blakyta	blakyta	PROPN
futech-473	493	9	,	,	PUNCT
futech-473	493	10	v.	v.	PROPN
futech-473	493	11	susidenko	susidenko	PROPN
futech-473	493	12	,	,	PUNCT
futech-473	493	13	a.	a.	NOUN
futech-473	493	14	andreichenko	andreichenko	PROPN
futech-473	493	15	,	,	PUNCT
futech-473	493	16	y.	y.	PROPN
futech-473	493	17	remyha	remyha	PROPN
futech-473	493	18	,	,	PUNCT
futech-473	493	19	o.	o.	PROPN
futech-473	493	20	podmazko	podmazko	PROPN
futech-473	493	21	,	,	PUNCT
futech-473	493	22	innovative	innovative	ADJ
futech-473	493	23	technologies	technology	NOUN
futech-473	493	24	and	and	CCONJ
futech-473	493	25	digital	digital	ADJ
futech-473	493	26	models	model	NOUN
futech-473	493	27	in	in	ADP
futech-473	493	28	the	the	DET
futech-473	493	29	post	post	ADJ
futech-473	493	30	-	-	ADJ
futech-473	493	31	war	war	ADJ
futech-473	493	32	recovery	recovery	NOUN
futech-473	493	33	of	of	ADP
futech-473	493	34	the	the	DET
futech-473	493	35	transport	transport	NOUN
futech-473	493	36	and	and	CCONJ
futech-473	493	37	logistics	logistic	NOUN
futech-473	493	38	system	system	NOUN
futech-473	493	39	of	of	ADP
futech-473	493	40	ukraine	ukraine	NOUN
futech-473	493	41	,	,	PUNCT
futech-473	493	42	economy	economy	NOUN
futech-473	493	43	in	in	ADP
futech-473	493	44	the	the	DET
futech-473	493	45	era	era	NOUN
futech-473	493	46	of	of	ADP
futech-473	493	47	digital	digital	ADJ
futech-473	493	48	transformation	transformation	NOUN
futech-473	493	49	...	...	PUNCT
futech-473	494	1	[	[	X
futech-473	494	2	4	4	X
futech-473	494	3	]	]	PUNCT
futech-473	494	4	s.	s.	PROPN
futech-473	494	5	warita	warita	PROPN
futech-473	494	6	,	,	PUNCT
futech-473	494	7	k.	k.	PROPN
futech-473	494	8	fujita	fujita	PROPN
futech-473	494	9	,	,	PUNCT
futech-473	494	10	online	online	PROPN
futech-473	494	11	planning	planning	NOUN
futech-473	494	12	for	for	ADP
futech-473	494	13	autonomous	autonomous	ADJ
futech-473	494	14	mobile	mobile	ADJ
futech-473	494	15	robots	robot	NOUN
futech-473	494	16	with	with	ADP
futech-473	494	17	different	different	ADJ
futech-473	494	18	objectives	objective	NOUN
futech-473	494	19	in	in	ADP
futech-473	494	20	warehouse	warehouse	NOUN
futech-473	494	21	commissioning	commissioning	NOUN
futech-473	494	22	task	task	NOUN
futech-473	494	23	,	,	PUNCT
futech-473	494	24	information	information	NOUN
futech-473	494	25	15(3	15(3	NUM
futech-473	494	26	)	)	PUNCT
futech-473	494	27	(	(	PUNCT
futech-473	494	28	2024	2024	NUM
futech-473	494	29	)	)	PUNCT
futech-473	494	30	130	130	NUM
futech-473	494	31	.	.	PUNCT
futech-473	495	1	https://doi.org/10.3390/info15030130	https://doi.org/10.3390/info15030130	NOUN
futech-473	495	2	[	[	X
futech-473	495	3	5	5	NUM
futech-473	495	4	]	]	X
futech-473	495	5	r.	r.	PROPN
futech-473	495	6	keith	keith	PROPN
futech-473	495	7	,	,	PUNCT
futech-473	495	8	h.m	h.m	PROPN
futech-473	495	9	.	.	PROPN
futech-473	495	10	la	la	PROPN
futech-473	495	11	,	,	PUNCT
futech-473	495	12	review	review	NOUN
futech-473	495	13	of	of	ADP
futech-473	495	14	autonomous	autonomous	ADJ
futech-473	495	15	mobile	mobile	ADJ
futech-473	495	16	robots	robot	NOUN
futech-473	495	17	for	for	ADP
futech-473	495	18	the	the	DET
futech-473	495	19	warehouse	warehouse	NOUN
futech-473	495	20	environment	environment	NOUN
futech-473	495	21	,	,	PUNCT
futech-473	495	22	arxiv	arxiv	PROPN
futech-473	495	23	preprint	preprint	NOUN
futech-473	495	24	arxiv:2406.08333	arxiv:2406.08333	NOUN
futech-473	495	25	(	(	PUNCT
futech-473	495	26	2024	2024	NUM
futech-473	495	27	)	)	PUNCT
futech-473	495	28	.	.	PUNCT
futech-473	496	1	https://doi.org/10.48550/arxiv.2406.08333	https://doi.org/10.48550/arxiv.2406.08333	PROPN
futech-473	496	2	[	[	X
futech-473	496	3	6	6	NUM
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futech-473	498	32	(	(	PUNCT
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futech-473	498	34	)	)	PUNCT
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futech-473	498	36	-	-	SYM
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futech-473	498	38	.	.	PUNCT
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futech-473	500	1	[	[	X
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futech-473	500	19	b.	b.	PROPN
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futech-473	500	25	b.	b.	PROPN
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futech-473	500	31	digital	digital	ADJ
futech-473	500	32	twin	twin	ADJ
futech-473	500	33	designs	design	NOUN
futech-473	500	34	with	with	ADP
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futech-473	500	36	ai	ai	NOUN
futech-473	500	37	:	:	PUNCT
futech-473	500	38	crafting	craft	VERB
futech-473	500	39	a	a	DET
futech-473	500	40	comprehensive	comprehensive	ADJ
futech-473	500	41	framework	framework	NOUN
futech-473	500	42	for	for	ADP
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futech-473	500	50	(	(	PUNCT
futech-473	500	51	2025	2025	NUM
futech-473	500	52	)	)	PUNCT
futech-473	500	53	...	...	PUNCT
futech-473	501	1	[	[	X
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futech-473	501	3	]	]	X
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futech-473	501	20	and	and	CCONJ
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futech-473	501	23	,	,	PUNCT
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futech-473	501	30	102(1	102(1	NUM
futech-473	501	31	)	)	PUNCT
futech-473	501	32	(	(	PUNCT
futech-473	501	33	2021	2021	NUM
futech-473	501	34	)	)	PUNCT
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futech-473	501	36	.	.	PUNCT
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futech-473	502	1	[	[	X
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futech-473	502	3	]	]	X
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futech-473	502	27	conference	conference	NOUN
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futech-473	502	35	,	,	PUNCT
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futech-473	503	2	-	-	SYM
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futech-473	503	4	.	.	PUNCT
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futech-473	503	6	...	...	PUNCT
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futech-473	504	16	-	-	PUNCT
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futech-473	504	19	-	-	ADJ
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futech-473	504	32	(	(	PUNCT
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futech-473	504	34	)	)	PUNCT
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futech-473	505	1	https://doi.org/10.48550/arxiv.2505.15036	https://doi.org/10.48550/arxiv.2505.15036	PROPN
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futech-473	506	7	,	,	PUNCT
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futech-473	509	24	:	:	PUNCT
futech-473	509	25	a	a	DET
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futech-473	512	14	,	,	PUNCT
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futech-473	513	33	,	,	PUNCT
futech-473	513	34	r.	r.	PROPN
futech-473	513	35	giachetti	giachetti	PROPN
futech-473	513	36	,	,	PUNCT
futech-473	513	37	b.	b.	PROPN
futech-473	513	38	hale	hale	PROPN
futech-473	513	39	,	,	PUNCT
futech-473	513	40	the	the	DET
futech-473	513	41	future	future	NOUN
futech-473	513	42	of	of	ADP
futech-473	513	43	digital	digital	ADJ
futech-473	513	44	twin	twin	ADJ
futech-473	513	45	research	research	NOUN
futech-473	513	46	and	and	CCONJ
futech-473	513	47	development	development	NOUN
futech-473	513	48	,	,	PUNCT
futech-473	513	49	journal	journal	NOUN
futech-473	513	50	of	of	ADP
futech-473	513	51	computing	computing	NOUN
futech-473	513	52	and	and	CCONJ
futech-473	513	53	information	information	NOUN
futech-473	513	54	science	science	NOUN
futech-473	513	55	in	in	ADP
futech-473	513	56	engineering	engineering	NOUN
futech-473	513	57	25(8	25(8	NUM
futech-473	513	58	...	...	PUNCT
futech-473	514	1	[	[	X
futech-473	514	2	16	16	NUM
futech-473	514	3	]	]	X
futech-473	514	4	c.	c.	PROPN
futech-473	514	5	szczuka	szczuka	PROPN
futech-473	514	6	,	,	PUNCT
futech-473	514	7	m.	m.	NOUN
futech-473	514	8	bruchhausen	bruchhausen	VERB
futech-473	514	9	,	,	PUNCT
futech-473	514	10	technical	technical	ADJ
futech-473	514	11	support	support	NOUN
futech-473	514	12	to	to	PART
futech-473	514	13	define	define	VERB
futech-473	514	14	performance	performance	NOUN
futech-473	514	15	and	and	CCONJ
futech-473	514	16	durability	durability	NOUN
futech-473	514	17	minimum	minimum	NOUN
futech-473	514	18	requirements	requirement	NOUN
futech-473	514	19	for	for	ADP
futech-473	514	20	industrial	industrial	ADJ
futech-473	514	21	batteries	battery	NOUN
futech-473	514	22	,	,	PUNCT
futech-473	514	23	(	(	PUNCT
futech-473	514	24	2025	2025	NUM
futech-473	514	25	)	)	PUNCT
futech-473	514	26	.	.	PUNCT
futech-473	515	1	https://data.europa.eu/doi/10.2760/0701373	https://data.europa.eu/doi/10.2760/0701373	NOUN
futech-473	515	2	[	[	X
futech-473	515	3	17	17	NUM
futech-473	515	4	]	]	PUNCT
futech-473	515	5	k.	k.	PROPN
futech-473	515	6	sharma	sharma	PROPN
futech-473	515	7	,	,	PUNCT
futech-473	515	8	r.	r.	PROPN
futech-473	515	9	doriya	doriya	PROPN
futech-473	515	10	,	,	PUNCT
futech-473	515	11	coordination	coordination	NOUN
futech-473	515	12	of	of	ADP
futech-473	515	13	multi	multi	ADJ
futech-473	515	14	-	-	ADJ
futech-473	515	15	robot	robot	ADJ
futech-473	515	16	path	path	NOUN
futech-473	515	17	planning	planning	NOUN
futech-473	515	18	for	for	ADP
futech-473	515	19	warehouse	warehouse	NOUN
futech-473	515	20	application	application	NOUN
futech-473	515	21	using	use	VERB
futech-473	515	22	smart	smart	ADJ
futech-473	515	23	approach	approach	NOUN
futech-473	515	24	for	for	ADP
futech-473	515	25	identifying	identify	VERB
futech-473	515	26	destinations	destination	NOUN
futech-473	515	27	,	,	PUNCT
futech-473	515	28	intelligent	intelligent	ADJ
futech-473	515	29	service	service	NOUN
futech-473	515	30	robotics	robotic	NOUN
futech-473	515	31	14(2	14(2	NUM
futech-473	515	32	)	)	PUNCT
futech-473	515	33	(	(	PUNCT
futech-473	515	34	2021	2021	NUM
futech-473	515	35	)	)	PUNCT
futech-473	515	36	313	313	NUM
futech-473	515	37	-	-	SYM
futech-473	515	38	325	325	NUM
futech-473	515	39	.	.	PUNCT
futech-473	516	1	https://doi.org/10.1007/s11370-021-00363-w	https://doi.org/10.1007/s11370-021-00363-w	NOUN
futech-473	517	1	[	[	X
futech-473	517	2	18	18	NUM
futech-473	517	3	]	]	SYM
futech-473	517	4	a.a	a.a	PROPN
futech-473	517	5	.	.	PROPN
futech-473	517	6	tubis	tubis	PROPN
futech-473	517	7	,	,	PUNCT
futech-473	517	8	j.	j.	PROPN
futech-473	517	9	rohman	rohman	PROPN
futech-473	517	10	,	,	PUNCT
futech-473	517	11	intelligent	intelligent	ADJ
futech-473	517	12	warehouse	warehouse	NOUN
futech-473	517	13	in	in	ADP
futech-473	517	14	industry	industry	NOUN
futech-473	517	15	4.0	4.0	NUM
futech-473	517	16	—	—	PUNCT
futech-473	517	17	systematic	systematic	ADJ
futech-473	517	18	literature	literature	NOUN
futech-473	517	19	review	review	NOUN
futech-473	517	20	,	,	PUNCT
futech-473	517	21	sensors	sensor	NOUN
futech-473	517	22	23(8	23(8	NUM
futech-473	517	23	)	)	PUNCT
futech-473	517	24	(	(	PUNCT
futech-473	517	25	2023	2023	NUM
futech-473	517	26	)	)	PUNCT
futech-473	517	27	4105	4105	NUM
futech-473	517	28	.	.	PUNCT
futech-473	518	1	https://doi.org/10.3390/s23084105	https://doi.org/10.3390/s23084105	NUM
futech-473	519	1	[	[	X
futech-473	519	2	19	19	NUM
futech-473	519	3	]	]	X
futech-473	519	4	r.k	r.k	PROPN
futech-473	519	5	.	.	PROPN
futech-473	519	6	rainer	rainer	PROPN
futech-473	519	7	jr	jr	PROPN
futech-473	519	8	,	,	PUNCT
futech-473	519	9	r.g	r.g	PROPN
futech-473	519	10	.	.	PROPN
futech-473	519	11	richey	richey	PROPN
futech-473	519	12	jr	jr	PROPN
futech-473	519	13	,	,	PUNCT
futech-473	519	14	s.	s.	PROPN
futech-473	519	15	chowdhury	chowdhury	PROPN
futech-473	519	16	,	,	PUNCT
futech-473	519	17	how	how	SCONJ
futech-473	519	18	robotics	robotic	NOUN
futech-473	519	19	is	be	AUX
futech-473	519	20	shaping	shape	VERB
futech-473	519	21	digital	digital	ADJ
futech-473	519	22	logistics	logistic	NOUN
futech-473	519	23	and	and	CCONJ
futech-473	519	24	supply	supply	NOUN
futech-473	519	25	chain	chain	NOUN
futech-473	519	26	management	management	NOUN
futech-473	519	27	:	:	PUNCT
futech-473	519	28	an	an	DET
futech-473	519	29	ongoing	ongoing	ADJ
futech-473	519	30	call	call	NOUN
futech-473	519	31	for	for	ADP
futech-473	519	32	research	research	NOUN
futech-473	519	33	,	,	PUNCT
futech-473	519	34	journal	journal	NOUN
futech-473	519	35	of	of	ADP
futech-473	519	36	business	business	NOUN
futech-473	519	37	logistics	logistic	NOUN
futech-473	519	38	46(1	46(1	PROPN
futech-473	519	39	)	)	PUNCT
futech-473	519	40	(	(	PUNCT
futech-473	519	41	2025	2025	NUM
futech-473	519	42	)	)	PUNCT
futech-473	519	43	e70005	e70005	NOUN
futech-473	519	44	.	.	PUNCT
futech-473	520	1	doi:10.1111	doi:10.1111	NOUN
futech-473	520	2	/	/	SYM
futech-473	520	3	jbl.70005	jbl.70005	NUM
futech-473	521	1	[	[	X
futech-473	521	2	20	20	NUM
futech-473	521	3	]	]	X
futech-473	521	4	y.	y.	PROPN
futech-473	521	5	zhang	zhang	PROPN
futech-473	521	6	,	,	PUNCT
futech-473	521	7	m.c	m.c	PROPN
futech-473	521	8	.	.	PROPN
futech-473	521	9	fontaine	fontaine	PROPN
futech-473	521	10	,	,	PUNCT
futech-473	521	11	v.	v.	PROPN
futech-473	521	12	bhatt	bhatt	PROPN
futech-473	521	13	,	,	PUNCT
futech-473	521	14	s.	s.	PROPN
futech-473	521	15	nikolaidis	nikolaidis	PROPN
futech-473	521	16	,	,	PUNCT
futech-473	521	17	j.	j.	PROPN
futech-473	521	18	li	li	PROPN
futech-473	521	19	,	,	PUNCT
futech-473	521	20	multi	multi	ADJ
futech-473	521	21	-	-	ADJ
futech-473	521	22	robot	robot	ADJ
futech-473	521	23	coordination	coordination	NOUN
futech-473	521	24	and	and	CCONJ
futech-473	521	25	layout	layout	NOUN
futech-473	521	26	design	design	NOUN
futech-473	521	27	for	for	ADP
futech-473	521	28	automated	automate	VERB
futech-473	521	29	warehousing	warehousing	NOUN
futech-473	521	30	,	,	PUNCT
futech-473	521	31	proceedings	proceeding	NOUN
futech-473	521	32	of	of	ADP
futech-473	521	33	the	the	DET
futech-473	521	34	international	international	ADJ
futech-473	521	35	symposium	symposium	NOUN
futech-473	521	36	on	on	ADP
futech-473	521	37	combinatorial	combinatorial	ADJ
futech-473	521	38	search	search	NOUN
futech-473	521	39	,	,	PUNCT
futech-473	521	40	2024	2024	NUM
futech-473	521	41	,	,	PUNCT
futech-473	521	42	pp	pp	ADJ
futech-473	521	43	.	.	PUNCT
futech-473	522	1	305	305	NUM
futech-473	522	2	-	-	SYM
futech-473	522	3	306	306	NUM
futech-473	522	4	.	.	PUNCT
futech-473	523	1	doi	doi	NOUN
futech-473	523	2	:	:	PUNCT
futech-473	523	3	https://doi.org/10.1609	https://doi.org/10.1609	PROPN
futech-473	523	4	/	/	SYM
futech-473	523	5	soc	soc	NOUN
futech-473	523	6	...	...	PUNCT
futech-473	524	1	[	[	X
futech-473	524	2	21	21	NUM
futech-473	524	3	]	]	X
futech-473	524	4	vamsi	vamsi	PROPN
futech-473	524	5	krishna	krishna	PROPN
futech-473	524	6	yarlagadda	yarlagadda	NOUN
futech-473	524	7	.	.	PUNCT
futech-473	524	8	cutting	cut	VERB
futech-473	524	9	-	-	PUNCT
futech-473	524	10	edge	edge	NOUN
futech-473	524	11	developments	development	NOUN
futech-473	524	12	in	in	ADP
futech-473	524	13	robotics	robotic	NOUN
futech-473	524	14	for	for	ADP
futech-473	524	15	smart	smart	ADJ
futech-473	524	16	warehousing	warehousing	NOUN
futech-473	524	17	and	and	CCONJ
futech-473	524	18	logistics	logistic	NOUN
futech-473	524	19	optimization	optimization	NOUN
futech-473	524	20	.	.	PUNCT
futech-473	525	1	robotics	robotic	NOUN
futech-473	525	2	xplore	xplore	PROPN
futech-473	525	3	:	:	PUNCT
futech-473	525	4	usa	usa	PROPN
futech-473	525	5	automation	automation	PROPN
futech-473	525	6	digest	digest	PROPN
futech-473	525	7	,	,	PUNCT
futech-473	525	8	2024	2024	NUM
futech-473	525	9	,	,	PUNCT
futech-473	525	10	1	1	NUM
futech-473	525	11	(	(	PUNCT
futech-473	525	12	1	1	NUM
futech-473	525	13	)	)	PUNCT
futech-473	525	14	,	,	PUNCT
futech-473	525	15	pp.61	pp.61	NOUN
futech-473	525	16	-	-	PUNCT
futech-473	525	17	79	79	NUM
futech-473	525	18	.	.	PUNCT
futech-473	526	1	⟨hal-04787280⟩.	⟨hal-04787280⟩.	PROPN
futech-473	527	1	[	[	X
futech-473	527	2	22	22	NUM
futech-473	527	3	]	]	X
futech-473	527	4	sattarov	sattarov	ADJ
futech-473	527	5	a.	a.	NOUN
futech-473	527	6	warehouse	warehouse	NOUN
futech-473	527	7	automation	automation	NOUN
futech-473	527	8	and	and	CCONJ
futech-473	527	9	materials	material	NOUN
futech-473	527	10	handling	handling	NOUN
futech-473	527	11	:	:	PUNCT
futech-473	527	12	an	an	DET
futech-473	527	13	emerging	emerge	VERB
futech-473	527	14	industry	industry	NOUN
futech-473	527	15	,	,	PUNCT
futech-473	527	16	its	its	PRON
futech-473	527	17	market	market	NOUN
futech-473	527	18	impact	impact	NOUN
futech-473	527	19	,	,	PUNCT
futech-473	527	20	and	and	CCONJ
futech-473	527	21	the	the	DET
futech-473	527	22	forces	force	NOUN
futech-473	527	23	challenging	challenge	VERB
futech-473	527	24	its	its	PRON
futech-473	527	25	growth	growth	NOUN
futech-473	527	26	.	.	PUNCT
futech-473	528	1	journal	journal	NOUN
futech-473	528	2	of	of	ADP
futech-473	528	3	data	datum	NOUN
futech-473	528	4	analysis	analysis	NOUN
futech-473	528	5	and	and	CCONJ
futech-473	528	6	information	information	NOUN
futech-473	528	7	processing	processing	NOUN
futech-473	528	8	.	.	PUNCT
futech-473	529	1	2025	2025	NUM
futech-473	529	2	apr	apr	NOUN
futech-473	529	3	11;13(2):199	11;13(2):199	NUM
futech-473	529	4	-	-	PUNCT
futech-473	529	5	212	212	NUM
futech-473	529	6	.	.	PUNCT
futech-473	529	7	doi	doi	NOUN
futech-473	529	8	:	:	PUNCT
futech-473	529	9	10.4236	10.4236	NUM
futech-473	529	10	/	/	SYM
futech-473	529	11	jdaip.2025.132012	jdaip.2025.132012	NOUN
futech-473	529	12	[	[	X
futech-473	529	13	23	23	NUM
futech-473	529	14	]	]	X
futech-473	529	15	k.f.e	k.f.e	PROPN
futech-473	529	16	.	.	PUNCT
futech-473	530	1	tsang	tsang	PROPN
futech-473	530	2	,	,	PUNCT
futech-473	530	3	y.	y.	PROPN
futech-473	530	4	ni	ni	PROPN
futech-473	530	5	,	,	PUNCT
futech-473	530	6	c.f.r	c.f.r	PROPN
futech-473	530	7	.	.	PUNCT
futech-473	531	1	wong	wong	PROPN
futech-473	531	2	,	,	PUNCT
futech-473	531	3	l.	l.	PROPN
futech-473	531	4	shi	shi	PROPN
futech-473	531	5	,	,	PUNCT
futech-473	531	6	a	a	DET
futech-473	531	7	novel	novel	ADJ
futech-473	531	8	warehouse	warehouse	NOUN
futech-473	531	9	multi	multi	ADJ
futech-473	531	10	-	-	ADJ
futech-473	531	11	robot	robot	ADJ
futech-473	531	12	automation	automation	NOUN
futech-473	531	13	system	system	NOUN
futech-473	531	14	with	with	ADP
futech-473	531	15	semi	semi	ADJ
futech-473	531	16	-	-	ADJ
futech-473	531	17	complete	complete	ADJ
futech-473	531	18	and	and	CCONJ
futech-473	531	19	computationally	computationally	ADV
futech-473	531	20	efficient	efficient	ADJ
futech-473	531	21	path	path	NOUN
futech-473	531	22	planning	planning	NOUN
futech-473	531	23	and	and	CCONJ
futech-473	531	24	adaptive	adaptive	ADJ
futech-473	531	25	genetic	genetic	ADJ
futech-473	531	26	task	task	NOUN
futech-473	531	27	allocation	allocation	NOUN
futech-473	531	28	algorithms	algorithm	NOUN
futech-473	531	29	,	,	PUNCT
futech-473	531	30	2018	2018	NUM
futech-473	531	31	15th	15th	ADJ
futech-473	531	32	international	international	ADJ
futech-473	531	33	conference	conference	NOUN
futech-473	531	34	on	on	ADP
futech-473	531	35	contr	contr	PROPN
futech-473	531	36	...	...	PUNCT
futech-473	532	1	[	[	X
futech-473	532	2	24	24	NUM
futech-473	532	3	]	]	PUNCT
futech-473	532	4	m.	m.	NOUN
futech-473	532	5	singh	singh	PROPN
futech-473	532	6	,	,	PUNCT
futech-473	532	7	r.	r.	PROPN
futech-473	532	8	srivastava	srivastava	PROPN
futech-473	532	9	,	,	PUNCT
futech-473	532	10	e.	e.	PROPN
futech-473	532	11	fuenmayor	fuenmayor	PROPN
futech-473	532	12	,	,	PUNCT
futech-473	532	13	v.	v.	CCONJ
futech-473	532	14	kuts	kuts	PROPN
futech-473	532	15	,	,	PUNCT
futech-473	532	16	y.	y.	PROPN
futech-473	532	17	qiao	qiao	PROPN
futech-473	532	18	,	,	PUNCT
futech-473	532	19	n.	n.	PROPN
futech-473	532	20	murray	murray	PROPN
futech-473	532	21	,	,	PUNCT
futech-473	532	22	d.	d.	PROPN
futech-473	532	23	devine	devine	PROPN
futech-473	532	24	,	,	PUNCT
futech-473	532	25	applications	application	NOUN
futech-473	532	26	of	of	ADP
futech-473	532	27	digital	digital	ADJ
futech-473	532	28	twin	twin	NOUN
futech-473	532	29	across	across	ADP
futech-473	532	30	industries	industry	NOUN
futech-473	532	31	:	:	PUNCT
futech-473	532	32	a	a	DET
futech-473	532	33	review	review	NOUN
futech-473	532	34	,	,	PUNCT
futech-473	532	35	applied	apply	VERB
futech-473	532	36	sciences	science	NOUN
futech-473	532	37	12(11	12(11	NUM
futech-473	532	38	)	)	PUNCT
futech-473	532	39	(	(	PUNCT
futech-473	532	40	2022	2022	NUM
futech-473	532	41	)	)	PUNCT
futech-473	532	42	5727	5727	NUM
futech-473	532	43	.	.	PUNCT
futech-473	533	1	https://doi.org/10.3390/app12115727	https://doi.org/10.3390/app12115727	NOUN
futech-473	534	1	[	[	X
futech-473	534	2	25	25	NUM
futech-473	534	3	]	]	PUNCT
futech-473	534	4	p.	p.	NOUN
futech-473	534	5	stavropoulos	stavropoulos	PROPN
futech-473	534	6	,	,	PUNCT
futech-473	534	7	digital	digital	ADJ
futech-473	534	8	twins	twin	NOUN
futech-473	534	9	of	of	ADP
futech-473	534	10	manufacturing	manufacturing	NOUN
futech-473	534	11	processes	process	NOUN
futech-473	534	12	under	under	ADP
futech-473	534	13	industry	industry	NOUN
futech-473	534	14	5.0	5.0	NUM
futech-473	534	15	,	,	PUNCT
futech-473	534	16	advances	advance	NOUN
futech-473	534	17	in	in	ADP
futech-473	534	18	artificial	artificial	ADJ
futech-473	534	19	intelligence	intelligence	NOUN
futech-473	534	20	in	in	ADP
futech-473	534	21	manufacturing	manufacturing	PROPN
futech-473	534	22	ii	ii	PROPN
futech-473	534	23	:	:	PUNCT
futech-473	534	24	proceedings	proceeding	NOUN
futech-473	534	25	of	of	ADP
futech-473	534	26	the	the	DET
futech-473	534	27	2nd	2nd	ADJ
futech-473	534	28	european	european	ADJ
futech-473	534	29	symposium	symposium	NOUN
futech-473	534	30	on	on	ADP
futech-473	534	31	artificial	artificial	ADJ
futech-473	534	32	intelligence	intelligence	NOUN
futech-473	534	33	in	in	ADP
futech-473	534	34	manufacturing	manufacturing	NOUN
futech-473	534	35	,	,	PUNCT
futech-473	534	36	october	october	PROPN
futech-473	534	37	16	16	NUM
futech-473	534	38	,	,	PUNCT
futech-473	534	39	2024	2024	NUM
futech-473	534	40	,	,	PUNCT
futech-473	534	41	athen	athen	PROPN
futech-473	534	42	...	...	PUNCT