id	sid	tid	token	lemma	pos
futech-566	1	1	p.	p.	NOUN
futech-566	1	2	chaubey	chaubey	NOUN
futech-566	1	3	et	et	PROPN
futech-566	1	4	al	al	PROPN
futech-566	1	5	.	.	PROPN
futech-566	1	6	/future	/future	PUNCT
futech-566	1	7	technology	technology	PROPN
futech-566	1	8	february	february	PROPN
futech-566	1	9	2026|	2026|	NUM
futech-566	1	10	volume	volume	NOUN
futech-566	1	11	05	05	NUM
futech-566	2	1	|	|	ADV
futech-566	2	2	issue	issue	NOUN
futech-566	2	3	01	01	NUM
futech-566	3	1	|	|	ADV
futech-566	3	2	pages	page	VERB
futech-566	3	3	148	148	NUM
futech-566	3	4	-	-	SYM
futech-566	3	5	158	158	NUM
futech-566	3	6	148	148	NUM
futech-566	3	7	article	article	NOUN
futech-566	3	8	exploring	explore	VERB
futech-566	3	9	various	various	ADJ
futech-566	3	10	neural	neural	ADJ
futech-566	3	11	network	network	NOUN
futech-566	3	12	configurations	configuration	NOUN
futech-566	3	13	for	for	ADP
futech-566	3	14	the	the	DET
futech-566	3	15	nn	nn	PROPN
futech-566	3	16	-	-	PUNCT
futech-566	3	17	based	base	VERB
futech-566	3	18	mpc	mpc	NOUN
futech-566	3	19	in	in	ADP
futech-566	3	20	a	a	DET
futech-566	3	21	multi	multi	ADJ
futech-566	3	22	-	-	ADJ
futech-566	3	23	agent	agent	ADJ
futech-566	3	24	system	system	NOUN
futech-566	3	25	piyush	piyush	PROPN
futech-566	3	26	chaubey1,2	chaubey1,2	PROPN
futech-566	3	27	,	,	PUNCT
futech-566	3	28	anilkumar	anilkumar	PROPN
futech-566	3	29	markana1	markana1	PROPN
futech-566	3	30	*	*	PROPN
futech-566	3	31	,	,	PUNCT
futech-566	3	32	dhaval	dhaval	PROPN
futech-566	3	33	vyas1	vyas1	PROPN
futech-566	3	34	,	,	PUNCT
futech-566	3	35	deepak	deepak	PROPN
futech-566	3	36	kumar	kumar	PROPN
futech-566	3	37	goyal2	goyal2	PROPN
futech-566	4	1	1pandit	1pandit	NUM
futech-566	4	2	deendayal	deendayal	ADJ
futech-566	4	3	energy	energy	PROPN
futech-566	4	4	university	university	PROPN
futech-566	4	5	,	,	PUNCT
futech-566	4	6	gandhinagar	gandhinagar	NOUN
futech-566	4	7	gujarat	gujarat	PROPN
futech-566	4	8	,	,	PUNCT
futech-566	4	9	india	india	PROPN
futech-566	4	10	2government	2government	NUM
futech-566	4	11	engineering	engineering	NOUN
futech-566	4	12	college	college	NOUN
futech-566	4	13	,	,	PUNCT
futech-566	4	14	bharatpur	bharatpur	PROPN
futech-566	4	15	rajasthan	rajasthan	PROPN
futech-566	4	16	,	,	PUNCT
futech-566	4	17	india	india	PROPN
futech-566	4	18	a	a	DET
futech-566	4	19	r	r	NOUN
futech-566	4	20	t	t	NOUN
futech-566	5	1	i	i	PRON
futech-566	5	2	c	c	NOUN
futech-566	5	3	l	l	NOUN
futech-566	5	4	e	e	NOUN
futech-566	6	1	i	i	PRON
futech-566	6	2	n	n	VERB
futech-566	6	3	f	f	NOUN
futech-566	6	4	o	o	NOUN
futech-566	6	5	article	article	NOUN
futech-566	6	6	history	history	NOUN
futech-566	6	7	:	:	PUNCT
futech-566	6	8	received	receive	VERB
futech-566	6	9	18	18	NUM
futech-566	6	10	august	august	PROPN
futech-566	6	11	2025	2025	NUM
futech-566	6	12	received	receive	VERB
futech-566	6	13	in	in	ADP
futech-566	6	14	revised	revise	VERB
futech-566	6	15	form	form	NOUN
futech-566	6	16	15	15	NUM
futech-566	6	17	october	october	PROPN
futech-566	6	18	2025	2025	NUM
futech-566	6	19	accepted	accept	VERB
futech-566	6	20	02	02	NUM
futech-566	6	21	november	november	PROPN
futech-566	6	22	2025	2025	NUM
futech-566	6	23	keywords	keyword	NOUN
futech-566	6	24	:	:	PUNCT
futech-566	6	25	multimodal	multimodal	ADJ
futech-566	6	26	fusion	fusion	NOUN
futech-566	6	27	,	,	PUNCT
futech-566	6	28	context	context	NOUN
futech-566	6	29	awareness	awareness	NOUN
futech-566	6	30	,	,	PUNCT
futech-566	6	31	smart	smart	ADJ
futech-566	6	32	kitchens	kitchen	NOUN
futech-566	6	33	,	,	PUNCT
futech-566	6	34	reinforcement	reinforcement	NOUN
futech-566	6	35	learning	learning	NOUN
futech-566	6	36	,	,	PUNCT
futech-566	6	37	personalized	personalized	ADJ
futech-566	6	38	recommendation	recommendation	NOUN
futech-566	6	39	*	*	PUNCT
futech-566	6	40	corresponding	correspond	VERB
futech-566	6	41	author	author	NOUN
futech-566	6	42	email	email	NOUN
futech-566	6	43	address	address	NOUN
futech-566	6	44	:	:	PUNCT
futech-566	6	45	anil.markana@spt.pdpu.ac.in	anil.markana@spt.pdpu.ac.in	X
futech-566	6	46	doi	doi	NOUN
futech-566	6	47	:	:	PUNCT
futech-566	6	48	10.55670	10.55670	NUM
futech-566	6	49	/	/	SYM
futech-566	6	50	fpll.futech.5.1.13	fpll.futech.5.1.13	PROPN
futech-566	6	51	a	a	DET
futech-566	6	52	b	b	PROPN
futech-566	6	53	s	s	ADP
futech-566	6	54	t	t	PROPN
futech-566	6	55	r	r	NOUN
futech-566	6	56	a	a	DET
futech-566	6	57	c	c	NOUN
futech-566	6	58	t	t	NOUN
futech-566	6	59	multi	multi	ADJ
futech-566	6	60	-	-	ADJ
futech-566	6	61	robot	robot	ADJ
futech-566	6	62	cooperation	cooperation	NOUN
futech-566	6	63	,	,	PUNCT
futech-566	6	64	unmanned	unmanned	ADJ
futech-566	6	65	aerial	aerial	ADJ
futech-566	6	66	vehicle	vehicle	NOUN
futech-566	6	67	(	(	PUNCT
futech-566	6	68	uav	uav	PROPN
futech-566	6	69	)	)	PUNCT
futech-566	6	70	formation	formation	NOUN
futech-566	6	71	control	control	NOUN
futech-566	6	72	,	,	PUNCT
futech-566	6	73	intelligent	intelligent	ADJ
futech-566	6	74	transport	transport	NOUN
futech-566	6	75	systems	system	NOUN
futech-566	6	76	,	,	PUNCT
futech-566	6	77	and	and	CCONJ
futech-566	6	78	distributed	distribute	VERB
futech-566	6	79	sensor	sensor	NOUN
futech-566	6	80	networks	network	NOUN
futech-566	6	81	are	be	AUX
futech-566	6	82	just	just	ADV
futech-566	6	83	a	a	DET
futech-566	6	84	few	few	ADJ
futech-566	6	85	domains	domain	NOUN
futech-566	6	86	where	where	SCONJ
futech-566	6	87	multi	multi	ADJ
futech-566	6	88	-	-	ADJ
futech-566	6	89	agent	agent	ADJ
futech-566	6	90	systems	system	NOUN
futech-566	6	91	are	be	AUX
futech-566	6	92	crucial	crucial	ADJ
futech-566	6	93	,	,	PUNCT
futech-566	6	94	as	as	SCONJ
futech-566	6	95	they	they	PRON
futech-566	6	96	require	require	VERB
futech-566	6	97	coordinated	coordinated	ADJ
futech-566	6	98	behavior	behavior	NOUN
futech-566	6	99	to	to	PART
futech-566	6	100	achieve	achieve	VERB
futech-566	6	101	common	common	ADJ
futech-566	6	102	goals	goal	NOUN
futech-566	6	103	such	such	ADJ
futech-566	6	104	as	as	ADP
futech-566	6	105	exploration	exploration	NOUN
futech-566	6	106	,	,	PUNCT
futech-566	6	107	resource	resource	NOUN
futech-566	6	108	allocation	allocation	NOUN
futech-566	6	109	,	,	PUNCT
futech-566	6	110	distributed	distribute	VERB
futech-566	6	111	sensing	sensing	NOUN
futech-566	6	112	,	,	PUNCT
futech-566	6	113	and	and	CCONJ
futech-566	6	114	target	target	VERB
futech-566	6	115	tracking	tracking	NOUN
futech-566	6	116	.	.	PUNCT
futech-566	7	1	this	this	DET
futech-566	7	2	paper	paper	NOUN
futech-566	7	3	investigates	investigate	VERB
futech-566	7	4	various	various	ADJ
futech-566	7	5	neural	neural	ADJ
futech-566	7	6	network	network	NOUN
futech-566	7	7	configurations	configuration	NOUN
futech-566	7	8	utilized	utilize	VERB
futech-566	7	9	in	in	ADP
futech-566	7	10	the	the	DET
futech-566	7	11	nn	nn	PROPN
futech-566	7	12	-	-	PUNCT
futech-566	7	13	mpc	mpc	NOUN
futech-566	7	14	framework	framework	NOUN
futech-566	7	15	for	for	ADP
futech-566	7	16	consensus	consensus	NOUN
futech-566	7	17	control	control	NOUN
futech-566	7	18	of	of	ADP
futech-566	7	19	multi	multi	ADJ
futech-566	7	20	-	-	ADJ
futech-566	7	21	agent	agent	ADJ
futech-566	7	22	robotic	robotic	ADJ
futech-566	7	23	systems	system	NOUN
futech-566	7	24	.	.	PUNCT
futech-566	8	1	the	the	DET
futech-566	8	2	nn	nn	PROPN
futech-566	8	3	-	-	PUNCT
futech-566	8	4	mpc	mpc	NOUN
futech-566	8	5	control	control	NOUN
futech-566	8	6	is	be	AUX
futech-566	8	7	applied	apply	VERB
futech-566	8	8	to	to	ADP
futech-566	8	9	the	the	DET
futech-566	8	10	consensus	consensus	NOUN
futech-566	8	11	problem	problem	NOUN
futech-566	8	12	of	of	ADP
futech-566	8	13	a	a	DET
futech-566	8	14	leader	leader	NOUN
futech-566	8	15	-	-	PUNCT
futech-566	8	16	follower	follower	NOUN
futech-566	8	17	multi	multi	ADJ
futech-566	8	18	-	-	ADJ
futech-566	8	19	agent	agent	ADJ
futech-566	8	20	system	system	NOUN
futech-566	8	21	,	,	PUNCT
futech-566	8	22	where	where	SCONJ
futech-566	8	23	agents	agent	NOUN
futech-566	8	24	coordinate	coordinate	VERB
futech-566	8	25	to	to	PART
futech-566	8	26	achieve	achieve	VERB
futech-566	8	27	collective	collective	ADJ
futech-566	8	28	behavior	behavior	NOUN
futech-566	8	29	.	.	PUNCT
futech-566	9	1	in	in	ADP
futech-566	9	2	this	this	DET
futech-566	9	3	approach	approach	NOUN
futech-566	9	4	,	,	PUNCT
futech-566	9	5	mpc	mpc	PROPN
futech-566	9	6	is	be	AUX
futech-566	9	7	utilized	utilize	VERB
futech-566	9	8	to	to	PART
futech-566	9	9	predict	predict	VERB
futech-566	9	10	the	the	DET
futech-566	9	11	future	future	ADJ
futech-566	9	12	values	value	NOUN
futech-566	9	13	of	of	ADP
futech-566	9	14	the	the	DET
futech-566	9	15	control	control	NOUN
futech-566	9	16	objective	objective	NOUN
futech-566	9	17	,	,	PUNCT
futech-566	9	18	which	which	PRON
futech-566	9	19	is	be	AUX
futech-566	9	20	optimized	optimize	VERB
futech-566	9	21	by	by	ADP
futech-566	9	22	minimizing	minimize	VERB
futech-566	9	23	a	a	DET
futech-566	9	24	cost	cost	NOUN
futech-566	9	25	function	function	NOUN
futech-566	9	26	with	with	ADP
futech-566	9	27	various	various	ADJ
futech-566	9	28	neural	neural	ADJ
futech-566	9	29	network	network	NOUN
futech-566	9	30	architectures	architecture	NOUN
futech-566	9	31	.	.	PUNCT
futech-566	10	1	different	different	ADJ
futech-566	10	2	neural	neural	ADJ
futech-566	10	3	network	network	NOUN
futech-566	10	4	configurations	configuration	NOUN
futech-566	10	5	based	base	VERB
futech-566	10	6	on	on	ADP
futech-566	10	7	feed	feed	NOUN
futech-566	10	8	-	-	PUNCT
futech-566	10	9	forward	forward	NOUN
futech-566	10	10	,	,	PUNCT
futech-566	10	11	recurrent	recurrent	ADJ
futech-566	10	12	neural	neural	ADJ
futech-566	10	13	networks	network	NOUN
futech-566	10	14	,	,	PUNCT
futech-566	10	15	fitnet	fitnet	NOUN
futech-566	10	16	,	,	PUNCT
futech-566	10	17	and	and	CCONJ
futech-566	10	18	cascade	cascade	NOUN
futech-566	10	19	networks	network	NOUN
futech-566	10	20	are	be	AUX
futech-566	10	21	explored	explore	VERB
futech-566	10	22	for	for	ADP
futech-566	10	23	the	the	DET
futech-566	10	24	nn	nn	PROPN
futech-566	10	25	-	-	PUNCT
futech-566	10	26	mpc	mpc	NOUN
futech-566	10	27	-	-	PUNCT
futech-566	10	28	based	base	VERB
futech-566	10	29	multi	multi	ADJ
futech-566	10	30	-	-	ADJ
futech-566	10	31	agent	agent	ADJ
futech-566	10	32	systems	system	NOUN
futech-566	10	33	.	.	PUNCT
futech-566	11	1	the	the	DET
futech-566	11	2	analysis	analysis	NOUN
futech-566	11	3	is	be	AUX
futech-566	11	4	performed	perform	VERB
futech-566	11	5	through	through	ADP
futech-566	11	6	a	a	DET
futech-566	11	7	simulation	simulation	NOUN
futech-566	11	8	-	-	PUNCT
futech-566	11	9	based	base	VERB
futech-566	11	10	model	model	NOUN
futech-566	11	11	of	of	ADP
futech-566	11	12	a	a	DET
futech-566	11	13	quadrotor	quadrotor	NOUN
futech-566	11	14	fleet	fleet	NOUN
futech-566	11	15	system	system	NOUN
futech-566	11	16	.	.	PUNCT
futech-566	12	1	results	result	NOUN
futech-566	12	2	show	show	VERB
futech-566	12	3	that	that	SCONJ
futech-566	12	4	the	the	DET
futech-566	12	5	follower	follower	NOUN
futech-566	12	6	agents	agent	NOUN
futech-566	12	7	achieve	achieve	VERB
futech-566	12	8	consensus	consensus	NOUN
futech-566	12	9	60	60	NUM
futech-566	12	10	%	%	NOUN
futech-566	12	11	faster	fast	ADV
futech-566	12	12	than	than	ADP
futech-566	12	13	with	with	ADP
futech-566	12	14	rnn	rnn	PROPN
futech-566	12	15	-	-	PUNCT
futech-566	12	16	mpc	mpc	NOUN
futech-566	12	17	in	in	ADP
futech-566	12	18	comparison	comparison	NOUN
futech-566	12	19	to	to	ADP
futech-566	12	20	the	the	DET
futech-566	12	21	feedforward	feedforward	ADJ
futech-566	12	22	neural	neural	ADJ
futech-566	12	23	network	network	NOUN
futech-566	12	24	,	,	PUNCT
futech-566	12	25	whereas	whereas	SCONJ
futech-566	12	26	the	the	DET
futech-566	12	27	results	result	NOUN
futech-566	12	28	are	be	AUX
futech-566	12	29	more	more	ADV
futech-566	12	30	effective	effective	ADJ
futech-566	12	31	when	when	SCONJ
futech-566	12	32	compared	compare	VERB
futech-566	12	33	with	with	ADP
futech-566	12	34	the	the	DET
futech-566	12	35	cascade	cascade	NOUN
futech-566	12	36	network	network	NOUN
futech-566	12	37	configuration	configuration	NOUN
futech-566	12	38	-	-	PUNCT
futech-566	12	39	based	base	VERB
futech-566	12	40	mpc	mpc	PROPN
futech-566	12	41	,	,	PUNCT
futech-566	12	42	where	where	SCONJ
futech-566	12	43	agents	agent	NOUN
futech-566	12	44	reach	reach	VERB
futech-566	12	45	consensus	consensus	NOUN
futech-566	12	46	90	90	NUM
futech-566	12	47	%	%	NOUN
futech-566	12	48	early	early	ADV
futech-566	12	49	if	if	SCONJ
futech-566	12	50	paired	pair	VERB
futech-566	12	51	with	with	ADP
futech-566	12	52	suitable	suitable	ADJ
futech-566	12	53	training	training	NOUN
futech-566	12	54	structures	structure	NOUN
futech-566	12	55	.	.	PUNCT
futech-566	13	1	overall	overall	ADV
futech-566	13	2	,	,	PUNCT
futech-566	13	3	the	the	DET
futech-566	13	4	article	article	NOUN
futech-566	13	5	contributes	contribute	VERB
futech-566	13	6	to	to	ADP
futech-566	13	7	the	the	DET
futech-566	13	8	recent	recent	ADJ
futech-566	13	9	topic	topic	NOUN
futech-566	13	10	of	of	ADP
futech-566	13	11	research	research	NOUN
futech-566	13	12	on	on	ADP
futech-566	13	13	learning	learn	VERB
futech-566	13	14	-	-	PUNCT
futech-566	13	15	based	base	VERB
futech-566	13	16	mpc	mpc	NOUN
futech-566	13	17	of	of	ADP
futech-566	13	18	the	the	DET
futech-566	13	19	multi	multi	ADJ
futech-566	13	20	-	-	ADJ
futech-566	13	21	agent	agent	ADJ
futech-566	13	22	system	system	NOUN
futech-566	13	23	in	in	ADP
futech-566	13	24	achieving	achieve	VERB
futech-566	13	25	consensus	consensus	NOUN
futech-566	13	26	for	for	ADP
futech-566	13	27	the	the	DET
futech-566	13	28	leader	leader	NOUN
futech-566	13	29	-	-	PUNCT
futech-566	13	30	follower	follower	NOUN
futech-566	13	31	strategy	strategy	NOUN
futech-566	13	32	.	.	PUNCT
futech-566	14	1	1	1	X
futech-566	14	2	.	.	X
futech-566	14	3	introduction	introduction	NOUN
futech-566	14	4	multi	multi	ADJ
futech-566	14	5	-	-	ADJ
futech-566	14	6	agent	agent	ADJ
futech-566	14	7	systems	system	NOUN
futech-566	14	8	are	be	AUX
futech-566	14	9	gaining	gain	VERB
futech-566	14	10	prominence	prominence	NOUN
futech-566	14	11	in	in	ADP
futech-566	14	12	the	the	DET
futech-566	14	13	area	area	NOUN
futech-566	14	14	of	of	ADP
futech-566	14	15	applications	application	NOUN
futech-566	14	16	like	like	ADP
futech-566	14	17	autonomous	autonomous	ADJ
futech-566	14	18	vehicles	vehicle	NOUN
futech-566	14	19	,	,	PUNCT
futech-566	14	20	smart	smart	ADJ
futech-566	14	21	grids	grid	NOUN
futech-566	14	22	,	,	PUNCT
futech-566	14	23	healthcare	healthcare	NOUN
futech-566	14	24	systems	system	NOUN
futech-566	14	25	,	,	PUNCT
futech-566	14	26	and	and	CCONJ
futech-566	14	27	environmental	environmental	ADJ
futech-566	14	28	monitoring	monitoring	NOUN
futech-566	14	29	[	[	X
futech-566	14	30	1	1	NUM
futech-566	14	31	]	]	PUNCT
futech-566	14	32	.	.	PUNCT
futech-566	15	1	mas	mas	PROPN
futech-566	15	2	presents	present	VERB
futech-566	15	3	unique	unique	ADJ
futech-566	15	4	challenges	challenge	NOUN
futech-566	15	5	due	due	ADP
futech-566	15	6	to	to	ADP
futech-566	15	7	the	the	DET
futech-566	15	8	need	need	NOUN
futech-566	15	9	for	for	ADP
futech-566	15	10	coordination	coordination	NOUN
futech-566	15	11	and	and	CCONJ
futech-566	15	12	cooperation	cooperation	NOUN
futech-566	15	13	among	among	ADP
futech-566	15	14	multiple	multiple	ADJ
futech-566	15	15	agents	agent	NOUN
futech-566	15	16	,	,	PUNCT
futech-566	15	17	often	often	ADV
futech-566	15	18	in	in	ADP
futech-566	15	19	dynamic	dynamic	ADJ
futech-566	15	20	and	and	CCONJ
futech-566	15	21	uncertain	uncertain	ADJ
futech-566	15	22	environments	environment	NOUN
futech-566	16	1	[	[	X
futech-566	16	2	2	2	NUM
futech-566	16	3	]	]	PUNCT
futech-566	16	4	.	.	PUNCT
futech-566	17	1	the	the	DET
futech-566	17	2	consensus	consensus	NOUN
futech-566	17	3	problem	problem	NOUN
futech-566	17	4	in	in	ADP
futech-566	17	5	a	a	DET
futech-566	17	6	leader	leader	NOUN
futech-566	17	7	–	–	PUNCT
futech-566	17	8	follower	follower	NOUN
futech-566	17	9	mas	mas	PROPN
futech-566	17	10	refers	refer	VERB
futech-566	17	11	to	to	ADP
futech-566	17	12	the	the	DET
futech-566	17	13	process	process	NOUN
futech-566	17	14	by	by	ADP
futech-566	17	15	which	which	PRON
futech-566	17	16	a	a	DET
futech-566	17	17	group	group	NOUN
futech-566	17	18	of	of	ADP
futech-566	17	19	agents	agent	NOUN
futech-566	17	20	(	(	PUNCT
futech-566	17	21	followers	follower	NOUN
futech-566	17	22	)	)	PUNCT
futech-566	17	23	coordinate	coordinate	VERB
futech-566	17	24	their	their	PRON
futech-566	17	25	states	state	NOUN
futech-566	17	26	to	to	PART
futech-566	17	27	match	match	VERB
futech-566	17	28	that	that	PRON
futech-566	17	29	of	of	ADP
futech-566	17	30	a	a	DET
futech-566	17	31	designated	designate	VERB
futech-566	17	32	leader	leader	NOUN
futech-566	17	33	through	through	ADP
futech-566	17	34	local	local	ADJ
futech-566	17	35	interactions	interaction	NOUN
futech-566	17	36	and	and	CCONJ
futech-566	17	37	information	information	NOUN
futech-566	17	38	exchange	exchange	NOUN
futech-566	17	39	.	.	PUNCT
futech-566	18	1	in	in	ADP
futech-566	18	2	such	such	ADJ
futech-566	18	3	types	type	NOUN
futech-566	18	4	of	of	ADP
futech-566	18	5	problems	problem	NOUN
futech-566	18	6	,	,	PUNCT
futech-566	18	7	the	the	DET
futech-566	18	8	leader	leader	NOUN
futech-566	18	9	acts	act	VERB
futech-566	18	10	as	as	ADP
futech-566	18	11	a	a	DET
futech-566	18	12	reference	reference	NOUN
futech-566	18	13	providing	provide	VERB
futech-566	18	14	a	a	DET
futech-566	18	15	desired	desire	VERB
futech-566	18	16	trajectory	trajectory	NOUN
futech-566	18	17	or	or	CCONJ
futech-566	18	18	state	state	NOUN
futech-566	18	19	,	,	PUNCT
futech-566	18	20	while	while	SCONJ
futech-566	18	21	the	the	DET
futech-566	18	22	followers	follower	NOUN
futech-566	18	23	adjust	adjust	VERB
futech-566	18	24	their	their	PRON
futech-566	18	25	states	state	NOUN
futech-566	18	26	according	accord	VERB
futech-566	18	27	to	to	ADP
futech-566	18	28	their	their	PRON
futech-566	18	29	neighbor	neighbor	NOUN
futech-566	18	30	states	state	NOUN
futech-566	18	31	and	and	CCONJ
futech-566	18	32	,	,	PUNCT
futech-566	18	33	in	in	ADP
futech-566	18	34	some	some	DET
futech-566	18	35	cases	case	NOUN
futech-566	18	36	,	,	PUNCT
futech-566	18	37	directly	directly	ADV
futech-566	18	38	from	from	ADP
futech-566	18	39	the	the	DET
futech-566	18	40	leader	leader	NOUN
futech-566	18	41	.	.	PUNCT
futech-566	19	1	the	the	DET
futech-566	19	2	main	main	ADJ
futech-566	19	3	objective	objective	NOUN
futech-566	19	4	is	be	AUX
futech-566	19	5	to	to	PART
futech-566	19	6	design	design	VERB
futech-566	19	7	control	control	NOUN
futech-566	19	8	protocols	protocol	NOUN
futech-566	19	9	that	that	PRON
futech-566	19	10	ensure	ensure	VERB
futech-566	19	11	all	all	DET
futech-566	19	12	followers	follower	NOUN
futech-566	19	13	asymptotically	asymptotically	ADV
futech-566	19	14	track	track	VERB
futech-566	19	15	the	the	DET
futech-566	19	16	leader	leader	NOUN
futech-566	19	17	’s	’s	PART
futech-566	19	18	state	state	NOUN
futech-566	19	19	despite	despite	SCONJ
futech-566	19	20	challenges	challenge	NOUN
futech-566	19	21	such	such	ADJ
futech-566	19	22	as	as	ADP
futech-566	19	23	communication	communication	NOUN
futech-566	19	24	delays	delay	NOUN
futech-566	19	25	,	,	PUNCT
futech-566	19	26	switching	switch	VERB
futech-566	19	27	topologies	topology	NOUN
futech-566	19	28	,	,	PUNCT
futech-566	19	29	nonlinear	nonlinear	ADJ
futech-566	19	30	dynamics	dynamic	NOUN
futech-566	19	31	,	,	PUNCT
futech-566	19	32	or	or	CCONJ
futech-566	19	33	external	external	ADJ
futech-566	19	34	disturbances	disturbance	NOUN
futech-566	19	35	.	.	PUNCT
futech-566	20	1	leader	leader	NOUN
futech-566	20	2	–	–	PUNCT
futech-566	20	3	follower	follower	NOUN
futech-566	20	4	consensus	consensus	NOUN
futech-566	20	5	algorithm	algorithm	NOUN
futech-566	20	6	proves	prove	VERB
futech-566	20	7	helpful	helpful	ADJ
futech-566	20	8	in	in	ADP
futech-566	20	9	applications	application	NOUN
futech-566	20	10	like	like	ADP
futech-566	20	11	formation	formation	NOUN
futech-566	20	12	control	control	NOUN
futech-566	20	13	of	of	ADP
futech-566	20	14	autonomous	autonomous	ADJ
futech-566	20	15	vehicles	vehicle	NOUN
futech-566	20	16	,	,	PUNCT
futech-566	20	17	cooperative	cooperative	ADJ
futech-566	20	18	robotics	robotic	NOUN
futech-566	20	19	,	,	PUNCT
futech-566	20	20	sensor	sensor	NOUN
futech-566	20	21	networks	network	NOUN
futech-566	20	22	,	,	PUNCT
futech-566	20	23	and	and	CCONJ
futech-566	20	24	distributed	distribute	VERB
futech-566	20	25	decision	decision	NOUN
futech-566	20	26	-	-	PUNCT
futech-566	20	27	making	make	VERB
futech-566	20	28	systems	system	NOUN
futech-566	20	29	,	,	PUNCT
futech-566	20	30	where	where	SCONJ
futech-566	20	31	achieving	achieve	VERB
futech-566	20	32	coordination	coordination	NOUN
futech-566	20	33	with	with	ADP
futech-566	20	34	minimal	minimal	ADJ
futech-566	20	35	communication	communication	NOUN
futech-566	20	36	overhead	overhead	NOUN
futech-566	20	37	is	be	AUX
futech-566	20	38	crucial	crucial	ADJ
futech-566	20	39	.	.	PUNCT
futech-566	21	1	model	model	NOUN
futech-566	21	2	predictive	predictive	PROPN
futech-566	21	3	control	control	NOUN
futech-566	21	4	has	have	AUX
futech-566	21	5	evolved	evolve	VERB
futech-566	21	6	as	as	ADP
futech-566	21	7	a	a	DET
futech-566	21	8	smart	smart	ADJ
futech-566	21	9	control	control	NOUN
futech-566	21	10	strategy	strategy	NOUN
futech-566	21	11	for	for	ADP
futech-566	21	12	controlling	control	VERB
futech-566	21	13	complex	complex	ADJ
futech-566	21	14	systems	system	NOUN
futech-566	21	15	,	,	PUNCT
futech-566	21	16	offering	offer	VERB
futech-566	21	17	advantages	advantage	NOUN
futech-566	21	18	such	such	ADJ
futech-566	21	19	as	as	ADP
futech-566	21	20	constraint	constraint	NOUN
futech-566	21	21	handling	handling	NOUN
futech-566	21	22	,	,	PUNCT
futech-566	21	23	disturbance	disturbance	NOUN
futech-566	21	24	rejection	rejection	NOUN
futech-566	21	25	,	,	PUNCT
futech-566	21	26	and	and	CCONJ
futech-566	21	27	trajectory	trajectory	NOUN
futech-566	21	28	optimization	optimization	NOUN
futech-566	21	29	[	[	X
futech-566	21	30	3	3	NUM
futech-566	21	31	]	]	PUNCT
futech-566	21	32	.	.	PUNCT
futech-566	22	1	the	the	DET
futech-566	22	2	integration	integration	NOUN
futech-566	22	3	of	of	ADP
futech-566	22	4	learning	learn	VERB
futech-566	22	5	techniques	technique	NOUN
futech-566	22	6	with	with	ADP
futech-566	22	7	the	the	DET
futech-566	22	8	mpc	mpc	NOUN
futech-566	22	9	has	have	AUX
futech-566	22	10	opened	open	VERB
futech-566	22	11	new	new	ADJ
futech-566	22	12	avenues	avenue	NOUN
futech-566	22	13	for	for	ADP
futech-566	22	14	enhancing	enhance	VERB
futech-566	22	15	the	the	DET
futech-566	22	16	performance	performance	NOUN
futech-566	22	17	and	and	CCONJ
futech-566	22	18	adaptability	adaptability	NOUN
futech-566	22	19	of	of	ADP
futech-566	22	20	multi	multi	ADJ
futech-566	22	21	-	-	ADJ
futech-566	22	22	agent	agent	ADJ
futech-566	22	23	systems	system	NOUN
futech-566	22	24	.	.	PUNCT
futech-566	23	1	integrating	integrate	VERB
futech-566	23	2	learning	learn	VERB
futech-566	23	3	techniques	technique	NOUN
futech-566	23	4	with	with	ADP
futech-566	23	5	mpc	mpc	PROPN
futech-566	23	6	offers	offer	VERB
futech-566	23	7	the	the	DET
futech-566	23	8	potential	potential	NOUN
futech-566	23	9	to	to	PART
futech-566	23	10	improve	improve	VERB
futech-566	23	11	the	the	DET
futech-566	23	12	multi	multi	ADJ
futech-566	23	13	-	-	ADJ
futech-566	23	14	agent	agent	ADJ
futech-566	23	15	systems	system	NOUN
futech-566	23	16	'	'	PART
futech-566	23	17	performance	performance	NOUN
futech-566	23	18	considerably	considerably	ADV
futech-566	23	19	,	,	PUNCT
futech-566	23	20	enabling	enable	VERB
futech-566	23	21	adaptation	adaptation	NOUN
futech-566	23	22	to	to	ADP
futech-566	23	23	dynamic	dynamic	ADJ
futech-566	23	24	environments	environment	NOUN
futech-566	23	25	,	,	PUNCT
futech-566	23	26	learning	learn	VERB
futech-566	23	27	from	from	ADP
futech-566	23	28	past	past	ADJ
futech-566	23	29	experiences	experience	NOUN
futech-566	23	30	,	,	PUNCT
futech-566	23	31	and	and	CCONJ
futech-566	23	32	refining	refining	NOUN
futech-566	23	33	decision	decision	NOUN
futech-566	23	34	-	-	PUNCT
futech-566	23	35	making	make	VERB
futech-566	23	36	processes	process	NOUN
futech-566	23	37	[	[	X
futech-566	23	38	4	4	NUM
futech-566	23	39	]	]	PUNCT
futech-566	23	40	.	.	PUNCT
futech-566	24	1	driverless	driverless	ADJ
futech-566	24	2	vehicle	vehicle	NOUN
futech-566	25	1	[	[	X
futech-566	25	2	5	5	NUM
futech-566	25	3	]	]	PUNCT
futech-566	25	4	,	,	PUNCT
futech-566	25	5	power	power	NOUN
futech-566	25	6	system	system	NOUN
futech-566	25	7	management	management	NOUN
futech-566	26	1	[	[	X
futech-566	26	2	6	6	NUM
futech-566	26	3	]	]	PUNCT
futech-566	26	4	,	,	PUNCT
futech-566	26	5	and	and	CCONJ
futech-566	26	6	industrial	industrial	ADJ
futech-566	26	7	control	control	NOUN
futech-566	26	8	[	[	X
futech-566	26	9	7	7	NUM
futech-566	26	10	-	-	SYM
futech-566	26	11	9	9	NUM
futech-566	26	12	]	]	PUNCT
futech-566	26	13	are	be	AUX
futech-566	26	14	just	just	ADV
futech-566	26	15	a	a	DET
futech-566	26	16	few	few	ADJ
futech-566	26	17	of	of	ADP
futech-566	26	18	the	the	DET
futech-566	26	19	control	control	NOUN
futech-566	26	20	challenges	challenge	NOUN
futech-566	26	21	that	that	PRON
futech-566	26	22	mpc	mpc	PROPN
futech-566	26	23	has	have	AUX
futech-566	26	24	been	be	AUX
futech-566	26	25	employed	employ	VERB
futech-566	26	26	to	to	PART
futech-566	26	27	address	address	VERB
futech-566	26	28	.	.	PUNCT
futech-566	27	1	neural	neural	ADJ
futech-566	27	2	networkbased	networkbased	ADJ
futech-566	27	3	learning	learning	NOUN
futech-566	27	4	enhances	enhance	NOUN
futech-566	27	5	mpc	mpc	NOUN
futech-566	27	6	by	by	ADP
futech-566	27	7	adapting	adapt	VERB
futech-566	27	8	the	the	DET
futech-566	27	9	system	system	NOUN
futech-566	27	10	dynamics	dynamic	NOUN
futech-566	27	11	,	,	PUNCT
futech-566	27	12	cost	cost	NOUN
futech-566	27	13	functions	function	NOUN
futech-566	27	14	,	,	PUNCT
futech-566	27	15	or	or	CCONJ
futech-566	27	16	constraint	constraint	NOUN
futech-566	27	17	sets	set	NOUN
futech-566	27	18	based	base	VERB
futech-566	27	19	on	on	ADP
futech-566	27	20	data	datum	NOUN
futech-566	27	21	[	[	X
futech-566	27	22	10	10	NUM
futech-566	27	23	]	]	PUNCT
futech-566	27	24	.	.	PUNCT
futech-566	28	1	the	the	DET
futech-566	28	2	shallow	shallow	ADJ
futech-566	28	3	neural	neural	ADJ
futech-566	28	4	network	network	NOUN
futech-566	28	5	involves	involve	VERB
futech-566	28	6	learning	learn	VERB
futech-566	28	7	intricate	intricate	ADJ
futech-566	28	8	functions	function	NOUN
futech-566	28	9	,	,	PUNCT
futech-566	28	10	presenting	present	VERB
futech-566	28	11	inherent	inherent	ADJ
futech-566	28	12	limitations	limitation	NOUN
futech-566	28	13	when	when	SCONJ
futech-566	28	14	contrasted	contrast	VERB
futech-566	28	15	with	with	ADP
futech-566	28	16	deep	deep	ADJ
futech-566	28	17	architectures	architecture	NOUN
futech-566	28	18	[	[	X
futech-566	28	19	11	11	NUM
futech-566	28	20	]	]	PUNCT
futech-566	28	21	.	.	PUNCT
futech-566	29	1	there	there	PRON
futech-566	29	2	are	be	VERB
futech-566	29	3	various	various	ADJ
futech-566	29	4	architectures	architecture	NOUN
futech-566	29	5	for	for	ADP
futech-566	29	6	shallow	shallow	ADJ
futech-566	29	7	neural	neural	ADJ
futech-566	29	8	networks	network	NOUN
futech-566	29	9	with	with	ADP
futech-566	29	10	distinguished	distinguished	ADJ
futech-566	29	11	characteristics	characteristic	NOUN
futech-566	29	12	.	.	PUNCT
futech-566	30	1	open	open	ADJ
futech-566	30	2	access	access	NOUN
futech-566	30	3	journal	journal	PROPN
futech-566	30	4	issn	issn	PROPN
futech-566	30	5	2832	2832	NUM
futech-566	30	6	-	-	SYM
futech-566	30	7	0379	0379	NUM
futech-566	30	8	february	february	PROPN
futech-566	30	9	2026|	2026|	NUM
futech-566	30	10	volume	volume	NOUN
futech-566	30	11	05	05	NUM
futech-566	31	1	|	|	ADV
futech-566	31	2	issue	issue	NOUN
futech-566	31	3	01	01	NUM
futech-566	32	1	|	|	ADV
futech-566	32	2	pages	page	VERB
futech-566	32	3	148	148	NUM
futech-566	32	4	-	-	SYM
futech-566	32	5	158	158	NUM
futech-566	32	6	https://doi.org/10.55670/fpll.futech.5.1.13	https://doi.org/10.55670/fpll.futech.5.1.13	NUM
futech-566	32	7	journal	journal	PROPN
futech-566	32	8	homepage	homepage	NOUN
futech-566	32	9	:	:	PUNCT
futech-566	32	10	https://fupubco.com/futech	https://fupubco.com/futech	PROPN
futech-566	32	11	future	future	ADJ
futech-566	32	12	technology	technology	NOUN
futech-566	32	13	mailto:anil.markana@spt.pdpu.ac.in	mailto:anil.markana@spt.pdpu.ac.in	NOUN
futech-566	32	14	https://doi.org/10.55670/fpll.futech.5.1.13	https://doi.org/10.55670/fpll.futech.5.1.13	PROPN
futech-566	32	15	https://fupubco.com/futech	https://fupubco.com/futech	PROPN
futech-566	33	1	p.	p.	NOUN
futech-566	33	2	chaubey	chaubey	NOUN
futech-566	33	3	et	et	PROPN
futech-566	33	4	al	al	PROPN
futech-566	33	5	.	.	PROPN
futech-566	33	6	/future	/future	PUNCT
futech-566	33	7	technology	technology	PROPN
futech-566	33	8	february	february	PROPN
futech-566	33	9	2026|	2026|	NUM
futech-566	33	10	volume	volume	NOUN
futech-566	33	11	05	05	NUM
futech-566	34	1	|	|	ADV
futech-566	34	2	issue	issue	NOUN
futech-566	34	3	01	01	NUM
futech-566	35	1	|	|	ADV
futech-566	35	2	pages	page	VERB
futech-566	35	3	148	148	NUM
futech-566	35	4	-	-	SYM
futech-566	35	5	158	158	NUM
futech-566	35	6	149	149	NUM
futech-566	35	7	abbreviations	abbreviation	NOUN
futech-566	35	8	&	&	CCONJ
futech-566	35	9	list	list	NOUN
futech-566	35	10	of	of	ADP
futech-566	35	11	symbols	symbol	NOUN
futech-566	35	12	nn	nn	PROPN
futech-566	35	13	neural	neural	ADJ
futech-566	35	14	network	network	NOUN
futech-566	35	15	rnn	rnn	VERB
futech-566	35	16	recurrent	recurrent	ADJ
futech-566	35	17	neural	neural	ADJ
futech-566	35	18	network	network	NOUN
futech-566	35	19	mpc	mpc	PROPN
futech-566	35	20	model	model	PROPN
futech-566	35	21	predictive	predictive	PROPN
futech-566	35	22	control	control	PROPN
futech-566	35	23	mas	mas	PROPN
futech-566	35	24	multiagent	multiagent	PROPN
futech-566	35	25	system	system	NOUN
futech-566	35	26	sac	sac	NOUN
futech-566	35	27	soft	soft	ADJ
futech-566	35	28	actor	actor	NOUN
futech-566	35	29	–	–	PUNCT
futech-566	35	30	critic	critic	NOUN
futech-566	35	31	θ(t	θ(t	PROPN
futech-566	35	32	)	)	PUNCT
futech-566	35	33	θ(k	θ(k	ADJ
futech-566	35	34	)	)	PUNCT
futech-566	35	35	xi(k	xi(k	NUM
futech-566	35	36	)	)	PUNCT
futech-566	36	1	x0(k	x0(k	NUM
futech-566	36	2	)	)	PUNCT
futech-566	36	3	ui(t	ui(t	NOUN
futech-566	36	4	)	)	PUNCT
futech-566	36	5	u(k	u(k	PROPN
futech-566	36	6	)	)	PUNCT
futech-566	37	1	pp	pp	ADP
futech-566	37	2	mode	mode	NOUN
futech-566	37	3	of	of	ADP
futech-566	37	4	communication	communication	NOUN
futech-566	37	5	topology	topology	NOUN
futech-566	37	6	in	in	ADP
futech-566	37	7	continuous	continuous	ADJ
futech-566	37	8	time	time	NOUN
futech-566	37	9	(	(	PUNCT
futech-566	37	10	t	t	NOUN
futech-566	37	11	)	)	PUNCT
futech-566	37	12	switching	switch	VERB
futech-566	37	13	topology	topology	NOUN
futech-566	37	14	mode	mode	NOUN
futech-566	37	15	in	in	ADP
futech-566	37	16	discrete	discrete	ADJ
futech-566	37	17	time	time	NOUN
futech-566	37	18	at	at	ADP
futech-566	37	19	sample	sample	NOUN
futech-566	37	20	(	(	PUNCT
futech-566	37	21	kth	kth	NOUN
futech-566	37	22	)	)	PUNCT
futech-566	37	23	instant	instant	ADJ
futech-566	37	24	position	position	NOUN
futech-566	37	25	variable	variable	NOUN
futech-566	37	26	of	of	ADP
futech-566	37	27	ith	ith	PROPN
futech-566	37	28	follower	follower	NOUN
futech-566	37	29	agent	agent	NOUN
futech-566	37	30	in	in	ADP
futech-566	37	31	discrete	discrete	ADJ
futech-566	37	32	form	form	NOUN
futech-566	37	33	at	at	ADP
futech-566	37	34	(	(	PUNCT
futech-566	37	35	kth	kth	PROPN
futech-566	37	36	)	)	PUNCT
futech-566	37	37	sample	sample	NOUN
futech-566	37	38	instant	instant	ADJ
futech-566	37	39	position	position	NOUN
futech-566	37	40	variable	variable	NOUN
futech-566	37	41	of	of	ADP
futech-566	37	42	the	the	DET
futech-566	37	43	leader	leader	NOUN
futech-566	37	44	agent	agent	NOUN
futech-566	37	45	in	in	ADP
futech-566	37	46	a	a	DET
futech-566	37	47	discrete	discrete	ADJ
futech-566	37	48	form	form	NOUN
futech-566	37	49	at	at	ADP
futech-566	37	50	(	(	PUNCT
futech-566	37	51	kth	kth	PROPN
futech-566	37	52	)	)	PUNCT
futech-566	37	53	sample	sample	NOUN
futech-566	37	54	instant	instant	ADJ
futech-566	37	55	input	input	NOUN
futech-566	37	56	control	control	NOUN
futech-566	37	57	variable	variable	NOUN
futech-566	37	58	in	in	ADP
futech-566	37	59	continuous	continuous	ADJ
futech-566	37	60	time	time	NOUN
futech-566	37	61	(	(	PUNCT
futech-566	37	62	t	t	NOUN
futech-566	37	63	)	)	PUNCT
futech-566	37	64	consensus	consensus	NOUN
futech-566	37	65	control	control	NOUN
futech-566	37	66	input	input	NOUN
futech-566	37	67	in	in	ADP
futech-566	37	68	discretized	discretized	ADJ
futech-566	37	69	form	form	NOUN
futech-566	37	70	at	at	ADP
futech-566	37	71	sample	sample	NOUN
futech-566	37	72	(	(	PUNCT
futech-566	37	73	kth	kth	PROPN
futech-566	37	74	)	)	PUNCT
futech-566	37	75	instant	instant	ADJ
futech-566	37	76	positive	positive	ADJ
futech-566	37	77	definite	definite	ADJ
futech-566	37	78	matrix	matrix	NOUN
futech-566	37	79	kk	kk	X
futech-566	37	80	di(t	di(t	NOUN
futech-566	37	81	)	)	PUNCT
futech-566	37	82	e(k	e(k	NOUN
futech-566	37	83	)	)	PUNCT
futech-566	37	84	j(e(k	j(e(k	NOUN
futech-566	37	85	)	)	PUNCT
futech-566	37	86	)	)	PUNCT
futech-566	38	1	v(e(k	v(e(k	NOUN
futech-566	38	2	)	)	PUNCT
futech-566	38	3	)	)	PUNCT
futech-566	38	4	optimal	optimal	ADJ
futech-566	38	5	control	control	NOUN
futech-566	38	6	input	input	NOUN
futech-566	38	7	gain	gain	NOUN
futech-566	38	8	disturbance	disturbance	NOUN
futech-566	38	9	input	input	NOUN
futech-566	38	10	error	error	NOUN
futech-566	38	11	between	between	ADP
futech-566	38	12	the	the	DET
futech-566	38	13	ith	ith	PROPN
futech-566	38	14	follower	follower	NOUN
futech-566	38	15	and	and	CCONJ
futech-566	38	16	the	the	DET
futech-566	38	17	leader	leader	NOUN
futech-566	38	18	agent	agent	NOUN
futech-566	38	19	state	state	NOUN
futech-566	38	20	variable	variable	NOUN
futech-566	38	21	predicted	predict	VERB
futech-566	38	22	cost	cost	NOUN
futech-566	38	23	function	function	NOUN
futech-566	38	24	over	over	ADP
futech-566	38	25	a	a	DET
futech-566	38	26	future	future	ADJ
futech-566	38	27	horizon	horizon	NOUN
futech-566	38	28	h	h	ADP
futech-566	38	29	quadratic	quadratic	ADJ
futech-566	38	30	cost	cost	NOUN
futech-566	38	31	function	function	NOUN
futech-566	38	32	associated	associate	VERB
futech-566	38	33	with	with	ADP
futech-566	38	34	the	the	DET
futech-566	38	35	error	error	NOUN
futech-566	38	36	state	state	NOUN
futech-566	38	37	the	the	DET
futech-566	38	38	fitnet	fitnet	NOUN
futech-566	38	39	neural	neural	ADJ
futech-566	38	40	network	network	NOUN
futech-566	38	41	topology	topology	NOUN
futech-566	38	42	is	be	AUX
futech-566	38	43	the	the	DET
futech-566	38	44	most	most	ADV
futech-566	38	45	basic	basic	ADJ
futech-566	38	46	feed	feed	NOUN
futech-566	38	47	-	-	PUNCT
futech-566	38	48	forward	forward	ADV
futech-566	38	49	neural	neural	ADJ
futech-566	38	50	network	network	NOUN
futech-566	38	51	;	;	PUNCT
futech-566	38	52	it	it	PRON
futech-566	38	53	has	have	VERB
futech-566	38	54	no	no	DET
futech-566	38	55	feedback	feedback	NOUN
futech-566	38	56	connections	connection	NOUN
futech-566	38	57	within	within	ADP
futech-566	38	58	or	or	CCONJ
futech-566	38	59	between	between	ADP
futech-566	38	60	layers	layer	NOUN
futech-566	38	61	and	and	CCONJ
futech-566	38	62	propagates	propagate	VERB
futech-566	38	63	activity	activity	NOUN
futech-566	38	64	unidirectionally	unidirectionally	ADV
futech-566	38	65	from	from	ADP
futech-566	38	66	the	the	DET
futech-566	38	67	input	input	NOUN
futech-566	38	68	to	to	ADP
futech-566	38	69	the	the	DET
futech-566	38	70	output	output	NOUN
futech-566	38	71	stage	stage	NOUN
futech-566	38	72	.	.	PUNCT
futech-566	39	1	feedforward	feedforward	NOUN
futech-566	39	2	networks	network	NOUN
futech-566	39	3	schematically	schematically	NOUN
futech-566	39	4	stack	stack	VERB
futech-566	39	5	perceptron	perceptron	PROPN
futech-566	39	6	layers	layer	NOUN
futech-566	39	7	on	on	ADP
futech-566	39	8	top	top	NOUN
futech-566	39	9	of	of	ADP
futech-566	39	10	one	one	NUM
futech-566	39	11	another	another	DET
futech-566	39	12	,	,	PUNCT
futech-566	39	13	allowing	allow	VERB
futech-566	39	14	for	for	ADP
futech-566	39	15	the	the	DET
futech-566	39	16	approximation	approximation	NOUN
futech-566	39	17	of	of	ADP
futech-566	39	18	complex	complex	ADJ
futech-566	39	19	non	non	ADJ
futech-566	39	20	-	-	ADJ
futech-566	39	21	linear	linear	ADJ
futech-566	39	22	functions	function	NOUN
futech-566	39	23	through	through	ADP
futech-566	39	24	the	the	DET
futech-566	39	25	composition	composition	NOUN
futech-566	39	26	of	of	ADP
futech-566	39	27	simple	simple	ADJ
futech-566	39	28	linear	linear	ADJ
futech-566	39	29	transformations	transformation	NOUN
futech-566	39	30	and	and	CCONJ
futech-566	39	31	non	non	ADJ
futech-566	39	32	-	-	ADJ
futech-566	39	33	linear	linear	ADJ
futech-566	39	34	activation	activation	NOUN
futech-566	39	35	functions	function	NOUN
futech-566	39	36	[	[	X
futech-566	39	37	12	12	NUM
futech-566	39	38	]	]	PUNCT
futech-566	39	39	.	.	PUNCT
futech-566	40	1	another	another	DET
futech-566	40	2	neural	neural	ADJ
futech-566	40	3	network	network	NOUN
futech-566	40	4	structure	structure	NOUN
futech-566	40	5	is	be	AUX
futech-566	40	6	the	the	DET
futech-566	40	7	cascade	cascade	NOUN
futech-566	40	8	-	-	PUNCT
futech-566	40	9	forward	forward	NOUN
futech-566	40	10	network	network	NOUN
futech-566	40	11	,	,	PUNCT
futech-566	40	12	in	in	ADP
futech-566	40	13	which	which	PRON
futech-566	40	14	each	each	DET
futech-566	40	15	layer	layer	NOUN
futech-566	40	16	receives	receive	VERB
futech-566	40	17	input	input	NOUN
futech-566	40	18	from	from	ADP
futech-566	40	19	all	all	DET
futech-566	40	20	previous	previous	ADJ
futech-566	40	21	layers	layer	NOUN
futech-566	40	22	[	[	X
futech-566	40	23	13	13	NUM
futech-566	40	24	]	]	PUNCT
futech-566	40	25	.	.	PUNCT
futech-566	41	1	in	in	ADP
futech-566	41	2	the	the	DET
futech-566	41	3	cascade	cascade	NOUN
futech-566	41	4	network	network	NOUN
futech-566	41	5	structure	structure	NOUN
futech-566	41	6	,	,	PUNCT
futech-566	41	7	unlike	unlike	ADP
futech-566	41	8	standard	standard	ADJ
futech-566	41	9	feed	feed	NOUN
futech-566	41	10	-	-	PUNCT
futech-566	41	11	forward	forward	NOUN
futech-566	41	12	networks	network	NOUN
futech-566	41	13	,	,	PUNCT
futech-566	41	14	where	where	SCONJ
futech-566	41	15	only	only	ADV
futech-566	41	16	the	the	DET
futech-566	41	17	first	first	ADJ
futech-566	41	18	layer	layer	NOUN
futech-566	41	19	directly	directly	ADV
futech-566	41	20	receives	receive	VERB
futech-566	41	21	the	the	DET
futech-566	41	22	input	input	NOUN
futech-566	41	23	,	,	PUNCT
futech-566	41	24	every	every	DET
futech-566	41	25	layer	layer	NOUN
futech-566	41	26	receives	receive	VERB
futech-566	41	27	the	the	DET
futech-566	41	28	input	input	NOUN
futech-566	41	29	directly	directly	ADV
futech-566	41	30	,	,	PUNCT
futech-566	41	31	facilitating	facilitate	VERB
futech-566	41	32	the	the	DET
futech-566	41	33	learning	learning	NOUN
futech-566	41	34	of	of	ADP
futech-566	41	35	more	more	ADV
futech-566	41	36	intricate	intricate	ADJ
futech-566	41	37	and	and	CCONJ
futech-566	41	38	hierarchical	hierarchical	ADJ
futech-566	41	39	representations	representation	NOUN
futech-566	41	40	of	of	ADP
futech-566	41	41	the	the	DET
futech-566	41	42	input	input	NOUN
futech-566	41	43	data	datum	NOUN
futech-566	41	44	[	[	X
futech-566	41	45	14	14	NUM
futech-566	41	46	]	]	PUNCT
futech-566	41	47	.	.	PUNCT
futech-566	42	1	recurrent	recurrent	ADJ
futech-566	42	2	neural	neural	ADJ
futech-566	42	3	networks	network	NOUN
futech-566	42	4	incorporate	incorporate	VERB
futech-566	42	5	feedback	feedback	NOUN
futech-566	42	6	connections	connection	NOUN
futech-566	42	7	,	,	PUNCT
futech-566	42	8	allowing	allow	VERB
futech-566	42	9	them	they	PRON
futech-566	42	10	to	to	PART
futech-566	42	11	model	model	VERB
futech-566	42	12	systems	system	NOUN
futech-566	42	13	with	with	ADP
futech-566	42	14	memory	memory	NOUN
futech-566	42	15	and	and	CCONJ
futech-566	42	16	temporal	temporal	ADJ
futech-566	42	17	dependencies	dependency	NOUN
futech-566	42	18	[	[	X
futech-566	42	19	15	15	NUM
futech-566	42	20	]	]	PUNCT
futech-566	42	21	.	.	PUNCT
futech-566	43	1	the	the	DET
futech-566	43	2	use	use	NOUN
futech-566	43	3	of	of	ADP
futech-566	43	4	internal	internal	ADJ
futech-566	43	5	memory	memory	NOUN
futech-566	43	6	enables	enable	VERB
futech-566	43	7	rnns	rnn	NOUN
futech-566	43	8	to	to	PART
futech-566	43	9	retrieve	retrieve	VERB
futech-566	43	10	data	datum	NOUN
futech-566	43	11	from	from	ADP
futech-566	43	12	past	past	ADJ
futech-566	43	13	history	history	NOUN
futech-566	43	14	,	,	PUNCT
futech-566	43	15	enabling	enable	VERB
futech-566	43	16	a	a	DET
futech-566	43	17	loop	loop	NOUN
futech-566	43	18	from	from	ADP
futech-566	43	19	the	the	DET
futech-566	43	20	hidden	hide	VERB
futech-566	43	21	node	node	NOUN
futech-566	43	22	to	to	ADP
futech-566	43	23	itself	itself	PRON
futech-566	43	24	[	[	X
futech-566	43	25	16	16	NUM
futech-566	43	26	]	]	PUNCT
futech-566	43	27	.	.	PUNCT
futech-566	44	1	the	the	DET
futech-566	44	2	key	key	ADJ
futech-566	44	3	contributions	contribution	NOUN
futech-566	44	4	of	of	ADP
futech-566	44	5	this	this	DET
futech-566	44	6	article	article	NOUN
futech-566	44	7	are	be	AUX
futech-566	44	8	as	as	SCONJ
futech-566	44	9	follows	follow	VERB
futech-566	44	10	:	:	PUNCT
futech-566	44	11	•	•	SCONJ
futech-566	44	12	this	this	DET
futech-566	44	13	work	work	NOUN
futech-566	44	14	compares	compare	VERB
futech-566	44	15	different	different	ADJ
futech-566	44	16	neural	neural	ADJ
futech-566	44	17	network	network	NOUN
futech-566	44	18	architectures	architecture	NOUN
futech-566	44	19	within	within	ADP
futech-566	44	20	the	the	DET
futech-566	44	21	nn	nn	PROPN
futech-566	44	22	-	-	PUNCT
futech-566	44	23	mpc	mpc	NOUN
futech-566	44	24	framework	framework	NOUN
futech-566	44	25	for	for	ADP
futech-566	44	26	achieving	achieve	VERB
futech-566	44	27	optimal	optimal	ADJ
futech-566	44	28	leader	leader	NOUN
futech-566	44	29	–	–	PUNCT
futech-566	44	30	follower	follower	NOUN
futech-566	44	31	consensus	consensus	NOUN
futech-566	44	32	in	in	ADP
futech-566	44	33	multi	multi	ADJ
futech-566	44	34	-	-	ADJ
futech-566	44	35	agent	agent	ADJ
futech-566	44	36	systems	system	NOUN
futech-566	44	37	.	.	PUNCT
futech-566	45	1	•	•	PUNCT
futech-566	45	2	as	as	SCONJ
futech-566	45	3	the	the	DET
futech-566	45	4	prediction	prediction	NOUN
futech-566	45	5	is	be	AUX
futech-566	45	6	done	do	VERB
futech-566	45	7	with	with	ADP
futech-566	45	8	mpc	mpc	NOUN
futech-566	45	9	and	and	CCONJ
futech-566	45	10	optimization	optimization	NOUN
futech-566	45	11	is	be	AUX
futech-566	45	12	carried	carry	VERB
futech-566	45	13	out	out	ADP
futech-566	45	14	by	by	ADP
futech-566	45	15	the	the	DET
futech-566	45	16	neural	neural	ADJ
futech-566	45	17	network	network	NOUN
futech-566	45	18	-	-	PUNCT
futech-566	45	19	based	base	VERB
futech-566	45	20	architectures	architecture	NOUN
futech-566	45	21	,	,	PUNCT
futech-566	45	22	the	the	DET
futech-566	45	23	computational	computational	ADJ
futech-566	45	24	burden	burden	NOUN
futech-566	45	25	on	on	ADP
futech-566	45	26	the	the	DET
futech-566	45	27	mpc	mpc	NOUN
futech-566	45	28	is	be	AUX
futech-566	45	29	minimized	minimize	VERB
futech-566	45	30	,	,	PUNCT
futech-566	45	31	which	which	PRON
futech-566	45	32	helps	help	VERB
futech-566	45	33	in	in	ADP
futech-566	45	34	the	the	DET
futech-566	45	35	improvement	improvement	NOUN
futech-566	45	36	of	of	ADP
futech-566	45	37	system	system	NOUN
futech-566	45	38	performance	performance	NOUN
futech-566	45	39	.	.	PUNCT
futech-566	46	1	•	•	NOUN
futech-566	46	2	the	the	DET
futech-566	46	3	results	result	NOUN
futech-566	46	4	are	be	AUX
futech-566	46	5	validated	validate	VERB
futech-566	46	6	using	use	VERB
futech-566	46	7	mean	mean	ADJ
futech-566	46	8	square	square	ADJ
futech-566	46	9	error	error	NOUN
futech-566	46	10	(	(	PUNCT
futech-566	46	11	mse	mse	NOUN
futech-566	46	12	)	)	PUNCT
futech-566	46	13	for	for	ADP
futech-566	46	14	all	all	DET
futech-566	46	15	the	the	DET
futech-566	46	16	structures	structure	NOUN
futech-566	46	17	and	and	CCONJ
futech-566	46	18	outcomes	outcome	NOUN
futech-566	46	19	,	,	PUNCT
futech-566	46	20	with	with	ADP
futech-566	46	21	the	the	DET
futech-566	46	22	best	good	ADJ
futech-566	46	23	training	training	NOUN
futech-566	46	24	function	function	NOUN
futech-566	46	25	presented	present	VERB
futech-566	46	26	with	with	ADP
futech-566	46	27	a	a	DET
futech-566	46	28	trade	trade	NOUN
futech-566	46	29	-	-	PUNCT
futech-566	46	30	off	off	NOUN
futech-566	46	31	between	between	ADP
futech-566	46	32	fast	fast	ADJ
futech-566	46	33	response	response	NOUN
futech-566	46	34	and	and	CCONJ
futech-566	46	35	least	least	ADJ
futech-566	46	36	error	error	NOUN
futech-566	46	37	performance	performance	NOUN
futech-566	46	38	.	.	PUNCT
futech-566	47	1	•	•	NUM
futech-566	47	2	results	result	NOUN
futech-566	47	3	are	be	AUX
futech-566	47	4	compared	compare	VERB
futech-566	47	5	with	with	ADP
futech-566	47	6	previously	previously	ADV
futech-566	47	7	published	publish	VERB
futech-566	47	8	findings	finding	NOUN
futech-566	47	9	on	on	ADP
futech-566	47	10	event	event	NOUN
futech-566	47	11	-	-	PUNCT
futech-566	47	12	triggered	trigger	VERB
futech-566	47	13	control	control	NOUN
futech-566	47	14	,	,	PUNCT
futech-566	47	15	and	and	CCONJ
futech-566	47	16	it	it	PRON
futech-566	47	17	has	have	AUX
futech-566	47	18	been	be	AUX
futech-566	47	19	shown	show	VERB
futech-566	47	20	that	that	SCONJ
futech-566	47	21	the	the	DET
futech-566	47	22	results	result	NOUN
futech-566	47	23	of	of	ADP
futech-566	47	24	rnn	rnn	PROPN
futech-566	47	25	-	-	PUNCT
futech-566	47	26	based	base	VERB
futech-566	47	27	mpc	mpc	NOUN
futech-566	47	28	follower	follower	NOUN
futech-566	47	29	agents	agent	NOUN
futech-566	47	30	achieve	achieve	VERB
futech-566	47	31	consensus	consensus	NOUN
futech-566	47	32	faster	fast	ADV
futech-566	47	33	than	than	SCONJ
futech-566	47	34	the	the	DET
futech-566	47	35	previous	previous	ADJ
futech-566	47	36	work	work	NOUN
futech-566	47	37	suggested	suggest	VERB
futech-566	47	38	.	.	PUNCT
futech-566	48	1	2	2	X
futech-566	48	2	.	.	X
futech-566	48	3	literature	literature	NOUN
futech-566	48	4	review	review	PROPN
futech-566	48	5	this	this	DET
futech-566	48	6	section	section	NOUN
futech-566	48	7	describes	describe	VERB
futech-566	48	8	the	the	DET
futech-566	48	9	recent	recent	ADJ
futech-566	48	10	trends	trend	NOUN
futech-566	48	11	in	in	ADP
futech-566	48	12	the	the	DET
futech-566	48	13	control	control	NOUN
futech-566	48	14	techniques	technique	NOUN
futech-566	48	15	for	for	ADP
futech-566	48	16	the	the	DET
futech-566	48	17	leader	leader	NOUN
futech-566	48	18	-	-	PUNCT
futech-566	48	19	follower	follower	NOUN
futech-566	48	20	multi	multi	ADJ
futech-566	48	21	-	-	ADJ
futech-566	48	22	agent	agent	ADJ
futech-566	48	23	system	system	NOUN
futech-566	48	24	consensus	consensus	NOUN
futech-566	48	25	problem	problem	NOUN
futech-566	48	26	.	.	PUNCT
futech-566	49	1	this	this	PRON
futech-566	49	2	includes	include	VERB
futech-566	49	3	event	event	NOUN
futech-566	49	4	-	-	PUNCT
futech-566	49	5	triggered	trigger	VERB
futech-566	49	6	-	-	PUNCT
futech-566	49	7	based	base	VERB
futech-566	49	8	control	control	NOUN
futech-566	49	9	strategy	strategy	NOUN
futech-566	49	10	,	,	PUNCT
futech-566	49	11	mpc	mpc	NOUN
futech-566	49	12	-	-	PUNCT
futech-566	49	13	based	base	VERB
futech-566	49	14	strategy	strategy	NOUN
futech-566	49	15	,	,	PUNCT
futech-566	49	16	and	and	CCONJ
futech-566	49	17	learning	learn	VERB
futech-566	49	18	based	base	VERB
futech-566	49	19	strategy	strategy	NOUN
futech-566	49	20	.	.	PUNCT
futech-566	50	1	finally	finally	ADV
futech-566	50	2	,	,	PUNCT
futech-566	50	3	discussed	discuss	VERB
futech-566	50	4	the	the	DET
futech-566	50	5	research	research	NOUN
futech-566	50	6	gap	gap	NOUN
futech-566	50	7	in	in	ADP
futech-566	50	8	the	the	DET
futech-566	50	9	present	present	ADJ
futech-566	50	10	literature	literature	NOUN
futech-566	50	11	and	and	CCONJ
futech-566	50	12	the	the	DET
futech-566	50	13	future	future	ADJ
futech-566	50	14	scope	scope	NOUN
futech-566	50	15	for	for	ADP
futech-566	50	16	improvement	improvement	NOUN
futech-566	50	17	in	in	ADP
futech-566	50	18	overcoming	overcome	VERB
futech-566	50	19	these	these	DET
futech-566	50	20	research	research	NOUN
futech-566	50	21	gaps	gap	NOUN
futech-566	50	22	.	.	PUNCT
futech-566	51	1	2.1	2.1	NUM
futech-566	51	2	event	event	NOUN
futech-566	51	3	-	-	PUNCT
futech-566	51	4	triggered	trigger	VERB
futech-566	51	5	-	-	PUNCT
futech-566	51	6	based	base	VERB
futech-566	51	7	strategy	strategy	NOUN
futech-566	51	8	event	event	NOUN
futech-566	51	9	-	-	PUNCT
futech-566	51	10	triggered	trigger	VERB
futech-566	51	11	control	control	NOUN
futech-566	51	12	to	to	PART
futech-566	51	13	reduce	reduce	VERB
futech-566	51	14	communication	communication	NOUN
futech-566	51	15	overhead	overhead	ADV
futech-566	51	16	and	and	CCONJ
futech-566	51	17	handle	handle	VERB
futech-566	51	18	faults	fault	NOUN
futech-566	51	19	very	very	ADV
futech-566	51	20	effectively	effectively	ADV
futech-566	51	21	.	.	PUNCT
futech-566	52	1	over	over	ADP
futech-566	52	2	the	the	DET
futech-566	52	3	past	past	ADJ
futech-566	52	4	few	few	ADJ
futech-566	52	5	decades	decade	NOUN
futech-566	52	6	,	,	PUNCT
futech-566	52	7	event	event	NOUN
futech-566	52	8	-	-	PUNCT
futech-566	52	9	triggered	trigger	VERB
futech-566	52	10	leader	leader	NOUN
futech-566	52	11	–	–	PUNCT
futech-566	52	12	follower	follower	NOUN
futech-566	52	13	consensus	consensus	NOUN
futech-566	52	14	control	control	NOUN
futech-566	52	15	strategy	strategy	NOUN
futech-566	52	16	has	have	AUX
futech-566	52	17	gained	gain	VERB
futech-566	52	18	significant	significant	ADJ
futech-566	52	19	importance	importance	NOUN
futech-566	52	20	for	for	ADP
futech-566	52	21	improving	improve	VERB
futech-566	52	22	communication	communication	NOUN
futech-566	52	23	efficiency	efficiency	NOUN
futech-566	52	24	and	and	CCONJ
futech-566	52	25	robustness	robustness	NOUN
futech-566	52	26	in	in	ADP
futech-566	52	27	multi	multi	ADJ
futech-566	52	28	-	-	ADJ
futech-566	52	29	agent	agent	ADJ
futech-566	52	30	systems	system	NOUN
futech-566	52	31	.	.	PUNCT
futech-566	53	1	chen	chen	PROPN
futech-566	53	2	and	and	CCONJ
futech-566	53	3	peng	peng	PROPN
futech-566	54	1	[	[	X
futech-566	54	2	17	17	NUM
futech-566	54	3	]	]	PUNCT
futech-566	54	4	proposed	propose	VERB
futech-566	54	5	an	an	DET
futech-566	54	6	event	event	NOUN
futech-566	54	7	-	-	PUNCT
futech-566	54	8	triggered	trigger	VERB
futech-566	54	9	impulsive	impulsive	ADJ
futech-566	54	10	control	control	NOUN
futech-566	54	11	scheme	scheme	NOUN
futech-566	54	12	capable	capable	ADJ
futech-566	54	13	of	of	ADP
futech-566	54	14	handling	handle	VERB
futech-566	54	15	packet	packet	NOUN
futech-566	54	16	loss	loss	NOUN
futech-566	54	17	in	in	ADP
futech-566	54	18	leader	leader	NOUN
futech-566	54	19	–	–	PUNCT
futech-566	54	20	follower	follower	NOUN
futech-566	54	21	networks	network	NOUN
futech-566	54	22	,	,	PUNCT
futech-566	54	23	achieving	achieve	VERB
futech-566	54	24	the	the	DET
futech-566	54	25	consensus	consensus	NOUN
futech-566	54	26	using	use	VERB
futech-566	54	27	the	the	DET
futech-566	54	28	lyapunov	lyapunov	ADJ
futech-566	54	29	stability	stability	NOUN
futech-566	54	30	theory	theory	NOUN
futech-566	54	31	,	,	PUNCT
futech-566	54	32	where	where	SCONJ
futech-566	54	33	sufficient	sufficient	ADJ
futech-566	54	34	criteria	criterion	NOUN
futech-566	54	35	are	be	AUX
futech-566	54	36	identified	identify	VERB
futech-566	54	37	to	to	PART
futech-566	54	38	realize	realize	VERB
futech-566	54	39	leader	leader	NOUN
futech-566	54	40	–	–	PUNCT
futech-566	54	41	follower	follower	NOUN
futech-566	54	42	quasi	quasi	NOUN
futech-566	54	43	-	-	NOUN
futech-566	54	44	consensus	consensus	NOUN
futech-566	54	45	,	,	PUNCT
futech-566	54	46	ensuring	ensure	VERB
futech-566	54	47	reliable	reliable	ADJ
futech-566	54	48	consensus	consensus	NOUN
futech-566	54	49	under	under	ADP
futech-566	54	50	intermittent	intermittent	ADJ
futech-566	54	51	communication	communication	NOUN
futech-566	54	52	links	link	NOUN
futech-566	54	53	.	.	PUNCT
futech-566	55	1	similar	similar	ADJ
futech-566	55	2	work	work	NOUN
futech-566	55	3	is	be	AUX
futech-566	55	4	explained	explain	VERB
futech-566	55	5	by	by	ADP
futech-566	55	6	zhi	zhi	PROPN
futech-566	55	7	et	et	PROPN
futech-566	55	8	al	al	PROPN
futech-566	55	9	.	.	PUNCT
futech-566	56	1	[	[	X
futech-566	56	2	18	18	NUM
futech-566	56	3	]	]	PUNCT
futech-566	56	4	,	,	PUNCT
futech-566	56	5	where	where	SCONJ
futech-566	56	6	a	a	DET
futech-566	56	7	finite	finite	ADJ
futech-566	56	8	-	-	PUNCT
futech-566	56	9	time	time	NOUN
futech-566	56	10	consensus	consensus	NOUN
futech-566	56	11	control	control	NOUN
futech-566	56	12	scheme	scheme	NOUN
futech-566	56	13	employing	employ	VERB
futech-566	56	14	an	an	DET
futech-566	56	15	observer	observer	NOUN
futech-566	56	16	is	be	AUX
futech-566	56	17	proposed	propose	VERB
futech-566	56	18	for	for	ADP
futech-566	56	19	second	second	ADJ
futech-566	56	20	-	-	PUNCT
futech-566	56	21	order	order	NOUN
futech-566	56	22	systems	system	NOUN
futech-566	56	23	under	under	ADP
futech-566	56	24	velocity	velocity	NOUN
futech-566	56	25	unknown	unknown	ADJ
futech-566	56	26	,	,	PUNCT
futech-566	56	27	thereby	thereby	ADV
futech-566	56	28	achieving	achieve	VERB
futech-566	56	29	reduced	reduced	ADJ
futech-566	56	30	communication	communication	NOUN
futech-566	56	31	updates	update	NOUN
futech-566	56	32	through	through	ADP
futech-566	56	33	terminal	terminal	NOUN
futech-566	56	34	sliding	slide	VERB
futech-566	56	35	mode	mode	NOUN
futech-566	56	36	control	control	NOUN
futech-566	56	37	.	.	PUNCT
futech-566	57	1	also	also	ADV
futech-566	57	2	,	,	PUNCT
futech-566	57	3	wu	wu	PROPN
futech-566	57	4	et	et	PROPN
futech-566	57	5	al	al	PROPN
futech-566	57	6	.	.	PUNCT
futech-566	58	1	[	[	X
futech-566	58	2	19	19	NUM
futech-566	58	3	]	]	PUNCT
futech-566	58	4	developed	develop	VERB
futech-566	58	5	a	a	DET
futech-566	58	6	fixed	fix	VERB
futech-566	58	7	-	-	PUNCT
futech-566	58	8	time	time	NOUN
futech-566	58	9	eventtriggered	eventtriggere	VERB
futech-566	58	10	consensus	consensus	NOUN
futech-566	58	11	approach	approach	NOUN
futech-566	58	12	that	that	PRON
futech-566	58	13	guarantees	guarantee	VERB
futech-566	58	14	convergence	convergence	NOUN
futech-566	58	15	within	within	ADP
futech-566	58	16	a	a	DET
futech-566	58	17	predetermined	predetermine	VERB
futech-566	58	18	time	time	NOUN
futech-566	58	19	despite	despite	SCONJ
futech-566	58	20	delays	delay	NOUN
futech-566	58	21	and	and	CCONJ
futech-566	58	22	disturbances	disturbance	NOUN
futech-566	58	23	.	.	PUNCT
futech-566	59	1	2.2	2.2	NUM
futech-566	59	2	mpc	mpc	NOUN
futech-566	59	3	-	-	PUNCT
futech-566	59	4	based	base	VERB
futech-566	59	5	strategy	strategy	NOUN
futech-566	59	6	the	the	DET
futech-566	59	7	application	application	NOUN
futech-566	59	8	of	of	ADP
futech-566	59	9	model	model	NOUN
futech-566	59	10	predictive	predictive	PROPN
futech-566	59	11	control	control	PROPN
futech-566	59	12	(	(	PUNCT
futech-566	59	13	mpc	mpc	NOUN
futech-566	59	14	)	)	PUNCT
futech-566	59	15	to	to	ADP
futech-566	59	16	multi	multi	ADJ
futech-566	59	17	-	-	ADJ
futech-566	59	18	agent	agent	ADJ
futech-566	59	19	systems	system	NOUN
futech-566	59	20	is	be	AUX
futech-566	59	21	well	well	ADV
futech-566	59	22	established	establish	VERB
futech-566	59	23	,	,	PUNCT
futech-566	59	24	as	as	SCONJ
futech-566	59	25	it	it	PRON
futech-566	59	26	effectively	effectively	ADV
futech-566	59	27	facilitates	facilitate	VERB
futech-566	59	28	leader	leader	NOUN
futech-566	59	29	–	–	PUNCT
futech-566	59	30	follower	follower	NOUN
futech-566	59	31	consensus	consensus	NOUN
futech-566	59	32	by	by	ADP
futech-566	59	33	predicting	predict	VERB
futech-566	59	34	future	future	ADJ
futech-566	59	35	trajectories	trajectory	NOUN
futech-566	59	36	,	,	PUNCT
futech-566	59	37	managing	manage	VERB
futech-566	59	38	system	system	NOUN
futech-566	59	39	constraints	constraint	NOUN
futech-566	59	40	,	,	PUNCT
futech-566	59	41	and	and	CCONJ
futech-566	59	42	optimizing	optimize	VERB
futech-566	59	43	controls	control	NOUN
futech-566	59	44	in	in	ADP
futech-566	59	45	real	real	ADJ
futech-566	59	46	time	time	NOUN
futech-566	59	47	.	.	PUNCT
futech-566	60	1	kuriki	kuriki	PROPN
futech-566	60	2	et	et	PROPN
futech-566	60	3	al	al	PROPN
futech-566	60	4	.	.	PUNCT
futech-566	61	1	[	[	X
futech-566	61	2	20	20	NUM
futech-566	61	3	]	]	PUNCT
futech-566	61	4	explained	explain	VERB
futech-566	61	5	how	how	SCONJ
futech-566	61	6	to	to	PART
futech-566	61	7	combine	combine	VERB
futech-566	61	8	consensus	consensus	NOUN
futech-566	61	9	-	-	PUNCT
futech-566	61	10	based	base	VERB
futech-566	61	11	control	control	NOUN
futech-566	61	12	with	with	ADP
futech-566	61	13	a	a	DET
futech-566	61	14	decentralized	decentralize	VERB
futech-566	61	15	mpc	mpc	NOUN
futech-566	61	16	technique	technique	NOUN
futech-566	61	17	for	for	ADP
futech-566	61	18	multi	multi	ADJ
futech-566	61	19	-	-	ADJ
futech-566	61	20	uav	uav	ADJ
futech-566	61	21	formation	formation	NOUN
futech-566	61	22	,	,	PUNCT
futech-566	61	23	allowing	allow	VERB
futech-566	61	24	for	for	ADP
futech-566	61	25	collision	collision	NOUN
futech-566	61	26	avoidance	avoidance	NOUN
futech-566	61	27	while	while	SCONJ
futech-566	61	28	preserving	preserve	VERB
futech-566	61	29	formation	formation	NOUN
futech-566	61	30	goals	goal	NOUN
futech-566	61	31	.	.	PUNCT
futech-566	62	1	in	in	ADP
futech-566	62	2	order	order	NOUN
futech-566	62	3	to	to	PART
futech-566	62	4	improve	improve	VERB
futech-566	62	5	scalability	scalability	NOUN
futech-566	62	6	and	and	CCONJ
futech-566	62	7	safety	safety	NOUN
futech-566	62	8	,	,	PUNCT
futech-566	62	9	dubay	dubay	NOUN
futech-566	62	10	and	and	CCONJ
futech-566	62	11	pan	pan	NOUN
futech-566	62	12	[	[	X
futech-566	62	13	21	21	NUM
futech-566	62	14	]	]	PUNCT
futech-566	62	15	have	have	AUX
futech-566	62	16	extended	extend	VERB
futech-566	62	17	this	this	DET
futech-566	62	18	concept	concept	NOUN
futech-566	62	19	by	by	ADP
futech-566	62	20	proposing	propose	VERB
futech-566	62	21	a	a	DET
futech-566	62	22	distributed	distribute	VERB
futech-566	62	23	mpc	mpc	NOUN
futech-566	62	24	framework	framework	NOUN
futech-566	62	25	for	for	ADP
futech-566	62	26	multiple	multiple	ADJ
futech-566	62	27	quadcopters	quadcopter	NOUN
futech-566	62	28	.	.	PUNCT
futech-566	63	1	in	in	ADP
futech-566	63	2	this	this	DET
futech-566	63	3	framework	framework	NOUN
futech-566	63	4	,	,	PUNCT
futech-566	63	5	each	each	DET
futech-566	63	6	agent	agent	NOUN
futech-566	63	7	computes	compute	VERB
futech-566	63	8	its	its	PRON
futech-566	63	9	control	control	NOUN
futech-566	63	10	action	action	NOUN
futech-566	63	11	locally	locally	ADV
futech-566	63	12	to	to	PART
futech-566	63	13	reach	reach	VERB
futech-566	63	14	consensus	consensus	NOUN
futech-566	63	15	while	while	SCONJ
futech-566	63	16	avoiding	avoid	VERB
futech-566	63	17	collisions	collision	NOUN
futech-566	63	18	.	.	PUNCT
futech-566	64	1	by	by	ADP
futech-566	64	2	resetting	reset	VERB
futech-566	64	3	the	the	DET
futech-566	64	4	mpc	mpc	NOUN
futech-566	64	5	optimization	optimization	NOUN
futech-566	64	6	under	under	ADP
futech-566	64	7	specific	specific	ADJ
futech-566	64	8	circumstances	circumstance	NOUN
futech-566	64	9	,	,	PUNCT
futech-566	64	10	saeednia	saeednia	NOUN
futech-566	64	11	and	and	CCONJ
futech-566	64	12	khayatian	khayatian	ADJ
futech-566	64	13	[	[	X
futech-566	64	14	22	22	NUM
futech-566	64	15	]	]	PUNCT
futech-566	64	16	presented	present	VERB
futech-566	64	17	a	a	DET
futech-566	64	18	reset	reset	ADJ
futech-566	64	19	mpc	mpc	NOUN
futech-566	64	20	-	-	PUNCT
futech-566	64	21	based	base	VERB
futech-566	64	22	control	control	NOUN
futech-566	64	23	technique	technique	NOUN
futech-566	64	24	for	for	ADP
futech-566	64	25	the	the	DET
futech-566	64	26	mas	mas	PROPN
futech-566	64	27	with	with	ADP
futech-566	64	28	fast	fast	ADJ
futech-566	64	29	convergence	convergence	NOUN
futech-566	64	30	speed	speed	NOUN
futech-566	64	31	and	and	CCONJ
futech-566	64	32	robustness	robustness	NOUN
futech-566	64	33	.	.	PUNCT
futech-566	65	1	collectively	collectively	ADV
futech-566	65	2	,	,	PUNCT
futech-566	65	3	these	these	DET
futech-566	65	4	research	research	NOUN
futech-566	65	5	investigations	investigation	NOUN
futech-566	65	6	demonstrate	demonstrate	VERB
futech-566	65	7	that	that	SCONJ
futech-566	65	8	mpc	mpc	PROPN
futech-566	65	9	is	be	AUX
futech-566	65	10	ideal	ideal	ADJ
futech-566	65	11	for	for	ADP
futech-566	65	12	applications	application	NOUN
futech-566	65	13	like	like	ADP
futech-566	65	14	autonomous	autonomous	ADJ
futech-566	65	15	vehicles	vehicle	NOUN
futech-566	65	16	,	,	PUNCT
futech-566	65	17	cooperative	cooperative	ADJ
futech-566	65	18	robotics	robotic	NOUN
futech-566	65	19	,	,	PUNCT
futech-566	65	20	and	and	CCONJ
futech-566	65	21	uav	uav	PROPN
futech-566	65	22	swarms	swarm	NOUN
futech-566	65	23	because	because	SCONJ
futech-566	65	24	it	it	PRON
futech-566	65	25	not	not	PART
futech-566	65	26	only	only	ADV
futech-566	65	27	guarantees	guarantee	VERB
futech-566	65	28	precise	precise	ADJ
futech-566	65	29	leader	leader	NOUN
futech-566	65	30	tracking	tracking	NOUN
futech-566	65	31	but	but	CCONJ
futech-566	65	32	also	also	ADV
futech-566	65	33	offers	offer	VERB
futech-566	65	34	a	a	DET
futech-566	65	35	methodical	methodical	ADJ
futech-566	65	36	approach	approach	NOUN
futech-566	65	37	to	to	ADP
futech-566	65	38	integrating	integrate	VERB
futech-566	65	39	safety	safety	NOUN
futech-566	65	40	,	,	PUNCT
futech-566	65	41	constraints	constraint	NOUN
futech-566	65	42	,	,	PUNCT
futech-566	65	43	and	and	CCONJ
futech-566	65	44	optimal	optimal	ADJ
futech-566	65	45	performance	performance	NOUN
futech-566	65	46	into	into	ADP
futech-566	65	47	leader	leader	NOUN
futech-566	65	48	–	–	PUNCT
futech-566	65	49	follower	follower	NOUN
futech-566	65	50	consensus	consensus	NOUN
futech-566	65	51	control	control	NOUN
futech-566	65	52	.	.	PUNCT
futech-566	66	1	2.3	2.3	NUM
futech-566	66	2	learning	learning	NOUN
futech-566	66	3	based	base	VERB
futech-566	66	4	strategy	strategy	NOUN
futech-566	66	5	learning	learning	NOUN
futech-566	66	6	-	-	PUNCT
futech-566	66	7	based	base	VERB
futech-566	66	8	controllers	controller	NOUN
futech-566	66	9	identify	identify	VERB
futech-566	66	10	unknown	unknown	ADJ
futech-566	66	11	dynamics	dynamic	NOUN
futech-566	66	12	while	while	SCONJ
futech-566	66	13	maintaining	maintain	VERB
futech-566	66	14	synchronization	synchronization	NOUN
futech-566	66	15	.	.	PUNCT
futech-566	67	1	reinforcement	reinforcement	NOUN
futech-566	67	2	learning	learning	NOUN
futech-566	67	3	frameworks	framework	NOUN
futech-566	67	4	effectively	effectively	ADV
futech-566	67	5	coordinate	coordinate	VERB
futech-566	67	6	follower	follower	NOUN
futech-566	67	7	behavior	behavior	NOUN
futech-566	67	8	without	without	ADP
futech-566	67	9	prior	prior	ADJ
futech-566	67	10	knowledge	knowledge	NOUN
futech-566	67	11	of	of	ADP
futech-566	67	12	the	the	DET
futech-566	67	13	leader	leader	NOUN
futech-566	67	14	’s	’s	PART
futech-566	67	15	state	state	NOUN
futech-566	67	16	.	.	PUNCT
futech-566	68	1	applying	apply	VERB
futech-566	68	2	learningbased	learningbase	VERB
futech-566	68	3	techniques	technique	NOUN
futech-566	68	4	to	to	ADP
futech-566	68	5	the	the	DET
futech-566	68	6	leader	leader	NOUN
futech-566	68	7	-	-	PUNCT
futech-566	68	8	follower	follower	NOUN
futech-566	68	9	system	system	NOUN
futech-566	68	10	has	have	AUX
futech-566	68	11	advanced	advance	VERB
futech-566	68	12	significantly	significantly	ADV
futech-566	68	13	in	in	ADP
futech-566	68	14	recent	recent	ADJ
futech-566	68	15	times	time	NOUN
futech-566	68	16	,	,	PUNCT
futech-566	68	17	especially	especially	ADV
futech-566	68	18	for	for	ADP
futech-566	68	19	situations	situation	NOUN
futech-566	68	20	with	with	ADP
futech-566	68	21	non	non	NOUN
futech-566	68	22	-	-	NOUN
futech-566	68	23	linearities	linearity	NOUN
futech-566	68	24	,	,	PUNCT
futech-566	68	25	uncertainties	uncertainty	NOUN
futech-566	68	26	,	,	PUNCT
futech-566	68	27	and	and	CCONJ
futech-566	68	28	communication	communication	NOUN
futech-566	68	29	limitations	limitation	NOUN
futech-566	68	30	.	.	PUNCT
futech-566	69	1	the	the	DET
futech-566	69	2	aim	aim	NOUN
futech-566	69	3	of	of	ADP
futech-566	69	4	recent	recent	ADJ
futech-566	69	5	developments	development	NOUN
futech-566	69	6	in	in	ADP
futech-566	69	7	learning	learning	NOUN
futech-566	69	8	-	-	PUNCT
futech-566	69	9	based	base	VERB
futech-566	69	10	control	control	NOUN
futech-566	69	11	for	for	ADP
futech-566	69	12	multi	multi	ADJ
futech-566	69	13	-	-	ADJ
futech-566	69	14	agent	agent	ADJ
futech-566	69	15	systems	system	NOUN
futech-566	69	16	(	(	PUNCT
futech-566	69	17	mas	mas	PROPN
futech-566	69	18	)	)	PUNCT
futech-566	69	19	is	be	AUX
futech-566	69	20	to	to	PART
futech-566	69	21	reduce	reduce	VERB
futech-566	69	22	communication	communication	NOUN
futech-566	69	23	requirements	requirement	NOUN
futech-566	69	24	,	,	PUNCT
futech-566	69	25	robustness	robustness	NOUN
futech-566	69	26	to	to	ADP
futech-566	69	27	uncertainty	uncertainty	NOUN
futech-566	69	28	,	,	PUNCT
futech-566	69	29	and	and	CCONJ
futech-566	69	30	model	model	ADJ
futech-566	69	31	-	-	PUNCT
futech-566	69	32	free	free	ADJ
futech-566	69	33	adaptation	adaptation	NOUN
futech-566	69	34	.	.	PUNCT
futech-566	70	1	for	for	ADP
futech-566	70	2	nonlinear	nonlinear	PROPN
futech-566	70	3	mas	mas	PROPN
futech-566	70	4	,	,	PUNCT
futech-566	70	5	filiberto	filiberto	VERB
futech-566	70	6	et	et	PROPN
futech-566	70	7	al	al	PROPN
futech-566	70	8	.	.	PUNCT
futech-566	71	1	[	[	X
futech-566	71	2	23	23	NUM
futech-566	71	3	]	]	PUNCT
futech-566	71	4	suggested	suggest	VERB
futech-566	71	5	a	a	DET
futech-566	71	6	distributed	distribute	VERB
futech-566	71	7	control	control	NOUN
futech-566	71	8	method	method	NOUN
futech-566	71	9	based	base	VERB
futech-566	71	10	on	on	ADP
futech-566	71	11	gaussian	gaussian	ADJ
futech-566	71	12	p.	p.	PROPN
futech-566	71	13	chaubey	chaubey	NOUN
futech-566	71	14	et	et	PROPN
futech-566	71	15	al	al	PROPN
futech-566	71	16	.	.	PROPN
futech-566	71	17	/future	/future	PUNCT
futech-566	71	18	technology	technology	PROPN
futech-566	71	19	february	february	PROPN
futech-566	71	20	2026|	2026|	NUM
futech-566	71	21	volume	volume	NOUN
futech-566	71	22	05	05	NUM
futech-566	72	1	|	|	ADV
futech-566	72	2	issue	issue	NOUN
futech-566	72	3	01	01	NUM
futech-566	73	1	|	|	ADV
futech-566	73	2	pages	page	VERB
futech-566	73	3	148	148	NUM
futech-566	73	4	-	-	SYM
futech-566	73	5	158	158	NUM
futech-566	73	6	150	150	NUM
futech-566	73	7	process	process	NOUN
futech-566	73	8	regression	regression	NOUN
futech-566	73	9	,	,	PUNCT
futech-566	73	10	which	which	PRON
futech-566	73	11	ensures	ensure	VERB
futech-566	73	12	lyapunov	lyapunov	ADJ
futech-566	73	13	stability	stability	NOUN
futech-566	73	14	and	and	CCONJ
futech-566	73	15	allows	allow	VERB
futech-566	73	16	for	for	ADP
futech-566	73	17	precise	precise	ADJ
futech-566	73	18	leader	leader	NOUN
futech-566	73	19	-	-	PUNCT
futech-566	73	20	follower	follower	NOUN
futech-566	73	21	agreement	agreement	NOUN
futech-566	73	22	without	without	ADP
futech-566	73	23	the	the	DET
futech-566	73	24	need	need	NOUN
futech-566	73	25	for	for	ADP
futech-566	73	26	explicit	explicit	ADJ
futech-566	73	27	system	system	NOUN
futech-566	73	28	models	model	NOUN
futech-566	73	29	.	.	PUNCT
futech-566	74	1	in	in	ADP
futech-566	74	2	order	order	NOUN
futech-566	74	3	to	to	PART
futech-566	74	4	enable	enable	VERB
futech-566	74	5	accurate	accurate	ADJ
futech-566	74	6	formation	formation	NOUN
futech-566	74	7	tracking	track	VERB
futech-566	74	8	with	with	ADP
futech-566	74	9	constrained	constrain	VERB
futech-566	74	10	residual	residual	ADJ
futech-566	74	11	errors	error	NOUN
futech-566	74	12	,	,	PUNCT
futech-566	74	13	yang	yang	PROPN
futech-566	74	14	et	et	PROPN
futech-566	74	15	al	al	PROPN
futech-566	74	16	.	.	PUNCT
futech-566	75	1	[	[	X
futech-566	75	2	24	24	NUM
futech-566	75	3	]	]	PUNCT
futech-566	75	4	presented	present	VERB
futech-566	75	5	a	a	DET
futech-566	75	6	dynamical	dynamical	ADJ
futech-566	75	7	neural	neural	ADJ
futech-566	75	8	network	network	NOUN
futech-566	75	9	-	-	PUNCT
futech-566	75	10	based	base	VERB
futech-566	75	11	control	control	NOUN
futech-566	75	12	method	method	NOUN
futech-566	75	13	that	that	PRON
futech-566	75	14	approximates	approximate	VERB
futech-566	75	15	unknown	unknown	ADJ
futech-566	75	16	nonlinearities	nonlinearitie	NOUN
futech-566	75	17	and	and	CCONJ
futech-566	75	18	disturbances	disturbance	NOUN
futech-566	75	19	.	.	PUNCT
futech-566	76	1	by	by	ADP
futech-566	76	2	combining	combine	VERB
futech-566	76	3	radial	radial	ADJ
futech-566	76	4	basis	basis	NOUN
futech-566	76	5	function	function	NOUN
futech-566	76	6	neural	neural	ADJ
futech-566	76	7	networks	network	NOUN
futech-566	76	8	with	with	ADP
futech-566	76	9	fixed	fix	VERB
futech-566	76	10	,	,	PUNCT
futech-566	76	11	relative	relative	ADJ
futech-566	76	12	,	,	PUNCT
futech-566	76	13	and	and	CCONJ
futech-566	76	14	switch	switch	VERB
futech-566	76	15	triggering	trigger	VERB
futech-566	76	16	strategies	strategy	NOUN
futech-566	76	17	,	,	PUNCT
futech-566	76	18	wang	wang	PROPN
futech-566	76	19	et	et	PROPN
futech-566	76	20	al	al	PROPN
futech-566	76	21	.	.	PUNCT
futech-566	77	1	[	[	X
futech-566	77	2	25	25	NUM
futech-566	77	3	]	]	PUNCT
futech-566	77	4	built	build	VERB
futech-566	77	5	on	on	ADP
futech-566	77	6	communication	communication	NOUN
futech-566	77	7	efficiency	efficiency	NOUN
futech-566	77	8	to	to	PART
futech-566	77	9	provide	provide	VERB
futech-566	77	10	an	an	DET
futech-566	77	11	adaptive	adaptive	ADJ
futech-566	77	12	event	event	NOUN
futech-566	77	13	-	-	PUNCT
futech-566	77	14	triggered	trigger	VERB
futech-566	77	15	leader	leader	NOUN
futech-566	77	16	–	–	PUNCT
futech-566	77	17	follower	follower	NOUN
futech-566	77	18	control	control	NOUN
futech-566	77	19	framework	framework	NOUN
futech-566	77	20	that	that	PRON
futech-566	77	21	prevents	prevent	VERB
futech-566	77	22	zeno	zeno	PROPN
futech-566	77	23	behavior	behavior	NOUN
futech-566	77	24	and	and	CCONJ
futech-566	77	25	maintains	maintain	VERB
futech-566	77	26	consensus	consensus	NOUN
futech-566	77	27	.	.	PUNCT
futech-566	78	1	lastly	lastly	ADV
futech-566	78	2	,	,	PUNCT
futech-566	78	3	li	li	PROPN
futech-566	78	4	et	et	PROPN
futech-566	78	5	al	al	PROPN
futech-566	78	6	.	.	PUNCT
futech-566	79	1	[	[	X
futech-566	79	2	26	26	NUM
futech-566	79	3	]	]	PUNCT
futech-566	79	4	designed	design	VERB
futech-566	79	5	an	an	DET
futech-566	79	6	adaptive	adaptive	ADJ
futech-566	79	7	distributed	distribute	VERB
futech-566	79	8	formation	formation	NOUN
futech-566	79	9	control	control	NOUN
futech-566	79	10	method	method	NOUN
futech-566	79	11	using	use	VERB
futech-566	79	12	a	a	DET
futech-566	79	13	recurrent	recurrent	ADJ
futech-566	79	14	sac	sac	NOUN
futech-566	79	15	reinforcement	reinforcement	NOUN
futech-566	79	16	learning	learning	NOUN
futech-566	79	17	algorithm	algorithm	NOUN
futech-566	79	18	,	,	PUNCT
futech-566	79	19	enabling	enable	VERB
futech-566	79	20	agents	agent	NOUN
futech-566	79	21	to	to	PART
futech-566	79	22	achieve	achieve	VERB
futech-566	79	23	formation	formation	NOUN
futech-566	79	24	tracking	tracking	NOUN
futech-566	79	25	in	in	ADP
futech-566	79	26	dynamic	dynamic	ADJ
futech-566	79	27	and	and	CCONJ
futech-566	79	28	uncertain	uncertain	ADJ
futech-566	79	29	environments	environment	NOUN
futech-566	79	30	with	with	ADP
futech-566	79	31	improved	improved	ADJ
futech-566	79	32	stability	stability	NOUN
futech-566	79	33	and	and	CCONJ
futech-566	79	34	adaptability	adaptability	NOUN
futech-566	79	35	.	.	PUNCT
futech-566	80	1	these	these	DET
futech-566	80	2	works	work	NOUN
futech-566	80	3	collectively	collectively	ADV
futech-566	80	4	reflect	reflect	VERB
futech-566	80	5	an	an	DET
futech-566	80	6	ongoing	ongoing	ADJ
futech-566	80	7	shift	shift	NOUN
futech-566	80	8	toward	toward	ADP
futech-566	80	9	data	data	NOUN
futech-566	80	10	-	-	PUNCT
futech-566	80	11	driven	drive	VERB
futech-566	80	12	,	,	PUNCT
futech-566	80	13	adaptive	adaptive	ADJ
futech-566	80	14	,	,	PUNCT
futech-566	80	15	and	and	CCONJ
futech-566	80	16	communication	communication	NOUN
futech-566	80	17	-	-	PUNCT
futech-566	80	18	effective	effective	ADJ
futech-566	80	19	solutions	solution	NOUN
futech-566	80	20	for	for	ADP
futech-566	80	21	the	the	DET
futech-566	80	22	leader	leader	NOUN
futech-566	80	23	-	-	PUNCT
futech-566	80	24	follower	follower	NOUN
futech-566	80	25	consensus	consensus	NOUN
futech-566	80	26	,	,	PUNCT
futech-566	80	27	enabling	enable	VERB
futech-566	80	28	mas	mas	PROPN
futech-566	80	29	to	to	PART
futech-566	80	30	perform	perform	VERB
futech-566	80	31	reliably	reliably	ADV
futech-566	80	32	in	in	ADP
futech-566	80	33	complex	complex	ADJ
futech-566	80	34	,	,	PUNCT
futech-566	80	35	uncertain	uncertain	ADJ
futech-566	80	36	,	,	PUNCT
futech-566	80	37	and	and	CCONJ
futech-566	80	38	resource	resource	NOUN
futech-566	80	39	-	-	PUNCT
futech-566	80	40	constrained	constrain	VERB
futech-566	80	41	environments	environment	NOUN
futech-566	80	42	.	.	PUNCT
futech-566	81	1	table	table	NOUN
futech-566	81	2	1	1	NUM
futech-566	81	3	presents	present	VERB
futech-566	81	4	a	a	DET
futech-566	81	5	comparative	comparative	ADJ
futech-566	81	6	analysis	analysis	NOUN
futech-566	81	7	of	of	ADP
futech-566	81	8	event	event	NOUN
futech-566	81	9	-	-	PUNCT
futech-566	81	10	triggered	trigger	VERB
futech-566	81	11	-	-	PUNCT
futech-566	81	12	based	base	VERB
futech-566	81	13	,	,	PUNCT
futech-566	81	14	mpc	mpc	NOUN
futech-566	81	15	-	-	PUNCT
futech-566	81	16	based	base	VERB
futech-566	81	17	,	,	PUNCT
futech-566	81	18	and	and	CCONJ
futech-566	81	19	learning	learning	NOUN
futech-566	81	20	-	-	PUNCT
futech-566	81	21	based	base	VERB
futech-566	81	22	strategies	strategy	NOUN
futech-566	81	23	.	.	PUNCT
futech-566	82	1	various	various	ADJ
futech-566	82	2	advantages	advantage	NOUN
futech-566	82	3	and	and	CCONJ
futech-566	82	4	limitations	limitation	NOUN
futech-566	82	5	of	of	ADP
futech-566	82	6	these	these	DET
futech-566	82	7	strategies	strategy	NOUN
futech-566	82	8	can	can	AUX
futech-566	82	9	be	be	AUX
futech-566	82	10	easily	easily	ADV
futech-566	82	11	identified	identify	VERB
futech-566	82	12	,	,	PUNCT
futech-566	82	13	and	and	CCONJ
futech-566	82	14	research	research	NOUN
futech-566	82	15	gaps	gap	NOUN
futech-566	82	16	can	can	AUX
futech-566	82	17	be	be	AUX
futech-566	82	18	identified	identify	VERB
futech-566	82	19	to	to	PART
futech-566	82	20	further	far	ADV
futech-566	82	21	improve	improve	VERB
futech-566	82	22	performance	performance	NOUN
futech-566	82	23	,	,	PUNCT
futech-566	82	24	such	such	ADJ
futech-566	82	25	as	as	ADP
futech-566	82	26	fast	fast	ADJ
futech-566	82	27	convergence	convergence	NOUN
futech-566	82	28	,	,	PUNCT
futech-566	82	29	reduced	reduce	VERB
futech-566	82	30	computational	computational	ADJ
futech-566	82	31	cost	cost	NOUN
futech-566	82	32	,	,	PUNCT
futech-566	82	33	stability	stability	NOUN
futech-566	82	34	,	,	PUNCT
futech-566	82	35	and	and	CCONJ
futech-566	82	36	constraint	constraint	NOUN
futech-566	82	37	handling	handling	NOUN
futech-566	82	38	.	.	PUNCT
futech-566	83	1	2.4	2.4	NUM
futech-566	83	2	research	research	NOUN
futech-566	83	3	gap	gap	NOUN
futech-566	83	4	from	from	ADP
futech-566	83	5	table	table	NOUN
futech-566	83	6	1	1	NUM
futech-566	83	7	,	,	PUNCT
futech-566	83	8	it	it	PRON
futech-566	83	9	can	can	AUX
futech-566	83	10	be	be	AUX
futech-566	83	11	observed	observe	VERB
futech-566	83	12	that	that	SCONJ
futech-566	83	13	even	even	ADV
futech-566	83	14	with	with	ADP
futech-566	83	15	great	great	ADJ
futech-566	83	16	advancements	advancement	NOUN
futech-566	83	17	in	in	ADP
futech-566	83	18	this	this	DET
futech-566	83	19	research	research	NOUN
futech-566	83	20	area	area	NOUN
futech-566	83	21	,	,	PUNCT
futech-566	83	22	there	there	PRON
futech-566	83	23	are	be	VERB
futech-566	83	24	still	still	ADV
futech-566	83	25	considerable	considerable	ADJ
futech-566	83	26	research	research	NOUN
futech-566	83	27	gaps	gap	NOUN
futech-566	83	28	in	in	ADP
futech-566	83	29	applying	apply	VERB
futech-566	83	30	event	event	NOUN
futech-566	83	31	-	-	PUNCT
futech-566	83	32	triggered	trigger	VERB
futech-566	83	33	,	,	PUNCT
futech-566	83	34	mpc	mpc	NOUN
futech-566	83	35	,	,	PUNCT
futech-566	83	36	and	and	CCONJ
futech-566	83	37	learning	learning	NOUN
futech-566	83	38	-	-	PUNCT
futech-566	83	39	based	base	VERB
futech-566	83	40	approaches	approach	NOUN
futech-566	83	41	to	to	ADP
futech-566	83	42	the	the	DET
futech-566	83	43	leader	leader	NOUN
futech-566	83	44	-	-	PUNCT
futech-566	83	45	follower	follower	NOUN
futech-566	83	46	consensus	consensus	NOUN
futech-566	83	47	problem	problem	NOUN
futech-566	83	48	.	.	PUNCT
futech-566	84	1	designing	design	VERB
futech-566	84	2	asynchronous	asynchronous	ADJ
futech-566	84	3	triggers	trigger	NOUN
futech-566	84	4	for	for	ADP
futech-566	84	5	event	event	NOUN
futech-566	84	6	-	-	PUNCT
futech-566	84	7	triggered	trigger	VERB
futech-566	84	8	control	control	NOUN
futech-566	84	9	that	that	PRON
futech-566	84	10	ensure	ensure	VERB
futech-566	84	11	stability	stability	NOUN
futech-566	84	12	and	and	CCONJ
futech-566	84	13	performance	performance	NOUN
futech-566	84	14	regardless	regardless	ADV
futech-566	84	15	of	of	ADP
futech-566	84	16	packet	packet	NOUN
futech-566	84	17	failures	failure	NOUN
futech-566	84	18	,	,	PUNCT
futech-566	84	19	communication	communication	NOUN
futech-566	84	20	delays	delay	NOUN
futech-566	84	21	,	,	PUNCT
futech-566	84	22	and	and	CCONJ
futech-566	84	23	heterogeneous	heterogeneous	ADJ
futech-566	84	24	agent	agent	NOUN
futech-566	84	25	dynamics	dynamic	NOUN
futech-566	84	26	,	,	PUNCT
futech-566	84	27	while	while	SCONJ
futech-566	84	28	completely	completely	ADV
futech-566	84	29	avoiding	avoid	VERB
futech-566	84	30	zeno	zeno	PROPN
futech-566	84	31	behavior	behavior	NOUN
futech-566	84	32	,	,	PUNCT
futech-566	84	33	continues	continue	VERB
futech-566	84	34	to	to	PART
futech-566	84	35	be	be	AUX
futech-566	84	36	a	a	DET
futech-566	84	37	challenge	challenge	NOUN
futech-566	84	38	.	.	PUNCT
futech-566	85	1	despite	despite	SCONJ
futech-566	85	2	its	its	PRON
futech-566	85	3	effectiveness	effectiveness	NOUN
futech-566	85	4	in	in	ADP
futech-566	85	5	managing	manage	VERB
futech-566	85	6	restrictions	restriction	NOUN
futech-566	85	7	and	and	CCONJ
futech-566	85	8	maximizing	maximize	VERB
futech-566	85	9	performance	performance	NOUN
futech-566	85	10	,	,	PUNCT
futech-566	85	11	the	the	DET
futech-566	85	12	mpc	mpc	NOUN
futech-566	85	13	-	-	PUNCT
futech-566	85	14	based	base	VERB
futech-566	85	15	approaches	approach	NOUN
futech-566	85	16	have	have	VERB
futech-566	85	17	limitations	limitation	NOUN
futech-566	85	18	in	in	ADP
futech-566	85	19	terms	term	NOUN
futech-566	85	20	of	of	ADP
futech-566	85	21	scalability	scalability	NOUN
futech-566	85	22	for	for	ADP
futech-566	85	23	large	large	ADJ
futech-566	85	24	networks	network	NOUN
futech-566	85	25	,	,	PUNCT
futech-566	85	26	real	real	ADJ
futech-566	85	27	-	-	PUNCT
futech-566	85	28	time	time	NOUN
futech-566	85	29	viability	viability	NOUN
futech-566	85	30	on	on	ADP
futech-566	85	31	platforms	platform	NOUN
futech-566	85	32	with	with	ADP
futech-566	85	33	limited	limited	ADJ
futech-566	85	34	resources	resource	NOUN
futech-566	85	35	,	,	PUNCT
futech-566	85	36	and	and	CCONJ
futech-566	85	37	tolerance	tolerance	NOUN
futech-566	85	38	to	to	ADP
futech-566	85	39	nonlinearity	nonlinearity	NOUN
futech-566	85	40	and	and	CCONJ
futech-566	85	41	uncertainty	uncertainty	NOUN
futech-566	85	42	.	.	PUNCT
futech-566	86	1	although	although	SCONJ
futech-566	86	2	learning	learn	VERB
futech-566	86	3	-	-	PUNCT
futech-566	86	4	based	base	VERB
futech-566	86	5	techniques	technique	NOUN
futech-566	86	6	like	like	ADP
futech-566	86	7	neural	neural	ADJ
futech-566	86	8	networks	network	NOUN
futech-566	86	9	and	and	CCONJ
futech-566	86	10	reinforcement	reinforcement	NOUN
futech-566	86	11	learning	learning	NOUN
futech-566	86	12	provide	provide	VERB
futech-566	86	13	flexibility	flexibility	NOUN
futech-566	86	14	in	in	ADP
futech-566	86	15	unpredictable	unpredictable	ADJ
futech-566	86	16	situations	situation	NOUN
futech-566	86	17	,	,	PUNCT
futech-566	86	18	they	they	PRON
futech-566	86	19	frequently	frequently	ADV
futech-566	86	20	lack	lack	VERB
futech-566	86	21	formal	formal	ADJ
futech-566	86	22	stability	stability	NOUN
futech-566	86	23	guarantees	guarantee	NOUN
futech-566	86	24	,	,	PUNCT
futech-566	86	25	have	have	VERB
futech-566	86	26	significant	significant	ADJ
futech-566	86	27	data	datum	NOUN
futech-566	86	28	requirements	requirement	NOUN
futech-566	86	29	,	,	PUNCT
futech-566	86	30	and	and	CCONJ
futech-566	86	31	present	present	ADJ
futech-566	86	32	difficulties	difficulty	NOUN
futech-566	86	33	for	for	ADP
futech-566	86	34	safe	safe	ADJ
futech-566	86	35	real	real	ADJ
futech-566	86	36	-	-	PUNCT
futech-566	86	37	world	world	NOUN
futech-566	86	38	implementation	implementation	NOUN
futech-566	86	39	.	.	PUNCT
futech-566	87	1	moreover	moreover	ADV
futech-566	87	2	,	,	PUNCT
futech-566	87	3	integrated	integrated	ADJ
futech-566	87	4	frameworks	framework	NOUN
futech-566	87	5	combining	combine	VERB
futech-566	87	6	these	these	DET
futech-566	87	7	methods	method	NOUN
futech-566	87	8	remain	remain	VERB
futech-566	87	9	underexplored	underexplored	ADJ
futech-566	87	10	,	,	PUNCT
futech-566	87	11	particularly	particularly	ADV
futech-566	87	12	in	in	ADP
futech-566	87	13	developing	develop	VERB
futech-566	87	14	hybrid	hybrid	ADJ
futech-566	87	15	schemes	scheme	NOUN
futech-566	87	16	that	that	PRON
futech-566	87	17	balance	balance	NOUN
futech-566	87	18	communication	communication	NOUN
futech-566	87	19	efficiency	efficiency	NOUN
futech-566	87	20	,	,	PUNCT
futech-566	87	21	scalability	scalability	NOUN
futech-566	87	22	issues	issue	NOUN
futech-566	87	23	,	,	PUNCT
futech-566	87	24	robustness	robustness	NOUN
futech-566	87	25	,	,	PUNCT
futech-566	87	26	and	and	CCONJ
futech-566	87	27	fast	fast	ADJ
futech-566	87	28	convergence	convergence	NOUN
futech-566	87	29	for	for	ADP
futech-566	87	30	leader	leader	NOUN
futech-566	87	31	–	–	PUNCT
futech-566	87	32	follower	follower	NOUN
futech-566	87	33	consensus	consensus	NOUN
futech-566	87	34	in	in	ADP
futech-566	87	35	dynamic	dynamic	ADJ
futech-566	87	36	and	and	CCONJ
futech-566	87	37	uncertain	uncertain	ADJ
futech-566	87	38	multi	multi	ADJ
futech-566	87	39	-	-	ADJ
futech-566	87	40	agent	agent	ADJ
futech-566	87	41	environments	environment	NOUN
futech-566	87	42	.	.	PUNCT
futech-566	88	1	table	table	NOUN
futech-566	88	2	2	2	NUM
futech-566	88	3	shows	show	VERB
futech-566	88	4	a	a	DET
futech-566	88	5	wide	wide	ADJ
futech-566	88	6	scope	scope	NOUN
futech-566	88	7	for	for	ADP
futech-566	88	8	improvement	improvement	NOUN
futech-566	88	9	across	across	ADP
futech-566	88	10	various	various	ADJ
futech-566	88	11	aspects	aspect	NOUN
futech-566	88	12	of	of	ADP
futech-566	88	13	addressing	address	VERB
futech-566	88	14	the	the	DET
futech-566	88	15	consensus	consensus	NOUN
futech-566	88	16	problem	problem	NOUN
futech-566	88	17	in	in	ADP
futech-566	88	18	multi	multi	ADJ
futech-566	88	19	-	-	ADJ
futech-566	88	20	agent	agent	ADJ
futech-566	88	21	systems	system	NOUN
futech-566	88	22	,	,	PUNCT
futech-566	88	23	including	include	VERB
futech-566	88	24	model	model	NOUN
futech-566	88	25	dependencies	dependency	NOUN
futech-566	88	26	,	,	PUNCT
futech-566	88	27	constraint	constraint	NOUN
futech-566	88	28	handling	handling	NOUN
futech-566	88	29	,	,	PUNCT
futech-566	88	30	and	and	CCONJ
futech-566	88	31	the	the	DET
futech-566	88	32	computational	computational	ADJ
futech-566	88	33	burden	burden	NOUN
futech-566	88	34	imposed	impose	VERB
futech-566	88	35	by	by	ADP
futech-566	88	36	the	the	DET
futech-566	88	37	mpc	mpc	NOUN
futech-566	88	38	strategy	strategy	NOUN
futech-566	88	39	.	.	PUNCT
futech-566	89	1	table1	table1	PROPN
futech-566	89	2	.	.	PUNCT
futech-566	90	1	comparison	comparison	NOUN
futech-566	90	2	of	of	ADP
futech-566	90	3	related	related	ADJ
futech-566	90	4	past	past	ADJ
futech-566	90	5	work	work	NOUN
futech-566	90	6	for	for	ADP
futech-566	90	7	the	the	DET
futech-566	90	8	consensus	consensus	NOUN
futech-566	90	9	problem	problem	NOUN
futech-566	90	10	of	of	ADP
futech-566	90	11	multi	multi	ADJ
futech-566	90	12	-	-	ADJ
futech-566	90	13	agent	agent	ADJ
futech-566	90	14	systems	system	NOUN
futech-566	90	15	strategy	strategy	NOUN
futech-566	90	16	related	relate	VERB
futech-566	90	17	works	work	VERB
futech-566	90	18	key	key	ADJ
futech-566	90	19	features	feature	NOUN
futech-566	90	20	/	/	SYM
futech-566	90	21	working	work	VERB
futech-566	90	22	principle	principle	NOUN
futech-566	90	23	advantages	advantage	NOUN
futech-566	90	24	limitations	limitation	NOUN
futech-566	90	25	2.1	2.1	NUM
futech-566	90	26	eventtriggered	eventtriggere	VERB
futech-566	90	27	based	base	VERB
futech-566	90	28	strategy	strategy	NOUN
futech-566	90	29	[	[	X
futech-566	90	30	17	17	NUM
futech-566	90	31	-	-	SYM
futech-566	90	32	19	19	NUM
futech-566	90	33	]	]	SYM
futech-566	90	34	•	•	NUM
futech-566	90	35	control	control	NOUN
futech-566	90	36	actions	action	NOUN
futech-566	90	37	and	and	CCONJ
futech-566	90	38	communications	communication	NOUN
futech-566	90	39	occur	occur	VERB
futech-566	90	40	only	only	ADV
futech-566	90	41	when	when	SCONJ
futech-566	90	42	specific	specific	ADJ
futech-566	90	43	events	event	NOUN
futech-566	90	44	or	or	CCONJ
futech-566	90	45	thresholds	threshold	NOUN
futech-566	90	46	are	be	AUX
futech-566	90	47	triggered	trigger	VERB
futech-566	90	48	,	,	PUNCT
futech-566	90	49	reducing	reduce	VERB
futech-566	90	50	communication	communication	NOUN
futech-566	90	51	load	load	NOUN
futech-566	90	52	.	.	PUNCT
futech-566	91	1	•	•	NUM
futech-566	91	2	uses	use	VERB
futech-566	91	3	lyapunov	lyapunov	NOUN
futech-566	91	4	-	-	PUNCT
futech-566	91	5	based	base	VERB
futech-566	91	6	conditions	condition	NOUN
futech-566	91	7	for	for	ADP
futech-566	91	8	stability	stability	NOUN
futech-566	91	9	and	and	CCONJ
futech-566	91	10	convergence	convergence	NOUN
futech-566	91	11	.	.	PUNCT
futech-566	92	1	•	•	NUM
futech-566	92	2	reduces	reduce	VERB
futech-566	92	3	unnecessary	unnecessary	ADJ
futech-566	92	4	communication	communication	NOUN
futech-566	92	5	and	and	CCONJ
futech-566	92	6	energy	energy	NOUN
futech-566	92	7	consumption	consumption	NOUN
futech-566	92	8	.	.	PUNCT
futech-566	93	1	•	•	NOUN
futech-566	93	2	handles	handle	VERB
futech-566	93	3	packet	packet	NOUN
futech-566	93	4	loss	loss	NOUN
futech-566	93	5	and	and	CCONJ
futech-566	93	6	intermittent	intermittent	ADJ
futech-566	93	7	communication	communication	NOUN
futech-566	93	8	effectively	effectively	ADV
futech-566	93	9	.	.	PUNCT
futech-566	94	1	•	•	NUM
futech-566	94	2	provides	provide	VERB
futech-566	94	3	finite	finite	ADJ
futech-566	94	4	-	-	PUNCT
futech-566	94	5	time	time	NOUN
futech-566	94	6	or	or	CCONJ
futech-566	94	7	fixed	fix	VERB
futech-566	94	8	-	-	PUNCT
futech-566	94	9	time	time	NOUN
futech-566	94	10	convergence	convergence	NOUN
futech-566	94	11	.	.	PUNCT
futech-566	95	1	•	•	NOUN
futech-566	95	2	requires	require	VERB
futech-566	95	3	careful	careful	ADJ
futech-566	95	4	design	design	NOUN
futech-566	95	5	of	of	ADP
futech-566	95	6	triggering	trigger	VERB
futech-566	95	7	conditions	condition	NOUN
futech-566	95	8	to	to	PART
futech-566	95	9	avoid	avoid	VERB
futech-566	95	10	zeno	zeno	PROPN
futech-566	95	11	behavior	behavior	NOUN
futech-566	95	12	.	.	PUNCT
futech-566	96	1	•	•	NOUN
futech-566	96	2	performance	performance	NOUN
futech-566	96	3	may	may	AUX
futech-566	96	4	degrade	degrade	VERB
futech-566	96	5	with	with	ADP
futech-566	96	6	high	high	ADJ
futech-566	96	7	network	network	NOUN
futech-566	96	8	delays	delay	NOUN
futech-566	96	9	or	or	CCONJ
futech-566	96	10	noise	noise	NOUN
futech-566	96	11	.	.	PUNCT
futech-566	97	1	•	•	NUM
futech-566	97	2	limited	limit	VERB
futech-566	97	3	scalability	scalability	NOUN
futech-566	97	4	for	for	ADP
futech-566	97	5	very	very	ADV
futech-566	97	6	large	large	ADJ
futech-566	97	7	networks	network	NOUN
futech-566	97	8	.	.	PUNCT
futech-566	98	1	2.2	2.2	NUM
futech-566	98	2	mpcbased	mpcbase	VERB
futech-566	98	3	strategy	strategy	NOUN
futech-566	98	4	[	[	X
futech-566	98	5	20	20	NUM
futech-566	98	6	-	-	SYM
futech-566	98	7	22	22	NUM
futech-566	98	8	]	]	PUNCT
futech-566	98	9	•	•	NOUN
futech-566	98	10	uses	use	VERB
futech-566	98	11	model	model	NOUN
futech-566	98	12	predictive	predictive	ADJ
futech-566	98	13	control	control	NOUN
futech-566	98	14	to	to	PART
futech-566	98	15	predict	predict	VERB
futech-566	98	16	future	future	ADJ
futech-566	98	17	trajectories	trajectory	NOUN
futech-566	98	18	and	and	CCONJ
futech-566	98	19	optimize	optimize	VERB
futech-566	98	20	control	control	NOUN
futech-566	98	21	inputs	input	NOUN
futech-566	98	22	under	under	ADP
futech-566	98	23	constraints	constraint	NOUN
futech-566	98	24	.	.	PUNCT
futech-566	99	1	•	•	NUM
futech-566	99	2	each	each	DET
futech-566	99	3	agent	agent	NOUN
futech-566	99	4	solves	solve	VERB
futech-566	99	5	an	an	DET
futech-566	99	6	optimization	optimization	NOUN
futech-566	99	7	problem	problem	NOUN
futech-566	99	8	locally	locally	ADV
futech-566	99	9	to	to	PART
futech-566	99	10	achieve	achieve	VERB
futech-566	99	11	consensus	consensus	NOUN
futech-566	99	12	while	while	SCONJ
futech-566	99	13	respecting	respect	VERB
futech-566	99	14	safety	safety	NOUN
futech-566	99	15	and	and	CCONJ
futech-566	99	16	collision	collision	NOUN
futech-566	99	17	avoidance	avoidance	NOUN
futech-566	99	18	.	.	PUNCT
futech-566	100	1	•	•	NUM
futech-566	100	2	systematic	systematic	ADJ
futech-566	100	3	handling	handling	NOUN
futech-566	100	4	of	of	ADP
futech-566	100	5	constraints	constraint	NOUN
futech-566	100	6	(	(	PUNCT
futech-566	100	7	safety	safety	NOUN
futech-566	100	8	,	,	PUNCT
futech-566	100	9	collision	collision	NOUN
futech-566	100	10	avoidance	avoidance	NOUN
futech-566	100	11	)	)	PUNCT
futech-566	100	12	.	.	PUNCT
futech-566	101	1	•	•	NUM
futech-566	101	2	provides	provide	VERB
futech-566	101	3	optimal	optimal	ADJ
futech-566	101	4	and	and	CCONJ
futech-566	101	5	coordinated	coordinated	ADJ
futech-566	101	6	performance	performance	NOUN
futech-566	101	7	.	.	PUNCT
futech-566	102	1	•	•	NOUN
futech-566	102	2	enables	enable	VERB
futech-566	102	3	scalability	scalability	NOUN
futech-566	102	4	and	and	CCONJ
futech-566	102	5	robustness	robustness	NOUN
futech-566	102	6	for	for	ADP
futech-566	102	7	multi	multi	ADJ
futech-566	102	8	-	-	ADJ
futech-566	102	9	agent	agent	ADJ
futech-566	102	10	systems	system	NOUN
futech-566	102	11	.	.	PUNCT
futech-566	103	1	•	•	NUM
futech-566	103	2	high	high	ADJ
futech-566	103	3	computational	computational	ADJ
futech-566	103	4	cost	cost	NOUN
futech-566	103	5	due	due	ADP
futech-566	103	6	to	to	ADP
futech-566	103	7	online	online	ADJ
futech-566	103	8	optimization	optimization	NOUN
futech-566	103	9	.	.	PUNCT
futech-566	104	1	•	•	NUM
futech-566	104	2	requires	require	VERB
futech-566	104	3	accurate	accurate	ADJ
futech-566	104	4	system	system	NOUN
futech-566	104	5	models	model	NOUN
futech-566	104	6	and	and	CCONJ
futech-566	104	7	prediction	prediction	NOUN
futech-566	104	8	horizons	horizon	NOUN
futech-566	104	9	.	.	PUNCT
futech-566	105	1	•	•	NUM
futech-566	105	2	limited	limit	VERB
futech-566	105	3	applicability	applicability	NOUN
futech-566	105	4	in	in	ADP
futech-566	105	5	realtime	realtime	NOUN
futech-566	105	6	or	or	CCONJ
futech-566	105	7	highly	highly	ADV
futech-566	105	8	dynamic	dynamic	ADJ
futech-566	105	9	environments	environment	NOUN
futech-566	105	10	with	with	ADP
futech-566	105	11	communication	communication	NOUN
futech-566	105	12	delays	delay	NOUN
futech-566	105	13	.	.	PUNCT
futech-566	106	1	2.3	2.3	NUM
futech-566	106	2	learningbased	learningbase	VERB
futech-566	106	3	strategy	strategy	NOUN
futech-566	106	4	[	[	X
futech-566	106	5	23	23	NUM
futech-566	106	6	-	-	SYM
futech-566	106	7	26	26	NUM
futech-566	106	8	]	]	PUNCT
futech-566	106	9	•	•	NUM
futech-566	106	10	employs	employ	VERB
futech-566	106	11	data	data	NOUN
futech-566	106	12	-	-	PUNCT
futech-566	106	13	driven	drive	VERB
futech-566	106	14	or	or	CCONJ
futech-566	106	15	reinforcement	reinforcement	NOUN
futech-566	106	16	learning	learning	NOUN
futech-566	106	17	techniques	technique	NOUN
futech-566	106	18	to	to	PART
futech-566	106	19	handle	handle	VERB
futech-566	106	20	unknown	unknown	ADJ
futech-566	106	21	dynamics	dynamic	NOUN
futech-566	106	22	and	and	CCONJ
futech-566	106	23	uncertainties	uncertainty	NOUN
futech-566	106	24	.	.	PUNCT
futech-566	107	1	•	•	NUM
futech-566	107	2	uses	use	VERB
futech-566	107	3	neural	neural	ADJ
futech-566	107	4	networks	network	NOUN
futech-566	107	5	or	or	CCONJ
futech-566	107	6	gaussian	gaussian	ADJ
futech-566	107	7	process	process	NOUN
futech-566	107	8	regression	regression	NOUN
futech-566	107	9	for	for	ADP
futech-566	107	10	adaptive	adaptive	ADJ
futech-566	107	11	control	control	NOUN
futech-566	107	12	without	without	ADP
futech-566	107	13	explicit	explicit	ADJ
futech-566	107	14	models	model	NOUN
futech-566	107	15	.	.	PUNCT
futech-566	108	1	•	•	NUM
futech-566	108	2	model	model	NOUN
futech-566	108	3	-	-	PUNCT
futech-566	108	4	free	free	ADJ
futech-566	108	5	and	and	CCONJ
futech-566	108	6	adaptive	adaptive	ADJ
futech-566	108	7	—	—	PUNCT
futech-566	108	8	suitable	suitable	ADJ
futech-566	108	9	for	for	ADP
futech-566	108	10	uncertain	uncertain	ADJ
futech-566	108	11	and	and	CCONJ
futech-566	108	12	nonlinear	nonlinear	ADJ
futech-566	108	13	systems	system	NOUN
futech-566	108	14	.	.	PUNCT
futech-566	109	1	•	•	NUM
futech-566	109	2	reduces	reduce	VERB
futech-566	109	3	dependency	dependency	NOUN
futech-566	109	4	on	on	ADP
futech-566	109	5	accurate	accurate	ADJ
futech-566	109	6	modeling	modeling	NOUN
futech-566	109	7	and	and	CCONJ
futech-566	109	8	prior	prior	ADJ
futech-566	109	9	knowledge	knowledge	NOUN
futech-566	109	10	.	.	PUNCT
futech-566	110	1	•	•	NOUN
futech-566	110	2	capable	capable	ADJ
futech-566	110	3	of	of	ADP
futech-566	110	4	learning	learn	VERB
futech-566	110	5	optimal	optimal	ADJ
futech-566	110	6	coordination	coordination	NOUN
futech-566	110	7	policies	policy	NOUN
futech-566	110	8	over	over	ADP
futech-566	110	9	time	time	NOUN
futech-566	110	10	.	.	PUNCT
futech-566	111	1	•	•	NOUN
futech-566	111	2	training	training	NOUN
futech-566	111	3	requires	require	VERB
futech-566	111	4	extensive	extensive	ADJ
futech-566	111	5	data	datum	NOUN
futech-566	111	6	and	and	CCONJ
futech-566	111	7	computation	computation	NOUN
futech-566	111	8	.	.	PUNCT
futech-566	112	1	•	•	NUM
futech-566	112	2	stability	stability	NOUN
futech-566	112	3	and	and	CCONJ
futech-566	112	4	convergence	convergence	NOUN
futech-566	112	5	proofs	proof	NOUN
futech-566	112	6	are	be	AUX
futech-566	112	7	complex	complex	ADJ
futech-566	112	8	.	.	PUNCT
futech-566	113	1	•	•	NUM
futech-566	113	2	may	may	AUX
futech-566	113	3	suffer	suffer	VERB
futech-566	113	4	from	from	ADP
futech-566	113	5	poor	poor	ADJ
futech-566	113	6	generalization	generalization	NOUN
futech-566	113	7	or	or	CCONJ
futech-566	113	8	instability	instability	NOUN
futech-566	113	9	under	under	ADP
futech-566	113	10	unseen	unseen	ADJ
futech-566	113	11	conditions	condition	NOUN
futech-566	113	12	.	.	PUNCT
futech-566	114	1	•	•	NUM
futech-566	114	2	implementation	implementation	NOUN
futech-566	114	3	in	in	ADP
futech-566	114	4	real	real	ADJ
futech-566	114	5	-	-	PUNCT
futech-566	114	6	time	time	NOUN
futech-566	114	7	may	may	AUX
futech-566	114	8	be	be	AUX
futech-566	114	9	challenging	challenge	VERB
futech-566	114	10	.	.	PUNCT
futech-566	115	1	p.	p.	NOUN
futech-566	115	2	chaubey	chaubey	NOUN
futech-566	115	3	et	et	PROPN
futech-566	115	4	al	al	PROPN
futech-566	115	5	.	.	PROPN
futech-566	115	6	/future	/future	PUNCT
futech-566	115	7	technology	technology	PROPN
futech-566	115	8	february	february	PROPN
futech-566	115	9	2026|	2026|	NUM
futech-566	115	10	volume	volume	NOUN
futech-566	115	11	05	05	NUM
futech-566	116	1	|	|	ADV
futech-566	116	2	issue	issue	NOUN
futech-566	116	3	01	01	NUM
futech-566	117	1	|	|	ADV
futech-566	117	2	pages	page	VERB
futech-566	117	3	148	148	NUM
futech-566	117	4	-	-	SYM
futech-566	117	5	158	158	NUM
futech-566	117	6	151	151	NUM
futech-566	117	7	also	also	ADV
futech-566	117	8	,	,	PUNCT
futech-566	117	9	communication	communication	NOUN
futech-566	117	10	failures	failure	NOUN
futech-566	117	11	encountered	encounter	VERB
futech-566	117	12	by	by	ADP
futech-566	117	13	eventtriggered	eventtriggere	VERB
futech-566	117	14	strategies	strategy	NOUN
futech-566	117	15	,	,	PUNCT
futech-566	117	16	which	which	PRON
futech-566	117	17	work	work	VERB
futech-566	117	18	effectively	effectively	ADV
futech-566	117	19	only	only	ADV
futech-566	117	20	under	under	ADP
futech-566	117	21	excellent	excellent	ADJ
futech-566	117	22	trigger	trigger	NOUN
futech-566	117	23	conditions	condition	NOUN
futech-566	117	24	,	,	PUNCT
futech-566	117	25	make	make	VERB
futech-566	117	26	the	the	DET
futech-566	117	27	control	control	NOUN
futech-566	117	28	strategy	strategy	NOUN
futech-566	117	29	unreliable	unreliable	ADJ
futech-566	117	30	.	.	PUNCT
futech-566	118	1	lastly	lastly	ADV
futech-566	118	2	,	,	PUNCT
futech-566	118	3	the	the	DET
futech-566	118	4	independently	independently	ADV
futech-566	118	5	used	used	ADJ
futech-566	118	6	learning	learning	NOUN
futech-566	118	7	-	-	PUNCT
futech-566	118	8	based	base	VERB
futech-566	118	9	strategies	strategy	NOUN
futech-566	118	10	also	also	ADV
futech-566	118	11	lack	lack	VERB
futech-566	118	12	convergence	convergence	NOUN
futech-566	118	13	to	to	ADP
futech-566	118	14	the	the	DET
futech-566	118	15	optimal	optimal	ADJ
futech-566	118	16	solution	solution	NOUN
futech-566	118	17	and	and	CCONJ
futech-566	118	18	are	be	AUX
futech-566	118	19	ineffective	ineffective	ADJ
futech-566	118	20	at	at	ADP
futech-566	118	21	handling	handle	VERB
futech-566	118	22	constraints	constraint	NOUN
futech-566	118	23	in	in	ADP
futech-566	118	24	the	the	DET
futech-566	118	25	problem	problem	NOUN
futech-566	118	26	.	.	PUNCT
futech-566	119	1	among	among	ADP
futech-566	119	2	the	the	DET
futech-566	119	3	control	control	NOUN
futech-566	119	4	strategies	strategy	NOUN
futech-566	119	5	used	use	VERB
futech-566	119	6	in	in	ADP
futech-566	119	7	the	the	DET
futech-566	119	8	past	past	ADJ
futech-566	119	9	literature	literature	NOUN
futech-566	119	10	,	,	PUNCT
futech-566	119	11	the	the	DET
futech-566	119	12	nn	nn	PROPN
futech-566	119	13	-	-	PUNCT
futech-566	119	14	based	base	VERB
futech-566	119	15	mpc	mpc	NOUN
futech-566	119	16	strategy	strategy	NOUN
futech-566	119	17	(	(	PUNCT
futech-566	119	18	figure	figure	NOUN
futech-566	119	19	1	1	NUM
futech-566	119	20	)	)	PUNCT
futech-566	119	21	can	can	AUX
futech-566	119	22	be	be	AUX
futech-566	119	23	shown	show	VERB
futech-566	119	24	to	to	PART
futech-566	119	25	be	be	AUX
futech-566	119	26	helpful	helpful	ADJ
futech-566	119	27	in	in	ADP
futech-566	119	28	combining	combine	VERB
futech-566	119	29	the	the	DET
futech-566	119	30	advantages	advantage	NOUN
futech-566	119	31	of	of	ADP
futech-566	119	32	learning	learning	NOUN
futech-566	119	33	-	-	PUNCT
futech-566	119	34	based	base	VERB
futech-566	119	35	and	and	CCONJ
futech-566	119	36	mpc	mpc	NOUN
futech-566	119	37	strategies	strategy	NOUN
futech-566	119	38	and	and	CCONJ
futech-566	119	39	eliminating	eliminate	VERB
futech-566	119	40	limitations	limitation	NOUN
futech-566	119	41	such	such	ADJ
futech-566	119	42	as	as	ADP
futech-566	119	43	constraint	constraint	NOUN
futech-566	119	44	handling	handling	NOUN
futech-566	119	45	,	,	PUNCT
futech-566	119	46	high	high	ADJ
futech-566	119	47	computational	computational	ADJ
futech-566	119	48	cost	cost	NOUN
futech-566	119	49	,	,	PUNCT
futech-566	119	50	and	and	CCONJ
futech-566	119	51	model	model	NOUN
futech-566	119	52	-	-	PUNCT
futech-566	119	53	based	base	VERB
futech-566	119	54	dependencies	dependency	NOUN
futech-566	119	55	,	,	PUNCT
futech-566	119	56	as	as	SCONJ
futech-566	119	57	it	it	PRON
futech-566	119	58	allows	allow	VERB
futech-566	119	59	operation	operation	NOUN
futech-566	119	60	in	in	ADP
futech-566	119	61	a	a	DET
futech-566	119	62	model	model	ADJ
futech-566	119	63	-	-	PUNCT
futech-566	119	64	free	free	ADJ
futech-566	119	65	environment	environment	NOUN
futech-566	119	66	.	.	PUNCT
futech-566	120	1	nnmpc	nnmpc	PROPN
futech-566	120	2	also	also	ADV
futech-566	120	3	reduces	reduce	VERB
futech-566	120	4	the	the	DET
futech-566	120	5	chances	chance	NOUN
futech-566	120	6	of	of	ADP
futech-566	120	7	communication	communication	NOUN
futech-566	120	8	failure	failure	NOUN
futech-566	120	9	faced	face	VERB
futech-566	120	10	by	by	ADP
futech-566	120	11	event	event	NOUN
futech-566	120	12	-	-	PUNCT
futech-566	120	13	based	base	VERB
futech-566	120	14	strategies	strategy	NOUN
futech-566	120	15	as	as	SCONJ
futech-566	120	16	it	it	PRON
futech-566	120	17	provides	provide	VERB
futech-566	120	18	distributed	distributed	ADJ
futech-566	120	19	control	control	NOUN
futech-566	120	20	through	through	ADP
futech-566	120	21	proper	proper	ADJ
futech-566	120	22	communication	communication	NOUN
futech-566	120	23	between	between	ADP
futech-566	120	24	leader	leader	NOUN
futech-566	120	25	–	–	PUNCT
futech-566	120	26	follower	follower	NOUN
futech-566	120	27	and	and	CCONJ
futech-566	120	28	follower	follower	NOUN
futech-566	120	29	-	-	NOUN
futech-566	120	30	follower	follower	NOUN
futech-566	120	31	with	with	ADP
futech-566	120	32	graph	graph	NOUN
futech-566	120	33	theory	theory	NOUN
futech-566	120	34	and	and	CCONJ
futech-566	120	35	switching	switch	VERB
futech-566	120	36	topology	topology	NOUN
futech-566	120	37	using	use	VERB
futech-566	120	38	markovian	markovian	NOUN
futech-566	120	39	switching	switching	NOUN
futech-566	120	40	.	.	PUNCT
futech-566	121	1	overall	overall	ADV
futech-566	121	2	,	,	PUNCT
futech-566	121	3	these	these	DET
futech-566	121	4	advantages	advantage	NOUN
futech-566	121	5	help	help	VERB
futech-566	121	6	achieve	achieve	VERB
futech-566	121	7	consensus	consensus	NOUN
futech-566	121	8	in	in	ADP
futech-566	121	9	the	the	DET
futech-566	121	10	minimum	minimum	ADJ
futech-566	121	11	time	time	NOUN
futech-566	121	12	,	,	PUNCT
futech-566	121	13	as	as	SCONJ
futech-566	121	14	discussed	discuss	VERB
futech-566	121	15	in	in	ADP
futech-566	121	16	the	the	DET
futech-566	121	17	results	result	NOUN
futech-566	121	18	section	section	NOUN
futech-566	121	19	.	.	PUNCT
futech-566	122	1	3	3	X
futech-566	122	2	.	.	X
futech-566	122	3	methodology	methodology	NOUN
futech-566	122	4	this	this	DET
futech-566	122	5	section	section	NOUN
futech-566	122	6	details	detail	VERB
futech-566	122	7	the	the	DET
futech-566	122	8	framework	framework	NOUN
futech-566	122	9	and	and	CCONJ
futech-566	122	10	analytical	analytical	ADJ
futech-566	122	11	formulation	formulation	NOUN
futech-566	122	12	used	use	VERB
futech-566	122	13	to	to	PART
futech-566	122	14	develop	develop	VERB
futech-566	122	15	and	and	CCONJ
futech-566	122	16	validate	validate	VERB
futech-566	122	17	a	a	DET
futech-566	122	18	nn	nn	PROPN
futech-566	122	19	-	-	PUNCT
futech-566	122	20	mpc	mpc	NOUN
futech-566	122	21	system	system	NOUN
futech-566	122	22	for	for	ADP
futech-566	122	23	a	a	DET
futech-566	122	24	multi	multi	ADJ
futech-566	122	25	-	-	ADJ
futech-566	122	26	agent	agent	ADJ
futech-566	122	27	robotic	robotic	ADJ
futech-566	122	28	system	system	NOUN
futech-566	122	29	.	.	PUNCT
futech-566	123	1	the	the	DET
futech-566	123	2	section	section	NOUN
futech-566	123	3	details	detail	VERB
futech-566	123	4	the	the	DET
futech-566	123	5	method	method	NOUN
futech-566	123	6	for	for	ADP
futech-566	123	7	optimizing	optimize	VERB
futech-566	123	8	the	the	DET
futech-566	123	9	consensus	consensus	NOUN
futech-566	123	10	-	-	PUNCT
futech-566	123	11	based	base	VERB
futech-566	123	12	objective	objective	ADJ
futech-566	123	13	problem	problem	NOUN
futech-566	123	14	in	in	ADP
futech-566	123	15	multi	multi	ADJ
futech-566	123	16	-	-	ADJ
futech-566	123	17	agent	agent	ADJ
futech-566	123	18	systems	system	NOUN
futech-566	123	19	,	,	PUNCT
futech-566	123	20	where	where	SCONJ
futech-566	123	21	future	future	ADJ
futech-566	123	22	states	state	NOUN
futech-566	123	23	are	be	AUX
futech-566	123	24	predicted	predict	VERB
futech-566	123	25	using	use	VERB
futech-566	123	26	model	model	NOUN
futech-566	123	27	predictive	predictive	ADJ
futech-566	123	28	control	control	NOUN
futech-566	123	29	over	over	ADP
futech-566	123	30	the	the	DET
futech-566	123	31	prediction	prediction	NOUN
futech-566	123	32	horizon	horizon	NOUN
futech-566	123	33	.	.	PUNCT
futech-566	124	1	this	this	DET
futech-566	124	2	integration	integration	NOUN
futech-566	124	3	of	of	ADP
futech-566	124	4	a	a	DET
futech-566	124	5	neural	neural	ADJ
futech-566	124	6	network	network	NOUN
futech-566	124	7	-	-	PUNCT
futech-566	124	8	based	base	VERB
futech-566	124	9	strategy	strategy	NOUN
futech-566	124	10	with	with	ADP
futech-566	124	11	mpc	mpc	PROPN
futech-566	124	12	shows	show	VERB
futech-566	124	13	remarkable	remarkable	ADJ
futech-566	124	14	improvement	improvement	NOUN
futech-566	124	15	in	in	ADP
futech-566	124	16	achieving	achieve	VERB
futech-566	124	17	consensus	consensus	NOUN
futech-566	124	18	for	for	ADP
futech-566	124	19	the	the	DET
futech-566	124	20	multi	multi	ADJ
futech-566	124	21	-	-	ADJ
futech-566	124	22	agent	agent	ADJ
futech-566	124	23	systems	system	NOUN
futech-566	124	24	.	.	PUNCT
futech-566	125	1	3.1	3.1	NUM
futech-566	125	2	preliminary	preliminary	ADJ
futech-566	125	3	the	the	DET
futech-566	125	4	problem	problem	NOUN
futech-566	125	5	formulation	formulation	NOUN
futech-566	125	6	and	and	CCONJ
futech-566	125	7	mathematical	mathematical	ADJ
futech-566	125	8	analysis	analysis	NOUN
futech-566	125	9	of	of	ADP
futech-566	125	10	the	the	DET
futech-566	125	11	control	control	NOUN
futech-566	125	12	strategy	strategy	NOUN
futech-566	125	13	implemented	implement	VERB
futech-566	125	14	are	be	AUX
futech-566	125	15	discussed	discuss	VERB
futech-566	125	16	in	in	ADP
futech-566	125	17	this	this	DET
futech-566	125	18	section	section	NOUN
futech-566	125	19	.	.	PUNCT
futech-566	126	1	this	this	PRON
futech-566	126	2	includes	include	VERB
futech-566	126	3	details	detail	NOUN
futech-566	126	4	about	about	ADP
futech-566	126	5	the	the	DET
futech-566	126	6	consensus	consensus	NOUN
futech-566	126	7	among	among	ADP
futech-566	126	8	followers	follower	NOUN
futech-566	126	9	and	and	CCONJ
futech-566	126	10	the	the	DET
futech-566	126	11	leader	leader	NOUN
futech-566	126	12	.	.	PUNCT
futech-566	127	1	it	it	PRON
futech-566	127	2	also	also	ADV
futech-566	127	3	provides	provide	VERB
futech-566	127	4	a	a	DET
futech-566	127	5	brief	brief	NOUN
futech-566	127	6	on	on	ADP
futech-566	127	7	graph	graph	NOUN
futech-566	127	8	theory	theory	NOUN
futech-566	127	9	and	and	CCONJ
futech-566	127	10	switching	switch	VERB
futech-566	127	11	topology	topology	NOUN
futech-566	127	12	,	,	PUNCT
futech-566	127	13	which	which	PRON
futech-566	127	14	provides	provide	VERB
futech-566	127	15	the	the	DET
futech-566	127	16	basic	basic	ADJ
futech-566	127	17	information	information	NOUN
futech-566	127	18	on	on	ADP
futech-566	127	19	communication	communication	NOUN
futech-566	127	20	among	among	ADP
futech-566	127	21	agents	agent	NOUN
futech-566	127	22	.	.	PUNCT
futech-566	128	1	consensus	consensus	NOUN
futech-566	128	2	tracking	tracking	NOUN
futech-566	128	3	of	of	ADP
futech-566	128	4	multiple	multiple	ADJ
futech-566	128	5	agents	agent	NOUN
futech-566	128	6	:	:	PUNCT
futech-566	128	7	this	this	DET
futech-566	128	8	research	research	NOUN
futech-566	128	9	work	work	NOUN
futech-566	128	10	addressed	address	VERB
futech-566	128	11	the	the	DET
futech-566	128	12	consensus	consensus	NOUN
futech-566	128	13	problem	problem	NOUN
futech-566	128	14	in	in	ADP
futech-566	128	15	a	a	DET
futech-566	128	16	leader	leader	NOUN
futech-566	128	17	-	-	PUNCT
futech-566	128	18	follower	follower	NOUN
futech-566	128	19	multiagent	multiagent	NOUN
futech-566	128	20	system	system	NOUN
futech-566	128	21	(	(	PUNCT
futech-566	128	22	mas	mas	PROPN
futech-566	128	23	)	)	PUNCT
futech-566	128	24	,	,	PUNCT
futech-566	128	25	where	where	SCONJ
futech-566	128	26	the	the	DET
futech-566	128	27	goal	goal	NOUN
futech-566	128	28	is	be	AUX
futech-566	128	29	for	for	SCONJ
futech-566	128	30	all	all	DET
futech-566	128	31	agents	agent	NOUN
futech-566	128	32	to	to	PART
futech-566	128	33	achieve	achieve	VERB
futech-566	128	34	a	a	DET
futech-566	128	35	desired	desire	VERB
futech-566	128	36	state	state	NOUN
futech-566	128	37	that	that	PRON
futech-566	128	38	is	be	AUX
futech-566	128	39	common	common	ADJ
futech-566	128	40	to	to	ADP
futech-566	128	41	all	all	ADV
futech-566	128	42	through	through	ADP
futech-566	128	43	local	local	ADJ
futech-566	128	44	interactions	interaction	NOUN
futech-566	128	45	over	over	ADP
futech-566	128	46	a	a	DET
futech-566	128	47	communication	communication	NOUN
futech-566	128	48	network	network	NOUN
futech-566	128	49	[	[	X
futech-566	128	50	29–31	29–31	PROPN
futech-566	128	51	]	]	PUNCT
futech-566	128	52	.	.	PUNCT
futech-566	129	1	for	for	ADP
futech-566	129	2	a	a	DET
futech-566	129	3	network	network	NOUN
futech-566	129	4	of	of	ADP
futech-566	129	5	n	n	DET
futech-566	129	6	followers	follower	NOUN
futech-566	129	7	connected	connect	VERB
futech-566	129	8	through	through	ADP
futech-566	129	9	a	a	DET
futech-566	129	10	communication	communication	NOUN
futech-566	129	11	system	system	NOUN
futech-566	129	12	,	,	PUNCT
futech-566	129	13	where	where	SCONJ
futech-566	129	14	the	the	DET
futech-566	129	15	followers	follower	NOUN
futech-566	129	16	xi(t	xi(t	PUNCT
futech-566	129	17	)	)	PUNCT
futech-566	129	18	,	,	PUNCT
futech-566	129	19	where	where	SCONJ
futech-566	129	20	i	i	PRON
futech-566	129	21	=	=	NOUN
futech-566	129	22	1	1	NUM
futech-566	129	23	,	,	PUNCT
futech-566	129	24	2	2	NUM
futech-566	129	25	…	…	NUM
futech-566	129	26	.	.	PUNCT
futech-566	130	1	n	n	PRON
futech-566	130	2	aims	aim	VERB
futech-566	130	3	to	to	PART
futech-566	130	4	track	track	VERB
futech-566	130	5	the	the	DET
futech-566	130	6	trajectory	trajectory	NOUN
futech-566	130	7	of	of	ADP
futech-566	130	8	a	a	DET
futech-566	130	9	leader	leader	NOUN
futech-566	130	10	x0(t	x0(t	PROPN
futech-566	130	11	)	)	PUNCT
futech-566	130	12	.	.	PUNCT
futech-566	131	1	consensus	consensus	NOUN
futech-566	131	2	tracking	tracking	NOUN
futech-566	131	3	is	be	AUX
futech-566	131	4	achieved	achieve	VERB
futech-566	131	5	if	if	SCONJ
futech-566	131	6	,	,	PUNCT
futech-566	131	7	for	for	ADP
futech-566	131	8	any	any	DET
futech-566	131	9	initial	initial	ADJ
futech-566	131	10	conditions	condition	NOUN
futech-566	131	11	,	,	PUNCT
futech-566	131	12	the	the	DET
futech-566	131	13	states	state	NOUN
futech-566	131	14	of	of	ADP
futech-566	131	15	all	all	DET
futech-566	131	16	followers	follower	NOUN
futech-566	131	17	reach	reach	VERB
futech-566	131	18	the	the	DET
futech-566	131	19	consensus	consensus	NOUN
futech-566	131	20	,	,	PUNCT
futech-566	132	1	lt	lt	PROPN
futech-566	132	2	t→∞	t→∞	PRON
futech-566	132	3	∣xi(t)−x0(t)∣=0	∣xi(t)−x0(t)∣=0	PROPN
futech-566	132	4	.	.	PUNCT
futech-566	133	1	graph	graph	NOUN
futech-566	133	2	theory	theory	NOUN
futech-566	133	3	:	:	PUNCT
futech-566	133	4	the	the	DET
futech-566	133	5	basic	basic	ADJ
futech-566	133	6	structure	structure	NOUN
futech-566	133	7	used	use	VERB
futech-566	133	8	for	for	ADP
futech-566	133	9	communication	communication	NOUN
futech-566	133	10	among	among	ADP
futech-566	133	11	agents	agent	NOUN
futech-566	133	12	in	in	ADP
futech-566	133	13	the	the	DET
futech-566	133	14	graph	graph	NOUN
futech-566	133	15	theory	theory	NOUN
futech-566	133	16	is	be	AUX
futech-566	133	17	modeled	model	VERB
futech-566	133	18	using	use	VERB
futech-566	133	19	a	a	DET
futech-566	133	20	weighted	weight	VERB
futech-566	133	21	graph	graph	NOUN
futech-566	133	22	g	g	PROPN
futech-566	133	23	=	=	PUNCT
futech-566	133	24	{	{	PUNCT
futech-566	133	25	v	v	NOUN
futech-566	133	26	,	,	PUNCT
futech-566	133	27	e	e	NOUN
futech-566	133	28	}	}	PUNCT
futech-566	133	29	.	.	PUNCT
futech-566	134	1	the	the	DET
futech-566	134	2	vertex	vertex	NOUN
futech-566	134	3	set	set	VERB
futech-566	134	4	v	v	NOUN
futech-566	134	5	=	=	SYM
futech-566	134	6	{	{	PUNCT
futech-566	134	7	v1	v1	PROPN
futech-566	134	8	,	,	PUNCT
futech-566	134	9	v2	v2	PROPN
futech-566	134	10	,	,	PUNCT
futech-566	134	11	…	…	PUNCT
futech-566	134	12	,	,	PUNCT
futech-566	134	13	vn	vn	PROPN
futech-566	134	14	}	}	PUNCT
futech-566	134	15	represents	represent	VERB
futech-566	134	16	the	the	DET
futech-566	134	17	placement	placement	NOUN
futech-566	134	18	of	of	ADP
futech-566	134	19	agents	agent	NOUN
futech-566	134	20	in	in	ADP
futech-566	134	21	the	the	DET
futech-566	134	22	communication	communication	NOUN
futech-566	134	23	network	network	NOUN
futech-566	134	24	,	,	PUNCT
futech-566	134	25	while	while	SCONJ
futech-566	134	26	the	the	DET
futech-566	134	27	edge	edge	NOUN
futech-566	134	28	set	set	VERB
futech-566	134	29	e	e	NOUN
futech-566	134	30	⊆	⊆	X
futech-566	134	31	v×v	v×v	PROPN
futech-566	134	32	,	,	PUNCT
futech-566	134	33	denotes	denote	VERB
futech-566	134	34	the	the	DET
futech-566	134	35	communication	communication	NOUN
futech-566	134	36	links	link	NOUN
futech-566	134	37	.	.	PUNCT
futech-566	135	1	the	the	DET
futech-566	135	2	weighted	weight	VERB
futech-566	135	3	adjacency	adjacency	NOUN
futech-566	135	4	matrix	matrix	NOUN
futech-566	135	5	is	be	AUX
futech-566	135	6	given	give	VERB
futech-566	135	7	by	by	ADP
futech-566	135	8	a=[aij	a=[aij	NOUN
futech-566	135	9	]	]	X
futech-566	135	10	∈	∈	PROPN
futech-566	135	11	n×n	n×n	PROPN
futech-566	135	12	of	of	ADP
futech-566	135	13	the	the	DET
futech-566	135	14	graph	graph	NOUN
futech-566	135	15	g	g	NOUN
futech-566	135	16	is	be	AUX
futech-566	135	17	defined	define	VERB
futech-566	135	18	such	such	ADJ
futech-566	135	19	that	that	SCONJ
futech-566	135	20	aij	aij	PROPN
futech-566	135	21	>	>	X
futech-566	135	22	0	0	PUNCT
futech-566	136	1	if	if	SCONJ
futech-566	136	2	(	(	PUNCT
futech-566	136	3	vj	vj	INTJ
futech-566	136	4	,	,	PUNCT
futech-566	136	5	vi	vi	NOUN
futech-566	136	6	)	)	PUNCT
futech-566	136	7	∈	∈	NOUN
futech-566	136	8	e	e	NOUN
futech-566	136	9	and	and	CCONJ
futech-566	136	10	aij=0	aij=0	VERB
futech-566	136	11	otherwise	otherwise	ADV
futech-566	136	12	.	.	PUNCT
futech-566	137	1	this	this	DET
futech-566	137	2	graph	graph	NOUN
futech-566	137	3	connection	connection	NOUN
futech-566	137	4	is	be	AUX
futech-566	137	5	the	the	DET
futech-566	137	6	table2	table2	PROPN
futech-566	137	7	.	.	PUNCT
futech-566	138	1	improvement	improvement	NOUN
futech-566	138	2	of	of	ADP
futech-566	138	3	ai	ai	NOUN
futech-566	138	4	-	-	PUNCT
futech-566	138	5	based	base	VERB
futech-566	138	6	mpc	mpc	NOUN
futech-566	138	7	over	over	ADP
futech-566	138	8	traditional	traditional	ADJ
futech-566	138	9	leader	leader	NOUN
futech-566	138	10	–	–	PUNCT
futech-566	138	11	follower	follower	NOUN
futech-566	138	12	consensus	consensus	NOUN
futech-566	138	13	strategies	strategy	NOUN
futech-566	138	14	aspect	aspect	VERB
futech-566	138	15	event	event	NOUN
futech-566	138	16	-	-	PUNCT
futech-566	138	17	triggered	trigger	VERB
futech-566	138	18	control	control	NOUN
futech-566	138	19	classical	classical	ADJ
futech-566	138	20	mpc	mpc	PROPN
futech-566	138	21	learning	learning	NOUN
futech-566	138	22	-	-	PUNCT
futech-566	138	23	based	base	VERB
futech-566	138	24	control	control	NOUN
futech-566	138	25	ai	ai	VERB
futech-566	138	26	-	-	PUNCT
futech-566	138	27	based	base	VERB
futech-566	138	28	mpc	mpc	PROPN
futech-566	138	29	–	–	PUNCT
futech-566	138	30	improvements	improvement	NOUN
futech-566	138	31	model	model	NOUN
futech-566	138	32	dependence	dependence	NOUN
futech-566	138	33	relies	rely	VERB
futech-566	138	34	on	on	ADP
futech-566	138	35	known	know	VERB
futech-566	138	36	system	system	NOUN
futech-566	138	37	dynamics	dynamic	NOUN
futech-566	138	38	and	and	CCONJ
futech-566	138	39	triggering	trigger	VERB
futech-566	138	40	conditions	condition	NOUN
futech-566	138	41	for	for	ADP
futech-566	138	42	stability	stability	NOUN
futech-566	138	43	.	.	PUNCT
futech-566	139	1	requires	require	VERB
futech-566	139	2	accurate	accurate	ADJ
futech-566	139	3	mathematical	mathematical	ADJ
futech-566	139	4	models	model	NOUN
futech-566	139	5	for	for	ADP
futech-566	139	6	prediction	prediction	NOUN
futech-566	139	7	and	and	CCONJ
futech-566	139	8	optimization	optimization	NOUN
futech-566	139	9	.	.	PUNCT
futech-566	140	1	model	model	NOUN
futech-566	140	2	-	-	PUNCT
futech-566	140	3	free	free	ADJ
futech-566	140	4	but	but	CCONJ
futech-566	140	5	lacks	lack	VERB
futech-566	140	6	constraint	constraint	NOUN
futech-566	140	7	interpretability	interpretability	NOUN
futech-566	140	8	.	.	PUNCT
futech-566	141	1	ai	ai	VERB
futech-566	141	2	learns	learn	NOUN
futech-566	141	3	or	or	CCONJ
futech-566	141	4	approximates	approximate	VERB
futech-566	141	5	system	system	NOUN
futech-566	141	6	dynamics	dynamic	NOUN
futech-566	141	7	online	online	ADV
futech-566	141	8	,	,	PUNCT
futech-566	141	9	reducing	reduce	VERB
futech-566	141	10	dependency	dependency	NOUN
futech-566	141	11	on	on	ADP
futech-566	141	12	exact	exact	ADJ
futech-566	141	13	models	model	NOUN
futech-566	141	14	while	while	SCONJ
futech-566	141	15	retaining	retain	VERB
futech-566	141	16	mpc	mpc	PROPN
futech-566	141	17	’s	’s	PART
futech-566	141	18	structure	structure	NOUN
futech-566	141	19	.	.	PUNCT
futech-566	142	1	adaptability	adaptability	NOUN
futech-566	142	2	limited	limit	VERB
futech-566	142	3	adaptability	adaptability	NOUN
futech-566	142	4	to	to	ADP
futech-566	142	5	nonlinear	nonlinear	ADJ
futech-566	142	6	or	or	CCONJ
futech-566	142	7	timevarying	timevarying	NOUN
futech-566	142	8	systems	system	NOUN
futech-566	142	9	.	.	PUNCT
futech-566	143	1	struggles	struggle	NOUN
futech-566	143	2	with	with	ADP
futech-566	143	3	strong	strong	ADJ
futech-566	143	4	nonlinearities	nonlinearitie	NOUN
futech-566	143	5	unless	unless	SCONJ
futech-566	143	6	extended	extend	VERB
futech-566	143	7	(	(	PUNCT
futech-566	143	8	e.g.	e.g.	ADV
futech-566	143	9	,	,	PUNCT
futech-566	143	10	nonlinear	nonlinear	ADJ
futech-566	143	11	mpc	mpc	PROPN
futech-566	143	12	)	)	PUNCT
futech-566	143	13	.	.	PUNCT
futech-566	144	1	highly	highly	ADV
futech-566	144	2	adaptive	adaptive	ADJ
futech-566	144	3	but	but	CCONJ
futech-566	144	4	sometimes	sometimes	ADV
futech-566	144	5	unstable	unstable	ADJ
futech-566	144	6	.	.	PUNCT
futech-566	145	1	ai	ai	AUX
futech-566	145	2	enables	enable	VERB
futech-566	145	3	online	online	ADJ
futech-566	145	4	adaptation	adaptation	NOUN
futech-566	145	5	using	use	VERB
futech-566	145	6	reinforcement	reinforcement	NOUN
futech-566	145	7	or	or	CCONJ
futech-566	145	8	continual	continual	ADJ
futech-566	145	9	learning	learning	NOUN
futech-566	145	10	,	,	PUNCT
futech-566	145	11	improving	improve	VERB
futech-566	145	12	robustness	robustness	NOUN
futech-566	145	13	to	to	ADP
futech-566	145	14	dynamic	dynamic	ADJ
futech-566	145	15	environments	environment	NOUN
futech-566	145	16	.	.	PUNCT
futech-566	146	1	computational	computational	ADJ
futech-566	146	2	efficiency	efficiency	NOUN
futech-566	146	3	reduces	reduce	VERB
futech-566	146	4	communication	communication	NOUN
futech-566	146	5	but	but	CCONJ
futech-566	146	6	not	not	PART
futech-566	146	7	computation	computation	NOUN
futech-566	146	8	.	.	PUNCT
futech-566	147	1	computationally	computationally	ADV
futech-566	147	2	heavy	heavy	ADJ
futech-566	147	3	due	due	ADJ
futech-566	147	4	to	to	ADP
futech-566	147	5	repeated	repeat	VERB
futech-566	147	6	optimization	optimization	NOUN
futech-566	147	7	.	.	PUNCT
futech-566	148	1	high	high	ADJ
futech-566	148	2	training	training	NOUN
futech-566	148	3	cost	cost	NOUN
futech-566	148	4	,	,	PUNCT
futech-566	148	5	sometimes	sometimes	ADV
futech-566	148	6	offline	offline	ADJ
futech-566	148	7	only	only	ADV
futech-566	148	8	.	.	PUNCT
futech-566	149	1	ai	ai	AUX
futech-566	149	2	-	-	PUNCT
futech-566	149	3	based	base	VERB
futech-566	149	4	surrogates	surrogate	NOUN
futech-566	149	5	or	or	CCONJ
futech-566	149	6	neural	neural	ADJ
futech-566	149	7	approximators	approximator	NOUN
futech-566	149	8	replace	replace	VERB
futech-566	149	9	solvers	solver	NOUN
futech-566	149	10	,	,	PUNCT
futech-566	149	11	improving	improve	VERB
futech-566	149	12	real	real	ADJ
futech-566	149	13	-	-	PUNCT
futech-566	149	14	time	time	NOUN
futech-566	149	15	efficiency	efficiency	NOUN
futech-566	149	16	.	.	PUNCT
futech-566	150	1	communication	communication	NOUN
futech-566	150	2	efficiency	efficiency	NOUN
futech-566	150	3	excellent	excellent	ADJ
futech-566	150	4	–	–	PUNCT
futech-566	150	5	triggers	trigger	NOUN
futech-566	150	6	only	only	ADV
futech-566	150	7	on	on	ADP
futech-566	150	8	events	event	NOUN
futech-566	150	9	.	.	PUNCT
futech-566	151	1	no	no	DET
futech-566	151	2	inherent	inherent	ADJ
futech-566	151	3	communication	communication	NOUN
futech-566	151	4	saving	saving	NOUN
futech-566	151	5	.	.	PUNCT
futech-566	152	1	sometimes	sometimes	ADV
futech-566	152	2	includes	include	VERB
futech-566	152	3	communicationefficient	communicationefficient	NOUN
futech-566	152	4	frameworks	framework	NOUN
futech-566	152	5	.	.	PUNCT
futech-566	153	1	ai	ai	AUX
futech-566	153	2	-	-	PUNCT
futech-566	153	3	based	base	VERB
futech-566	153	4	mpc	mpc	NOUN
futech-566	153	5	can	can	AUX
futech-566	153	6	learn	learn	VERB
futech-566	153	7	optimal	optimal	ADJ
futech-566	153	8	communication	communication	NOUN
futech-566	153	9	schedules	schedule	NOUN
futech-566	153	10	,	,	PUNCT
futech-566	153	11	combining	combine	VERB
futech-566	153	12	event	event	NOUN
futech-566	153	13	-	-	PUNCT
futech-566	153	14	triggering	trigger	VERB
futech-566	153	15	with	with	ADP
futech-566	153	16	adaptive	adaptive	ADJ
futech-566	153	17	learning	learning	NOUN
futech-566	153	18	.	.	PUNCT
futech-566	154	1	constraint	constraint	NOUN
futech-566	154	2	handling	handling	NOUN
futech-566	154	3	heuristic	heuristic	NOUN
futech-566	154	4	or	or	CCONJ
futech-566	154	5	limited	limited	ADJ
futech-566	154	6	.	.	PUNCT
futech-566	155	1	strong	strong	ADJ
futech-566	155	2	theoretical	theoretical	ADJ
futech-566	155	3	constraint	constraint	NOUN
futech-566	155	4	handling	handling	NOUN
futech-566	155	5	.	.	PUNCT
futech-566	156	1	weak	weak	ADJ
futech-566	156	2	or	or	CCONJ
futech-566	156	3	implicit	implicit	ADJ
futech-566	156	4	constraint	constraint	NOUN
futech-566	156	5	management	management	NOUN
futech-566	156	6	.	.	PUNCT
futech-566	157	1	maintains	maintain	VERB
futech-566	157	2	mpc	mpc	PROPN
futech-566	157	3	’s	’s	PART
futech-566	157	4	explicit	explicit	ADJ
futech-566	157	5	constraint	constraint	NOUN
futech-566	157	6	satisfaction	satisfaction	NOUN
futech-566	157	7	while	while	SCONJ
futech-566	157	8	learning	learn	VERB
futech-566	157	9	new	new	ADJ
futech-566	157	10	constraints	constraint	NOUN
futech-566	157	11	adaptively	adaptively	ADV
futech-566	157	12	.	.	PUNCT
futech-566	158	1	convergence	convergence	NOUN
futech-566	158	2	and	and	CCONJ
futech-566	158	3	stability	stability	NOUN
futech-566	158	4	strong	strong	ADJ
futech-566	158	5	analytical	analytical	ADJ
futech-566	158	6	guarantees	guarantee	NOUN
futech-566	158	7	under	under	ADP
futech-566	158	8	known	know	VERB
futech-566	158	9	models	model	NOUN
futech-566	158	10	.	.	PUNCT
futech-566	159	1	stable	stable	ADJ
futech-566	159	2	if	if	SCONJ
futech-566	159	3	model	model	NOUN
futech-566	159	4	is	be	AUX
futech-566	159	5	accurate	accurate	ADJ
futech-566	159	6	.	.	PUNCT
futech-566	160	1	difficult	difficult	ADJ
futech-566	160	2	to	to	PART
futech-566	160	3	guarantee	guarantee	VERB
futech-566	160	4	convergence	convergence	NOUN
futech-566	160	5	formally	formally	ADV
futech-566	160	6	.	.	PUNCT
futech-566	161	1	combines	combine	VERB
futech-566	161	2	safe	safe	ADJ
futech-566	161	3	rl	rl	NOUN
futech-566	161	4	and	and	CCONJ
futech-566	161	5	lyapunovbased	lyapunovbase	VERB
futech-566	161	6	design	design	NOUN
futech-566	161	7	for	for	ADP
futech-566	161	8	provable	provable	ADJ
futech-566	161	9	stability	stability	NOUN
futech-566	161	10	under	under	ADP
futech-566	161	11	learned	learn	VERB
futech-566	161	12	models	model	NOUN
futech-566	161	13	.	.	PUNCT
futech-566	162	1	application	application	NOUN
futech-566	162	2	scope	scope	NOUN
futech-566	162	3	suitable	suitable	ADJ
futech-566	162	4	for	for	ADP
futech-566	162	5	resourceconstrained	resourceconstraine	VERB
futech-566	162	6	or	or	CCONJ
futech-566	162	7	periodic	periodic	ADJ
futech-566	162	8	update	update	NOUN
futech-566	162	9	systems	system	NOUN
futech-566	162	10	.	.	PUNCT
futech-566	163	1	best	good	ADJ
futech-566	163	2	for	for	ADP
futech-566	163	3	structured	structured	ADJ
futech-566	163	4	and	and	CCONJ
futech-566	163	5	well	well	ADV
futech-566	163	6	-	-	PUNCT
futech-566	163	7	modeled	model	VERB
futech-566	163	8	systems	system	NOUN
futech-566	163	9	.	.	PUNCT
futech-566	164	1	effective	effective	ADJ
futech-566	164	2	for	for	ADP
futech-566	164	3	uncertain	uncertain	ADJ
futech-566	164	4	and	and	CCONJ
futech-566	164	5	nonlinear	nonlinear	ADJ
futech-566	164	6	systems	system	NOUN
futech-566	164	7	.	.	PUNCT
futech-566	165	1	unified	unified	ADJ
futech-566	165	2	approach	approach	NOUN
futech-566	165	3	—	—	PUNCT
futech-566	165	4	robust	robust	ADJ
futech-566	165	5	,	,	PUNCT
futech-566	165	6	adaptive	adaptive	ADJ
futech-566	165	7	,	,	PUNCT
futech-566	165	8	and	and	CCONJ
futech-566	165	9	safe	safe	ADJ
futech-566	165	10	;	;	PUNCT
futech-566	165	11	ideal	ideal	ADJ
futech-566	165	12	for	for	ADP
futech-566	165	13	autonomous	autonomous	ADJ
futech-566	165	14	vehicles	vehicle	NOUN
futech-566	165	15	,	,	PUNCT
futech-566	165	16	uavs	uavs	NOUN
futech-566	165	17	,	,	PUNCT
futech-566	165	18	and	and	CCONJ
futech-566	165	19	robotics	robotic	NOUN
futech-566	165	20	.	.	PUNCT
futech-566	166	1	p.	p.	NOUN
futech-566	166	2	chaubey	chaubey	NOUN
futech-566	166	3	et	et	PROPN
futech-566	166	4	al	al	PROPN
futech-566	166	5	.	.	PROPN
futech-566	166	6	/future	/future	PUNCT
futech-566	166	7	technology	technology	PROPN
futech-566	166	8	february	february	PROPN
futech-566	166	9	2026|	2026|	NUM
futech-566	166	10	volume	volume	NOUN
futech-566	166	11	05	05	NUM
futech-566	167	1	|	|	ADV
futech-566	167	2	issue	issue	NOUN
futech-566	167	3	01	01	NUM
futech-566	168	1	|	|	ADV
futech-566	168	2	pages	page	VERB
futech-566	168	3	148	148	NUM
futech-566	168	4	-	-	SYM
futech-566	168	5	158	158	NUM
futech-566	168	6	152	152	NUM
futech-566	168	7	basic	basic	ADJ
futech-566	168	8	communication	communication	NOUN
futech-566	168	9	network	network	NOUN
futech-566	168	10	of	of	ADP
futech-566	168	11	the	the	DET
futech-566	168	12	leader	leader	NOUN
futech-566	168	13	-	-	PUNCT
futech-566	168	14	follower	follower	NOUN
futech-566	168	15	agents	agent	NOUN
futech-566	168	16	,	,	PUNCT
futech-566	168	17	where	where	SCONJ
futech-566	168	18	followers	follower	NOUN
futech-566	168	19	communicate	communicate	VERB
futech-566	168	20	with	with	ADP
futech-566	168	21	other	other	ADJ
futech-566	168	22	follower	follower	NOUN
futech-566	168	23	agents	agent	NOUN
futech-566	168	24	and	and	CCONJ
futech-566	168	25	with	with	ADP
futech-566	168	26	the	the	DET
futech-566	168	27	leader	leader	NOUN
futech-566	168	28	.	.	PUNCT
futech-566	169	1	a	a	DET
futech-566	169	2	directed	direct	VERB
futech-566	169	3	graph	graph	NOUN
futech-566	169	4	is	be	AUX
futech-566	169	5	used	use	VERB
futech-566	169	6	in	in	ADP
futech-566	169	7	this	this	DET
futech-566	169	8	work	work	NOUN
futech-566	169	9	.	.	PUNCT
futech-566	170	1	switching	switch	VERB
futech-566	170	2	leader	leader	NOUN
futech-566	170	3	-	-	PUNCT
futech-566	170	4	follower	follower	NOUN
futech-566	170	5	connection	connection	NOUN
futech-566	170	6	:	:	PUNCT
futech-566	170	7	the	the	DET
futech-566	170	8	proposed	propose	VERB
futech-566	170	9	work	work	NOUN
futech-566	170	10	of	of	ADP
futech-566	170	11	neural	neural	ADJ
futech-566	170	12	network	network	NOUN
futech-566	170	13	-	-	PUNCT
futech-566	170	14	based	base	VERB
futech-566	170	15	mpc	mpc	NOUN
futech-566	170	16	works	work	VERB
futech-566	170	17	with	with	ADP
futech-566	170	18	a	a	DET
futech-566	170	19	switching	switch	VERB
futech-566	170	20	topology	topology	NOUN
futech-566	170	21	of	of	ADP
futech-566	170	22	the	the	DET
futech-566	170	23	follower	follower	NOUN
futech-566	170	24	agents	agent	NOUN
futech-566	170	25	with	with	ADP
futech-566	170	26	a	a	DET
futech-566	170	27	leader	leader	NOUN
futech-566	170	28	connection	connection	NOUN
futech-566	170	29	.	.	PUNCT
futech-566	171	1	the	the	DET
futech-566	171	2	switching	switching	NOUN
futech-566	171	3	is	be	AUX
futech-566	171	4	performed	perform	VERB
futech-566	171	5	on	on	ADP
futech-566	171	6	the	the	DET
futech-566	171	7	basis	basis	NOUN
futech-566	171	8	of	of	ADP
futech-566	171	9	the	the	DET
futech-566	171	10	switching	switch	VERB
futech-566	171	11	system	system	NOUN
futech-566	171	12	and	and	CCONJ
futech-566	171	13	the	the	DET
futech-566	171	14	laplacian	laplacian	ADJ
futech-566	171	15	matrix	matrix	NOUN
futech-566	171	16	as	as	ADP
futech-566	171	17	lii(θ(k	lii(θ(k	NOUN
futech-566	171	18	)	)	PUNCT
futech-566	171	19	)	)	PUNCT
futech-566	172	1	=	=	PUNCT
futech-566	172	2	∑	∑	PUNCT
futech-566	172	3	aij(θ(k))n	aij(θ(k))n	NOUN
futech-566	172	4	j=1,j≠i	j=1,j≠i	NOUN
futech-566	172	5	and	and	CCONJ
futech-566	172	6	lij(θ(k	lij(θ(k	NOUN
futech-566	172	7	)	)	PUNCT
futech-566	172	8	)	)	PUNCT
futech-566	173	1	=	=	SYM
futech-566	173	2	−aij(θ(k	−aij(θ(k	NOUN
futech-566	173	3	)	)	PUNCT
futech-566	173	4	)	)	PUNCT
futech-566	173	5	for	for	ADP
futech-566	173	6	j	j	PROPN
futech-566	173	7	≠	≠	PROPN
futech-566	173	8	i.	i.	NOUN
futech-566	173	9	here	here	ADV
futech-566	173	10	,	,	PUNCT
futech-566	173	11	θ(k	θ(k	ADJ
futech-566	173	12	)	)	PUNCT
futech-566	173	13	is	be	AUX
futech-566	173	14	the	the	DET
futech-566	173	15	switching	switch	VERB
futech-566	173	16	topology	topology	NOUN
futech-566	173	17	mode	mode	NOUN
futech-566	173	18	.	.	PUNCT
futech-566	174	1	this	this	DET
futech-566	174	2	switching	switching	NOUN
futech-566	174	3	is	be	AUX
futech-566	174	4	followed	follow	VERB
futech-566	174	5	by	by	ADP
futech-566	174	6	a	a	DET
futech-566	174	7	probability	probability	NOUN
futech-566	174	8	matrix	matrix	NOUN
futech-566	174	9	based	base	VERB
futech-566	174	10	on	on	ADP
futech-566	174	11	a	a	DET
futech-566	174	12	markovian	markovian	ADJ
futech-566	174	13	chain	chain	NOUN
futech-566	174	14	,	,	PUNCT
futech-566	174	15	which	which	PRON
futech-566	174	16	is	be	AUX
futech-566	174	17	available	available	ADJ
futech-566	174	18	in	in	ADP
futech-566	174	19	the	the	DET
futech-566	174	20	simulation	simulation	NOUN
futech-566	174	21	study	study	NOUN
futech-566	174	22	section	section	NOUN
futech-566	174	23	of	of	ADP
futech-566	174	24	this	this	DET
futech-566	174	25	paper	paper	NOUN
futech-566	174	26	.	.	PUNCT
futech-566	175	1	3.2	3.2	NUM
futech-566	175	2	problem	problem	NOUN
futech-566	175	3	formulation	formulation	NOUN
futech-566	175	4	each	each	DET
futech-566	175	5	agent	agent	NOUN
futech-566	175	6	is	be	AUX
futech-566	175	7	modeled	model	VERB
futech-566	175	8	with	with	ADP
futech-566	175	9	a	a	DET
futech-566	175	10	first	first	ADJ
futech-566	175	11	-	-	PUNCT
futech-566	175	12	order	order	NOUN
futech-566	175	13	integrator	integrator	NOUN
futech-566	175	14	system	system	NOUN
futech-566	175	15	for	for	ADP
futech-566	175	16	the	the	DET
futech-566	175	17	multi	multi	ADJ
futech-566	175	18	-	-	ADJ
futech-566	175	19	agent	agent	ADJ
futech-566	175	20	system	system	NOUN
futech-566	175	21	:	:	PUNCT
futech-566	175	22	ẋi(t	ẋi(t	X
futech-566	175	23	)	)	PUNCT
futech-566	175	24	=	=	SYM
futech-566	176	1	ui(t	ui(t	NOUN
futech-566	176	2	)	)	PUNCT
futech-566	176	3	(	(	PUNCT
futech-566	176	4	1	1	X
futech-566	176	5	)	)	PUNCT
futech-566	176	6	where	where	SCONJ
futech-566	176	7	xi(t	xi(t	NOUN
futech-566	176	8	)	)	PUNCT
futech-566	176	9	and	and	CCONJ
futech-566	176	10	ui(t	ui(t	NOUN
futech-566	176	11	)	)	PUNCT
futech-566	176	12	are	be	AUX
futech-566	176	13	the	the	DET
futech-566	176	14	state	state	NOUN
futech-566	176	15	and	and	CCONJ
futech-566	176	16	control	control	NOUN
futech-566	176	17	variables	variable	NOUN
futech-566	176	18	,	,	PUNCT
futech-566	176	19	respectively	respectively	ADV
futech-566	176	20	.	.	PUNCT
futech-566	177	1	the	the	DET
futech-566	177	2	consensus	consensus	NOUN
futech-566	177	3	control	control	NOUN
futech-566	177	4	input	input	NOUN
futech-566	177	5	in	in	ADP
futech-566	177	6	discretized	discretized	ADJ
futech-566	177	7	form	form	NOUN
futech-566	177	8	is	be	AUX
futech-566	177	9	defined	define	VERB
futech-566	177	10	as	as	ADP
futech-566	177	11	:	:	PUNCT
futech-566	177	12	u(k	u(k	PROPN
futech-566	177	13	)	)	PUNCT
futech-566	177	14	=	=	SYM
futech-566	177	15	(	(	PUNCT
futech-566	177	16	l(θ(k	l(θ(k	PROPN
futech-566	177	17	)	)	PUNCT
futech-566	177	18	∗kk	∗kk	PROPN
futech-566	177	19	)	)	PUNCT
futech-566	178	1	x(k	x(k	NOUN
futech-566	178	2	)	)	PUNCT
futech-566	178	3	(	(	PUNCT
futech-566	178	4	2	2	X
futech-566	178	5	)	)	PUNCT
futech-566	178	6	where	where	SCONJ
futech-566	178	7	kk	kk	PROPN
futech-566	178	8	represents	represent	VERB
futech-566	178	9	the	the	DET
futech-566	178	10	control	control	NOUN
futech-566	178	11	gain	gain	NOUN
futech-566	178	12	and	and	CCONJ
futech-566	178	13	x(k	x(k	PROPN
futech-566	178	14	)	)	PUNCT
futech-566	178	15	is	be	AUX
futech-566	178	16	the	the	DET
futech-566	178	17	collective	collective	ADJ
futech-566	178	18	state	state	NOUN
futech-566	178	19	variables	variable	NOUN
futech-566	178	20	of	of	ADP
futech-566	178	21	all	all	DET
futech-566	178	22	followers	follower	NOUN
futech-566	178	23	.	.	PUNCT
futech-566	179	1	to	to	PART
futech-566	179	2	achieve	achieve	VERB
futech-566	179	3	the	the	DET
futech-566	179	4	control	control	NOUN
futech-566	179	5	objective	objective	NOUN
futech-566	179	6	given	give	VERB
futech-566	179	7	in	in	ADP
futech-566	179	8	equation	equation	NOUN
futech-566	179	9	(	(	PUNCT
futech-566	179	10	6	6	NUM
futech-566	179	11	)	)	PUNCT
futech-566	179	12	,	,	PUNCT
futech-566	179	13	we	we	PRON
futech-566	179	14	consider	consider	VERB
futech-566	179	15	an	an	DET
futech-566	179	16	nn	nn	ADJ
futech-566	179	17	-	-	PUNCT
futech-566	179	18	mpc	mpc	NOUN
futech-566	179	19	control	control	NOUN
futech-566	179	20	strategy	strategy	NOUN
futech-566	179	21	as	as	SCONJ
futech-566	179	22	illustrated	illustrate	VERB
futech-566	179	23	in	in	ADP
futech-566	179	24	fig	fig	NOUN
futech-566	179	25	.	.	PUNCT
futech-566	180	1	1	1	X
futech-566	180	2	.	.	X
futech-566	180	3	the	the	DET
futech-566	180	4	mpc	mpc	NOUN
futech-566	180	5	layer	layer	NOUN
futech-566	180	6	predicts	predict	VERB
futech-566	180	7	system	system	NOUN
futech-566	180	8	behavior	behavior	NOUN
futech-566	180	9	and	and	CCONJ
futech-566	180	10	computes	compute	VERB
futech-566	180	11	a	a	DET
futech-566	180	12	cost	cost	NOUN
futech-566	180	13	function	function	NOUN
futech-566	180	14	,	,	PUNCT
futech-566	180	15	while	while	SCONJ
futech-566	180	16	the	the	DET
futech-566	180	17	nn	nn	PROPN
futech-566	180	18	layer	layer	NOUN
futech-566	180	19	learns	learn	VERB
futech-566	180	20	to	to	PART
futech-566	180	21	optimize	optimize	VERB
futech-566	180	22	the	the	DET
futech-566	180	23	cost	cost	NOUN
futech-566	180	24	by	by	ADP
futech-566	180	25	adjusting	adjust	VERB
futech-566	180	26	kk	kk	PROPN
futech-566	180	27	using	use	VERB
futech-566	180	28	inputs	input	NOUN
futech-566	180	29	x(k	x(k	NOUN
futech-566	180	30	)	)	PUNCT
futech-566	180	31	and	and	CCONJ
futech-566	180	32	θ(k	θ(k	ADJ
futech-566	180	33	)	)	PUNCT
futech-566	180	34	.	.	PUNCT
futech-566	181	1	in	in	ADP
futech-566	181	2	a	a	DET
futech-566	181	3	more	more	ADV
futech-566	181	4	general	general	ADJ
futech-566	181	5	setting	setting	NOUN
futech-566	181	6	,	,	PUNCT
futech-566	181	7	the	the	DET
futech-566	181	8	agent	agent	NOUN
futech-566	181	9	dynamics	dynamic	NOUN
futech-566	181	10	can	can	AUX
futech-566	181	11	include	include	VERB
futech-566	181	12	non	non	ADJ
futech-566	181	13	-	-	ADJ
futech-566	181	14	linearity	linearity	ADJ
futech-566	181	15	and	and	CCONJ
futech-566	181	16	unknown	unknown	ADJ
futech-566	181	17	disturbance	disturbance	NOUN
futech-566	181	18	:	:	PUNCT
futech-566	181	19	ẋi(t	ẋi(t	X
futech-566	181	20	)	)	PUNCT
futech-566	181	21	=	=	SYM
futech-566	181	22	axi(t	axi(t	PROPN
futech-566	181	23	)	)	PUNCT
futech-566	182	1	+	+	ADJ
futech-566	182	2	bui(t	bui(t	X
futech-566	182	3	)	)	PUNCT
futech-566	183	1	+	+	NUM
futech-566	183	2	f	f	X
futech-566	183	3	(	(	PUNCT
futech-566	183	4	t	t	PROPN
futech-566	183	5	,	,	PUNCT
futech-566	183	6	xi(t	xi(t	NOUN
futech-566	183	7	)	)	PUNCT
futech-566	183	8	)	)	PUNCT
futech-566	184	1	+	+	CCONJ
futech-566	184	2	bd	bd	PROPN
futech-566	184	3	di(t	di(t	NOUN
futech-566	184	4	)	)	PUNCT
futech-566	184	5	(	(	PUNCT
futech-566	184	6	3	3	X
futech-566	184	7	)	)	PUNCT
futech-566	184	8	where	where	SCONJ
futech-566	184	9	f	f	PROPN
futech-566	184	10	(	(	PUNCT
futech-566	184	11	t	t	PROPN
futech-566	184	12	,	,	PUNCT
futech-566	184	13	xi(t	xi(t	NUM
futech-566	184	14	)	)	PUNCT
futech-566	184	15	)	)	PUNCT
futech-566	184	16	models	model	NOUN
futech-566	184	17	nonlinear	nonlinear	ADJ
futech-566	184	18	internal	internal	ADJ
futech-566	184	19	dynamics	dynamic	NOUN
futech-566	184	20	.	.	PUNCT
futech-566	185	1	the	the	DET
futech-566	185	2	proposed	propose	VERB
futech-566	185	3	approach	approach	NOUN
futech-566	185	4	is	be	AUX
futech-566	185	5	simulated	simulate	VERB
futech-566	185	6	using	use	VERB
futech-566	185	7	matlab	matlab	PROPN
futech-566	185	8	2022	2022	NUM
futech-566	185	9	,	,	PUNCT
futech-566	185	10	and	and	CCONJ
futech-566	185	11	the	the	DET
futech-566	185	12	performance	performance	NOUN
futech-566	185	13	is	be	AUX
futech-566	185	14	analyzed	analyze	VERB
futech-566	185	15	for	for	ADP
futech-566	185	16	various	various	ADJ
futech-566	185	17	nn	nn	X
futech-566	185	18	training	training	NOUN
futech-566	185	19	algorithms	algorithm	NOUN
futech-566	185	20	to	to	PART
futech-566	185	21	achieve	achieve	VERB
futech-566	185	22	consensus	consensus	NOUN
futech-566	185	23	in	in	ADP
futech-566	185	24	a	a	DET
futech-566	185	25	fleet	fleet	NOUN
futech-566	185	26	of	of	ADP
futech-566	185	27	quadrotors	quadrotor	NOUN
futech-566	185	28	[	[	X
futech-566	185	29	32	32	NUM
futech-566	185	30	]	]	PUNCT
futech-566	185	31	.	.	PUNCT
futech-566	186	1	figure	figure	NOUN
futech-566	186	2	1	1	NUM
futech-566	186	3	.	.	PUNCT
futech-566	186	4	block	block	NOUN
futech-566	186	5	diagram	diagram	NOUN
futech-566	186	6	of	of	ADP
futech-566	186	7	nn	nn	X
futech-566	186	8	-	-	PUNCT
futech-566	186	9	based	base	VERB
futech-566	186	10	mpc	mpc	NOUN
futech-566	186	11	for	for	ADP
futech-566	186	12	multi	multi	ADJ
futech-566	186	13	-	-	ADJ
futech-566	186	14	agent	agent	ADJ
futech-566	186	15	systems	system	NOUN
futech-566	186	16	this	this	DET
futech-566	186	17	section	section	NOUN
futech-566	186	18	outlines	outline	VERB
futech-566	186	19	the	the	DET
futech-566	186	20	integration	integration	NOUN
futech-566	186	21	of	of	ADP
futech-566	186	22	prediction	prediction	NOUN
futech-566	186	23	with	with	ADP
futech-566	186	24	mpc	mpc	NOUN
futech-566	186	25	and	and	CCONJ
futech-566	186	26	optimization	optimization	NOUN
futech-566	186	27	using	use	VERB
futech-566	186	28	a	a	DET
futech-566	186	29	neural	neural	ADJ
futech-566	186	30	network	network	NOUN
futech-566	186	31	for	for	ADP
futech-566	186	32	achieving	achieve	VERB
futech-566	186	33	consensus	consensus	NOUN
futech-566	186	34	in	in	ADP
futech-566	186	35	the	the	DET
futech-566	186	36	quadrotor	quadrotor	PROPN
futech-566	186	37	fleet	fleet	PROPN
futech-566	186	38	multi	multi	ADJ
futech-566	186	39	-	-	ADJ
futech-566	186	40	agent	agent	ADJ
futech-566	186	41	system	system	NOUN
futech-566	186	42	as	as	SCONJ
futech-566	186	43	proposed	propose	VERB
futech-566	186	44	in	in	ADP
futech-566	186	45	reference	reference	NOUN
futech-566	187	1	[	[	X
futech-566	187	2	16	16	NUM
futech-566	187	3	]	]	PUNCT
futech-566	187	4	.	.	PUNCT
futech-566	188	1	consider	consider	VERB
futech-566	188	2	the	the	DET
futech-566	188	3	first	first	ADJ
futech-566	188	4	-	-	PUNCT
futech-566	188	5	order	order	NOUN
futech-566	188	6	multiagent	multiagent	NOUN
futech-566	188	7	system	system	NOUN
futech-566	188	8	as	as	SCONJ
futech-566	188	9	given	give	VERB
futech-566	188	10	in	in	ADP
futech-566	188	11	equation	equation	NOUN
futech-566	188	12	(	(	PUNCT
futech-566	188	13	1	1	NUM
futech-566	188	14	)	)	PUNCT
futech-566	188	15	,	,	PUNCT
futech-566	188	16	the	the	DET
futech-566	188	17	objective	objective	NOUN
futech-566	188	18	of	of	ADP
futech-566	188	19	the	the	DET
futech-566	188	20	follower	follower	NOUN
futech-566	188	21	agent	agent	NOUN
futech-566	188	22	is	be	AUX
futech-566	188	23	to	to	PART
futech-566	188	24	track	track	VERB
futech-566	188	25	the	the	DET
futech-566	188	26	leader	leader	NOUN
futech-566	188	27	state	state	NOUN
futech-566	188	28	position	position	NOUN
futech-566	188	29	.	.	PUNCT
futech-566	189	1	the	the	DET
futech-566	189	2	consensus	consensus	NOUN
futech-566	189	3	is	be	AUX
futech-566	189	4	shown	show	VERB
futech-566	189	5	as	as	ADP
futech-566	189	6	an	an	DET
futech-566	189	7	error	error	NOUN
futech-566	189	8	between	between	ADP
futech-566	189	9	the	the	DET
futech-566	189	10	ith	ith	PROPN
futech-566	189	11	follower	follower	NOUN
futech-566	189	12	and	and	CCONJ
futech-566	189	13	the	the	DET
futech-566	189	14	leader	leader	NOUN
futech-566	189	15	agent	agent	NOUN
futech-566	189	16	state	state	NOUN
futech-566	189	17	variable	variable	NOUN
futech-566	189	18	:	:	PUNCT
futech-566	189	19	e(k	e(k	NOUN
futech-566	189	20	)	)	PUNCT
futech-566	189	21	=	=	SYM
futech-566	190	1	xi(k	xi(k	NUM
futech-566	190	2	)	)	PUNCT
futech-566	191	1	−	−	PROPN
futech-566	192	1	x0(k	x0(k	NUM
futech-566	192	2	)	)	PUNCT
futech-566	192	3	(	(	PUNCT
futech-566	192	4	4	4	X
futech-566	192	5	)	)	PUNCT
futech-566	192	6	where	where	SCONJ
futech-566	192	7	xi(k	xi(k	NUM
futech-566	192	8	)	)	PUNCT
futech-566	192	9	and	and	CCONJ
futech-566	192	10	x0(k	x0(k	NUM
futech-566	192	11	)	)	PUNCT
futech-566	192	12	are	be	AUX
futech-566	192	13	the	the	DET
futech-566	192	14	state	state	NOUN
futech-566	192	15	variables	variable	NOUN
futech-566	192	16	of	of	ADP
futech-566	192	17	the	the	DET
futech-566	192	18	ith	ith	PROPN
futech-566	192	19	follower	follower	NOUN
futech-566	192	20	and	and	CCONJ
futech-566	192	21	leader	leader	NOUN
futech-566	192	22	agent	agent	NOUN
futech-566	192	23	.	.	PUNCT
futech-566	193	1	to	to	PART
futech-566	193	2	guide	guide	VERB
futech-566	193	3	the	the	DET
futech-566	193	4	system	system	NOUN
futech-566	193	5	towards	towards	ADP
futech-566	193	6	the	the	DET
futech-566	193	7	consensus	consensus	NOUN
futech-566	193	8	,	,	PUNCT
futech-566	193	9	we	we	PRON
futech-566	193	10	define	define	VERB
futech-566	193	11	a	a	DET
futech-566	193	12	quadratic	quadratic	ADJ
futech-566	193	13	cost	cost	NOUN
futech-566	193	14	function	function	NOUN
futech-566	193	15	associated	associate	VERB
futech-566	193	16	with	with	ADP
futech-566	193	17	the	the	DET
futech-566	193	18	error	error	NOUN
futech-566	193	19	state	state	NOUN
futech-566	193	20	:	:	PUNCT
futech-566	193	21	v	v	X
futech-566	193	22	(	(	PUNCT
futech-566	193	23	e(t	e(t	NOUN
futech-566	193	24	)	)	PUNCT
futech-566	193	25	,	,	PUNCT
futech-566	193	26	θ(t	θ(t	PROPN
futech-566	193	27	)	)	PUNCT
futech-566	193	28	)	)	PUNCT
futech-566	193	29	=	=	SYM
futech-566	193	30	et(t)pp	et(t)pp	ADJ
futech-566	193	31	e(t	e(t	NOUN
futech-566	193	32	)	)	PUNCT
futech-566	193	33	,	,	PUNCT
futech-566	193	34	(	(	PUNCT
futech-566	193	35	5	5	X
futech-566	193	36	)	)	PUNCT
futech-566	193	37	the	the	DET
futech-566	193	38	predicted	predict	VERB
futech-566	193	39	cost	cost	NOUN
futech-566	193	40	function	function	NOUN
futech-566	193	41	is	be	AUX
futech-566	193	42	given	give	VERB
futech-566	193	43	by	by	ADP
futech-566	193	44	j(e(k	j(e(k	NOUN
futech-566	193	45	)	)	PUNCT
futech-566	193	46	=	=	PUNCT
futech-566	194	1	∑	∑	PUNCT
futech-566	194	2	𝐸k|k	𝐸k|k	PROPN
futech-566	195	1	[	[	X
futech-566	195	2	v	v	X
futech-566	195	3	(	(	PUNCT
futech-566	195	4	e(t	e(t	NOUN
futech-566	195	5	)	)	PUNCT
futech-566	195	6	,	,	PUNCT
futech-566	195	7	θ(t))]𝐾+ℎ+1	θ(t))]𝐾+ℎ+1	PROPN
futech-566	195	8	𝑡=𝑘+1	𝑡=𝑘+1	NOUN
futech-566	195	9	(	(	PUNCT
futech-566	195	10	6	6	NUM
futech-566	195	11	)	)	PUNCT
futech-566	195	12	where	where	SCONJ
futech-566	195	13	j(e(k	j(e(k	NOUN
futech-566	195	14	)	)	PUNCT
futech-566	195	15	is	be	AUX
futech-566	195	16	the	the	DET
futech-566	195	17	predicted	predict	VERB
futech-566	195	18	cost	cost	NOUN
futech-566	195	19	function	function	NOUN
futech-566	195	20	over	over	ADP
futech-566	195	21	a	a	DET
futech-566	195	22	future	future	ADJ
futech-566	195	23	horizon	horizon	NOUN
futech-566	195	24	h.	h.	NOUN
futech-566	195	25	to	to	PART
futech-566	195	26	minimize	minimize	VERB
futech-566	195	27	this	this	DET
futech-566	195	28	cost	cost	NOUN
futech-566	195	29	,	,	PUNCT
futech-566	195	30	the	the	DET
futech-566	195	31	optimal	optimal	ADJ
futech-566	195	32	control	control	NOUN
futech-566	195	33	input	input	NOUN
futech-566	195	34	gain	gain	NOUN
futech-566	195	35	is	be	AUX
futech-566	195	36	computed	compute	VERB
futech-566	195	37	by	by	ADP
futech-566	195	38	:	:	PUNCT
futech-566	195	39	kk	kk	X
futech-566	195	40	=	=	PUNCT
futech-566	195	41	arg	arg	NOUN
futech-566	195	42	min	min	PROPN
futech-566	195	43	kk	kk	PROPN
futech-566	195	44	,	,	PUNCT
futech-566	195	45	,	,	PUNCT
futech-566	195	46	…	…	PUNCT
futech-566	195	47	.	.	PUNCT
futech-566	196	1	kk+h	kk+h	ADJ
futech-566	196	2	j(e(k	j(e(k	PROPN
futech-566	196	3	)	)	PUNCT
futech-566	196	4	)	)	PUNCT
futech-566	197	1	(	(	PUNCT
futech-566	197	2	7	7	X
futech-566	197	3	)	)	PUNCT
futech-566	197	4	where	where	SCONJ
futech-566	197	5	kk	kk	PROPN
futech-566	197	6	is	be	AUX
futech-566	197	7	the	the	DET
futech-566	197	8	optimal	optimal	ADJ
futech-566	197	9	control	control	NOUN
futech-566	197	10	gain	gain	NOUN
futech-566	197	11	for	for	ADP
futech-566	197	12	the	the	DET
futech-566	197	13	optimization	optimization	NOUN
futech-566	197	14	function	function	NOUN
futech-566	197	15	j(e(k	j(e(k	NOUN
futech-566	197	16	)	)	PUNCT
futech-566	197	17	)	)	PUNCT
futech-566	197	18	.	.	PUNCT
futech-566	198	1	this	this	DET
futech-566	198	2	optimization	optimization	NOUN
futech-566	198	3	is	be	AUX
futech-566	198	4	handled	handle	VERB
futech-566	198	5	by	by	ADP
futech-566	198	6	an	an	DET
futech-566	198	7	nn	nn	PROPN
futech-566	198	8	-	-	PUNCT
futech-566	198	9	based	base	VERB
futech-566	198	10	learning	learning	NOUN
futech-566	198	11	mechanism	mechanism	NOUN
futech-566	198	12	that	that	PRON
futech-566	198	13	updates	update	VERB
futech-566	198	14	the	the	DET
futech-566	198	15	gain	gain	NOUN
futech-566	198	16	kk	kk	X
futech-566	198	17	by	by	ADP
futech-566	198	18	training	train	VERB
futech-566	198	19	the	the	DET
futech-566	198	20	network	network	NOUN
futech-566	198	21	to	to	PART
futech-566	198	22	reduce	reduce	VERB
futech-566	198	23	the	the	DET
futech-566	198	24	predicted	predict	VERB
futech-566	198	25	cost	cost	NOUN
futech-566	198	26	j(e(k	j(e(k	NOUN
futech-566	198	27	)	)	PUNCT
futech-566	198	28	)	)	PUNCT
futech-566	198	29	over	over	ADP
futech-566	198	30	iterations	iteration	NOUN
futech-566	198	31	.	.	PUNCT
futech-566	199	1	this	this	DET
futech-566	199	2	combined	combine	VERB
futech-566	199	3	nn	nn	PROPN
futech-566	199	4	-	-	PUNCT
futech-566	199	5	mpc	mpc	NOUN
futech-566	199	6	framework	framework	NOUN
futech-566	199	7	enables	enable	VERB
futech-566	199	8	the	the	DET
futech-566	199	9	multi	multi	ADJ
futech-566	199	10	-	-	ADJ
futech-566	199	11	agent	agent	ADJ
futech-566	199	12	system	system	NOUN
futech-566	199	13	to	to	PART
futech-566	199	14	reach	reach	VERB
futech-566	199	15	consensus	consensus	NOUN
futech-566	199	16	effectively	effectively	ADV
futech-566	199	17	in	in	ADP
futech-566	199	18	the	the	DET
futech-566	199	19	dynamic	dynamic	ADJ
futech-566	199	20	network	network	NOUN
futech-566	199	21	environment	environment	NOUN
futech-566	199	22	.	.	PUNCT
futech-566	200	1	p.	p.	NOUN
futech-566	200	2	chaubey	chaubey	NOUN
futech-566	200	3	et	et	PROPN
futech-566	200	4	al	al	PROPN
futech-566	200	5	.	.	PROPN
futech-566	200	6	/future	/future	PUNCT
futech-566	200	7	technology	technology	PROPN
futech-566	200	8	february	february	PROPN
futech-566	200	9	2026|	2026|	NUM
futech-566	200	10	volume	volume	NOUN
futech-566	200	11	05	05	NUM
futech-566	201	1	|	|	ADV
futech-566	201	2	issue	issue	NOUN
futech-566	201	3	01	01	NUM
futech-566	202	1	|	|	ADV
futech-566	202	2	pages	page	VERB
futech-566	202	3	148	148	NUM
futech-566	202	4	-	-	SYM
futech-566	202	5	158	158	NUM
futech-566	202	6	153	153	NUM
futech-566	202	7	3.3	3.3	NUM
futech-566	202	8	neural	neural	ADJ
futech-566	202	9	network	network	NOUN
futech-566	202	10	architectures	architecture	NOUN
futech-566	202	11	for	for	ADP
futech-566	202	12	nn	nn	NOUN
futech-566	202	13	training	training	NOUN
futech-566	202	14	this	this	DET
futech-566	202	15	section	section	NOUN
futech-566	202	16	describes	describe	VERB
futech-566	202	17	various	various	ADJ
futech-566	202	18	neural	neural	ADJ
futech-566	202	19	network	network	NOUN
futech-566	202	20	architectures	architecture	NOUN
futech-566	202	21	used	use	VERB
futech-566	202	22	for	for	ADP
futech-566	202	23	training	training	NOUN
futech-566	202	24	are	be	AUX
futech-566	202	25	explained	explain	VERB
futech-566	202	26	in	in	ADP
futech-566	202	27	this	this	DET
futech-566	202	28	section	section	NOUN
futech-566	202	29	.	.	PUNCT
futech-566	203	1	the	the	DET
futech-566	203	2	basic	basic	ADJ
futech-566	203	3	training	training	NOUN
futech-566	203	4	function	function	NOUN
futech-566	203	5	used	use	VERB
futech-566	203	6	in	in	ADP
futech-566	203	7	each	each	DET
futech-566	203	8	architecture	architecture	NOUN
futech-566	203	9	is	be	AUX
futech-566	203	10	levenberg	levenberg	PROPN
futech-566	203	11	-	-	PUNCT
futech-566	203	12	marquardt	marquardt	PROPN
futech-566	203	13	.	.	PUNCT
futech-566	204	1	the	the	DET
futech-566	204	2	l	l	PROPN
futech-566	204	3	-	-	NOUN
futech-566	204	4	m	m	NOUN
futech-566	204	5	training	training	NOUN
futech-566	204	6	algorithm	algorithm	NOUN
futech-566	204	7	uses	use	VERB
futech-566	204	8	a	a	DET
futech-566	204	9	second	second	ADJ
futech-566	204	10	-	-	PUNCT
futech-566	204	11	order	order	NOUN
futech-566	204	12	approximation	approximation	NOUN
futech-566	204	13	for	for	ADP
futech-566	204	14	the	the	DET
futech-566	204	15	performance	performance	NOUN
futech-566	204	16	evaluation	evaluation	NOUN
futech-566	204	17	as	as	ADP
futech-566	204	18	a	a	DET
futech-566	204	19	sum	sum	NOUN
futech-566	204	20	of	of	ADP
futech-566	204	21	squares	square	NOUN
futech-566	204	22	instead	instead	ADV
futech-566	204	23	of	of	ADP
futech-566	204	24	computing	compute	VERB
futech-566	204	25	the	the	DET
futech-566	204	26	actual	actual	ADJ
futech-566	204	27	hessian	hessian	ADJ
futech-566	204	28	matrix	matrix	NOUN
futech-566	204	29	.	.	PUNCT
futech-566	205	1	figure	figure	NOUN
futech-566	205	2	2	2	NUM
futech-566	205	3	shows	show	VERB
futech-566	205	4	the	the	DET
futech-566	205	5	architecture	architecture	NOUN
futech-566	205	6	of	of	ADP
futech-566	205	7	the	the	DET
futech-566	205	8	fit	fit	ADJ
futech-566	205	9	net	net	ADJ
futech-566	205	10	neural	neural	ADJ
futech-566	205	11	network	network	NOUN
futech-566	205	12	.	.	PUNCT
futech-566	206	1	this	this	PRON
futech-566	206	2	is	be	AUX
futech-566	206	3	the	the	DET
futech-566	206	4	basic	basic	ADJ
futech-566	206	5	network	network	NOUN
futech-566	206	6	with	with	ADP
futech-566	206	7	one	one	NUM
futech-566	206	8	hidden	hide	VERB
futech-566	206	9	layer	layer	NOUN
futech-566	206	10	[	[	X
futech-566	206	11	27	27	NUM
futech-566	206	12	]	]	PUNCT
futech-566	206	13	.	.	PUNCT
futech-566	207	1	it	it	PRON
futech-566	207	2	finds	find	VERB
futech-566	207	3	application	application	NOUN
futech-566	207	4	in	in	ADP
futech-566	207	5	problems	problem	NOUN
futech-566	207	6	involving	involve	VERB
futech-566	207	7	function	function	NOUN
futech-566	207	8	approximation	approximation	NOUN
futech-566	207	9	and	and	CCONJ
futech-566	207	10	regression	regression	NOUN
futech-566	207	11	analysis	analysis	NOUN
futech-566	207	12	.	.	PUNCT
futech-566	208	1	the	the	DET
futech-566	208	2	output	output	NOUN
futech-566	208	3	equation	equation	NOUN
futech-566	208	4	of	of	ADP
futech-566	208	5	the	the	DET
futech-566	208	6	fit	fit	ADJ
futech-566	208	7	net	net	ADJ
futech-566	208	8	architecture	architecture	NOUN
futech-566	208	9	is	be	AUX
futech-566	208	10	given	give	VERB
futech-566	208	11	by	by	ADP
futech-566	208	12	:	:	PUNCT
futech-566	208	13	j	j	PROPN
futech-566	208	14	=	=	SYM
futech-566	208	15	y	y	PROPN
futech-566	208	16	=	=	SYM
futech-566	208	17	f	f	PROPN
futech-566	208	18	(	(	PUNCT
futech-566	208	19	w2	w2	NOUN
futech-566	208	20	·	·	PUNCT
futech-566	208	21	f	f	PROPN
futech-566	208	22	(	(	PUNCT
futech-566	208	23	w1.x	w1.x	NOUN
futech-566	208	24	+	+	CCONJ
futech-566	208	25	b1	b1	NOUN
futech-566	208	26	)	)	PUNCT
futech-566	208	27	+	+	NUM
futech-566	208	28	b2	b2	NOUN
futech-566	208	29	)	)	PUNCT
futech-566	208	30	(	(	PUNCT
futech-566	208	31	8)	8)	NUM
futech-566	208	32	j	j	NOUN
futech-566	209	1	=	=	SYM
futech-566	209	2	y	y	PROPN
futech-566	209	3	is	be	AUX
futech-566	209	4	the	the	DET
futech-566	209	5	optimized	optimize	VERB
futech-566	209	6	output	output	NOUN
futech-566	209	7	from	from	ADP
futech-566	209	8	the	the	DET
futech-566	209	9	trained	train	VERB
futech-566	209	10	network	network	NOUN
futech-566	209	11	,	,	PUNCT
futech-566	209	12	where	where	SCONJ
futech-566	209	13	the	the	DET
futech-566	209	14	network	network	NOUN
futech-566	209	15	is	be	AUX
futech-566	209	16	trained	train	VERB
futech-566	209	17	by	by	ADP
futech-566	209	18	adjusting	adjust	VERB
futech-566	209	19	the	the	DET
futech-566	209	20	weight	weight	NOUN
futech-566	209	21	matrices	matrix	NOUN
futech-566	209	22	w1	w1	NOUN
futech-566	209	23	and	and	CCONJ
futech-566	209	24	w2	w2	NOUN
futech-566	209	25	during	during	ADP
futech-566	209	26	the	the	DET
futech-566	209	27	training	training	NOUN
futech-566	209	28	.	.	PUNCT
futech-566	210	1	here	here	ADV
futech-566	210	2	,	,	PUNCT
futech-566	210	3	the	the	DET
futech-566	210	4	sigmoid	sigmoid	NOUN
futech-566	210	5	activation	activation	NOUN
futech-566	210	6	function	function	NOUN
futech-566	210	7	f	f	X
futech-566	210	8	(	(	PUNCT
futech-566	210	9	.	.	PUNCT
futech-566	210	10	)	)	PUNCT
futech-566	210	11	is	be	AUX
futech-566	210	12	used	use	VERB
futech-566	210	13	for	for	ADP
futech-566	210	14	training	train	VERB
futech-566	210	15	the	the	DET
futech-566	210	16	weighted	weight	VERB
futech-566	210	17	inputs	input	NOUN
futech-566	210	18	,	,	PUNCT
futech-566	210	19	whereas	whereas	SCONJ
futech-566	210	20	b1	b1	NOUN
futech-566	210	21	and	and	CCONJ
futech-566	210	22	b2	b2	NOUN
futech-566	210	23	are	be	AUX
futech-566	210	24	the	the	DET
futech-566	210	25	bias	bias	NOUN
futech-566	210	26	vectors	vector	NOUN
futech-566	210	27	.	.	PUNCT
futech-566	211	1	the	the	DET
futech-566	211	2	node	node	ADJ
futech-566	211	3	h	h	NOUN
futech-566	211	4	is	be	AUX
futech-566	211	5	a	a	DET
futech-566	211	6	neuron	neuron	NOUN
futech-566	211	7	layer	layer	NOUN
futech-566	211	8	between	between	ADP
futech-566	211	9	input	input	NOUN
futech-566	211	10	x	x	PUNCT
futech-566	211	11	and	and	CCONJ
futech-566	211	12	output	output	NOUN
futech-566	211	13	y	y	PROPN
futech-566	211	14	where	where	SCONJ
futech-566	211	15	input	input	NOUN
futech-566	211	16	weights	weight	NOUN
futech-566	211	17	are	be	AUX
futech-566	211	18	adjusted	adjust	VERB
futech-566	211	19	for	for	ADP
futech-566	211	20	the	the	DET
futech-566	211	21	network	network	NOUN
futech-566	211	22	during	during	ADP
futech-566	211	23	training	training	NOUN
futech-566	211	24	.	.	PUNCT
futech-566	212	1	once	once	SCONJ
futech-566	212	2	the	the	DET
futech-566	212	3	training	training	NOUN
futech-566	212	4	is	be	AUX
futech-566	212	5	completed	complete	VERB
futech-566	212	6	,	,	PUNCT
futech-566	212	7	the	the	DET
futech-566	212	8	inputs	input	NOUN
futech-566	212	9	are	be	AUX
futech-566	212	10	applied	apply	VERB
futech-566	212	11	to	to	ADP
futech-566	212	12	the	the	DET
futech-566	212	13	network	network	NOUN
futech-566	212	14	and	and	CCONJ
futech-566	212	15	an	an	DET
futech-566	212	16	optimal	optimal	ADJ
futech-566	212	17	solution	solution	NOUN
futech-566	212	18	y	y	PROPN
futech-566	212	19	is	be	AUX
futech-566	212	20	obtained	obtain	VERB
futech-566	212	21	,	,	PUNCT
futech-566	212	22	which	which	PRON
futech-566	212	23	is	be	AUX
futech-566	212	24	the	the	DET
futech-566	212	25	minimum	minimum	NOUN
futech-566	212	26	of	of	ADP
futech-566	212	27	errors	error	NOUN
futech-566	212	28	of	of	ADP
futech-566	212	29	the	the	DET
futech-566	212	30	state	state	NOUN
futech-566	212	31	matrices	matrix	NOUN
futech-566	212	32	between	between	ADP
futech-566	212	33	the	the	DET
futech-566	212	34	leader	leader	NOUN
futech-566	212	35	and	and	CCONJ
futech-566	212	36	follower	follower	NOUN
futech-566	212	37	states	state	NOUN
futech-566	212	38	.	.	PUNCT
futech-566	213	1	the	the	DET
futech-566	213	2	same	same	ADJ
futech-566	213	3	is	be	AUX
futech-566	213	4	applied	apply	VERB
futech-566	213	5	as	as	ADP
futech-566	213	6	control	control	NOUN
futech-566	213	7	gain	gain	NOUN
futech-566	213	8	kk	kk	PROPN
futech-566	213	9	according	accord	VERB
futech-566	213	10	to	to	ADP
futech-566	213	11	equation	equation	NOUN
futech-566	213	12	(	(	PUNCT
futech-566	213	13	7	7	NUM
futech-566	213	14	)	)	PUNCT
futech-566	213	15	to	to	ADP
futech-566	213	16	the	the	DET
futech-566	213	17	control	control	NOUN
futech-566	213	18	gain	gain	NOUN
futech-566	213	19	matrix	matrix	NOUN
futech-566	213	20	given	give	VERB
futech-566	213	21	by	by	ADP
futech-566	213	22	equation	equation	NOUN
futech-566	213	23	(	(	PUNCT
futech-566	213	24	2	2	NUM
futech-566	213	25	)	)	PUNCT
futech-566	213	26	,	,	PUNCT
futech-566	213	27	which	which	PRON
futech-566	213	28	further	far	ADV
futech-566	213	29	updates	update	VERB
futech-566	213	30	the	the	DET
futech-566	213	31	state	state	NOUN
futech-566	213	32	given	give	VERB
futech-566	213	33	by	by	ADP
futech-566	213	34	the	the	DET
futech-566	213	35	system	system	NOUN
futech-566	213	36	model	model	NOUN
futech-566	213	37	equation	equation	NOUN
futech-566	213	38	(	(	PUNCT
futech-566	213	39	1	1	X
futech-566	213	40	)	)	PUNCT
futech-566	213	41	at	at	ADP
futech-566	213	42	each	each	DET
futech-566	213	43	iteration	iteration	NOUN
futech-566	213	44	,	,	PUNCT
futech-566	213	45	and	and	CCONJ
futech-566	213	46	the	the	DET
futech-566	213	47	process	process	NOUN
futech-566	213	48	repeats	repeat	VERB
futech-566	213	49	until	until	SCONJ
futech-566	213	50	consensus	consensus	NOUN
futech-566	213	51	is	be	AUX
futech-566	213	52	achieved	achieve	VERB
futech-566	213	53	.	.	PUNCT
futech-566	214	1	figure	figure	NOUN
futech-566	214	2	3	3	NUM
futech-566	214	3	shows	show	VERB
futech-566	214	4	the	the	DET
futech-566	214	5	architecture	architecture	NOUN
futech-566	214	6	of	of	ADP
futech-566	214	7	a	a	DET
futech-566	214	8	feedforward	feedforward	ADJ
futech-566	214	9	neural	neural	ADJ
futech-566	214	10	network	network	NOUN
futech-566	214	11	.	.	PUNCT
futech-566	215	1	this	this	DET
futech-566	215	2	network	network	NOUN
futech-566	215	3	includes	include	VERB
futech-566	215	4	two	two	NUM
futech-566	215	5	or	or	CCONJ
futech-566	215	6	more	more	ADV
futech-566	215	7	hidden	hidden	ADJ
futech-566	215	8	layers	layer	NOUN
futech-566	215	9	[	[	X
futech-566	215	10	27	27	NUM
futech-566	215	11	]	]	PUNCT
futech-566	215	12	,	,	PUNCT
futech-566	215	13	useful	useful	ADJ
futech-566	215	14	for	for	ADP
futech-566	215	15	learning	learn	VERB
futech-566	215	16	complex	complex	ADJ
futech-566	215	17	features	feature	NOUN
futech-566	215	18	.	.	PUNCT
futech-566	216	1	the	the	DET
futech-566	216	2	output	output	NOUN
futech-566	216	3	equation	equation	NOUN
futech-566	216	4	of	of	ADP
futech-566	216	5	the	the	DET
futech-566	216	6	feedforward	feedforward	NOUN
futech-566	216	7	network	network	NOUN
futech-566	216	8	architecture	architecture	NOUN
futech-566	216	9	is	be	AUX
futech-566	216	10	given	give	VERB
futech-566	216	11	by	by	ADP
futech-566	216	12	:	:	PUNCT
futech-566	216	13	j	j	PROPN
futech-566	216	14	=	=	SYM
futech-566	216	15	y	y	PROPN
futech-566	216	16	=	=	SYM
futech-566	216	17	f	f	PROPN
futech-566	216	18	(	(	PUNCT
futech-566	216	19	w3	w3	PROPN
futech-566	216	20	·	·	PUNCT
futech-566	216	21	f	f	PROPN
futech-566	216	22	(	(	PUNCT
futech-566	216	23	w2	w2	NOUN
futech-566	216	24	·	·	PUNCT
futech-566	216	25	f	f	PROPN
futech-566	216	26	(	(	PUNCT
futech-566	216	27	w1.x	w1.x	NOUN
futech-566	216	28	+	+	CCONJ
futech-566	216	29	b1	b1	NOUN
futech-566	216	30	)	)	PUNCT
futech-566	216	31	+	+	NUM
futech-566	216	32	b2	b2	NOUN
futech-566	216	33	)	)	PUNCT
futech-566	216	34	+	+	SYM
futech-566	216	35	b3	b3	NOUN
futech-566	216	36	)	)	PUNCT
futech-566	216	37	(	(	PUNCT
futech-566	216	38	9	9	X
futech-566	216	39	)	)	PUNCT
futech-566	216	40	figure	figure	NOUN
futech-566	216	41	2	2	NUM
futech-566	216	42	.	.	PUNCT
futech-566	216	43	architecture	architecture	NOUN
futech-566	216	44	of	of	ADP
futech-566	216	45	the	the	DET
futech-566	216	46	fit	fit	ADJ
futech-566	216	47	net	net	ADJ
futech-566	216	48	neural	neural	ADJ
futech-566	216	49	network	network	NOUN
futech-566	216	50	training	training	NOUN
futech-566	216	51	set	set	NOUN
futech-566	216	52	figure	figure	NOUN
futech-566	216	53	3	3	NUM
futech-566	216	54	.	.	PUNCT
futech-566	216	55	architecture	architecture	NOUN
futech-566	216	56	of	of	ADP
futech-566	216	57	feedforward	feedforward	ADJ
futech-566	216	58	neural	neural	ADJ
futech-566	216	59	network	network	NOUN
futech-566	216	60	training	training	NOUN
futech-566	216	61	set	set	VERB
futech-566	216	62	this	this	DET
futech-566	216	63	architecture	architecture	NOUN
futech-566	216	64	is	be	AUX
futech-566	216	65	similar	similar	ADJ
futech-566	216	66	to	to	ADP
futech-566	216	67	the	the	DET
futech-566	216	68	fitnet	fitnet	NOUN
futech-566	216	69	,	,	PUNCT
futech-566	216	70	except	except	SCONJ
futech-566	216	71	it	it	PRON
futech-566	216	72	can	can	AUX
futech-566	216	73	have	have	VERB
futech-566	216	74	more	more	ADJ
futech-566	216	75	hidden	hidden	ADJ
futech-566	216	76	layers	layer	NOUN
futech-566	216	77	,	,	PUNCT
futech-566	216	78	which	which	PRON
futech-566	216	79	can	can	AUX
futech-566	216	80	improve	improve	VERB
futech-566	216	81	the	the	DET
futech-566	216	82	network	network	NOUN
futech-566	216	83	's	's	PART
futech-566	216	84	accuracy	accuracy	NOUN
futech-566	216	85	,	,	PUNCT
futech-566	216	86	but	but	CCONJ
futech-566	216	87	at	at	ADP
futech-566	216	88	the	the	DET
futech-566	216	89	same	same	ADJ
futech-566	216	90	time	time	NOUN
futech-566	216	91	make	make	VERB
futech-566	216	92	the	the	DET
futech-566	216	93	network	network	NOUN
futech-566	216	94	more	more	ADV
futech-566	216	95	complex	complex	ADJ
futech-566	216	96	.	.	PUNCT
futech-566	217	1	figure	figure	NOUN
futech-566	217	2	4	4	NUM
futech-566	217	3	shows	show	VERB
futech-566	217	4	the	the	DET
futech-566	217	5	architecture	architecture	NOUN
futech-566	217	6	of	of	ADP
futech-566	217	7	a	a	DET
futech-566	217	8	recurrent	recurrent	ADJ
futech-566	217	9	neural	neural	ADJ
futech-566	217	10	network	network	NOUN
futech-566	217	11	.	.	PUNCT
futech-566	218	1	a	a	DET
futech-566	218	2	cascade	cascade	NOUN
futech-566	218	3	-	-	PUNCT
futech-566	218	4	forward	forward	NOUN
futech-566	218	5	network	network	NOUN
futech-566	218	6	allows	allow	VERB
futech-566	218	7	connections	connection	NOUN
futech-566	218	8	from	from	ADP
futech-566	218	9	all	all	DET
futech-566	218	10	layers	layer	NOUN
futech-566	218	11	in	in	ADP
futech-566	218	12	parallel	parallel	NOUN
futech-566	218	13	,	,	PUNCT
futech-566	218	14	including	include	VERB
futech-566	218	15	input	input	NOUN
futech-566	218	16	to	to	ADP
futech-566	218	17	the	the	DET
futech-566	218	18	output	output	NOUN
futech-566	218	19	directly	directly	ADV
futech-566	218	20	[	[	X
futech-566	218	21	28	28	NUM
futech-566	218	22	]	]	PUNCT
futech-566	218	23	,	,	PUNCT
futech-566	218	24	enhancing	enhance	VERB
futech-566	218	25	learning	learn	VERB
futech-566	218	26	flexibility	flexibility	NOUN
futech-566	218	27	.	.	PUNCT
futech-566	219	1	equation	equation	NOUN
futech-566	219	2	(	(	PUNCT
futech-566	219	3	10	10	NUM
futech-566	219	4	)	)	PUNCT
futech-566	219	5	gives	give	VERB
futech-566	219	6	the	the	DET
futech-566	219	7	output	output	NOUN
futech-566	219	8	of	of	ADP
futech-566	219	9	the	the	DET
futech-566	219	10	cascade	cascade	NOUN
futech-566	219	11	network	network	NOUN
futech-566	219	12	configuration	configuration	NOUN
futech-566	219	13	.	.	PUNCT
futech-566	220	1	j	j	X
futech-566	220	2	=	=	SYM
futech-566	220	3	y	y	PROPN
futech-566	220	4	=	=	SYM
futech-566	220	5	f	f	PROPN
futech-566	220	6	(	(	PUNCT
futech-566	220	7	w3	w3	PROPN
futech-566	220	8	·	·	PUNCT
futech-566	220	9	f	f	PROPN
futech-566	220	10	(	(	PUNCT
futech-566	220	11	w2	w2	NOUN
futech-566	220	12	·	·	PUNCT
futech-566	220	13	f	f	PROPN
futech-566	220	14	(	(	PUNCT
futech-566	220	15	w1.x	w1.x	NOUN
futech-566	220	16	+	+	CCONJ
futech-566	220	17	b1	b1	NOUN
futech-566	220	18	)	)	PUNCT
futech-566	220	19	+	+	CCONJ
futech-566	220	20	w4.x	w4.x	ADJ
futech-566	220	21	+	+	CCONJ
futech-566	220	22	b2	b2	NOUN
futech-566	220	23	)	)	PUNCT
futech-566	220	24	+	+	NUM
futech-566	220	25	b3	b3	PROPN
futech-566	220	26	(	(	PUNCT
futech-566	220	27	10	10	NUM
futech-566	220	28	)	)	PUNCT
futech-566	220	29	the	the	DET
futech-566	220	30	uniqueness	uniqueness	NOUN
futech-566	220	31	of	of	ADP
futech-566	220	32	this	this	DET
futech-566	220	33	configuration	configuration	NOUN
futech-566	220	34	is	be	AUX
futech-566	220	35	that	that	SCONJ
futech-566	220	36	it	it	PRON
futech-566	220	37	includes	include	VERB
futech-566	220	38	a	a	DET
futech-566	220	39	direct	direct	ADJ
futech-566	220	40	connection	connection	NOUN
futech-566	220	41	between	between	ADP
futech-566	220	42	the	the	DET
futech-566	220	43	inputs	input	NOUN
futech-566	220	44	and	and	CCONJ
futech-566	220	45	outputs	output	NOUN
futech-566	220	46	,	,	PUNCT
futech-566	220	47	also	also	ADV
futech-566	220	48	during	during	ADP
futech-566	220	49	the	the	DET
futech-566	220	50	network	network	NOUN
futech-566	220	51	learning	learning	NOUN
futech-566	220	52	.	.	PUNCT
futech-566	221	1	the	the	DET
futech-566	221	2	same	same	ADJ
futech-566	221	3	activation	activation	NOUN
futech-566	221	4	function	function	NOUN
futech-566	221	5	is	be	AUX
futech-566	221	6	used	use	VERB
futech-566	221	7	in	in	ADP
futech-566	221	8	this	this	DET
futech-566	221	9	architecture	architecture	NOUN
futech-566	221	10	as	as	SCONJ
futech-566	221	11	is	be	AUX
futech-566	221	12	used	use	VERB
futech-566	221	13	in	in	ADP
futech-566	221	14	the	the	DET
futech-566	221	15	fitnet	fitnet	NOUN
futech-566	221	16	and	and	CCONJ
futech-566	221	17	feedforward	feedforward	NOUN
futech-566	221	18	network	network	NOUN
futech-566	221	19	configuration	configuration	NOUN
futech-566	221	20	.	.	PUNCT
futech-566	222	1	the	the	DET
futech-566	222	2	weights	weight	NOUN
futech-566	222	3	are	be	AUX
futech-566	222	4	adjusted	adjust	VERB
futech-566	222	5	during	during	ADP
futech-566	222	6	training	training	NOUN
futech-566	222	7	and	and	CCONJ
futech-566	222	8	learning	learning	NOUN
futech-566	222	9	of	of	ADP
futech-566	222	10	the	the	DET
futech-566	222	11	network	network	NOUN
futech-566	222	12	.	.	PUNCT
futech-566	223	1	once	once	SCONJ
futech-566	223	2	the	the	DET
futech-566	223	3	network	network	NOUN
futech-566	223	4	is	be	AUX
futech-566	223	5	trained	train	VERB
futech-566	223	6	,	,	PUNCT
futech-566	223	7	the	the	DET
futech-566	223	8	optimal	optimal	ADJ
futech-566	223	9	solution	solution	NOUN
futech-566	223	10	is	be	AUX
futech-566	223	11	obtained	obtain	VERB
futech-566	223	12	and	and	CCONJ
futech-566	223	13	applied	apply	VERB
futech-566	223	14	to	to	ADP
futech-566	223	15	the	the	DET
futech-566	223	16	control	control	NOUN
futech-566	223	17	gain	gain	VERB
futech-566	223	18	matrix	matrix	NOUN
futech-566	223	19	kk	kk	PROPN
futech-566	223	20	,	,	PUNCT
futech-566	223	21	which	which	PRON
futech-566	223	22	further	far	ADV
futech-566	223	23	updates	update	VERB
futech-566	223	24	the	the	DET
futech-566	223	25	system	system	NOUN
futech-566	223	26	.	.	PUNCT
futech-566	224	1	process	process	NOUN
futech-566	224	2	repeats	repeat	NOUN
futech-566	224	3	until	until	ADP
futech-566	224	4	consensus	consensus	NOUN
futech-566	224	5	.	.	PUNCT
futech-566	225	1	figure	figure	NOUN
futech-566	225	2	5	5	NUM
futech-566	225	3	shows	show	VERB
futech-566	225	4	the	the	DET
futech-566	225	5	rnns	rnn	NOUN
futech-566	225	6	that	that	PRON
futech-566	225	7	include	include	VERB
futech-566	225	8	loops	loop	NOUN
futech-566	225	9	to	to	PART
futech-566	225	10	retain	retain	VERB
futech-566	225	11	memory	memory	NOUN
futech-566	225	12	over	over	ADP
futech-566	225	13	time	time	NOUN
futech-566	225	14	steps	step	NOUN
futech-566	225	15	[	[	X
futech-566	225	16	16	16	NUM
futech-566	225	17	,	,	PUNCT
futech-566	225	18	28	28	NUM
futech-566	225	19	]	]	PUNCT
futech-566	225	20	.	.	PUNCT
futech-566	226	1	they	they	PRON
futech-566	226	2	are	be	AUX
futech-566	226	3	ideal	ideal	ADJ
futech-566	226	4	for	for	ADP
futech-566	226	5	sequence	sequence	NOUN
futech-566	226	6	-	-	PUNCT
futech-566	226	7	based	base	VERB
futech-566	226	8	tasks	task	NOUN
futech-566	226	9	.	.	PUNCT
futech-566	227	1	the	the	DET
futech-566	227	2	output	output	NOUN
futech-566	227	3	equation	equation	NOUN
futech-566	227	4	for	for	ADP
futech-566	227	5	the	the	DET
futech-566	227	6	recurrent	recurrent	ADJ
futech-566	227	7	neural	neural	ADJ
futech-566	227	8	network	network	NOUN
futech-566	227	9	is	be	AUX
futech-566	227	10	given	give	VERB
futech-566	227	11	by	by	ADP
futech-566	227	12	eq	eq	ADJ
futech-566	227	13	(	(	PUNCT
futech-566	227	14	11	11	NUM
futech-566	227	15	)	)	PUNCT
futech-566	227	16	and	and	CCONJ
futech-566	227	17	eq	eq	NOUN
futech-566	227	18	(	(	PUNCT
futech-566	227	19	12	12	NUM
futech-566	227	20	)	)	PUNCT
futech-566	227	21	.	.	PUNCT
futech-566	228	1	ht	ht	NOUN
futech-566	228	2	=	=	SYM
futech-566	228	3	f	f	PROPN
futech-566	228	4	(	(	PUNCT
futech-566	228	5	wx	wx	PROPN
futech-566	228	6	xt	xt	X
futech-566	229	1	+	+	CCONJ
futech-566	229	2	whht−1	whht−1	PROPN
futech-566	229	3	+	+	SYM
futech-566	229	4	b	b	NOUN
futech-566	229	5	)	)	PUNCT
futech-566	229	6	(	(	PUNCT
futech-566	229	7	11	11	NUM
futech-566	229	8	)	)	PUNCT
futech-566	229	9	j	j	NOUN
futech-566	230	1	=	=	SYM
futech-566	230	2	yt	yt	PROPN
futech-566	230	3	=	=	SYM
futech-566	230	4	f	f	PROPN
futech-566	230	5	(	(	PUNCT
futech-566	230	6	wyht	wyht	ADJ
futech-566	230	7	+	+	CCONJ
futech-566	230	8	c	c	X
futech-566	230	9	)	)	PUNCT
futech-566	230	10	(	(	PUNCT
futech-566	230	11	12	12	NUM
futech-566	230	12	)	)	PUNCT
futech-566	230	13	the	the	DET
futech-566	230	14	above	above	ADJ
futech-566	230	15	output	output	NOUN
futech-566	230	16	j	j	PROPN
futech-566	231	1	=	=	PUNCT
futech-566	231	2	yt	yt	PROPN
futech-566	231	3	is	be	AUX
futech-566	231	4	the	the	DET
futech-566	231	5	optimized	optimize	VERB
futech-566	231	6	output	output	NOUN
futech-566	231	7	from	from	ADP
futech-566	231	8	the	the	DET
futech-566	231	9	trained	train	VERB
futech-566	231	10	recurrent	recurrent	NOUN
futech-566	231	11	.	.	PUNCT
futech-566	232	1	sigmoid	sigmoid	NOUN
futech-566	232	2	activation	activation	NOUN
futech-566	232	3	function	function	VERB
futech-566	232	4	f	f	X
futech-566	232	5	(	(	PUNCT
futech-566	232	6	.	.	PUNCT
futech-566	232	7	)	)	PUNCT
futech-566	232	8	is	be	AUX
futech-566	232	9	used	use	VERB
futech-566	232	10	for	for	ADP
futech-566	232	11	tuning	tune	VERB
futech-566	232	12	the	the	DET
futech-566	232	13	input	input	NOUN
futech-566	232	14	weights	weight	NOUN
futech-566	232	15	for	for	ADP
futech-566	232	16	rnns	rnn	NOUN
futech-566	232	17	.	.	PUNCT
futech-566	233	1	the	the	DET
futech-566	233	2	hidden	hide	VERB
futech-566	233	3	layer	layer	NOUN
futech-566	233	4	has	have	VERB
futech-566	233	5	a	a	DET
futech-566	233	6	loop	loop	NOUN
futech-566	233	7	between	between	ADP
futech-566	233	8	ht	ht	PROPN
futech-566	233	9	and	and	CCONJ
futech-566	233	10	ht-1	ht-1	VERB
futech-566	233	11	,	,	PUNCT
futech-566	233	12	where	where	SCONJ
futech-566	233	13	hidden	hidden	ADJ
futech-566	233	14	weights	weight	NOUN
futech-566	233	15	wh	wh	NOUN
futech-566	233	16	are	be	AUX
futech-566	233	17	adjusted	adjust	VERB
futech-566	233	18	for	for	ADP
futech-566	233	19	the	the	DET
futech-566	233	20	previous	previous	ADJ
futech-566	233	21	hidden	hide	VERB
futech-566	233	22	state	state	NOUN
futech-566	233	23	during	during	ADP
futech-566	233	24	training	training	NOUN
futech-566	233	25	.	.	PUNCT
futech-566	234	1	once	once	SCONJ
futech-566	234	2	the	the	DET
futech-566	234	3	training	training	NOUN
futech-566	234	4	is	be	AUX
futech-566	234	5	completed	complete	VERB
futech-566	234	6	,	,	PUNCT
futech-566	234	7	the	the	DET
futech-566	234	8	inputs	input	NOUN
futech-566	234	9	are	be	AUX
futech-566	234	10	applied	apply	VERB
futech-566	234	11	to	to	ADP
futech-566	234	12	the	the	DET
futech-566	234	13	network	network	NOUN
futech-566	234	14	,	,	PUNCT
futech-566	234	15	and	and	CCONJ
futech-566	234	16	the	the	DET
futech-566	234	17	optimal	optimal	ADJ
futech-566	234	18	solution	solution	NOUN
futech-566	234	19	y	y	PROPN
futech-566	234	20	is	be	AUX
futech-566	234	21	obtained	obtain	VERB
futech-566	234	22	.	.	PUNCT
futech-566	235	1	the	the	DET
futech-566	235	2	input	input	NOUN
futech-566	235	3	x(t	x(t	PROPN
futech-566	235	4	)	)	PUNCT
futech-566	235	5	to	to	ADP
futech-566	235	6	the	the	DET
futech-566	235	7	neural	neural	ADJ
futech-566	235	8	network	network	NOUN
futech-566	235	9	represented	represent	VERB
futech-566	235	10	by	by	ADP
futech-566	235	11	eq	eq	ADJ
futech-566	235	12	(	(	PUNCT
futech-566	235	13	13	13	NUM
futech-566	235	14	)	)	PUNCT
futech-566	235	15	is	be	AUX
futech-566	235	16	as	as	SCONJ
futech-566	235	17	follows	follow	VERB
futech-566	235	18	:	:	PUNCT
futech-566	235	19	x(t	x(t	PROPN
futech-566	235	20	)	)	PUNCT
futech-566	235	21	=	=	PUNCT
futech-566	236	1	[	[	X
futech-566	236	2	1	1	NUM
futech-566	236	3	k11	k11	NOUN
futech-566	236	4	.	.	PUNCT
futech-566	236	5	.	.	PUNCT
futech-566	236	6	.	.	PUNCT
futech-566	237	1	k1n	k1n	NOUN
futech-566	237	2	....	....	PUNCT
futech-566	238	1	km1	km1	PROPN
futech-566	238	2	.	.	PUNCT
futech-566	238	3	.	.	PUNCT
futech-566	238	4	.	.	PUNCT
futech-566	239	1	kpq	kpq	NOUN
futech-566	239	2	]	]	X
futech-566	239	3	’	'	PUNCT
futech-566	239	4	(	(	PUNCT
futech-566	239	5	13	13	NUM
futech-566	239	6	)	)	PUNCT
futech-566	239	7	the	the	DET
futech-566	239	8	algorithm	algorithm	NOUN
futech-566	239	9	used	use	VERB
futech-566	239	10	for	for	ADP
futech-566	239	11	the	the	DET
futech-566	239	12	optimization	optimization	NOUN
futech-566	239	13	of	of	ADP
futech-566	239	14	the	the	DET
futech-566	239	15	objective	objective	ADJ
futech-566	239	16	cost	cost	NOUN
futech-566	239	17	function	function	NOUN
futech-566	239	18	is	be	AUX
futech-566	239	19	shown	show	VERB
futech-566	239	20	in	in	ADP
futech-566	239	21	figure	figure	NOUN
futech-566	239	22	6	6	NUM
futech-566	239	23	,	,	PUNCT
futech-566	239	24	which	which	PRON
futech-566	239	25	explains	explain	VERB
futech-566	239	26	how	how	SCONJ
futech-566	239	27	the	the	DET
futech-566	239	28	optimization	optimization	NOUN
futech-566	239	29	is	be	AUX
futech-566	239	30	achieved	achieve	VERB
futech-566	239	31	with	with	ADP
futech-566	239	32	the	the	DET
futech-566	239	33	various	various	ADJ
futech-566	239	34	neural	neural	ADJ
futech-566	239	35	network	network	NOUN
futech-566	239	36	architectures	architecture	NOUN
futech-566	239	37	for	for	ADP
futech-566	239	38	nn	nn	NOUN
futech-566	239	39	-	-	PUNCT
futech-566	239	40	based	base	VERB
futech-566	239	41	predictive	predictive	ADJ
futech-566	239	42	control	control	NOUN
futech-566	239	43	.	.	PUNCT
futech-566	240	1	at	at	ADP
futech-566	240	2	the	the	DET
futech-566	240	3	beginning	beginning	NOUN
futech-566	240	4	of	of	ADP
futech-566	240	5	the	the	DET
futech-566	240	6	simulation	simulation	NOUN
futech-566	240	7	,	,	PUNCT
futech-566	240	8	the	the	DET
futech-566	240	9	control	control	NOUN
futech-566	240	10	gain	gain	VERB
futech-566	240	11	kk	kk	PROPN
futech-566	240	12	is	be	AUX
futech-566	240	13	assigned	assign	VERB
futech-566	240	14	an	an	DET
futech-566	240	15	initial	initial	ADJ
futech-566	240	16	value	value	NOUN
futech-566	240	17	of	of	ADP
futech-566	240	18	zero	zero	NUM
futech-566	240	19	to	to	PART
futech-566	240	20	ensure	ensure	VERB
futech-566	240	21	a	a	DET
futech-566	240	22	safe	safe	ADJ
futech-566	240	23	starting	starting	NOUN
futech-566	240	24	point	point	NOUN
futech-566	240	25	for	for	ADP
futech-566	240	26	the	the	DET
futech-566	240	27	learning	learning	NOUN
futech-566	240	28	process	process	NOUN
futech-566	240	29	.	.	PUNCT
futech-566	241	1	figure	figure	VERB
futech-566	241	2	4	4	NUM
futech-566	241	3	.	.	PUNCT
futech-566	242	1	architecture	architecture	NOUN
futech-566	242	2	of	of	ADP
futech-566	242	3	cascade	cascade	NOUN
futech-566	242	4	neural	neural	ADJ
futech-566	242	5	network	network	NOUN
futech-566	242	6	training	training	NOUN
futech-566	243	1	set	set	VERB
futech-566	243	2	p.	p.	NOUN
futech-566	243	3	chaubey	chaubey	NOUN
futech-566	243	4	et	et	PROPN
futech-566	243	5	al	al	PROPN
futech-566	243	6	.	.	PROPN
futech-566	243	7	/future	/future	PUNCT
futech-566	243	8	technology	technology	PROPN
futech-566	243	9	february	february	PROPN
futech-566	243	10	2026|	2026|	NUM
futech-566	243	11	volume	volume	NOUN
futech-566	243	12	05	05	NUM
futech-566	244	1	|	|	ADV
futech-566	244	2	issue	issue	NOUN
futech-566	244	3	01	01	NUM
futech-566	245	1	|	|	ADV
futech-566	245	2	pages	page	VERB
futech-566	245	3	148	148	NUM
futech-566	245	4	-	-	SYM
futech-566	245	5	158	158	NUM
futech-566	245	6	154	154	NUM
futech-566	245	7	figure	figure	NOUN
futech-566	245	8	5	5	NUM
futech-566	245	9	.	.	PUNCT
futech-566	245	10	architecture	architecture	NOUN
futech-566	245	11	of	of	ADP
futech-566	245	12	the	the	DET
futech-566	245	13	recurrent	recurrent	ADJ
futech-566	245	14	neural	neural	ADJ
futech-566	245	15	network	network	NOUN
futech-566	245	16	training	training	NOUN
futech-566	245	17	set	set	NOUN
futech-566	245	18	figure	figure	NOUN
futech-566	245	19	6	6	NUM
futech-566	245	20	.	.	PUNCT
futech-566	246	1	flow	flow	NOUN
futech-566	246	2	chart	chart	NOUN
futech-566	246	3	of	of	ADP
futech-566	246	4	the	the	DET
futech-566	246	5	algorithm	algorithm	NOUN
futech-566	246	6	for	for	ADP
futech-566	246	7	the	the	DET
futech-566	246	8	nn	nn	PROPN
futech-566	246	9	-	-	PUNCT
futech-566	246	10	mpc	mpc	NOUN
futech-566	246	11	-	-	PUNCT
futech-566	246	12	based	base	VERB
futech-566	246	13	multiagent	multiagent	NOUN
futech-566	246	14	system	system	NOUN
futech-566	246	15	figure	figure	NOUN
futech-566	246	16	6	6	NUM
futech-566	246	17	illustrates	illustrate	VERB
futech-566	246	18	the	the	DET
futech-566	246	19	algorithm	algorithm	NOUN
futech-566	246	20	for	for	ADP
futech-566	246	21	the	the	DET
futech-566	246	22	nn	nn	PROPN
futech-566	246	23	-	-	PUNCT
futech-566	246	24	based	base	VERB
futech-566	246	25	mpc	mpc	NOUN
futech-566	246	26	for	for	ADP
futech-566	246	27	a	a	DET
futech-566	246	28	leader	leader	NOUN
futech-566	246	29	-	-	PUNCT
futech-566	246	30	follower	follower	NOUN
futech-566	246	31	system	system	NOUN
futech-566	246	32	with	with	ADP
futech-566	246	33	various	various	ADJ
futech-566	246	34	neural	neural	ADJ
futech-566	246	35	network	network	NOUN
futech-566	246	36	configurations	configuration	NOUN
futech-566	246	37	.	.	PUNCT
futech-566	247	1	the	the	DET
futech-566	247	2	network	network	NOUN
futech-566	247	3	training	training	NOUN
futech-566	247	4	starts	start	VERB
futech-566	247	5	with	with	ADP
futech-566	247	6	initialization	initialization	NOUN
futech-566	247	7	of	of	ADP
futech-566	247	8	the	the	DET
futech-566	247	9	values	value	NOUN
futech-566	247	10	x(k	x(k	NOUN
futech-566	247	11	)	)	PUNCT
futech-566	247	12	,	,	PUNCT
futech-566	247	13	θ	θ	PROPN
futech-566	247	14	(	(	PUNCT
futech-566	247	15	k	k	NOUN
futech-566	247	16	)	)	PUNCT
futech-566	247	17	,	,	PUNCT
futech-566	247	18	and	and	CCONJ
futech-566	247	19	kk	kk	PROPN
futech-566	247	20	.	.	PUNCT
futech-566	248	1	the	the	DET
futech-566	248	2	neural	neural	ADJ
futech-566	248	3	network	network	NOUN
futech-566	248	4	is	be	AUX
futech-566	248	5	trained	train	VERB
futech-566	248	6	for	for	ADP
futech-566	248	7	different	different	ADJ
futech-566	248	8	cases	case	NOUN
futech-566	248	9	based	base	VERB
futech-566	248	10	on	on	ADP
futech-566	248	11	eqs	eqs	X
futech-566	248	12	(	(	PUNCT
futech-566	248	13	8	8	NUM
futech-566	248	14	-	-	SYM
futech-566	248	15	12	12	NUM
futech-566	248	16	)	)	PUNCT
futech-566	248	17	.	.	PUNCT
futech-566	249	1	then	then	ADV
futech-566	249	2	,	,	PUNCT
futech-566	249	3	the	the	DET
futech-566	249	4	initial	initial	ADJ
futech-566	249	5	optimization	optimization	NOUN
futech-566	249	6	is	be	AUX
futech-566	249	7	done	do	VERB
futech-566	249	8	using	use	VERB
futech-566	249	9	the	the	DET
futech-566	249	10	trained	train	VERB
futech-566	249	11	network	network	NOUN
futech-566	249	12	.	.	PUNCT
futech-566	250	1	the	the	DET
futech-566	250	2	value	value	NOUN
futech-566	250	3	of	of	ADP
futech-566	250	4	the	the	DET
futech-566	250	5	kk	kk	PROPN
futech-566	250	6	is	be	AUX
futech-566	250	7	used	use	VERB
futech-566	250	8	for	for	ADP
futech-566	250	9	the	the	DET
futech-566	250	10	control	control	NOUN
futech-566	250	11	gain	gain	VERB
futech-566	250	12	u(k	u(k	PROPN
futech-566	250	13	)	)	PUNCT
futech-566	250	14	calculation	calculation	NOUN
futech-566	250	15	as	as	SCONJ
futech-566	250	16	given	give	VERB
futech-566	250	17	by	by	ADP
futech-566	250	18	equation	equation	NOUN
futech-566	250	19	(	(	PUNCT
futech-566	250	20	2	2	NUM
futech-566	250	21	)	)	PUNCT
futech-566	250	22	.	.	PUNCT
futech-566	251	1	then	then	ADV
futech-566	251	2	,	,	PUNCT
futech-566	251	3	the	the	DET
futech-566	251	4	optimal	optimal	ADJ
futech-566	251	5	cost	cost	NOUN
futech-566	251	6	is	be	AUX
futech-566	251	7	predicted	predict	VERB
futech-566	251	8	using	use	VERB
futech-566	251	9	equations	equation	NOUN
futech-566	251	10	(	(	PUNCT
futech-566	251	11	4	4	NUM
futech-566	251	12	-	-	SYM
futech-566	251	13	6	6	NUM
futech-566	251	14	)	)	PUNCT
futech-566	251	15	with	with	ADP
futech-566	251	16	mpc	mpc	PROPN
futech-566	251	17	,	,	PUNCT
futech-566	251	18	based	base	VERB
futech-566	251	19	on	on	ADP
futech-566	251	20	the	the	DET
futech-566	251	21	future	future	ADJ
futech-566	251	22	values	value	NOUN
futech-566	251	23	of	of	ADP
futech-566	251	24	errors	error	NOUN
futech-566	251	25	in	in	ADP
futech-566	251	26	the	the	DET
futech-566	251	27	follower	follower	NOUN
futech-566	251	28	and	and	CCONJ
futech-566	251	29	leader	leader	NOUN
futech-566	251	30	states	state	NOUN
futech-566	251	31	.	.	PUNCT
futech-566	252	1	after	after	ADP
futech-566	252	2	every	every	DET
futech-566	252	3	iteration	iteration	NOUN
futech-566	252	4	,	,	PUNCT
futech-566	252	5	the	the	DET
futech-566	252	6	criteria	criterion	NOUN
futech-566	252	7	for	for	ADP
futech-566	252	8	optimization	optimization	NOUN
futech-566	252	9	are	be	AUX
futech-566	252	10	checked	check	VERB
futech-566	252	11	j	j	PROPN
futech-566	252	12	<	<	X
futech-566	252	13	ץ	ץ	PROPN
futech-566	252	14	,	,	PUNCT
futech-566	252	15	if	if	SCONJ
futech-566	252	16	the	the	DET
futech-566	252	17	condition	condition	NOUN
futech-566	252	18	is	be	AUX
futech-566	252	19	satisfactory	satisfactory	ADJ
futech-566	252	20	,	,	PUNCT
futech-566	252	21	then	then	ADV
futech-566	252	22	the	the	DET
futech-566	252	23	iteration	iteration	NOUN
futech-566	252	24	stops	stop	VERB
futech-566	252	25	;	;	PUNCT
futech-566	252	26	otherwise	otherwise	ADV
futech-566	252	27	,	,	PUNCT
futech-566	252	28	it	it	PRON
futech-566	252	29	continues	continue	VERB
futech-566	252	30	with	with	ADP
futech-566	252	31	updating	update	VERB
futech-566	252	32	the	the	DET
futech-566	252	33	values	value	NOUN
futech-566	252	34	of	of	ADP
futech-566	252	35	j	j	PROPN
futech-566	252	36	and	and	CCONJ
futech-566	252	37	k.	k.	PROPN
futech-566	252	38	4	4	NUM
futech-566	252	39	.	.	NOUN
futech-566	252	40	results	result	NOUN
futech-566	252	41	and	and	CCONJ
futech-566	252	42	discussion	discussion	NOUN
futech-566	252	43	4.1	4.1	NUM
futech-566	252	44	simulation	simulation	NOUN
futech-566	252	45	study	study	VERB
futech-566	252	46	the	the	DET
futech-566	252	47	system	system	NOUN
futech-566	252	48	model	model	NOUN
futech-566	252	49	used	use	VERB
futech-566	252	50	for	for	ADP
futech-566	252	51	the	the	DET
futech-566	252	52	simulation	simulation	NOUN
futech-566	252	53	purpose	purpose	NOUN
futech-566	252	54	is	be	AUX
futech-566	252	55	the	the	DET
futech-566	252	56	same	same	ADJ
futech-566	252	57	as	as	ADP
futech-566	252	58	that	that	PRON
futech-566	252	59	used	use	VERB
futech-566	252	60	in	in	ADP
futech-566	252	61	the	the	DET
futech-566	252	62	reference	reference	NOUN
futech-566	252	63	[	[	X
futech-566	252	64	32	32	NUM
futech-566	252	65	]	]	PUNCT
futech-566	252	66	,	,	PUNCT
futech-566	252	67	and	and	CCONJ
futech-566	252	68	the	the	DET
futech-566	252	69	data	datum	NOUN
futech-566	252	70	is	be	AUX
futech-566	252	71	taken	take	VERB
futech-566	252	72	from	from	ADP
futech-566	252	73	[	[	X
futech-566	252	74	16	16	NUM
futech-566	252	75	]	]	PUNCT
futech-566	252	76	and	and	CCONJ
futech-566	252	77	[	[	X
futech-566	252	78	29	29	NUM
futech-566	252	79	]	]	PUNCT
futech-566	252	80	.	.	PUNCT
futech-566	253	1	for	for	ADP
futech-566	253	2	the	the	DET
futech-566	253	3	system	system	NOUN
futech-566	253	4	model	model	NOUN
futech-566	253	5	given	give	VERB
futech-566	253	6	by	by	ADP
futech-566	253	7	equation	equation	NOUN
futech-566	253	8	(	(	PUNCT
futech-566	253	9	3	3	NUM
futech-566	253	10	)	)	PUNCT
futech-566	253	11	,	,	PUNCT
futech-566	253	12	f	f	PROPN
futech-566	253	13	(	(	PUNCT
futech-566	253	14	t	t	PROPN
futech-566	253	15	,	,	PUNCT
futech-566	253	16	xi(t	xi(t	NUM
futech-566	253	17	)	)	PUNCT
futech-566	253	18	)	)	PUNCT
futech-566	253	19	=	=	PUNCT
futech-566	253	20	0.01	0.01	NUM
futech-566	253	21	sin(xi(t	sin(xi(t	NOUN
futech-566	253	22	)	)	PUNCT
futech-566	253	23	)	)	PUNCT
futech-566	253	24	,	,	PUNCT
futech-566	253	25	and	and	CCONJ
futech-566	253	26	the	the	DET
futech-566	253	27	initial	initial	ADJ
futech-566	253	28	values	value	NOUN
futech-566	253	29	are	be	AUX
futech-566	253	30	the	the	DET
futech-566	253	31	same	same	ADJ
futech-566	253	32	as	as	ADP
futech-566	253	33	those	those	PRON
futech-566	253	34	considered	consider	VERB
futech-566	253	35	in	in	ADP
futech-566	253	36	[	[	X
futech-566	253	37	16	16	NUM
futech-566	253	38	]	]	PUNCT
futech-566	253	39	.	.	PUNCT
futech-566	254	1	a	a	DET
futech-566	254	2	,	,	PUNCT
futech-566	254	3	b	b	NOUN
futech-566	254	4	,	,	PUNCT
futech-566	254	5	and	and	CCONJ
futech-566	254	6	bd	bd	PROPN
futech-566	254	7	matrices	matrix	NOUN
futech-566	254	8	are	be	AUX
futech-566	254	9	given	give	VERB
futech-566	254	10	as	as	ADP
futech-566	254	11	:	:	PUNCT
futech-566	254	12	a	a	PRON
futech-566	254	13	=	=	X
futech-566	254	14	[	[	PUNCT
futech-566	254	15	0	0	NUM
futech-566	254	16	1	1	NUM
futech-566	254	17	0	0	NUM
futech-566	254	18	−0.5	−0.5	NOUN
futech-566	254	19	]	]	PUNCT
futech-566	254	20	,	,	PUNCT
futech-566	254	21	b	b	X
futech-566	254	22	=	=	X
futech-566	254	23	[	[	PUNCT
futech-566	254	24	0.8	0.8	NUM
futech-566	254	25	1.2	1.2	NUM
futech-566	254	26	]	]	PUNCT
futech-566	254	27	,	,	PUNCT
futech-566	254	28	bd	bd	PROPN
futech-566	254	29	=	=	PRON
futech-566	255	1	[	[	PUNCT
futech-566	255	2	0	0	NUM
futech-566	255	3	1	1	NUM
futech-566	255	4	1	1	NUM
futech-566	255	5	0	0	NUM
futech-566	255	6	]	]	PUNCT
futech-566	255	7	.	.	PUNCT
futech-566	256	1	the	the	DET
futech-566	256	2	laplacian	laplacian	ADJ
futech-566	256	3	matrices	matrix	NOUN
futech-566	256	4	are	be	AUX
futech-566	256	5	considered	consider	VERB
futech-566	256	6	as	as	ADP
futech-566	256	7	follows	follow	VERB
futech-566	256	8	,	,	PUNCT
futech-566	256	9	l(1	l(1	PROPN
futech-566	256	10	)	)	PUNCT
futech-566	256	11	=	=	PUNCT
futech-566	257	1	[	[	PUNCT
futech-566	257	2	1	1	NUM
futech-566	257	3	0	0	NUM
futech-566	257	4	0	0	NUM
futech-566	257	5	0	0	NUM
futech-566	257	6	−1	−1	NOUN
futech-566	257	7	1	1	NUM
futech-566	257	8	0	0	NUM
futech-566	257	9	0	0	NUM
futech-566	257	10	0	0	NUM
futech-566	257	11	−1	−1	NOUN
futech-566	257	12	−1	−1	NOUN
futech-566	257	13	0	0	NUM
futech-566	257	14	1	1	NUM
futech-566	257	15	0	0	NUM
futech-566	257	16	0	0	NUM
futech-566	257	17	1	1	NUM
futech-566	257	18	]	]	PUNCT
futech-566	257	19	,	,	PUNCT
futech-566	257	20	l(2	l(2	PROPN
futech-566	257	21	)	)	PUNCT
futech-566	257	22	=	=	PUNCT
futech-566	258	1	[	[	PUNCT
futech-566	258	2	1	1	NUM
futech-566	258	3	−1	−1	NOUN
futech-566	258	4	0	0	NUM
futech-566	258	5	0	0	NUM
futech-566	258	6	0	0	NUM
futech-566	258	7	1	1	NUM
futech-566	258	8	0	0	NUM
futech-566	258	9	0	0	NUM
futech-566	258	10	−1	−1	NOUN
futech-566	258	11	0	0	NUM
futech-566	258	12	0	0	NUM
futech-566	258	13	0	0	NUM
futech-566	258	14	1	1	NUM
futech-566	258	15	−1	−1	NOUN
futech-566	258	16	0	0	NUM
futech-566	258	17	1	1	NUM
futech-566	258	18	]	]	PUNCT
futech-566	258	19	the	the	DET
futech-566	258	20	probability	probability	NOUN
futech-566	258	21	matrix	matrix	NOUN
futech-566	258	22	is	be	AUX
futech-566	258	23	given	give	VERB
futech-566	258	24	by	by	ADP
futech-566	258	25	:	:	PUNCT
futech-566	258	26	π	π	X
futech-566	258	27	=	=	PUNCT
futech-566	258	28	[	[	PUNCT
futech-566	258	29	0.95	0.95	NUM
futech-566	258	30	0.05	0.05	NUM
futech-566	258	31	0.02	0.02	NUM
futech-566	258	32	0.98	0.98	NUM
futech-566	258	33	]	]	PUNCT
futech-566	258	34	the	the	DET
futech-566	258	35	directed	direct	VERB
futech-566	258	36	graph	graph	NOUN
futech-566	258	37	is	be	AUX
futech-566	258	38	used	use	VERB
futech-566	258	39	in	in	ADP
futech-566	258	40	this	this	DET
futech-566	258	41	work	work	NOUN
futech-566	258	42	as	as	SCONJ
futech-566	258	43	shown	show	VERB
futech-566	258	44	in	in	ADP
futech-566	258	45	figure	figure	NOUN
futech-566	258	46	7	7	NUM
futech-566	258	47	.	.	PUNCT
futech-566	259	1	and	and	CCONJ
futech-566	259	2	switching	switching	NOUN
futech-566	259	3	of	of	ADP
futech-566	259	4	the	the	DET
futech-566	259	5	graph	graph	NOUN
futech-566	259	6	is	be	AUX
futech-566	259	7	carried	carry	VERB
futech-566	259	8	out	out	ADP
futech-566	259	9	between	between	ADP
futech-566	259	10	l(1	l(1	PROPN
futech-566	259	11	)	)	PUNCT
futech-566	259	12	and	and	CCONJ
futech-566	259	13	l(2	l(2	PROPN
futech-566	259	14	)	)	PUNCT
futech-566	259	15	based	base	VERB
futech-566	259	16	on	on	ADP
futech-566	259	17	the	the	DET
futech-566	259	18	probability	probability	NOUN
futech-566	259	19	matrix	matrix	NOUN
futech-566	259	20	π	π	NOUN
futech-566	259	21	.	.	PUNCT
futech-566	260	1	sampling	sample	VERB
futech-566	260	2	time	time	NOUN
futech-566	260	3	for	for	ADP
futech-566	260	4	the	the	DET
futech-566	260	5	discretization	discretization	NOUN
futech-566	260	6	is	be	AUX
futech-566	260	7	ts	ts	ADP
futech-566	260	8	=	=	NOUN
futech-566	260	9	0.01	0.01	NUM
futech-566	260	10	.	.	PUNCT
futech-566	261	1	(	(	PUNCT
futech-566	261	2	a	a	X
futech-566	261	3	)	)	PUNCT
futech-566	261	4	l(1	l(1	PROPN
futech-566	261	5	)	)	PUNCT
futech-566	261	6	directed	direct	VERB
futech-566	261	7	graph	graph	NOUN
futech-566	261	8	(	(	PUNCT
futech-566	261	9	b	b	NOUN
futech-566	261	10	)	)	PUNCT
futech-566	261	11	l(1	l(1	PROPN
futech-566	261	12	)	)	PUNCT
futech-566	261	13	directed	direct	VERB
futech-566	261	14	graph	graph	NOUN
futech-566	261	15	figure	figure	NOUN
futech-566	261	16	7	7	NUM
futech-566	261	17	.	.	PUNCT
futech-566	261	18	directed	direct	VERB
futech-566	261	19	graph	graph	NOUN
futech-566	261	20	topology	topology	NOUN
futech-566	261	21	the	the	DET
futech-566	261	22	simulation	simulation	NOUN
futech-566	261	23	is	be	AUX
futech-566	261	24	carried	carry	VERB
futech-566	261	25	out	out	ADP
futech-566	261	26	using	use	VERB
futech-566	261	27	n	n	PROPN
futech-566	261	28	=	=	SYM
futech-566	261	29	10	10	NUM
futech-566	261	30	neurons	neuron	NOUN
futech-566	261	31	.	.	PUNCT
futech-566	262	1	to	to	PART
futech-566	262	2	achieve	achieve	VERB
futech-566	262	3	optimal	optimal	ADJ
futech-566	262	4	results	result	NOUN
futech-566	262	5	for	for	ADP
futech-566	262	6	all	all	DET
futech-566	262	7	the	the	DET
futech-566	262	8	cases	case	NOUN
futech-566	262	9	,	,	PUNCT
futech-566	262	10	the	the	DET
futech-566	262	11	prediction	prediction	NOUN
futech-566	262	12	horizon	horizon	NOUN
futech-566	262	13	is	be	AUX
futech-566	262	14	taken	take	VERB
futech-566	262	15	as	as	ADP
futech-566	262	16	100	100	NUM
futech-566	262	17	.	.	PUNCT
futech-566	263	1	this	this	DET
futech-566	263	2	horizon	horizon	NOUN
futech-566	263	3	is	be	AUX
futech-566	263	4	deemed	deem	VERB
futech-566	263	5	sufficient	sufficient	ADJ
futech-566	263	6	for	for	ADP
futech-566	263	7	reaching	reach	VERB
futech-566	263	8	the	the	DET
futech-566	263	9	optimal	optimal	ADJ
futech-566	263	10	point	point	NOUN
futech-566	263	11	.	.	PUNCT
futech-566	264	1	convergence	convergence	NOUN
futech-566	264	2	is	be	AUX
futech-566	264	3	obtained	obtain	VERB
futech-566	264	4	for	for	ADP
futech-566	264	5	λ	λ	X
futech-566	264	6	=	=	NOUN
futech-566	264	7	0.01	0.01	NUM
futech-566	264	8	.	.	PUNCT
futech-566	265	1	for	for	ADP
futech-566	265	2	validation	validation	NOUN
futech-566	265	3	,	,	PUNCT
futech-566	265	4	the	the	DET
futech-566	265	5	chosen	choose	VERB
futech-566	265	6	performance	performance	NOUN
futech-566	265	7	metric	metric	NOUN
futech-566	265	8	,	,	PUNCT
futech-566	265	9	the	the	DET
futech-566	265	10	mse	mse	NOUN
futech-566	265	11	is	be	AUX
futech-566	265	12	defined	define	VERB
futech-566	265	13	as	as	ADP
futech-566	265	14	:	:	PUNCT
futech-566	265	15	mse	mse	NOUN
futech-566	265	16	=	=	SYM
futech-566	265	17	1	1	NUM
futech-566	265	18	kf	kf	INTJ
futech-566	265	19	∑	∑	PROPN
futech-566	265	20	|eri(k)|2kf	|eri(k)|2kf	NOUN
futech-566	265	21	k=0	k=0	PROPN
futech-566	265	22	(	(	PUNCT
futech-566	265	23	14	14	NUM
futech-566	265	24	)	)	PUNCT
futech-566	265	25	where	where	SCONJ
futech-566	265	26	,	,	PUNCT
futech-566	265	27	eri(k	eri(k	PROPN
futech-566	265	28	)	)	PUNCT
futech-566	265	29	denotes	denote	VERB
futech-566	265	30	the	the	DET
futech-566	265	31	error	error	NOUN
futech-566	265	32	values	value	NOUN
futech-566	265	33	ei(k	ei(k	PRON
futech-566	265	34	)	)	PUNCT
futech-566	265	35	.	.	PUNCT
futech-566	266	1	figure	figure	NOUN
futech-566	266	2	8	8	NUM
futech-566	266	3	reflects	reflect	VERB
futech-566	266	4	that	that	SCONJ
futech-566	266	5	for	for	ADP
futech-566	266	6	the	the	DET
futech-566	266	7	nn	nn	PROPN
futech-566	266	8	-	-	PUNCT
futech-566	266	9	mpc	mpc	NOUN
futech-566	266	10	with	with	ADP
futech-566	266	11	the	the	DET
futech-566	266	12	fit	fit	ADJ
futech-566	266	13	net	net	ADJ
futech-566	266	14	architecture	architecture	NOUN
futech-566	266	15	.	.	PUNCT
futech-566	267	1	all	all	DET
futech-566	267	2	the	the	DET
futech-566	267	3	agents	agent	NOUN
futech-566	267	4	achieve	achieve	VERB
futech-566	267	5	consensus	consensus	NOUN
futech-566	267	6	at	at	ADP
futech-566	267	7	3	3	NUM
futech-566	267	8	sec	sec	PROPN
futech-566	267	9	in	in	ADP
futech-566	267	10	‘	'	PUNCT
futech-566	267	11	position	position	NOUN
futech-566	267	12	variable	variable	NOUN
futech-566	267	13	’	'	PUNCT
futech-566	267	14	while	while	SCONJ
futech-566	267	15	it	it	PRON
futech-566	267	16	reaches	reach	VERB
futech-566	267	17	consensus	consensus	NOUN
futech-566	267	18	after	after	ADP
futech-566	267	19	4	4	NUM
futech-566	267	20	sec	sec	PROPN
futech-566	267	21	for	for	ADP
futech-566	267	22	the	the	DET
futech-566	267	23	‘	'	PUNCT
futech-566	267	24	velocity	velocity	NOUN
futech-566	267	25	variable	variable	NOUN
futech-566	267	26	’	'	PUNCT
futech-566	267	27	.	.	PUNCT
futech-566	268	1	figure	figure	NOUN
futech-566	268	2	9	9	NUM
futech-566	268	3	also	also	ADV
futech-566	268	4	reflects	reflect	VERB
futech-566	268	5	that	that	SCONJ
futech-566	268	6	nn	nn	PROPN
futech-566	268	7	-	-	PUNCT
futech-566	268	8	mpc	mpc	PROPN
futech-566	268	9	has	have	VERB
futech-566	268	10	the	the	DET
futech-566	268	11	feed	feed	NOUN
futech-566	268	12	-	-	PUNCT
futech-566	268	13	forward	forward	NOUN
futech-566	268	14	network	network	NOUN
futech-566	268	15	configuration	configuration	NOUN
futech-566	268	16	.	.	PUNCT
futech-566	269	1	it	it	PRON
futech-566	269	2	reflects	reflect	VERB
futech-566	269	3	that	that	SCONJ
futech-566	269	4	all	all	DET
futech-566	269	5	the	the	DET
futech-566	269	6	agents	agent	NOUN
futech-566	269	7	achieve	achieve	VERB
futech-566	269	8	consensus	consensus	NOUN
futech-566	269	9	at	at	ADP
futech-566	269	10	3.5	3.5	NUM
futech-566	269	11	sec	sec	NOUN
futech-566	269	12	in	in	ADP
futech-566	269	13	the	the	DET
futech-566	269	14	‘	'	PUNCT
futech-566	269	15	position	position	NOUN
futech-566	269	16	variable	variable	NOUN
futech-566	269	17	’	'	PUNCT
futech-566	269	18	and	and	CCONJ
futech-566	269	19	4	4	NUM
futech-566	269	20	seconds	second	NOUN
futech-566	269	21	in	in	ADP
futech-566	269	22	the	the	DET
futech-566	269	23	‘	'	PUNCT
futech-566	269	24	velocity	velocity	NOUN
futech-566	269	25	variable	variable	NOUN
futech-566	269	26	’	'	PUNCT
futech-566	269	27	respectively	respectively	ADV
futech-566	269	28	.	.	PUNCT
futech-566	270	1	the	the	DET
futech-566	270	2	agents	agent	NOUN
futech-566	270	3	achieve	achieve	VERB
futech-566	270	4	consensus	consensus	NOUN
futech-566	270	5	16.6	16.6	NUM
futech-566	270	6	%	%	NOUN
futech-566	270	7	faster	fast	ADV
futech-566	270	8	with	with	ADP
futech-566	270	9	the	the	DET
futech-566	270	10	fit	fit	ADJ
futech-566	270	11	net	net	ADJ
futech-566	270	12	architecture	architecture	NOUN
futech-566	270	13	-	-	PUNCT
futech-566	270	14	based	base	VERB
futech-566	270	15	nn	nn	NOUN
futech-566	270	16	in	in	ADP
futech-566	270	17	comparison	comparison	NOUN
futech-566	270	18	to	to	ADP
futech-566	270	19	the	the	DET
futech-566	270	20	feedforwardbased	feedforwardbase	VERB
futech-566	270	21	nn	nn	NOUN
futech-566	270	22	architecture	architecture	NOUN
futech-566	270	23	for	for	ADP
futech-566	270	24	multi	multi	ADJ
futech-566	270	25	-	-	ADJ
futech-566	270	26	agent	agent	ADJ
futech-566	270	27	systems	system	NOUN
futech-566	270	28	.	.	PUNCT
futech-566	271	1	0	0	NUM
futech-566	271	2	2	2	NUM
futech-566	271	3	1	1	NUM
futech-566	271	4	3	3	NUM
futech-566	271	5	4	4	NUM
futech-566	271	6	0	0	NUM
futech-566	271	7	2	2	NUM
futech-566	271	8	1	1	NUM
futech-566	271	9	3	3	NUM
futech-566	271	10	4	4	NUM
futech-566	271	11	p.	p.	NOUN
futech-566	271	12	chaubey	chaubey	NOUN
futech-566	271	13	et	et	PROPN
futech-566	271	14	al	al	PROPN
futech-566	271	15	.	.	PROPN
futech-566	271	16	/future	/future	PUNCT
futech-566	271	17	technology	technology	PROPN
futech-566	271	18	february	february	PROPN
futech-566	271	19	2026|	2026|	NUM
futech-566	271	20	volume	volume	NOUN
futech-566	271	21	05	05	NUM
futech-566	272	1	|	|	ADV
futech-566	272	2	issue	issue	NOUN
futech-566	272	3	01	01	NUM
futech-566	273	1	|	|	ADV
futech-566	273	2	pages	page	VERB
futech-566	273	3	148	148	NUM
futech-566	273	4	-	-	SYM
futech-566	273	5	158	158	NUM
futech-566	273	6	155	155	NUM
futech-566	273	7	figure	figure	NOUN
futech-566	273	8	8	8	NUM
futech-566	273	9	.	.	PUNCT
futech-566	274	1	position	position	NOUN
futech-566	274	2	and	and	CCONJ
futech-566	274	3	velocity	velocity	NOUN
futech-566	274	4	variable	variable	ADJ
futech-566	274	5	response	response	NOUN
futech-566	274	6	for	for	ADP
futech-566	274	7	the	the	DET
futech-566	274	8	followers	follower	NOUN
futech-566	274	9	with	with	ADP
futech-566	274	10	the	the	DET
futech-566	274	11	fit	fit	ADJ
futech-566	274	12	net	net	ADJ
futech-566	274	13	architecture	architecture	NOUN
futech-566	274	14	figure	figure	NOUN
futech-566	274	15	9	9	NUM
futech-566	274	16	.	.	PUNCT
futech-566	275	1	position	position	NOUN
futech-566	275	2	and	and	CCONJ
futech-566	275	3	velocity	velocity	NOUN
futech-566	275	4	variable	variable	ADJ
futech-566	275	5	response	response	NOUN
futech-566	275	6	for	for	ADP
futech-566	275	7	the	the	DET
futech-566	275	8	followers	follower	NOUN
futech-566	275	9	with	with	ADP
futech-566	275	10	a	a	DET
futech-566	275	11	feed	feed	NOUN
futech-566	275	12	-	-	PUNCT
futech-566	275	13	forward	forward	NOUN
futech-566	275	14	net	net	ADJ
futech-566	275	15	architecture	architecture	NOUN
futech-566	275	16	figure	figure	NOUN
futech-566	275	17	10	10	NUM
futech-566	275	18	reflects	reflect	VERB
futech-566	275	19	rnn	rnn	PROPN
futech-566	275	20	-	-	PUNCT
futech-566	275	21	mpc	mpc	NOUN
futech-566	275	22	with	with	ADP
futech-566	275	23	the	the	DET
futech-566	275	24	recurrent	recurrent	ADJ
futech-566	275	25	neural	neural	ADJ
futech-566	275	26	network	network	NOUN
futech-566	275	27	architecture	architecture	NOUN
futech-566	275	28	.	.	PUNCT
futech-566	276	1	it	it	PRON
futech-566	276	2	reflects	reflect	VERB
futech-566	276	3	that	that	SCONJ
futech-566	276	4	all	all	DET
futech-566	276	5	the	the	DET
futech-566	276	6	agents	agent	NOUN
futech-566	276	7	reach	reach	VERB
futech-566	276	8	consensus	consensus	NOUN
futech-566	276	9	at	at	ADP
futech-566	276	10	2	2	NUM
futech-566	276	11	sec	sec	PROPN
futech-566	276	12	for	for	ADP
futech-566	276	13	the	the	DET
futech-566	276	14	‘	'	PUNCT
futech-566	276	15	position	position	NOUN
futech-566	276	16	state	state	NOUN
futech-566	276	17	’	'	PUNCT
futech-566	276	18	while	while	SCONJ
futech-566	276	19	just	just	ADV
futech-566	276	20	after	after	ADP
futech-566	276	21	3	3	NUM
futech-566	276	22	sec	sec	PROPN
futech-566	276	23	for	for	ADP
futech-566	276	24	the	the	DET
futech-566	276	25	‘	'	PUNCT
futech-566	276	26	velocity	velocity	NOUN
futech-566	276	27	state	state	NOUN
futech-566	276	28	’	'	PUNCT
futech-566	276	29	.	.	PUNCT
futech-566	277	1	nn	nn	PROPN
futech-566	277	2	-	-	PUNCT
futech-566	277	3	mpc	mpc	NOUN
futech-566	277	4	with	with	ADP
futech-566	277	5	the	the	DET
futech-566	277	6	cascade	cascade	NOUN
futech-566	277	7	network	network	NOUN
futech-566	277	8	architecture	architecture	NOUN
futech-566	277	9	is	be	AUX
futech-566	277	10	shown	show	VERB
futech-566	277	11	in	in	ADP
futech-566	277	12	figure	figure	NOUN
futech-566	277	13	11	11	NUM
futech-566	277	14	.	.	PUNCT
futech-566	278	1	it	it	PRON
futech-566	278	2	reflects	reflect	VERB
futech-566	278	3	that	that	SCONJ
futech-566	278	4	all	all	DET
futech-566	278	5	the	the	DET
futech-566	278	6	agents	agent	NOUN
futech-566	278	7	reach	reach	VERB
futech-566	278	8	the	the	DET
futech-566	278	9	leader	leader	NOUN
futech-566	278	10	position	position	NOUN
futech-566	278	11	at	at	ADP
futech-566	278	12	4	4	NUM
futech-566	278	13	sec	sec	PROPN
futech-566	278	14	for	for	ADP
futech-566	278	15	‘	'	PUNCT
futech-566	278	16	position	position	NOUN
futech-566	278	17	state	state	NOUN
futech-566	278	18	’	'	PUNCT
futech-566	278	19	and	and	CCONJ
futech-566	278	20	at	at	ADP
futech-566	278	21	5	5	NUM
futech-566	278	22	sec	sec	PROPN
futech-566	278	23	for	for	ADP
futech-566	278	24	the	the	DET
futech-566	278	25	‘	'	PUNCT
futech-566	278	26	velocity	velocity	NOUN
futech-566	278	27	state	state	NOUN
futech-566	278	28	’	'	PUNCT
futech-566	278	29	.	.	PUNCT
futech-566	279	1	with	with	ADP
futech-566	279	2	rnn	rnn	PROPN
futech-566	279	3	-	-	PUNCT
futech-566	279	4	mpc	mpc	PROPN
futech-566	279	5	,	,	PUNCT
futech-566	279	6	control	control	NOUN
futech-566	279	7	agents	agent	NOUN
futech-566	279	8	can	can	AUX
futech-566	279	9	achieve	achieve	VERB
futech-566	279	10	consensus	consensus	NOUN
futech-566	279	11	almost	almost	ADV
futech-566	279	12	100	100	NUM
futech-566	279	13	%	%	NOUN
futech-566	279	14	faster	fast	ADV
futech-566	279	15	in	in	ADP
futech-566	279	16	comparison	comparison	NOUN
futech-566	279	17	to	to	ADP
futech-566	279	18	the	the	DET
futech-566	279	19	cascade	cascade	NOUN
futech-566	279	20	-	-	PUNCT
futech-566	279	21	forward	forward	NOUN
futech-566	279	22	-	-	PUNCT
futech-566	279	23	based	base	VERB
futech-566	279	24	nn	nn	NOUN
futech-566	279	25	architecture	architecture	NOUN
futech-566	279	26	for	for	ADP
futech-566	279	27	multi	multi	ADJ
futech-566	279	28	-	-	ADJ
futech-566	279	29	agent	agent	ADJ
futech-566	279	30	systems	system	NOUN
futech-566	279	31	.	.	PUNCT
futech-566	280	1	table	table	NOUN
futech-566	280	2	3	3	NUM
futech-566	280	3	shows	show	VERB
futech-566	280	4	the	the	DET
futech-566	280	5	comparison	comparison	NOUN
futech-566	280	6	of	of	ADP
futech-566	280	7	mean	mean	ADJ
futech-566	280	8	squared	square	VERB
futech-566	280	9	errors	error	NOUN
futech-566	280	10	for	for	ADP
futech-566	280	11	the	the	DET
futech-566	280	12	‘	'	PUNCT
futech-566	280	13	position	position	NOUN
futech-566	280	14	and	and	CCONJ
futech-566	280	15	velocity	velocity	NOUN
futech-566	280	16	variable	variable	NOUN
futech-566	280	17	’	'	PUNCT
futech-566	280	18	of	of	ADP
futech-566	280	19	various	various	ADJ
futech-566	280	20	neural	neural	ADJ
futech-566	280	21	network	network	NOUN
futech-566	280	22	architectures	architecture	NOUN
futech-566	280	23	for	for	ADP
futech-566	280	24	achieving	achieve	VERB
futech-566	280	25	consensus	consensus	NOUN
futech-566	280	26	of	of	ADP
futech-566	280	27	follower	follower	NOUN
futech-566	280	28	agents	agent	NOUN
futech-566	280	29	.	.	PUNCT
futech-566	281	1	it	it	PRON
futech-566	281	2	can	can	AUX
futech-566	281	3	be	be	AUX
futech-566	281	4	observed	observe	VERB
futech-566	281	5	that	that	SCONJ
futech-566	281	6	the	the	DET
futech-566	281	7	least	least	ADJ
futech-566	281	8	error	error	NOUN
futech-566	281	9	is	be	AUX
futech-566	281	10	found	find	VERB
futech-566	281	11	with	with	ADP
futech-566	281	12	three	three	NUM
futech-566	281	13	cases	case	NOUN
futech-566	281	14	as	as	ADP
futech-566	281	15	fit	fit	ADJ
futech-566	281	16	net	net	NOUN
futech-566	281	17	,	,	PUNCT
futech-566	281	18	rnn	rnn	NOUN
futech-566	281	19	,	,	PUNCT
futech-566	281	20	and	and	CCONJ
futech-566	281	21	cfn	cfn	NOUN
futech-566	281	22	for	for	ADP
futech-566	281	23	‘	'	PUNCT
futech-566	281	24	position	position	NOUN
futech-566	281	25	state	state	NOUN
futech-566	281	26	’	'	PUNCT
futech-566	281	27	and	and	CCONJ
futech-566	281	28	‘	'	PUNCT
futech-566	281	29	velocity	velocity	NOUN
futech-566	281	30	state	state	NOUN
futech-566	281	31	’	'	PUNCT
futech-566	281	32	.	.	PUNCT
futech-566	282	1	figure	figure	NOUN
futech-566	282	2	10	10	NUM
futech-566	282	3	.	.	PUNCT
futech-566	283	1	position	position	NOUN
futech-566	283	2	and	and	CCONJ
futech-566	283	3	velocity	velocity	NOUN
futech-566	283	4	variable	variable	ADJ
futech-566	283	5	response	response	NOUN
futech-566	283	6	for	for	ADP
futech-566	283	7	the	the	DET
futech-566	283	8	followers	follower	NOUN
futech-566	283	9	with	with	ADP
futech-566	283	10	a	a	DET
futech-566	283	11	recurrent	recurrent	ADJ
futech-566	283	12	neural	neural	ADJ
futech-566	283	13	network	network	NOUN
futech-566	283	14	architecture	architecture	NOUN
futech-566	283	15	figure	figure	NOUN
futech-566	283	16	11	11	NUM
futech-566	283	17	.	.	PUNCT
futech-566	284	1	position	position	NOUN
futech-566	284	2	and	and	CCONJ
futech-566	284	3	velocity	velocity	NOUN
futech-566	284	4	variable	variable	ADJ
futech-566	284	5	response	response	NOUN
futech-566	284	6	for	for	ADP
futech-566	284	7	the	the	DET
futech-566	284	8	followers	follower	NOUN
futech-566	284	9	with	with	ADP
futech-566	284	10	a	a	DET
futech-566	284	11	cascade	cascade	NOUN
futech-566	284	12	forward	forward	ADV
futech-566	284	13	net	net	ADJ
futech-566	284	14	architecture	architecture	NOUN
futech-566	284	15	table3	table3	PROPN
futech-566	284	16	.	.	PUNCT
futech-566	285	1	mean	mean	VERB
futech-566	285	2	squared	square	VERB
futech-566	285	3	error	error	NOUN
futech-566	285	4	comparison	comparison	NOUN
futech-566	285	5	of	of	ADP
futech-566	285	6	various	various	ADJ
futech-566	285	7	neural	neural	ADJ
futech-566	285	8	network	network	NOUN
futech-566	285	9	architectures	architecture	NOUN
futech-566	285	10	for	for	ADP
futech-566	285	11	nn	nn	PROPN
futech-566	285	12	-	-	PUNCT
futech-566	285	13	mpc	mpc	NOUN
futech-566	285	14	based	base	VERB
futech-566	285	15	multi	multi	ADJ
futech-566	285	16	-	-	ADJ
futech-566	285	17	agent	agent	ADJ
futech-566	285	18	system	system	NOUN
futech-566	285	19	(	(	PUNCT
futech-566	285	20	ith	ith	PROPN
futech-566	285	21	agent	agent	NOUN
futech-566	285	22	,	,	PUNCT
futech-566	285	23	rth	rth	NOUN
futech-566	285	24	state	state	NOUN
futech-566	285	25	)	)	PUNCT
futech-566	285	26	fitnet	fitnet	NOUN
futech-566	285	27	feed	feed	NOUN
futech-566	285	28	forward	forward	ADV
futech-566	285	29	(	(	PUNCT
futech-566	285	30	ffn	ffn	NOUN
futech-566	285	31	)	)	PUNCT
futech-566	285	32	cascade	cascade	NOUN
futech-566	285	33	forward	forward	ADV
futech-566	285	34	net	net	NOUN
futech-566	285	35	(	(	PUNCT
futech-566	285	36	cfn	cfn	NOUN
futech-566	285	37	)	)	PUNCT
futech-566	285	38	recurrent	recurrent	ADJ
futech-566	285	39	neural	neural	ADJ
futech-566	285	40	network	network	NOUN
futech-566	285	41	(	(	PUNCT
futech-566	285	42	rnn	rnn	PROPN
futech-566	285	43	)	)	PUNCT
futech-566	285	44	gao	gao	PROPN
futech-566	285	45	et	et	PROPN
futech-566	285	46	al	al	PROPN
futech-566	285	47	.	.	PROPN
futech-566	286	1	least	least	ADJ
futech-566	286	2	mse	mse	X
futech-566	286	3	(	(	PUNCT
futech-566	286	4	1,1	1,1	NUM
futech-566	286	5	)	)	PUNCT
futech-566	286	6	0.0866	0.0866	PROPN
futech-566	287	1	0.0947	0.0947	NUM
futech-566	287	2	0.1028	0.1028	NUM
futech-566	287	3	0.0671	0.0671	NUM
futech-566	287	4	0.3395	0.3395	NUM
futech-566	287	5	rnn	rnn	NOUN
futech-566	287	6	(	(	PUNCT
futech-566	287	7	1,2	1,2	NUM
futech-566	287	8	)	)	PUNCT
futech-566	287	9	0.0967	0.0967	NUM
futech-566	287	10	0.0943	0.0943	NUM
futech-566	287	11	0.0740	0.0740	NUM
futech-566	287	12	0.1278	0.1278	NUM
futech-566	287	13	0.0781	0.0781	NUM
futech-566	287	14	cfn	cfn	NOUN
futech-566	287	15	(	(	PUNCT
futech-566	287	16	2,1	2,1	NUM
futech-566	287	17	)	)	PUNCT
futech-566	287	18	0.0010	0.0010	NUM
futech-566	287	19	0.0019	0.0019	NUM
futech-566	287	20	0.0022	0.0022	NUM
futech-566	287	21	0.0022	0.0022	NUM
futech-566	287	22	0.0588	0.0588	NUM
futech-566	287	23	fitnet	fitnet	NOUN
futech-566	287	24	(	(	PUNCT
futech-566	287	25	2,2	2,2	NUM
futech-566	287	26	)	)	PUNCT
futech-566	287	27	0.0204	0.0204	NUM
futech-566	287	28	0.0230	0.0230	NUM
futech-566	287	29	0.0237	0.0237	NUM
futech-566	287	30	0.0232	0.0232	NUM
futech-566	287	31	0.0194	0.0194	NUM
futech-566	287	32	gao	gao	PROPN
futech-566	287	33	et	et	PROPN
futech-566	287	34	al	al	PROPN
futech-566	287	35	.	.	PUNCT
futech-566	288	1	(	(	PUNCT
futech-566	288	2	3,1	3,1	NUM
futech-566	288	3	)	)	PUNCT
futech-566	288	4	0.1972	0.1972	NUM
futech-566	288	5	0.0305	0.0305	NUM
futech-566	288	6	0.0149	0.0149	NUM
futech-566	288	7	0.0134	0.0134	NUM
futech-566	288	8	0.0824	0.0824	NUM
futech-566	288	9	rnn	rnn	NOUN
futech-566	288	10	(	(	PUNCT
futech-566	288	11	3,2	3,2	NUM
futech-566	288	12	)	)	PUNCT
futech-566	288	13	0.3387	0.3387	NUM
futech-566	289	1	0.2198	0.2198	NUM
futech-566	289	2	0.1978	0.1978	NUM
futech-566	289	3	0.1948	0.1948	NUM
futech-566	289	4	0.1029	0.1029	NUM
futech-566	289	5	gao	gao	PROPN
futech-566	289	6	et	et	PROPN
futech-566	289	7	al	al	PROPN
futech-566	289	8	.	.	PUNCT
futech-566	290	1	(	(	PUNCT
futech-566	290	2	4,1	4,1	NUM
futech-566	290	3	)	)	PUNCT
futech-566	290	4	0.0826	0.0826	NUM
futech-566	290	5	0.0664	0.0664	NUM
futech-566	290	6	0.0377	0.0377	NUM
futech-566	290	7	0.0644	0.0644	NUM
futech-566	290	8	0.4142	0.4142	NUM
futech-566	290	9	cfn	cfn	NOUN
futech-566	290	10	(	(	PUNCT
futech-566	290	11	4,2	4,2	NUM
futech-566	290	12	)	)	PUNCT
futech-566	290	13	0.3825	0.3825	NUM
futech-566	291	1	0.3663	0.3663	NUM
futech-566	291	2	0.3324	0.3324	NUM
futech-566	291	3	0.4014	0.4014	NUM
futech-566	291	4	0.1823	0.1823	NUM
futech-566	291	5	cfn	cfn	NOUN
futech-566	291	6	p.	p.	NOUN
futech-566	291	7	chaubey	chaubey	NOUN
futech-566	291	8	et	et	PROPN
futech-566	291	9	al	al	PROPN
futech-566	291	10	.	.	PROPN
futech-566	291	11	/future	/future	PUNCT
futech-566	291	12	technology	technology	PROPN
futech-566	291	13	february	february	PROPN
futech-566	291	14	2026|	2026|	NUM
futech-566	291	15	volume	volume	NOUN
futech-566	291	16	05	05	NUM
futech-566	292	1	|	|	ADV
futech-566	292	2	issue	issue	NOUN
futech-566	292	3	01	01	NUM
futech-566	293	1	|	|	ADV
futech-566	293	2	pages	page	VERB
futech-566	293	3	148	148	NUM
futech-566	293	4	-	-	SYM
futech-566	293	5	158	158	NUM
futech-566	293	6	156	156	NUM
futech-566	293	7	mse	mse	NOUN
futech-566	293	8	is	be	AUX
futech-566	293	9	least	least	ADJ
futech-566	293	10	with	with	ADP
futech-566	293	11	rnn	rnn	NOUN
futech-566	293	12	architecture	architecture	NOUN
futech-566	293	13	for	for	ADP
futech-566	293	14	the	the	DET
futech-566	293	15	‘	'	PUNCT
futech-566	293	16	position	position	NOUN
futech-566	293	17	state	state	NOUN
futech-566	293	18	’	'	PUNCT
futech-566	293	19	of	of	ADP
futech-566	293	20	follower	follower	NOUN
futech-566	293	21	‘	'	PUNCT
futech-566	293	22	1	1	NUM
futech-566	293	23	’	'	PUNCT
futech-566	293	24	and	and	CCONJ
futech-566	293	25	both	both	DET
futech-566	293	26	‘	'	PUNCT
futech-566	293	27	position	position	NOUN
futech-566	293	28	and	and	CCONJ
futech-566	293	29	velocity	velocity	NOUN
futech-566	293	30	state	state	NOUN
futech-566	293	31	’	'	PUNCT
futech-566	293	32	of	of	ADP
futech-566	293	33	follower	follower	NOUN
futech-566	293	34	‘	'	PUNCT
futech-566	293	35	3	3	NUM
futech-566	293	36	’	'	PUNCT
futech-566	293	37	.	.	PUNCT
futech-566	294	1	whereas	whereas	SCONJ
futech-566	294	2	,	,	PUNCT
futech-566	294	3	mse	mse	PROPN
futech-566	294	4	is	be	AUX
futech-566	294	5	least	least	ADJ
futech-566	294	6	for	for	ADP
futech-566	294	7	both	both	DET
futech-566	294	8	‘	'	PUNCT
futech-566	294	9	position	position	NOUN
futech-566	294	10	state	state	NOUN
futech-566	294	11	’	'	PUNCT
futech-566	294	12	and	and	CCONJ
futech-566	294	13	‘	'	PUNCT
futech-566	294	14	velocity	velocity	NOUN
futech-566	294	15	state	state	NOUN
futech-566	294	16	’	'	PUNCT
futech-566	294	17	error	error	NOUN
futech-566	294	18	for	for	ADP
futech-566	294	19	the	the	DET
futech-566	294	20	followers	follower	NOUN
futech-566	294	21	‘	'	PUNCT
futech-566	294	22	2	2	NUM
futech-566	294	23	’	'	PUNCT
futech-566	294	24	if	if	SCONJ
futech-566	294	25	a	a	DET
futech-566	294	26	fit	fit	ADJ
futech-566	294	27	net	net	ADJ
futech-566	294	28	architecture	architecture	NOUN
futech-566	294	29	is	be	AUX
futech-566	294	30	used	use	VERB
futech-566	294	31	,	,	PUNCT
futech-566	294	32	a	a	DET
futech-566	294	33	neural	neural	ADJ
futech-566	294	34	network	network	NOUN
futech-566	294	35	structure	structure	NOUN
futech-566	294	36	.	.	PUNCT
futech-566	295	1	in	in	ADP
futech-566	295	2	other	other	ADJ
futech-566	295	3	cases	case	NOUN
futech-566	295	4	,	,	PUNCT
futech-566	295	5	like	like	ADP
futech-566	295	6	‘	'	PUNCT
futech-566	295	7	position	position	NOUN
futech-566	295	8	state	state	NOUN
futech-566	295	9	’	'	PUNCT
futech-566	295	10	of	of	ADP
futech-566	295	11	follower	follower	NOUN
futech-566	295	12	‘	'	PUNCT
futech-566	295	13	4	4	NUM
futech-566	295	14	’	'	PUNCT
futech-566	295	15	and	and	CCONJ
futech-566	295	16	‘	'	PUNCT
futech-566	295	17	velocity	velocity	NOUN
futech-566	295	18	state	state	NOUN
futech-566	295	19	’	'	PUNCT
futech-566	295	20	of	of	ADP
futech-566	295	21	follower	follower	NOUN
futech-566	295	22	‘	'	PUNCT
futech-566	295	23	1	1	NUM
futech-566	295	24	’	'	PUNCT
futech-566	295	25	and	and	CCONJ
futech-566	295	26	‘	'	PUNCT
futech-566	295	27	4	4	NUM
futech-566	295	28	’	'	PUNCT
futech-566	295	29	,	,	PUNCT
futech-566	295	30	the	the	DET
futech-566	295	31	mse	mse	NOUN
futech-566	295	32	is	be	AUX
futech-566	295	33	minimum	minimum	ADJ
futech-566	295	34	with	with	ADP
futech-566	295	35	the	the	DET
futech-566	295	36	cnn	cnn	PROPN
futech-566	295	37	architecture	architecture	NOUN
futech-566	295	38	.	.	PUNCT
futech-566	296	1	it	it	PRON
futech-566	296	2	can	can	AUX
futech-566	296	3	be	be	AUX
futech-566	296	4	observed	observe	VERB
futech-566	296	5	that	that	SCONJ
futech-566	296	6	no	no	DET
futech-566	296	7	single	single	ADJ
futech-566	296	8	architecture	architecture	NOUN
futech-566	296	9	can	can	AUX
futech-566	296	10	give	give	VERB
futech-566	296	11	the	the	DET
futech-566	296	12	least	least	ADJ
futech-566	296	13	mse	mse	NOUN
futech-566	296	14	for	for	ADP
futech-566	296	15	all	all	DET
futech-566	296	16	the	the	DET
futech-566	296	17	follower	follower	NOUN
futech-566	296	18	agents	agent	NOUN
futech-566	296	19	possible	possible	ADJ
futech-566	296	20	,	,	PUNCT
futech-566	296	21	but	but	CCONJ
futech-566	296	22	a	a	DET
futech-566	296	23	compromise	compromise	NOUN
futech-566	296	24	can	can	AUX
futech-566	296	25	be	be	AUX
futech-566	296	26	possible	possible	ADJ
futech-566	296	27	for	for	ADP
futech-566	296	28	a	a	DET
futech-566	296	29	configuration	configuration	NOUN
futech-566	296	30	that	that	PRON
futech-566	296	31	can	can	AUX
futech-566	296	32	give	give	VERB
futech-566	296	33	a	a	DET
futech-566	296	34	better	well	ADJ
futech-566	296	35	response	response	NOUN
futech-566	296	36	(	(	PUNCT
futech-566	296	37	fast	fast	ADJ
futech-566	296	38	response	response	NOUN
futech-566	296	39	)	)	PUNCT
futech-566	296	40	with	with	ADP
futech-566	296	41	the	the	DET
futech-566	296	42	least	least	ADJ
futech-566	296	43	mse	mse	NOUN
futech-566	296	44	required	require	VERB
futech-566	296	45	for	for	ADP
futech-566	296	46	the	the	DET
futech-566	296	47	consensus	consensus	NOUN
futech-566	296	48	of	of	ADP
futech-566	296	49	the	the	DET
futech-566	296	50	agents	agent	NOUN
futech-566	296	51	.	.	PUNCT
futech-566	297	1	from	from	ADP
futech-566	297	2	the	the	DET
futech-566	297	3	above	above	ADJ
futech-566	297	4	observations	observation	NOUN
futech-566	297	5	,	,	PUNCT
futech-566	297	6	we	we	PRON
futech-566	297	7	can	can	AUX
futech-566	297	8	say	say	VERB
futech-566	297	9	that	that	SCONJ
futech-566	297	10	rnn	rnn	PROPN
futech-566	297	11	-	-	PUNCT
futech-566	297	12	mpc	mpc	PROPN
futech-566	297	13	reaches	reach	VERB
futech-566	297	14	the	the	DET
futech-566	297	15	consensus	consensus	NOUN
futech-566	297	16	in	in	ADP
futech-566	297	17	the	the	DET
futech-566	297	18	minimum	minimum	ADJ
futech-566	297	19	time	time	NOUN
futech-566	297	20	,	,	PUNCT
futech-566	297	21	thereby	thereby	ADV
futech-566	297	22	showing	show	VERB
futech-566	297	23	the	the	DET
futech-566	297	24	least	least	ADJ
futech-566	297	25	mse	mse	NOUN
futech-566	297	26	for	for	ADP
futech-566	297	27	the	the	DET
futech-566	297	28	‘	'	PUNCT
futech-566	297	29	position	position	NOUN
futech-566	297	30	state	state	NOUN
futech-566	297	31	’	'	PUNCT
futech-566	297	32	of	of	ADP
futech-566	297	33	followers	follower	NOUN
futech-566	297	34	‘	'	PUNCT
futech-566	297	35	1	1	NUM
futech-566	297	36	’	'	PUNCT
futech-566	297	37	and	and	CCONJ
futech-566	297	38	‘	'	PUNCT
futech-566	297	39	3	3	NUM
futech-566	297	40	’	'	PUNCT
futech-566	297	41	.	.	PUNCT
futech-566	298	1	results	result	NOUN
futech-566	298	2	of	of	ADP
futech-566	298	3	gao	gao	PROPN
futech-566	298	4	et	et	PROPN
futech-566	298	5	al	al	PROPN
futech-566	298	6	.	.	PROPN
futech-566	298	7	show	show	VERB
futech-566	298	8	minimum	minimum	ADJ
futech-566	298	9	mse	mse	NOUN
futech-566	298	10	for	for	ADP
futech-566	298	11	the	the	DET
futech-566	298	12	‘	'	PUNCT
futech-566	298	13	velocity	velocity	NOUN
futech-566	298	14	state	state	NOUN
futech-566	298	15	’	'	PUNCT
futech-566	298	16	of	of	ADP
futech-566	298	17	followers	follower	NOUN
futech-566	298	18	‘	'	PUNCT
futech-566	298	19	2	2	NUM
futech-566	298	20	’	'	PUNCT
futech-566	298	21	and	and	CCONJ
futech-566	298	22	‘	'	PUNCT
futech-566	298	23	3	3	NUM
futech-566	298	24	’	'	PUNCT
futech-566	298	25	.	.	PUNCT
futech-566	299	1	however	however	ADV
futech-566	299	2	,	,	PUNCT
futech-566	299	3	there	there	PRON
futech-566	299	4	is	be	VERB
futech-566	299	5	no	no	DET
futech-566	299	6	single	single	ADJ
futech-566	299	7	training	training	NOUN
futech-566	299	8	configuration	configuration	NOUN
futech-566	299	9	that	that	PRON
futech-566	299	10	provides	provide	VERB
futech-566	299	11	the	the	DET
futech-566	299	12	least	least	ADJ
futech-566	299	13	mse	mse	NOUN
futech-566	299	14	for	for	ADP
futech-566	299	15	all	all	DET
futech-566	299	16	agents	agent	NOUN
futech-566	299	17	for	for	ADP
futech-566	299	18	the	the	DET
futech-566	299	19	‘	'	PUNCT
futech-566	299	20	position	position	NOUN
futech-566	299	21	state	state	NOUN
futech-566	299	22	’	'	PUNCT
futech-566	299	23	and	and	CCONJ
futech-566	299	24	‘	'	PUNCT
futech-566	299	25	velocity	velocity	NOUN
futech-566	299	26	state	state	NOUN
futech-566	299	27	’	'	PUNCT
futech-566	299	28	.	.	PUNCT
futech-566	300	1	4.2	4.2	NUM
futech-566	300	2	comparison	comparison	NOUN
futech-566	300	3	to	to	ADP
futech-566	300	4	the	the	DET
futech-566	300	5	related	relate	VERB
futech-566	300	6	work	work	NOUN
futech-566	300	7	if	if	SCONJ
futech-566	300	8	the	the	DET
futech-566	300	9	comparison	comparison	NOUN
futech-566	300	10	is	be	AUX
futech-566	300	11	made	make	VERB
futech-566	300	12	with	with	ADP
futech-566	300	13	the	the	DET
futech-566	300	14	previous	previous	ADJ
futech-566	300	15	work	work	NOUN
futech-566	300	16	for	for	ADP
futech-566	300	17	achieving	achieve	VERB
futech-566	300	18	consensus	consensus	NOUN
futech-566	300	19	of	of	ADP
futech-566	300	20	follower	follower	NOUN
futech-566	300	21	agents	agent	NOUN
futech-566	300	22	presented	present	VERB
futech-566	300	23	by	by	ADP
futech-566	300	24	gao	gao	PROPN
futech-566	300	25	et	et	PROPN
futech-566	300	26	al	al	PROPN
futech-566	300	27	.	.	PUNCT
futech-566	301	1	[	[	X
futech-566	301	2	32	32	NUM
futech-566	301	3	]	]	PUNCT
futech-566	301	4	,	,	PUNCT
futech-566	301	5	it	it	PRON
futech-566	301	6	can	can	AUX
futech-566	301	7	be	be	AUX
futech-566	301	8	said	say	VERB
futech-566	301	9	that	that	SCONJ
futech-566	301	10	the	the	DET
futech-566	301	11	rnn	rnn	PROPN
futech-566	301	12	-	-	PUNCT
futech-566	301	13	mpc	mpc	PROPN
futech-566	301	14	gives	give	VERB
futech-566	301	15	desired	desire	VERB
futech-566	301	16	results	result	NOUN
futech-566	301	17	in	in	ADP
futech-566	301	18	minimum	minimum	ADJ
futech-566	301	19	time	time	NOUN
futech-566	301	20	thereby	thereby	ADV
futech-566	301	21	follower	follower	NOUN
futech-566	301	22	agents	agent	NOUN
futech-566	301	23	reaching	reach	VERB
futech-566	301	24	to	to	ADP
futech-566	301	25	the	the	DET
futech-566	301	26	consensus	consensus	NOUN
futech-566	301	27	in	in	ADP
futech-566	301	28	the	the	DET
futech-566	301	29	minimum	minimum	ADJ
futech-566	301	30	time	time	NOUN
futech-566	301	31	at	at	ADP
futech-566	301	32	2	2	NUM
futech-566	301	33	sec	sec	PROPN
futech-566	301	34	thereby	thereby	ADV
futech-566	301	35	showing	show	VERB
futech-566	301	36	much	much	ADV
futech-566	301	37	better	well	ADJ
futech-566	301	38	performance	performance	NOUN
futech-566	301	39	in	in	ADP
futech-566	301	40	achieving	achieve	VERB
futech-566	301	41	consensus	consensus	NOUN
futech-566	301	42	than	than	SCONJ
futech-566	301	43	the	the	DET
futech-566	301	44	event	event	NOUN
futech-566	301	45	triggered	trigger	VERB
futech-566	301	46	based	base	VERB
futech-566	301	47	strategy	strategy	NOUN
futech-566	301	48	where	where	SCONJ
futech-566	301	49	consensus	consensus	NOUN
futech-566	301	50	is	be	AUX
futech-566	301	51	achieved	achieve	VERB
futech-566	301	52	in	in	ADP
futech-566	301	53	more	more	ADJ
futech-566	301	54	than	than	ADP
futech-566	301	55	10	10	NUM
futech-566	301	56	seconds	second	NOUN
futech-566	301	57	.	.	PUNCT
futech-566	302	1	however	however	ADV
futech-566	302	2	,	,	PUNCT
futech-566	302	3	there	there	PRON
futech-566	302	4	can	can	AUX
futech-566	302	5	be	be	AUX
futech-566	302	6	more	more	ADJ
futech-566	302	7	chances	chance	NOUN
futech-566	302	8	of	of	ADP
futech-566	302	9	improvement	improvement	NOUN
futech-566	302	10	as	as	ADV
futech-566	302	11	far	far	ADV
futech-566	302	12	as	as	SCONJ
futech-566	302	13	mse	mse	PROPN
futech-566	302	14	is	be	AUX
futech-566	302	15	concerned	concern	VERB
futech-566	302	16	for	for	ADP
futech-566	302	17	the	the	DET
futech-566	302	18	position	position	NOUN
futech-566	302	19	and	and	CCONJ
futech-566	302	20	velocity	velocity	NOUN
futech-566	302	21	variables	variable	NOUN
futech-566	302	22	of	of	ADP
futech-566	302	23	the	the	DET
futech-566	302	24	followers	follower	NOUN
futech-566	302	25	.	.	PUNCT
futech-566	303	1	the	the	DET
futech-566	303	2	proposed	propose	VERB
futech-566	303	3	nn	nn	PROPN
futech-566	303	4	-	-	PUNCT
futech-566	303	5	mpc	mpc	NOUN
futech-566	303	6	approach	approach	NOUN
futech-566	303	7	differs	differ	VERB
futech-566	303	8	from	from	ADP
futech-566	303	9	conventional	conventional	ADJ
futech-566	303	10	mpc	mpc	NOUN
futech-566	303	11	and	and	CCONJ
futech-566	303	12	existing	exist	VERB
futech-566	303	13	learning	learning	NOUN
futech-566	303	14	-	-	PUNCT
futech-566	303	15	based	base	VERB
futech-566	303	16	mpc	mpc	NOUN
futech-566	303	17	strategies	strategy	NOUN
futech-566	303	18	by	by	ADP
futech-566	303	19	incorporating	incorporate	VERB
futech-566	303	20	neural	neural	ADJ
futech-566	303	21	networks	network	NOUN
futech-566	303	22	as	as	ADP
futech-566	303	23	fitnet	fitnet	NOUN
futech-566	303	24	,	,	PUNCT
futech-566	303	25	feedforwardnet	feedforwardnet	NOUN
futech-566	303	26	,	,	PUNCT
futech-566	303	27	cascadenetwork	cascadenetwork	NOUN
futech-566	303	28	,	,	PUNCT
futech-566	303	29	and	and	CCONJ
futech-566	303	30	recurrent	recurrent	ADJ
futech-566	303	31	neural	neural	ADJ
futech-566	303	32	network	network	NOUN
futech-566	303	33	within	within	ADP
futech-566	303	34	the	the	DET
futech-566	303	35	control	control	NOUN
futech-566	303	36	framework	framework	NOUN
futech-566	303	37	.	.	PUNCT
futech-566	304	1	traditional	traditional	ADJ
futech-566	304	2	mpc	mpc	PROPN
futech-566	304	3	predicts	predict	VERB
futech-566	304	4	the	the	DET
futech-566	304	5	future	future	ADJ
futech-566	304	6	states	state	NOUN
futech-566	304	7	and	and	CCONJ
futech-566	304	8	optimizes	optimize	VERB
futech-566	304	9	the	the	DET
futech-566	304	10	objective	objective	ADJ
futech-566	304	11	cost	cost	NOUN
futech-566	304	12	by	by	ADP
futech-566	304	13	itself	itself	PRON
futech-566	304	14	,	,	PUNCT
futech-566	304	15	which	which	PRON
futech-566	304	16	limits	limit	VERB
futech-566	304	17	its	its	PRON
futech-566	304	18	performance	performance	NOUN
futech-566	304	19	in	in	ADP
futech-566	304	20	nonlinear	nonlinear	ADJ
futech-566	304	21	or	or	CCONJ
futech-566	304	22	uncertain	uncertain	ADJ
futech-566	304	23	environments	environment	NOUN
futech-566	304	24	.	.	PUNCT
futech-566	305	1	in	in	ADP
futech-566	305	2	contrast	contrast	NOUN
futech-566	305	3	,	,	PUNCT
futech-566	305	4	the	the	DET
futech-566	305	5	proposed	propose	VERB
futech-566	305	6	nn	nn	PROPN
futech-566	305	7	-	-	PUNCT
futech-566	305	8	mpc	mpc	NOUN
futech-566	305	9	takes	take	VERB
futech-566	305	10	the	the	DET
futech-566	305	11	optimization	optimization	NOUN
futech-566	305	12	burden	burden	NOUN
futech-566	305	13	of	of	ADP
futech-566	305	14	the	the	DET
futech-566	305	15	mpc	mpc	NOUN
futech-566	305	16	with	with	ADP
futech-566	305	17	various	various	ADJ
futech-566	305	18	neural	neural	ADJ
futech-566	305	19	networks	network	NOUN
futech-566	305	20	—	—	PUNCT
futech-566	305	21	such	such	ADJ
futech-566	305	22	as	as	ADP
futech-566	305	23	feedforward	feedforward	NOUN
futech-566	305	24	,	,	PUNCT
futech-566	305	25	recurrent	recurrent	NOUN
futech-566	305	26	,	,	PUNCT
futech-566	305	27	fitnet	fitnet	NOUN
futech-566	305	28	,	,	PUNCT
futech-566	305	29	and	and	CCONJ
futech-566	305	30	cascade	cascade	NOUN
futech-566	305	31	architectures	architecture	NOUN
futech-566	305	32	—	—	PUNCT
futech-566	305	33	that	that	PRON
futech-566	305	34	learn	learn	VERB
futech-566	305	35	in	in	ADP
futech-566	305	36	the	the	DET
futech-566	305	37	complex	complex	ADJ
futech-566	305	38	system	system	NOUN
futech-566	305	39	dynamics	dynamic	NOUN
futech-566	305	40	and	and	CCONJ
futech-566	305	41	inter	inter	ADJ
futech-566	305	42	-	-	ADJ
futech-566	305	43	agent	agent	ADJ
futech-566	305	44	interactions	interaction	NOUN
futech-566	305	45	.	.	PUNCT
futech-566	306	1	this	this	DET
futech-566	306	2	integration	integration	NOUN
futech-566	306	3	allows	allow	VERB
futech-566	306	4	the	the	DET
futech-566	306	5	controller	controller	NOUN
futech-566	306	6	to	to	PART
futech-566	306	7	predict	predict	VERB
futech-566	306	8	future	future	NOUN
futech-566	306	9	and	and	CCONJ
futech-566	306	10	optimize	optimize	VERB
futech-566	306	11	the	the	DET
futech-566	306	12	error	error	NOUN
futech-566	306	13	between	between	ADP
futech-566	306	14	the	the	DET
futech-566	306	15	state	state	NOUN
futech-566	306	16	trajectories	trajectory	NOUN
futech-566	306	17	of	of	ADP
futech-566	306	18	the	the	DET
futech-566	306	19	leader	leader	NOUN
futech-566	306	20	-	-	PUNCT
futech-566	306	21	follower	follower	NOUN
futech-566	306	22	agents	agent	NOUN
futech-566	306	23	more	more	ADV
futech-566	306	24	accurately	accurately	ADV
futech-566	306	25	and	and	CCONJ
futech-566	306	26	adapt	adapt	VERB
futech-566	306	27	to	to	ADP
futech-566	306	28	changing	change	VERB
futech-566	306	29	conditions	condition	NOUN
futech-566	306	30	in	in	ADP
futech-566	306	31	real	real	ADJ
futech-566	306	32	time	time	NOUN
futech-566	306	33	.	.	PUNCT
futech-566	307	1	in	in	ADP
futech-566	307	2	the	the	DET
futech-566	307	3	future	future	NOUN
futech-566	307	4	,	,	PUNCT
futech-566	307	5	the	the	DET
futech-566	307	6	existing	exist	VERB
futech-566	307	7	learningbased	learningbase	VERB
futech-566	307	8	mpcs	mpcs	PROPN
futech-566	307	9	that	that	PRON
futech-566	307	10	typically	typically	ADV
futech-566	307	11	utilize	utilize	VERB
futech-566	307	12	a	a	DET
futech-566	307	13	single	single	ADJ
futech-566	307	14	neural	neural	ADJ
futech-566	307	15	network	network	NOUN
futech-566	307	16	trained	train	VERB
futech-566	307	17	offline	offline	NOUN
futech-566	307	18	can	can	AUX
futech-566	307	19	be	be	AUX
futech-566	307	20	replaced	replace	VERB
futech-566	307	21	by	by	ADP
futech-566	307	22	the	the	DET
futech-566	307	23	proposed	propose	VERB
futech-566	307	24	framework	framework	NOUN
futech-566	307	25	systematically	systematically	ADV
futech-566	307	26	,	,	PUNCT
futech-566	307	27	which	which	PRON
futech-566	307	28	can	can	AUX
futech-566	307	29	compare	compare	VERB
futech-566	307	30	multiple	multiple	ADJ
futech-566	307	31	neural	neural	ADJ
futech-566	307	32	architectures	architecture	NOUN
futech-566	307	33	to	to	PART
futech-566	307	34	determine	determine	VERB
futech-566	307	35	the	the	DET
futech-566	307	36	most	most	ADV
futech-566	307	37	effective	effective	ADJ
futech-566	307	38	configuration	configuration	NOUN
futech-566	307	39	for	for	ADP
futech-566	307	40	achieving	achieve	VERB
futech-566	307	41	consensus	consensus	NOUN
futech-566	307	42	in	in	ADP
futech-566	307	43	leader	leader	NOUN
futech-566	307	44	–	–	PUNCT
futech-566	307	45	follower	follower	NOUN
futech-566	307	46	multi	multi	ADJ
futech-566	307	47	-	-	ADJ
futech-566	307	48	agent	agent	ADJ
futech-566	307	49	systems	system	NOUN
futech-566	307	50	.	.	PUNCT
futech-566	308	1	consequently	consequently	ADV
futech-566	308	2	,	,	PUNCT
futech-566	308	3	the	the	DET
futech-566	308	4	nn	nn	PROPN
futech-566	308	5	-	-	PUNCT
futech-566	308	6	mpc	mpc	NOUN
futech-566	308	7	enhances	enhance	NOUN
futech-566	308	8	adaptability	adaptability	NOUN
futech-566	308	9	,	,	PUNCT
futech-566	308	10	robustness	robustness	NOUN
futech-566	308	11	,	,	PUNCT
futech-566	308	12	and	and	CCONJ
futech-566	308	13	coordination	coordination	NOUN
futech-566	308	14	performance	performance	NOUN
futech-566	308	15	while	while	SCONJ
futech-566	308	16	preserving	preserve	VERB
futech-566	308	17	the	the	DET
futech-566	308	18	optimization	optimization	NOUN
futech-566	308	19	and	and	CCONJ
futech-566	308	20	constraint	constraint	NOUN
futech-566	308	21	-	-	PUNCT
futech-566	308	22	handling	handling	NOUN
futech-566	308	23	advantages	advantage	NOUN
futech-566	308	24	of	of	ADP
futech-566	308	25	the	the	DET
futech-566	308	26	mpc	mpc	NOUN
futech-566	308	27	structure	structure	NOUN
futech-566	308	28	.	.	PUNCT
futech-566	309	1	5	5	X
futech-566	309	2	.	.	X
futech-566	309	3	conclusion	conclusion	NOUN
futech-566	309	4	conclusions	conclusion	NOUN
futech-566	309	5	drawn	draw	VERB
futech-566	309	6	from	from	ADP
futech-566	309	7	the	the	DET
futech-566	309	8	above	above	ADJ
futech-566	309	9	results	result	NOUN
futech-566	309	10	suggest	suggest	VERB
futech-566	309	11	that	that	SCONJ
futech-566	309	12	the	the	DET
futech-566	309	13	rnn	rnn	PROPN
futech-566	309	14	-	-	PUNCT
futech-566	309	15	mpc	mpc	NOUN
futech-566	309	16	-	-	PUNCT
futech-566	309	17	based	base	VERB
futech-566	309	18	configuration	configuration	NOUN
futech-566	309	19	of	of	ADP
futech-566	309	20	the	the	DET
futech-566	309	21	neural	neural	ADJ
futech-566	309	22	network	network	NOUN
futech-566	309	23	gives	give	VERB
futech-566	309	24	a	a	DET
futech-566	309	25	fast	fast	ADJ
futech-566	309	26	response	response	NOUN
futech-566	309	27	to	to	ADP
futech-566	309	28	the	the	DET
futech-566	309	29	leader	leader	NOUN
futech-566	309	30	-	-	PUNCT
futech-566	309	31	follower	follower	NOUN
futech-566	309	32	system	system	NOUN
futech-566	309	33	in	in	ADP
futech-566	309	34	achieving	achieve	VERB
futech-566	309	35	consensus	consensus	NOUN
futech-566	309	36	in	in	ADP
futech-566	309	37	minimum	minimum	ADJ
futech-566	309	38	time	time	NOUN
futech-566	309	39	over	over	ADP
futech-566	309	40	other	other	ADJ
futech-566	309	41	neural	neural	ADJ
futech-566	309	42	network	network	NOUN
futech-566	309	43	-	-	PUNCT
futech-566	309	44	based	base	VERB
futech-566	309	45	architectures	architecture	NOUN
futech-566	309	46	like	like	ADP
futech-566	309	47	fitnet	fitnet	NOUN
futech-566	309	48	,	,	PUNCT
futech-566	309	49	feedforward	feedforward	NOUN
futech-566	309	50	network	network	NOUN
futech-566	309	51	,	,	PUNCT
futech-566	309	52	and	and	CCONJ
futech-566	309	53	cascade	cascade	NOUN
futech-566	309	54	network	network	NOUN
futech-566	309	55	.	.	PUNCT
futech-566	310	1	also	also	ADV
futech-566	310	2	,	,	PUNCT
futech-566	310	3	there	there	PRON
futech-566	310	4	is	be	VERB
futech-566	310	5	a	a	DET
futech-566	310	6	considerable	considerable	ADJ
futech-566	310	7	reduction	reduction	NOUN
futech-566	310	8	in	in	ADP
futech-566	310	9	the	the	DET
futech-566	310	10	mse	mse	NOUN
futech-566	310	11	for	for	ADP
futech-566	310	12	the	the	DET
futech-566	310	13	‘	'	PUNCT
futech-566	310	14	position	position	NOUN
futech-566	310	15	variable	variable	NOUN
futech-566	310	16	’	'	PUNCT
futech-566	310	17	of	of	ADP
futech-566	310	18	followers	follower	NOUN
futech-566	310	19	‘	'	PUNCT
futech-566	310	20	1	1	NUM
futech-566	310	21	and	and	CCONJ
futech-566	310	22	3	3	NUM
futech-566	310	23	’	'	PUNCT
futech-566	310	24	that	that	PRON
futech-566	310	25	validates	validate	VERB
futech-566	310	26	the	the	DET
futech-566	310	27	effectiveness	effectiveness	NOUN
futech-566	310	28	of	of	ADP
futech-566	310	29	the	the	DET
futech-566	310	30	recurrent	recurrent	ADJ
futech-566	310	31	neural	neural	ADJ
futech-566	310	32	network	network	NOUN
futech-566	310	33	-	-	PUNCT
futech-566	310	34	based	base	VERB
futech-566	310	35	training	training	NOUN
futech-566	310	36	network	network	NOUN
futech-566	310	37	.	.	PUNCT
futech-566	311	1	however	however	ADV
futech-566	311	2	,	,	PUNCT
futech-566	311	3	there	there	PRON
futech-566	311	4	is	be	VERB
futech-566	311	5	no	no	DET
futech-566	311	6	architecture	architecture	NOUN
futech-566	311	7	found	find	VERB
futech-566	311	8	that	that	PRON
futech-566	311	9	provides	provide	VERB
futech-566	311	10	the	the	DET
futech-566	311	11	least	least	ADJ
futech-566	311	12	mse	mse	NOUN
futech-566	311	13	for	for	ADP
futech-566	311	14	all	all	DET
futech-566	311	15	agents	agent	NOUN
futech-566	311	16	for	for	ADP
futech-566	311	17	the	the	DET
futech-566	311	18	‘	'	PUNCT
futech-566	311	19	position	position	NOUN
futech-566	311	20	state	state	NOUN
futech-566	311	21	’	'	PUNCT
futech-566	311	22	and	and	CCONJ
futech-566	311	23	‘	'	PUNCT
futech-566	311	24	velocity	velocity	NOUN
futech-566	311	25	state	state	NOUN
futech-566	311	26	’	'	PUNCT
futech-566	311	27	.	.	PUNCT
futech-566	312	1	future	future	ADJ
futech-566	312	2	research	research	NOUN
futech-566	312	3	efforts	effort	NOUN
futech-566	312	4	should	should	AUX
futech-566	312	5	be	be	AUX
futech-566	312	6	focused	focus	VERB
futech-566	312	7	on	on	ADP
futech-566	312	8	finding	find	VERB
futech-566	312	9	such	such	DET
futech-566	312	10	a	a	DET
futech-566	312	11	learning	learning	NOUN
futech-566	312	12	-	-	PUNCT
futech-566	312	13	based	base	VERB
futech-566	312	14	mpc	mpc	NOUN
futech-566	312	15	that	that	PRON
futech-566	312	16	can	can	AUX
futech-566	312	17	provide	provide	VERB
futech-566	312	18	fast	fast	ADJ
futech-566	312	19	response	response	NOUN
futech-566	312	20	as	as	ADV
futech-566	312	21	well	well	ADV
futech-566	312	22	as	as	ADP
futech-566	312	23	the	the	DET
futech-566	312	24	least	least	ADJ
futech-566	312	25	mse	mse	NOUN
futech-566	312	26	for	for	ADP
futech-566	312	27	most	most	ADJ
futech-566	312	28	of	of	ADP
futech-566	312	29	the	the	DET
futech-566	312	30	agents	agent	NOUN
futech-566	312	31	to	to	PART
futech-566	312	32	achieve	achieve	VERB
futech-566	312	33	the	the	DET
futech-566	312	34	consensus	consensus	NOUN
futech-566	312	35	of	of	ADP
futech-566	312	36	the	the	DET
futech-566	312	37	multiagent	multiagent	NOUN
futech-566	312	38	quadrotor	quadrotor	NOUN
futech-566	312	39	fleet	fleet	NOUN
futech-566	312	40	system	system	NOUN
futech-566	312	41	.	.	PUNCT
futech-566	313	1	ethical	ethical	ADJ
futech-566	313	2	issue	issue	NOUN
futech-566	313	3	the	the	DET
futech-566	313	4	authors	author	NOUN
futech-566	313	5	are	be	AUX
futech-566	313	6	aware	aware	ADJ
futech-566	313	7	of	of	ADP
futech-566	313	8	and	and	CCONJ
futech-566	313	9	comply	comply	ADJ
futech-566	313	10	with	with	ADP
futech-566	313	11	best	good	ADJ
futech-566	313	12	practices	practice	NOUN
futech-566	313	13	in	in	ADP
futech-566	313	14	publication	publication	NOUN
futech-566	313	15	ethics	ethic	NOUN
futech-566	313	16	,	,	PUNCT
futech-566	313	17	specifically	specifically	ADV
futech-566	313	18	regarding	regard	VERB
futech-566	313	19	authorship	authorship	NOUN
futech-566	313	20	(	(	PUNCT
futech-566	313	21	avoidance	avoidance	NOUN
futech-566	313	22	of	of	ADP
futech-566	313	23	guest	guest	NOUN
futech-566	313	24	authorship	authorship	NOUN
futech-566	313	25	)	)	PUNCT
futech-566	313	26	,	,	PUNCT
futech-566	313	27	dual	dual	ADJ
futech-566	313	28	submission	submission	NOUN
futech-566	313	29	,	,	PUNCT
futech-566	313	30	manipulation	manipulation	NOUN
futech-566	313	31	of	of	ADP
futech-566	313	32	figures	figure	NOUN
futech-566	313	33	,	,	PUNCT
futech-566	313	34	competing	compete	VERB
futech-566	313	35	interests	interest	NOUN
futech-566	313	36	,	,	PUNCT
futech-566	313	37	and	and	CCONJ
futech-566	313	38	compliance	compliance	NOUN
futech-566	313	39	with	with	ADP
futech-566	313	40	research	research	NOUN
futech-566	313	41	ethics	ethic	NOUN
futech-566	313	42	policies	policy	NOUN
futech-566	313	43	.	.	PUNCT
futech-566	314	1	the	the	DET
futech-566	314	2	authors	author	NOUN
futech-566	314	3	adhere	adhere	VERB
futech-566	314	4	to	to	ADP
futech-566	314	5	publication	publication	NOUN
futech-566	314	6	requirements	requirement	NOUN
futech-566	314	7	that	that	SCONJ
futech-566	314	8	the	the	DET
futech-566	314	9	submitted	submit	VERB
futech-566	314	10	work	work	NOUN
futech-566	314	11	is	be	AUX
futech-566	314	12	original	original	ADJ
futech-566	314	13	and	and	CCONJ
futech-566	314	14	has	have	AUX
futech-566	314	15	not	not	PART
futech-566	314	16	been	be	AUX
futech-566	314	17	published	publish	VERB
futech-566	314	18	elsewhere	elsewhere	ADV
futech-566	314	19	.	.	PUNCT
futech-566	315	1	data	datum	NOUN
futech-566	315	2	availability	availability	NOUN
futech-566	315	3	statement	statement	NOUN
futech-566	315	4	the	the	DET
futech-566	315	5	manuscript	manuscript	NOUN
futech-566	315	6	contains	contain	VERB
futech-566	315	7	all	all	DET
futech-566	315	8	the	the	DET
futech-566	315	9	data	datum	NOUN
futech-566	315	10	.	.	PUNCT
futech-566	316	1	however	however	ADV
futech-566	316	2	,	,	PUNCT
futech-566	316	3	more	more	ADJ
futech-566	316	4	data	datum	NOUN
futech-566	316	5	will	will	AUX
futech-566	316	6	be	be	AUX
futech-566	316	7	available	available	ADJ
futech-566	316	8	upon	upon	SCONJ
futech-566	316	9	request	request	NOUN
futech-566	316	10	from	from	ADP
futech-566	316	11	the	the	DET
futech-566	316	12	authors	author	NOUN
futech-566	316	13	.	.	PUNCT
futech-566	317	1	conflict	conflict	NOUN
futech-566	317	2	of	of	ADP
futech-566	317	3	interest	interest	NOUN
futech-566	317	4	the	the	DET
futech-566	317	5	authors	author	NOUN
futech-566	317	6	declare	declare	VERB
futech-566	317	7	no	no	DET
futech-566	317	8	potential	potential	ADJ
futech-566	317	9	conflict	conflict	NOUN
futech-566	317	10	of	of	ADP
futech-566	317	11	interest	interest	NOUN
futech-566	317	12	.	.	PUNCT
futech-566	318	1	references	reference	NOUN
futech-566	318	2	[	[	X
futech-566	318	3	1	1	NUM
futech-566	318	4	]	]	PUNCT
futech-566	318	5	k.	k.	PROPN
futech-566	318	6	m.	m.	PROPN
futech-566	318	7	khalil	khalil	PROPN
futech-566	318	8	,	,	PUNCT
futech-566	318	9	m.	m.	PROPN
futech-566	318	10	abdel	abdel	PROPN
futech-566	318	11	-	-	PUNCT
futech-566	318	12	aziz	aziz	PROPN
futech-566	318	13	,	,	PUNCT
futech-566	318	14	t.	t.	PROPN
futech-566	318	15	t.	t.	PROPN
futech-566	318	16	nazmy	nazmy	PROPN
futech-566	318	17	and	and	CCONJ
futech-566	318	18	a.	a.	PROPN
futech-566	318	19	b.	b.	PROPN
futech-566	318	20	m.	m.	PROPN
futech-566	318	21	salem	salem	PROPN
futech-566	318	22	,	,	PUNCT
futech-566	318	23	“	"	PUNCT
futech-566	318	24	machine	machine	NOUN
futech-566	318	25	learning	learn	VERB
futech-566	318	26	algorithms	algorithm	NOUN
futech-566	318	27	for	for	ADP
futech-566	318	28	multi	multi	ADJ
futech-566	318	29	-	-	ADJ
futech-566	318	30	agent	agent	ADJ
futech-566	318	31	systems	system	NOUN
futech-566	318	32	,	,	PUNCT
futech-566	318	33	”	"	PUNCT
futech-566	318	34	proceedings	proceeding	NOUN
futech-566	318	35	of	of	ADP
futech-566	318	36	the	the	DET
futech-566	318	37	international	international	ADJ
futech-566	318	38	conference	conference	NOUN
futech-566	318	39	on	on	ADP
futech-566	318	40	intelligent	intelligent	ADJ
futech-566	318	41	information	information	NOUN
futech-566	318	42	processing	processing	NOUN
futech-566	318	43	,	,	PUNCT
futech-566	318	44	security	security	NOUN
futech-566	318	45	and	and	CCONJ
futech-566	318	46	advanced	advanced	ADJ
futech-566	318	47	communication	communication	NOUN
futech-566	318	48	,	,	PUNCT
futech-566	318	49	pp	pp	ADJ
futech-566	318	50	.	.	PUNCT
futech-566	319	1	1–5	1–5	NUM
futech-566	319	2	,	,	PUNCT
futech-566	319	3	nov	nov	PROPN
futech-566	319	4	.	.	PROPN
futech-566	319	5	2015	2015	NUM
futech-566	319	6	.	.	PUNCT
futech-566	319	7	https://doi.org/10.1145/2816839.2816925	https://doi.org/10.1145/2816839.2816925	PUNCT
futech-566	320	1	[	[	X
futech-566	320	2	2	2	NUM
futech-566	320	3	]	]	PUNCT
futech-566	320	4	l.	l.	PROPN
futech-566	320	5	canese	canese	PROPN
futech-566	320	6	,	,	PUNCT
futech-566	320	7	g.	g.	PROPN
futech-566	320	8	c.	c.	PROPN
futech-566	320	9	cardarilli	cardarilli	PROPN
futech-566	320	10	,	,	PUNCT
futech-566	320	11	l.	l.	PROPN
futech-566	320	12	di	di	PROPN
futech-566	320	13	nunzio	nunzio	PROPN
futech-566	320	14	,	,	PUNCT
futech-566	320	15	r.	r.	PROPN
futech-566	320	16	fazzolari	fazzolari	PROPN
futech-566	320	17	,	,	PUNCT
futech-566	320	18	d.	d.	PROPN
futech-566	320	19	giardino	giardino	PROPN
futech-566	320	20	,	,	PUNCT
futech-566	320	21	m.	m.	NOUN
futech-566	320	22	re	re	NOUN
futech-566	320	23	and	and	CCONJ
futech-566	320	24	s.	s.	PROPN
futech-566	320	25	spanò	spanò	VERB
futech-566	320	26	,	,	PUNCT
futech-566	320	27	“	"	PUNCT
futech-566	320	28	multi	multi	ADJ
futech-566	320	29	-	-	ADJ
futech-566	320	30	agent	agent	ADJ
futech-566	320	31	reinforcement	reinforcement	NOUN
futech-566	320	32	learning	learning	NOUN
futech-566	320	33	:	:	PUNCT
futech-566	320	34	a	a	DET
futech-566	320	35	review	review	NOUN
futech-566	320	36	of	of	ADP
futech-566	320	37	challenges	challenge	NOUN
futech-566	320	38	and	and	CCONJ
futech-566	320	39	applications	application	NOUN
futech-566	320	40	,	,	PUNCT
futech-566	320	41	”	"	PUNCT
futech-566	320	42	applied	apply	VERB
futech-566	320	43	sciences	science	NOUN
futech-566	320	44	,	,	PUNCT
futech-566	320	45	vol	vol	NOUN
futech-566	320	46	.	.	PROPN
futech-566	320	47	11	11	NUM
futech-566	320	48	,	,	PUNCT
futech-566	320	49	no	no	INTJ
futech-566	320	50	.	.	NOUN
futech-566	320	51	11	11	NUM
futech-566	320	52	,	,	PUNCT
futech-566	320	53	p.	p.	NOUN
futech-566	320	54	4948	4948	NUM
futech-566	320	55	,	,	PUNCT
futech-566	320	56	2021.https://doi.org/10.3390/app11114948	2021.https://doi.org/10.3390/app11114948	NUM
futech-566	320	57	[	[	X
futech-566	320	58	3	3	X
futech-566	320	59	]	]	PUNCT
futech-566	320	60	d.	d.	PROPN
futech-566	320	61	q.	q.	PROPN
futech-566	320	62	mayne	mayne	PROPN
futech-566	320	63	,	,	PUNCT
futech-566	320	64	“	"	PUNCT
futech-566	320	65	model	model	NOUN
futech-566	320	66	predictive	predictive	ADJ
futech-566	320	67	control	control	NOUN
futech-566	320	68	:	:	PUNCT
futech-566	320	69	recent	recent	ADJ
futech-566	320	70	developments	development	NOUN
futech-566	320	71	and	and	CCONJ
futech-566	320	72	future	future	ADJ
futech-566	320	73	promise	promise	NOUN
futech-566	320	74	,	,	PUNCT
futech-566	320	75	”	"	PUNCT
futech-566	320	76	automatica	automatica	PROPN
futech-566	320	77	,	,	PUNCT
futech-566	320	78	vol	vol	NOUN
futech-566	320	79	.	.	PROPN
futech-566	320	80	50	50	NUM
futech-566	320	81	,	,	PUNCT
futech-566	320	82	no	no	INTJ
futech-566	320	83	.	.	NOUN
futech-566	320	84	12	12	NUM
futech-566	320	85	,	,	PUNCT
futech-566	320	86	pp	pp	ADJ
futech-566	320	87	.	.	PUNCT
futech-566	321	1	2967–2986	2967–2986	NUM
futech-566	321	2	,	,	PUNCT
futech-566	321	3	2014	2014	NUM
futech-566	321	4	.	.	PUNCT
futech-566	322	1	https://doi.org/10.1016/j.automatica.2014.10.128	https://doi.org/10.1016/j.automatica.2014.10.128	X
futech-566	323	1	[	[	X
futech-566	323	2	4	4	NUM
futech-566	323	3	]	]	PUNCT
futech-566	323	4	a.	a.	NOUN
futech-566	323	5	norouzi	norouzi	PROPN
futech-566	323	6	,	,	PUNCT
futech-566	323	7	h.	h.	PROPN
futech-566	323	8	heidarifar	heidarifar	PROPN
futech-566	323	9	,	,	PUNCT
futech-566	323	10	h.	h.	PROPN
futech-566	323	11	borhan	borhan	PROPN
futech-566	323	12	,	,	PUNCT
futech-566	323	13	m.	m.	NOUN
futech-566	323	14	shahbakhti	shahbakhti	NOUN
futech-566	323	15	and	and	CCONJ
futech-566	323	16	c.	c.	PROPN
futech-566	323	17	r.	r.	PROPN
futech-566	323	18	koch	koch	PROPN
futech-566	323	19	,	,	PUNCT
futech-566	323	20	“	"	PUNCT
futech-566	323	21	integrating	integrate	VERB
futech-566	323	22	machine	machine	NOUN
futech-566	323	23	learning	learning	NOUN
futech-566	323	24	and	and	CCONJ
futech-566	323	25	model	model	VERB
futech-566	323	26	predictive	predictive	ADJ
futech-566	323	27	control	control	NOUN
futech-566	323	28	for	for	ADP
futech-566	323	29	automotive	automotive	ADJ
futech-566	323	30	applications	application	NOUN
futech-566	323	31	:	:	PUNCT
futech-566	323	32	a	a	DET
futech-566	323	33	review	review	NOUN
futech-566	323	34	and	and	CCONJ
futech-566	323	35	future	future	ADJ
futech-566	323	36	directions	direction	NOUN
futech-566	323	37	,	,	PUNCT
futech-566	323	38	”	"	PUNCT
futech-566	323	39	engineering	engineering	NOUN
futech-566	323	40	applications	application	NOUN
futech-566	323	41	of	of	ADP
futech-566	323	42	artificial	artificial	ADJ
futech-566	323	43	intelligence	intelligence	NOUN
futech-566	323	44	,	,	PUNCT
futech-566	323	45	vol	vol	NOUN
futech-566	323	46	.	.	PUNCT
futech-566	323	47	120	120	NUM
futech-566	323	48	,	,	PUNCT
futech-566	323	49	p.	p.	NOUN
futech-566	323	50	105878	105878	NUM
futech-566	323	51	,	,	PUNCT
futech-566	323	52	2023	2023	NUM
futech-566	323	53	.	.	PUNCT
futech-566	324	1	https://doi.org/10.1016/j.engappai.2023.105878	https://doi.org/10.1016/j.engappai.2023.105878	PROPN
futech-566	324	2	[	[	X
futech-566	324	3	5	5	NUM
futech-566	324	4	]	]	PUNCT
futech-566	324	5	b.	b.	PROPN
futech-566	324	6	yi	yi	PROPN
futech-566	324	7	,	,	PUNCT
futech-566	324	8	p.	p.	PROPN
futech-566	324	9	bender	bender	PROPN
futech-566	324	10	,	,	PUNCT
futech-566	324	11	f.	f.	PROPN
futech-566	324	12	bonarens	bonarens	PROPN
futech-566	324	13	and	and	CCONJ
futech-566	324	14	c.	c.	NOUN
futech-566	324	15	stiller	stiller	NOUN
futech-566	324	16	,	,	PUNCT
futech-566	324	17	“	"	PUNCT
futech-566	324	18	model	model	NOUN
futech-566	324	19	predictive	predictive	ADJ
futech-566	324	20	trajectory	trajectory	NOUN
futech-566	324	21	planning	planning	NOUN
futech-566	324	22	for	for	ADP
futech-566	324	23	automated	automate	VERB
futech-566	324	24	driving	driving	NOUN
futech-566	324	25	,	,	PUNCT
futech-566	324	26	”	"	PUNCT
futech-566	324	27	ieee	ieee	NOUN
futech-566	324	28	transactions	transaction	NOUN
futech-566	324	29	on	on	ADP
futech-566	324	30	intelligent	intelligent	ADJ
futech-566	324	31	vehicles	vehicle	NOUN
futech-566	324	32	,	,	PUNCT
futech-566	324	33	vol	vol	NOUN
futech-566	324	34	.	.	PROPN
futech-566	324	35	4	4	NUM
futech-566	324	36	,	,	PUNCT
futech-566	324	37	no	no	INTJ
futech-566	324	38	.	.	NOUN
futech-566	324	39	1	1	NUM
futech-566	324	40	,	,	PUNCT
futech-566	324	41	pp	pp	ADJ
futech-566	324	42	.	.	PUNCT
futech-566	324	43	24–38	24–38	NUM
futech-566	324	44	,	,	PUNCT
futech-566	324	45	2018	2018	NUM
futech-566	324	46	.	.	PUNCT
futech-566	325	1	https://doi.org/10.1109/tiv.2018.2886683	https://doi.org/10.1109/tiv.2018.2886683	VERB
futech-566	326	1	[	[	X
futech-566	326	2	6	6	NUM
futech-566	326	3	]	]	PUNCT
futech-566	326	4	p.	p.	PROPN
futech-566	326	5	kumar	kumar	PROPN
futech-566	326	6	,	,	PUNCT
futech-566	326	7	m.	m.	NOUN
futech-566	326	8	karamta	karamta	PROPN
futech-566	326	9	and	and	CCONJ
futech-566	326	10	a.	a.	PROPN
futech-566	326	11	markana	markana	PROPN
futech-566	326	12	,	,	PUNCT
futech-566	326	13	“	"	PUNCT
futech-566	326	14	dynamic	dynamic	ADJ
futech-566	326	15	state	state	NOUN
futech-566	326	16	estimation	estimation	NOUN
futech-566	326	17	for	for	ADP
futech-566	326	18	multi	multi	ADJ
futech-566	326	19	-	-	ADJ
futech-566	326	20	machine	machine	ADJ
futech-566	326	21	power	power	NOUN
futech-566	326	22	system	system	NOUN
futech-566	326	23	using	use	VERB
futech-566	326	24	wls	wls	PROPN
futech-566	326	25	and	and	CCONJ
futech-566	326	26	ekf	ekf	PROPN
futech-566	326	27	:	:	PUNCT
futech-566	326	28	a	a	DET
futech-566	326	29	comparative	comparative	ADJ
futech-566	326	30	study	study	NOUN
futech-566	326	31	,	,	PUNCT
futech-566	326	32	”	"	PUNCT
futech-566	326	33	proceedings	proceeding	NOUN
futech-566	326	34	of	of	ADP
futech-566	326	35	the	the	DET
futech-566	326	36	2019	2019	NUM
futech-566	326	37	ieee	ieee	NOUN
futech-566	326	38	16th	16th	ADJ
futech-566	326	39	india	india	PROPN
futech-566	326	40	council	council	PROPN
futech-566	326	41	international	international	PROPN
futech-566	326	42	conference	conference	PROPN
futech-566	326	43	(	(	PUNCT
futech-566	326	44	indicon	indicon	NOUN
futech-566	326	45	)	)	PUNCT
futech-566	326	46	,	,	PUNCT
futech-566	326	47	pp	pp	PROPN
futech-566	326	48	.	.	PUNCT
futech-566	327	1	1–4	1–4	NUM
futech-566	327	2	,	,	PUNCT
futech-566	327	3	dec	dec	PROPN
futech-566	327	4	.	.	PUNCT
futech-566	328	1	2019.https://doi.org/10.1109/indicon47234.2019	2019.https://doi.org/10.1109/indicon47234.2019	NUM
futech-566	328	2	.	.	PUNCT
futech-566	328	3	9030371	9030371	NUM
futech-566	329	1	[	[	X
futech-566	329	2	7	7	X
futech-566	329	3	]	]	PUNCT
futech-566	329	4	m.	m.	NOUN
futech-566	329	5	anilkumar	anilkumar	PROPN
futech-566	329	6	,	,	PUNCT
futech-566	329	7	n.	n.	PROPN
futech-566	329	8	padhiyar	padhiyar	PROPN
futech-566	329	9	and	and	CCONJ
futech-566	329	10	k.	k.	PROPN
futech-566	329	11	moudgalya	moudgalya	PROPN
futech-566	329	12	,	,	PUNCT
futech-566	329	13	“	"	PUNCT
futech-566	329	14	multiobjective	multiobjective	ADJ
futech-566	329	15	prioritized	prioritize	VERB
futech-566	329	16	control	control	NOUN
futech-566	329	17	of	of	ADP
futech-566	329	18	a	a	DET
futech-566	329	19	semi	semi	ADJ
futech-566	329	20	-	-	ADJ
futech-566	329	21	batch	batch	ADJ
futech-566	329	22	process	process	NOUN
futech-566	329	23	with	with	ADP
futech-566	329	24	multiple	multiple	ADJ
futech-566	329	25	feed	feed	NOUN
futech-566	329	26	and	and	CCONJ
futech-566	329	27	multiple	multiple	ADJ
futech-566	329	28	products	product	NOUN
futech-566	329	29	using	use	VERB
futech-566	329	30	economic	economic	ADJ
futech-566	329	31	mpc	mpc	NOUN
futech-566	329	32	,	,	PUNCT
futech-566	329	33	”	"	PUNCT
futech-566	329	34	proceedings	proceeding	NOUN
futech-566	329	35	of	of	ADP
futech-566	329	36	the	the	DET
futech-566	329	37	2018	2018	NUM
futech-566	329	38	indian	indian	PROPN
futech-566	329	39	control	control	PROPN
futech-566	329	40	conference	conference	PROPN
futech-566	329	41	(	(	PUNCT
futech-566	329	42	icc	icc	PROPN
futech-566	329	43	)	)	PUNCT
futech-566	329	44	,	,	PUNCT
futech-566	329	45	pp	pp	ADJ
futech-566	329	46	.	.	PUNCT
futech-566	330	1	264–269	264–269	NUM
futech-566	330	2	,	,	PUNCT
futech-566	330	3	jan	jan	PROPN
futech-566	330	4	.	.	PROPN
futech-566	330	5	2018	2018	NUM
futech-566	330	6	.	.	PUNCT
futech-566	331	1	https://doi.org/10.1109/indiancc.2018.8307989	https://doi.org/10.1109/indiancc.2018.8307989	PROPN
futech-566	331	2	p.	p.	NOUN
futech-566	331	3	chaubey	chaubey	NOUN
futech-566	332	1	et	et	PROPN
futech-566	332	2	al	al	PROPN
futech-566	332	3	.	.	PROPN
futech-566	332	4	/future	/future	PUNCT
futech-566	332	5	technology	technology	PROPN
futech-566	332	6	february	february	PROPN
futech-566	332	7	2026|	2026|	NUM
futech-566	332	8	volume	volume	NOUN
futech-566	332	9	05	05	NUM
futech-566	333	1	|	|	ADV
futech-566	333	2	issue	issue	NOUN
futech-566	333	3	01	01	NUM
futech-566	334	1	|	|	ADV
futech-566	334	2	pages	page	VERB
futech-566	334	3	148	148	NUM
futech-566	334	4	-	-	SYM
futech-566	334	5	158	158	NUM
futech-566	334	6	157	157	NUM
futech-566	335	1	[	[	SYM
futech-566	335	2	8	8	NUM
futech-566	335	3	]	]	PUNCT
futech-566	335	4	a.	a.	NOUN
futech-566	335	5	markana	markana	PROPN
futech-566	335	6	,	,	PUNCT
futech-566	335	7	n.	n.	PROPN
futech-566	335	8	padhiyar	padhiyar	PROPN
futech-566	335	9	and	and	CCONJ
futech-566	335	10	k.	k.	PROPN
futech-566	335	11	moudgalya	moudgalya	PROPN
futech-566	335	12	,	,	PUNCT
futech-566	335	13	“	"	PUNCT
futech-566	335	14	multicriterion	multicriterion	NOUN
futech-566	335	15	control	control	NOUN
futech-566	335	16	of	of	ADP
futech-566	335	17	a	a	DET
futech-566	335	18	bioprocess	bioprocess	NOUN
futech-566	335	19	in	in	ADP
futech-566	335	20	fed	feed	VERB
futech-566	335	21	-	-	PUNCT
futech-566	335	22	batch	batch	NOUN
futech-566	335	23	reactor	reactor	NOUN
futech-566	335	24	using	use	VERB
futech-566	335	25	ekf	ekf	NOUN
futech-566	335	26	based	base	VERB
futech-566	335	27	economic	economic	ADJ
futech-566	335	28	model	model	NOUN
futech-566	335	29	predictive	predictive	PROPN
futech-566	335	30	control	control	NOUN
futech-566	335	31	,	,	PUNCT
futech-566	335	32	”	"	PUNCT
futech-566	335	33	chemical	chemical	NOUN
futech-566	335	34	engineering	engineering	NOUN
futech-566	335	35	research	research	NOUN
futech-566	335	36	and	and	CCONJ
futech-566	335	37	design	design	NOUN
futech-566	335	38	,	,	PUNCT
futech-566	335	39	vol	vol	NOUN
futech-566	335	40	.	.	PROPN
futech-566	335	41	136	136	NUM
futech-566	335	42	,	,	PUNCT
futech-566	335	43	pp	pp	ADJ
futech-566	335	44	.	.	PUNCT
futech-566	336	1	282–294	282–294	NUM
futech-566	336	2	,	,	PUNCT
futech-566	336	3	2018	2018	NUM
futech-566	336	4	.	.	PUNCT
futech-566	337	1	https://doi.org/10.1016/j.cherd.2018.05.032	https://doi.org/10.1016/j.cherd.2018.05.032	NOUN
futech-566	337	2	[	[	X
futech-566	337	3	9	9	NUM
futech-566	337	4	]	]	X
futech-566	337	5	j.	j.	PROPN
futech-566	337	6	m.	m.	PROPN
futech-566	337	7	maciejowski	maciejowski	PROPN
futech-566	337	8	,	,	PUNCT
futech-566	337	9	predictive	predictive	ADJ
futech-566	337	10	control	control	NOUN
futech-566	337	11	:	:	PUNCT
futech-566	337	12	with	with	ADP
futech-566	337	13	constraints	constraint	NOUN
futech-566	337	14	.	.	PUNCT
futech-566	338	1	harlow	harlow	PROPN
futech-566	338	2	,	,	PUNCT
futech-566	338	3	u.k	u.k	PROPN
futech-566	338	4	.	.	PROPN
futech-566	338	5	:	:	PUNCT
futech-566	338	6	prentice	prentice	PROPN
futech-566	338	7	hall	hall	PROPN
futech-566	338	8	,	,	PUNCT
futech-566	338	9	2002	2002	NUM
futech-566	338	10	.	.	PUNCT
futech-566	339	1	isbn	isbn	NOUN
futech-566	339	2	:	:	PUNCT
futech-566	339	3	0201398230	0201398230	NUM
futech-566	339	4	.	.	PUNCT
futech-566	340	1	[	[	X
futech-566	340	2	10	10	NUM
futech-566	340	3	]	]	X
futech-566	340	4	a.	a.	NOUN
futech-566	340	5	ashoori	ashoori	PROPN
futech-566	340	6	,	,	PUNCT
futech-566	340	7	b.	b.	PROPN
futech-566	340	8	moshiri	moshiri	PROPN
futech-566	340	9	,	,	PUNCT
futech-566	340	10	a.	a.	PROPN
futech-566	340	11	khaki	khaki	PROPN
futech-566	340	12	-	-	PUNCT
futech-566	340	13	sedigh	sedigh	NOUN
futech-566	340	14	and	and	CCONJ
futech-566	340	15	m.	m.	PROPN
futech-566	340	16	r.	r.	PROPN
futech-566	340	17	bakhtiari	bakhtiari	PROPN
futech-566	340	18	,	,	PUNCT
futech-566	340	19	“	"	PUNCT
futech-566	340	20	optimal	optimal	ADJ
futech-566	340	21	control	control	NOUN
futech-566	340	22	of	of	ADP
futech-566	340	23	a	a	DET
futech-566	340	24	nonlinear	nonlinear	ADJ
futech-566	340	25	fed	feed	VERB
futech-566	340	26	-	-	PUNCT
futech-566	340	27	batch	batch	NOUN
futech-566	340	28	fermentation	fermentation	NOUN
futech-566	340	29	process	process	NOUN
futech-566	340	30	using	use	VERB
futech-566	340	31	model	model	NOUN
futech-566	340	32	predictive	predictive	ADJ
futech-566	340	33	approach	approach	NOUN
futech-566	340	34	,	,	PUNCT
futech-566	340	35	”	"	PUNCT
futech-566	340	36	journal	journal	NOUN
futech-566	340	37	of	of	ADP
futech-566	340	38	process	process	NOUN
futech-566	340	39	control	control	NOUN
futech-566	340	40	,	,	PUNCT
futech-566	340	41	vol	vol	NOUN
futech-566	340	42	.	.	PROPN
futech-566	340	43	19	19	NUM
futech-566	340	44	,	,	PUNCT
futech-566	340	45	no	no	INTJ
futech-566	340	46	.	.	NOUN
futech-566	340	47	7	7	NUM
futech-566	340	48	,	,	PUNCT
futech-566	340	49	pp	pp	ADJ
futech-566	340	50	.	.	PUNCT
futech-566	340	51	1162–1173	1162–1173	NUM
futech-566	340	52	,	,	PUNCT
futech-566	340	53	2009	2009	NUM
futech-566	340	54	.	.	PUNCT
futech-566	341	1	https://doi.org/10.1016/j.jprocont.2009.03.006	https://doi.org/10.1016/j.jprocont.2009.03.006	PROPN
futech-566	342	1	[	[	X
futech-566	342	2	11	11	NUM
futech-566	342	3	]	]	X
futech-566	342	4	y.	y.	PROPN
futech-566	342	5	bengio	bengio	PROPN
futech-566	342	6	,	,	PUNCT
futech-566	342	7	“	"	PUNCT
futech-566	342	8	on	on	ADP
futech-566	342	9	the	the	DET
futech-566	342	10	challenge	challenge	NOUN
futech-566	342	11	of	of	ADP
futech-566	342	12	learning	learn	VERB
futech-566	342	13	complex	complex	ADJ
futech-566	342	14	functions	function	NOUN
futech-566	342	15	,	,	PUNCT
futech-566	342	16	”	"	PUNCT
futech-566	342	17	progress	progress	NOUN
futech-566	342	18	in	in	ADP
futech-566	342	19	brain	brain	NOUN
futech-566	342	20	research	research	NOUN
futech-566	342	21	,	,	PUNCT
futech-566	342	22	vol	vol	NOUN
futech-566	342	23	.	.	PROPN
futech-566	342	24	165	165	NUM
futech-566	342	25	,	,	PUNCT
futech-566	342	26	pp	pp	ADJ
futech-566	342	27	.	.	PUNCT
futech-566	343	1	521–534	521–534	NUM
futech-566	343	2	,	,	PUNCT
futech-566	343	3	2007	2007	NUM
futech-566	343	4	.	.	PUNCT
futech-566	343	5	https://doi.org/10.1016/s00796123(06)65033-4	https://doi.org/10.1016/s00796123(06)65033-4	NOUN
futech-566	343	6	[	[	X
futech-566	343	7	12	12	NUM
futech-566	343	8	]	]	X
futech-566	343	9	h.	h.	PROPN
futech-566	343	10	c.	c.	PROPN
futech-566	343	11	myung	myung	PROPN
futech-566	343	12	and	and	CCONJ
futech-566	343	13	z.	z.	PROPN
futech-566	343	14	z.	z.	PROPN
futech-566	343	15	bien	bien	PROPN
futech-566	343	16	,	,	PUNCT
futech-566	343	17	“	"	PUNCT
futech-566	343	18	design	design	NOUN
futech-566	343	19	of	of	ADP
futech-566	343	20	the	the	DET
futech-566	343	21	fuzzy	fuzzy	ADJ
futech-566	343	22	multiobjective	multiobjective	ADJ
futech-566	343	23	controller	controller	NOUN
futech-566	343	24	based	base	VERB
futech-566	343	25	on	on	ADP
futech-566	343	26	the	the	DET
futech-566	343	27	eligibility	eligibility	NOUN
futech-566	343	28	method	method	NOUN
futech-566	343	29	,	,	PUNCT
futech-566	343	30	”	"	PUNCT
futech-566	343	31	international	international	ADJ
futech-566	343	32	journal	journal	NOUN
futech-566	343	33	of	of	ADP
futech-566	343	34	intelligent	intelligent	ADJ
futech-566	343	35	systems	system	NOUN
futech-566	343	36	,	,	PUNCT
futech-566	343	37	vol	vol	NOUN
futech-566	343	38	.	.	PROPN
futech-566	344	1	18	18	NUM
futech-566	344	2	,	,	PUNCT
futech-566	344	3	no	no	INTJ
futech-566	344	4	.	.	NOUN
futech-566	344	5	5	5	NUM
futech-566	344	6	,	,	PUNCT
futech-566	344	7	pp	pp	ADJ
futech-566	344	8	.	.	PUNCT
futech-566	345	1	509–528	509–528	NUM
futech-566	345	2	,	,	PUNCT
futech-566	345	3	2003	2003	NUM
futech-566	345	4	.	.	PUNCT
futech-566	346	1	https://doi.org/10.1002/int.10101	https://doi.org/10.1002/int.10101	PROPN
futech-566	347	1	[	[	X
futech-566	347	2	13	13	NUM
futech-566	347	3	]	]	PUNCT
futech-566	347	4	l.	l.	PROPN
futech-566	347	5	dubreuil	dubreuil	PROPN
futech-566	347	6	-	-	PUNCT
futech-566	347	7	vall	vall	NOUN
futech-566	347	8	,	,	PUNCT
futech-566	347	9	g.	g.	PROPN
futech-566	347	10	ruffini	ruffini	PROPN
futech-566	347	11	and	and	CCONJ
futech-566	347	12	j.	j.	PROPN
futech-566	347	13	a.	a.	PROPN
futech-566	347	14	camprodon	camprodon	PROPN
futech-566	347	15	,	,	PUNCT
futech-566	347	16	“	"	PUNCT
futech-566	347	17	deep	deep	ADJ
futech-566	347	18	learning	learn	VERB
futech-566	347	19	convolutional	convolutional	ADJ
futech-566	347	20	neural	neural	ADJ
futech-566	347	21	networks	network	NOUN
futech-566	347	22	discriminate	discriminate	VERB
futech-566	347	23	adult	adult	NOUN
futech-566	347	24	adhd	adhd	NOUN
futech-566	347	25	from	from	ADP
futech-566	347	26	healthy	healthy	ADJ
futech-566	347	27	individuals	individual	NOUN
futech-566	347	28	on	on	ADP
futech-566	347	29	the	the	DET
futech-566	347	30	basis	basis	NOUN
futech-566	347	31	of	of	ADP
futech-566	347	32	event	event	NOUN
futech-566	347	33	-	-	PUNCT
futech-566	347	34	related	relate	VERB
futech-566	347	35	spectral	spectral	ADJ
futech-566	347	36	eeg	eeg	NOUN
futech-566	347	37	,	,	PUNCT
futech-566	347	38	”	"	PUNCT
futech-566	347	39	frontiers	frontier	NOUN
futech-566	347	40	in	in	ADP
futech-566	347	41	neuroscience	neuroscience	NOUN
futech-566	347	42	,	,	PUNCT
futech-566	347	43	vol	vol	NOUN
futech-566	347	44	.	.	PROPN
futech-566	347	45	14	14	NUM
futech-566	347	46	,	,	PUNCT
futech-566	347	47	p.	p.	NOUN
futech-566	347	48	251	251	NUM
futech-566	347	49	,	,	PUNCT
futech-566	347	50	2020	2020	NUM
futech-566	347	51	.	.	PUNCT
futech-566	348	1	https://doi.org/10.3389/fnins.2020.00251	https://doi.org/10.3389/fnins.2020.00251	PROPN
futech-566	349	1	[	[	X
futech-566	349	2	14	14	NUM
futech-566	349	3	]	]	X
futech-566	349	4	y.	y.	PROPN
futech-566	349	5	zhu	zhu	PROPN
futech-566	349	6	,	,	PUNCT
futech-566	349	7	j.	j.	PROPN
futech-566	349	8	wang	wang	PROPN
futech-566	349	9	,	,	PUNCT
futech-566	349	10	h.	h.	PROPN
futech-566	349	11	li	li	PROPN
futech-566	349	12	,	,	PUNCT
futech-566	349	13	c.	c.	PROPN
futech-566	349	14	liu	liu	PROPN
futech-566	349	15	and	and	CCONJ
futech-566	349	16	w.	w.	PROPN
futech-566	349	17	m.	m.	NOUN
futech-566	349	18	grill	grill	NOUN
futech-566	349	19	,	,	PUNCT
futech-566	349	20	“	"	PUNCT
futech-566	349	21	adaptive	adaptive	ADJ
futech-566	349	22	parameter	parameter	NOUN
futech-566	349	23	modulation	modulation	NOUN
futech-566	349	24	of	of	ADP
futech-566	349	25	deep	deep	ADJ
futech-566	349	26	brain	brain	NOUN
futech-566	349	27	stimulation	stimulation	NOUN
futech-566	349	28	based	base	VERB
futech-566	349	29	on	on	ADP
futech-566	349	30	improved	improved	ADJ
futech-566	349	31	supervisory	supervisory	ADJ
futech-566	349	32	algorithm	algorithm	NOUN
futech-566	349	33	,	,	PUNCT
futech-566	349	34	”	"	PUNCT
futech-566	349	35	frontiers	frontier	NOUN
futech-566	349	36	in	in	ADP
futech-566	349	37	neuroscience	neuroscience	NOUN
futech-566	349	38	,	,	PUNCT
futech-566	349	39	vol	vol	NOUN
futech-566	349	40	.	.	PROPN
futech-566	349	41	15	15	NUM
futech-566	349	42	,	,	PUNCT
futech-566	349	43	p.	p.	NOUN
futech-566	349	44	750806	750806	NUM
futech-566	349	45	,	,	PUNCT
futech-566	349	46	2021	2021	NUM
futech-566	349	47	.	.	PUNCT
futech-566	350	1	https://doi.org/10.3389/fnins.2021.750806	https://doi.org/10.3389/fnins.2021.750806	PROPN
futech-566	350	2	[	[	X
futech-566	350	3	15	15	NUM
futech-566	350	4	]	]	X
futech-566	350	5	s.	s.	PROPN
futech-566	350	6	seyedzadeh	seyedzadeh	PROPN
futech-566	350	7	,	,	PUNCT
futech-566	350	8	f.	f.	PROPN
futech-566	350	9	p.	p.	PROPN
futech-566	350	10	rahimian	rahimian	PROPN
futech-566	350	11	,	,	PUNCT
futech-566	350	12	i.	i.	PROPN
futech-566	350	13	glesk	glesk	PROPN
futech-566	350	14	and	and	CCONJ
futech-566	350	15	m.	m.	NOUN
futech-566	350	16	roper	roper	NOUN
futech-566	350	17	,	,	PUNCT
futech-566	350	18	“	"	PUNCT
futech-566	350	19	machine	machine	NOUN
futech-566	350	20	learning	learning	NOUN
futech-566	350	21	for	for	ADP
futech-566	350	22	estimation	estimation	NOUN
futech-566	350	23	of	of	ADP
futech-566	350	24	building	build	VERB
futech-566	350	25	energy	energy	NOUN
futech-566	350	26	consumption	consumption	NOUN
futech-566	350	27	and	and	CCONJ
futech-566	350	28	performance	performance	NOUN
futech-566	350	29	:	:	PUNCT
futech-566	350	30	a	a	DET
futech-566	350	31	review	review	NOUN
futech-566	350	32	,	,	PUNCT
futech-566	350	33	”	"	PUNCT
futech-566	350	34	visualization	visualization	NOUN
futech-566	350	35	in	in	ADP
futech-566	350	36	engineering	engineering	NOUN
futech-566	350	37	,	,	PUNCT
futech-566	350	38	vol	vol	NOUN
futech-566	350	39	.	.	PROPN
futech-566	351	1	6	6	NUM
futech-566	351	2	,	,	PUNCT
futech-566	351	3	no	no	INTJ
futech-566	351	4	.	.	NOUN
futech-566	351	5	1	1	NUM
futech-566	351	6	,	,	PUNCT
futech-566	351	7	p.	p.	NOUN
futech-566	351	8	5	5	NUM
futech-566	351	9	,	,	PUNCT
futech-566	351	10	2018	2018	NUM
futech-566	351	11	.	.	PUNCT
futech-566	352	1	https://doi.org/10.1186/s40327-018-0064-7	https://doi.org/10.1186/s40327-018-0064-7	NUM
futech-566	353	1	[	[	X
futech-566	353	2	16	16	NUM
futech-566	353	3	]	]	PUNCT
futech-566	353	4	chaubey	chaubey	NOUN
futech-566	353	5	,	,	PUNCT
futech-566	353	6	p.	p.	PROPN
futech-566	353	7	,	,	PUNCT
futech-566	353	8	markana	markana	PROPN
futech-566	353	9	,	,	PUNCT
futech-566	353	10	a.	a.	PROPN
futech-566	353	11	,	,	PUNCT
futech-566	353	12	vyas	vyas	PROPN
futech-566	353	13	,	,	PUNCT
futech-566	353	14	d.r	d.r	PROPN
futech-566	353	15	.	.	PROPN
futech-566	353	16	.	.	PUNCT
futech-566	354	1	“	"	PUNCT
futech-566	354	2	rnn	rnn	VERB
futech-566	354	3	-	-	PUNCT
futech-566	354	4	based	base	VERB
futech-566	354	5	model	model	NOUN
futech-566	354	6	predictive	predictive	ADJ
futech-566	354	7	control	control	NOUN
futech-566	354	8	of	of	ADP
futech-566	354	9	multi	multi	ADJ
futech-566	354	10	-	-	ADJ
futech-566	354	11	agent	agent	ADJ
futech-566	354	12	system	system	NOUN
futech-566	354	13	using	use	VERB
futech-566	354	14	switching	switch	VERB
futech-566	354	15	topologies	topology	NOUN
futech-566	354	16	.	.	PUNCT
futech-566	354	17	”	"	PUNCT
futech-566	355	1	data	data	NOUN
futech-566	355	2	science	science	NOUN
futech-566	355	3	and	and	CCONJ
futech-566	355	4	applications	application	NOUN
futech-566	355	5	.	.	PUNCT
futech-566	356	1	icdsa	icdsa	NOUN
futech-566	356	2	2023	2023	NUM
futech-566	356	3	.	.	PUNCT
futech-566	357	1	proceedings	proceeding	NOUN
futech-566	357	2	in	in	ADP
futech-566	357	3	lecture	lecture	NOUN
futech-566	357	4	notes	note	NOUN
futech-566	357	5	in	in	ADP
futech-566	357	6	networks	network	NOUN
futech-566	357	7	and	and	CCONJ
futech-566	357	8	systems	system	NOUN
futech-566	357	9	,	,	PUNCT
futech-566	357	10	vol	vol	NOUN
futech-566	357	11	821	821	NUM
futech-566	357	12	.	.	PUNCT
futech-566	357	13	springer	springer	NOUN
futech-566	357	14	,	,	PUNCT
futech-566	357	15	singapore	singapore	PROPN
futech-566	357	16	,	,	PUNCT
futech-566	357	17	pp157	pp157	PROPN
futech-566	357	18	-	-	SYM
futech-566	357	19	168	168	NUM
futech-566	357	20	(	(	PUNCT
futech-566	357	21	february	february	PROPN
futech-566	357	22	2024	2024	NUM
futech-566	357	23	)	)	PUNCT
futech-566	357	24	.	.	PUNCT
futech-566	358	1	https://doi.org/10.1007/978-981-99-7814-4_13	https://doi.org/10.1007/978-981-99-7814-4_13	NUM
futech-566	359	1	[	[	X
futech-566	359	2	17	17	NUM
futech-566	359	3	]	]	PUNCT
futech-566	359	4	r.	r.	PROPN
futech-566	359	5	chen	chen	PROPN
futech-566	359	6	and	and	CCONJ
futech-566	359	7	s.	s.	PROPN
futech-566	359	8	peng	peng	PROPN
futech-566	359	9	,	,	PUNCT
futech-566	359	10	“	"	PUNCT
futech-566	359	11	leader	leader	NOUN
futech-566	359	12	-	-	PUNCT
futech-566	359	13	follower	follower	NOUN
futech-566	359	14	quasi	quasi	NOUN
futech-566	359	15	-	-	NOUN
futech-566	359	16	consensus	consensus	NOUN
futech-566	359	17	of	of	ADP
futech-566	359	18	multi	multi	ADJ
futech-566	359	19	-	-	ADJ
futech-566	359	20	agent	agent	ADJ
futech-566	359	21	systems	system	NOUN
futech-566	359	22	with	with	ADP
futech-566	359	23	packet	packet	NOUN
futech-566	359	24	loss	loss	NOUN
futech-566	359	25	using	use	VERB
futech-566	359	26	eventtriggered	eventtriggere	VERB
futech-566	359	27	impulsive	impulsive	ADJ
futech-566	359	28	control	control	NOUN
futech-566	359	29	,	,	PUNCT
futech-566	359	30	”	"	PUNCT
futech-566	359	31	mathematics	mathematic	NOUN
futech-566	359	32	,	,	PUNCT
futech-566	359	33	vol	vol	NOUN
futech-566	359	34	.	.	PROPN
futech-566	359	35	11	11	NUM
futech-566	359	36	,	,	PUNCT
futech-566	359	37	no	no	INTJ
futech-566	359	38	.	.	NOUN
futech-566	359	39	13	13	NUM
futech-566	359	40	,	,	PUNCT
futech-566	359	41	p.	p.	NOUN
futech-566	359	42	2969	2969	NUM
futech-566	359	43	,	,	PUNCT
futech-566	359	44	2023	2023	NUM
futech-566	359	45	.	.	PUNCT
futech-566	360	1	https://doi.org/10.3390/math11132969	https://doi.org/10.3390/math11132969	PROPN
futech-566	361	1	[	[	X
futech-566	361	2	18	18	NUM
futech-566	361	3	]	]	X
futech-566	361	4	y.	y.	PROPN
futech-566	361	5	zhi	zhi	PROPN
futech-566	361	6	,	,	PUNCT
futech-566	361	7	z.	z.	PROPN
futech-566	361	8	zhao	zhao	PROPN
futech-566	361	9	and	and	CCONJ
futech-566	361	10	m.	m.	PROPN
futech-566	361	11	qi	qi	PROPN
futech-566	361	12	,	,	PUNCT
futech-566	361	13	“	"	PUNCT
futech-566	361	14	event	event	NOUN
futech-566	361	15	-	-	PUNCT
futech-566	361	16	triggered	trigger	VERB
futech-566	361	17	finite	finite	ADJ
futech-566	361	18	-	-	PUNCT
futech-566	361	19	time	time	NOUN
futech-566	361	20	consensus	consensus	NOUN
futech-566	361	21	control	control	NOUN
futech-566	361	22	of	of	ADP
futech-566	361	23	leader	leader	NOUN
futech-566	361	24	–	–	PUNCT
futech-566	361	25	follower	follower	NOUN
futech-566	361	26	multi	multi	ADJ
futech-566	361	27	-	-	ADJ
futech-566	361	28	agent	agent	ADJ
futech-566	361	29	systems	system	NOUN
futech-566	361	30	with	with	ADP
futech-566	361	31	unknown	unknown	ADJ
futech-566	361	32	velocities	velocity	NOUN
futech-566	361	33	,	,	PUNCT
futech-566	361	34	”	"	PUNCT
futech-566	361	35	transactions	transaction	NOUN
futech-566	361	36	of	of	ADP
futech-566	361	37	the	the	DET
futech-566	361	38	institute	institute	PROPN
futech-566	361	39	of	of	ADP
futech-566	361	40	measurement	measurement	NOUN
futech-566	361	41	and	and	CCONJ
futech-566	361	42	control	control	NOUN
futech-566	361	43	,	,	PUNCT
futech-566	361	44	vol	vol	NOUN
futech-566	361	45	.	.	PROPN
futech-566	362	1	45	45	NUM
futech-566	362	2	,	,	PUNCT
futech-566	362	3	no	no	INTJ
futech-566	362	4	.	.	NOUN
futech-566	362	5	13	13	NUM
futech-566	362	6	,	,	PUNCT
futech-566	362	7	pp	pp	ADJ
futech-566	362	8	.	.	PUNCT
futech-566	363	1	2515–2525	2515–2525	NUM
futech-566	363	2	,	,	PUNCT
futech-566	363	3	2023	2023	NUM
futech-566	363	4	.	.	PUNCT
futech-566	364	1	https://doi.org/0.1177/01423312221140619	https://doi.org/0.1177/01423312221140619	PROPN
futech-566	365	1	[	[	X
futech-566	365	2	19	19	NUM
futech-566	365	3	]	]	X
futech-566	365	4	y.	y.	PROPN
futech-566	365	5	wu	wu	PROPN
futech-566	365	6	,	,	PUNCT
futech-566	365	7	j.	j.	PROPN
futech-566	365	8	ma	ma	PROPN
futech-566	365	9	,	,	PUNCT
futech-566	365	10	x.	x.	PROPN
futech-566	365	11	chen	chen	PROPN
futech-566	365	12	,	,	PUNCT
futech-566	365	13	j.	j.	PROPN
futech-566	365	14	sun	sun	PROPN
futech-566	365	15	and	and	CCONJ
futech-566	365	16	f.	f.	PROPN
futech-566	365	17	zhao	zhao	PROPN
futech-566	365	18	,	,	PUNCT
futech-566	365	19	“	"	PUNCT
futech-566	365	20	fixed	fix	VERB
futech-566	365	21	-	-	PUNCT
futech-566	365	22	time	time	NOUN
futech-566	365	23	leader	leader	NOUN
futech-566	365	24	-	-	PUNCT
futech-566	365	25	follower	follower	NOUN
futech-566	365	26	consensus	consensus	NOUN
futech-566	365	27	for	for	ADP
futech-566	365	28	multi	multi	ADJ
futech-566	365	29	-	-	ADJ
futech-566	365	30	agent	agent	ADJ
futech-566	365	31	systems	system	NOUN
futech-566	365	32	under	under	ADP
futech-566	365	33	event	event	NOUN
futech-566	365	34	-	-	PUNCT
futech-566	365	35	triggered	trigger	VERB
futech-566	365	36	mechanism	mechanism	NOUN
futech-566	365	37	,	,	PUNCT
futech-566	365	38	”	"	PUNCT
futech-566	365	39	in	in	ADP
futech-566	365	40	proceedings	proceeding	NOUN
futech-566	365	41	of	of	ADP
futech-566	365	42	the	the	DET
futech-566	365	43	chinese	chinese	ADJ
futech-566	365	44	conference	conference	NOUN
futech-566	365	45	on	on	ADP
futech-566	365	46	swarm	swarm	NOUN
futech-566	365	47	intelligence	intelligence	NOUN
futech-566	365	48	and	and	CCONJ
futech-566	365	49	cooperative	cooperative	ADJ
futech-566	365	50	control	control	NOUN
futech-566	365	51	,	,	PUNCT
futech-566	365	52	pp	pp	ADJ
futech-566	365	53	.	.	PUNCT
futech-566	366	1	275–284	275–284	NUM
futech-566	366	2	,	,	PUNCT
futech-566	366	3	nov	nov	PROPN
futech-566	366	4	.	.	PROPN
futech-566	366	5	2023	2023	NUM
futech-566	366	6	.	.	PUNCT
futech-566	367	1	https://doi.org/10.1007/978-981-97-3340-8_25	https://doi.org/10.1007/978-981-97-3340-8_25	PRON
futech-566	368	1	[	[	X
futech-566	368	2	20	20	NUM
futech-566	368	3	]	]	X
futech-566	368	4	y.	y.	PROPN
futech-566	368	5	kuriki	kuriki	PROPN
futech-566	368	6	and	and	CCONJ
futech-566	368	7	t.	t.	PROPN
futech-566	368	8	namerikawa	namerikawa	PROPN
futech-566	368	9	,	,	PUNCT
futech-566	368	10	“	"	PUNCT
futech-566	368	11	formation	formation	NOUN
futech-566	368	12	control	control	NOUN
futech-566	368	13	with	with	ADP
futech-566	368	14	collision	collision	NOUN
futech-566	368	15	avoidance	avoidance	NOUN
futech-566	368	16	for	for	ADP
futech-566	368	17	a	a	DET
futech-566	368	18	multi	multi	ADJ
futech-566	368	19	-	-	ADJ
futech-566	368	20	uav	uav	ADJ
futech-566	368	21	system	system	NOUN
futech-566	368	22	using	use	VERB
futech-566	368	23	decentralized	decentralize	VERB
futech-566	368	24	mpc	mpc	NOUN
futech-566	368	25	and	and	CCONJ
futech-566	368	26	consensus	consensus	NOUN
futech-566	368	27	-	-	PUNCT
futech-566	368	28	based	base	VERB
futech-566	368	29	control	control	NOUN
futech-566	368	30	,	,	PUNCT
futech-566	368	31	”	"	PUNCT
futech-566	368	32	sice	sice	SCONJ
futech-566	368	33	journal	journal	PROPN
futech-566	368	34	of	of	ADP
futech-566	368	35	control	control	PROPN
futech-566	368	36	,	,	PUNCT
futech-566	368	37	measurement	measurement	NOUN
futech-566	368	38	,	,	PUNCT
futech-566	368	39	and	and	CCONJ
futech-566	368	40	system	system	NOUN
futech-566	368	41	integration	integration	NOUN
futech-566	368	42	,	,	PUNCT
futech-566	368	43	vol	vol	NOUN
futech-566	368	44	.	.	PROPN
futech-566	368	45	8	8	NUM
futech-566	368	46	,	,	PUNCT
futech-566	368	47	no	no	INTJ
futech-566	368	48	.	.	NOUN
futech-566	368	49	4	4	NUM
futech-566	368	50	,	,	PUNCT
futech-566	368	51	pp	pp	ADJ
futech-566	368	52	.	.	PUNCT
futech-566	369	1	285–294	285–294	NUM
futech-566	369	2	,	,	PUNCT
futech-566	369	3	2015	2015	NUM
futech-566	369	4	https://doi.org/10.9746/jcmsi.8.285	https://doi.org/10.9746/jcmsi.8.285	PROPN
futech-566	369	5	[	[	X
futech-566	369	6	21	21	NUM
futech-566	369	7	]	]	X
futech-566	369	8	s.	s.	PROPN
futech-566	369	9	dubay	dubay	PROPN
futech-566	369	10	and	and	CCONJ
futech-566	369	11	y.	y.	PROPN
futech-566	369	12	j.	j.	PROPN
futech-566	369	13	pan	pan	PROPN
futech-566	369	14	,	,	PUNCT
futech-566	369	15	“	"	PUNCT
futech-566	369	16	distributed	distribute	VERB
futech-566	369	17	mpc	mpc	NOUN
futech-566	369	18	based	base	VERB
futech-566	369	19	collision	collision	NOUN
futech-566	369	20	avoidance	avoidance	NOUN
futech-566	369	21	approach	approach	NOUN
futech-566	369	22	for	for	ADP
futech-566	369	23	consensus	consensus	NOUN
futech-566	369	24	of	of	ADP
futech-566	369	25	multiple	multiple	ADJ
futech-566	369	26	quadcopters	quadcopter	NOUN
futech-566	369	27	,	,	PUNCT
futech-566	369	28	”	"	PUNCT
futech-566	369	29	proceedings	proceeding	NOUN
futech-566	369	30	of	of	ADP
futech-566	369	31	the	the	DET
futech-566	369	32	2018	2018	NUM
futech-566	369	33	ieee	ieee	NOUN
futech-566	369	34	14th	14th	ADJ
futech-566	369	35	international	international	ADJ
futech-566	369	36	conference	conference	NOUN
futech-566	369	37	on	on	ADP
futech-566	369	38	control	control	NOUN
futech-566	369	39	and	and	CCONJ
futech-566	369	40	automation	automation	NOUN
futech-566	369	41	(	(	PUNCT
futech-566	369	42	icca	icca	PROPN
futech-566	369	43	)	)	PUNCT
futech-566	369	44	,	,	PUNCT
futech-566	369	45	pp	pp	ADJ
futech-566	369	46	.	.	PUNCT
futech-566	370	1	155–160	155–160	NUM
futech-566	370	2	,	,	PUNCT
futech-566	370	3	june	june	PROPN
futech-566	370	4	2018	2018	NUM
futech-566	370	5	.	.	PUNCT
futech-566	371	1	https://doi.org/10.1109/icca.2018.8444273	https://doi.org/10.1109/icca.2018.8444273	PROPN
futech-566	372	1	[	[	X
futech-566	372	2	22	22	NUM
futech-566	372	3	]	]	X
futech-566	372	4	n.	n.	NOUN
futech-566	372	5	saeednia	saeednia	PROPN
futech-566	372	6	and	and	CCONJ
futech-566	372	7	a.	a.	NOUN
futech-566	372	8	khayatian	khayatian	NOUN
futech-566	372	9	,	,	PUNCT
futech-566	372	10	“	"	PUNCT
futech-566	372	11	reset	reset	VERB
futech-566	372	12	mpc	mpc	NOUN
futech-566	372	13	-	-	PUNCT
futech-566	372	14	based	base	VERB
futech-566	372	15	control	control	NOUN
futech-566	372	16	for	for	ADP
futech-566	372	17	consensus	consensus	NOUN
futech-566	372	18	of	of	ADP
futech-566	372	19	multiagent	multiagent	NOUN
futech-566	372	20	systems	system	NOUN
futech-566	372	21	,	,	PUNCT
futech-566	372	22	”	"	PUNCT
futech-566	372	23	ieee	ieee	NOUN
futech-566	372	24	transactions	transaction	NOUN
futech-566	372	25	on	on	ADP
futech-566	372	26	systems	system	NOUN
futech-566	372	27	,	,	PUNCT
futech-566	372	28	man	man	NOUN
futech-566	372	29	,	,	PUNCT
futech-566	372	30	and	and	CCONJ
futech-566	372	31	cybernetics	cybernetic	NOUN
futech-566	372	32	:	:	PUNCT
futech-566	372	33	systems	system	NOUN
futech-566	372	34	,	,	PUNCT
futech-566	372	35	2024	2024	NUM
futech-566	372	36	.	.	PUNCT
futech-566	372	37	,	,	PUNCT
futech-566	372	38	https://doi.org/10.1109/tsmc.2024.3510092	https://doi.org/10.1109/tsmc.2024.3510092	PROPN
futech-566	373	1	[	[	X
futech-566	373	2	23	23	NUM
futech-566	373	3	]	]	X
futech-566	373	4	f.	f.	PROPN
futech-566	373	5	muñoz	muñoz	PROPN
futech-566	373	6	,	,	PUNCT
futech-566	373	7	j.	j.	PROPN
futech-566	373	8	m.	m.	PROPN
futech-566	373	9	valdovinos	valdovinos	PROPN
futech-566	373	10	,	,	PUNCT
futech-566	373	11	j.	j.	PROPN
futech-566	373	12	s.	s.	PROPN
futech-566	373	13	cervantes	cervantes	PROPN
futech-566	373	14	-	-	PUNCT
futech-566	373	15	rojas	rojas	PROPN
futech-566	373	16	,	,	PUNCT
futech-566	373	17	s.	s.	PROPN
futech-566	373	18	s.	s.	PROPN
futech-566	373	19	cruz	cruz	PROPN
futech-566	373	20	and	and	CCONJ
futech-566	373	21	a.	a.	PROPN
futech-566	373	22	m.	m.	PROPN
futech-566	373	23	santana	santana	PROPN
futech-566	373	24	,	,	PUNCT
futech-566	373	25	“	"	PUNCT
futech-566	373	26	leader	leader	NOUN
futech-566	373	27	–	–	PUNCT
futech-566	373	28	follower	follower	NOUN
futech-566	373	29	consensus	consensus	NOUN
futech-566	373	30	control	control	NOUN
futech-566	373	31	for	for	ADP
futech-566	373	32	a	a	DET
futech-566	373	33	class	class	NOUN
futech-566	373	34	of	of	ADP
futech-566	373	35	nonlinear	nonlinear	ADJ
futech-566	373	36	multi	multi	ADJ
futech-566	373	37	-	-	ADJ
futech-566	373	38	agent	agent	ADJ
futech-566	373	39	systems	system	NOUN
futech-566	373	40	using	use	VERB
futech-566	373	41	dynamical	dynamical	ADJ
futech-566	373	42	neural	neural	ADJ
futech-566	373	43	networks	network	NOUN
futech-566	373	44	,	,	PUNCT
futech-566	373	45	”	"	PUNCT
futech-566	373	46	neurocomputing	neurocomputing	NOUN
futech-566	373	47	,	,	PUNCT
futech-566	373	48	vol	vol	NOUN
futech-566	373	49	.	.	PROPN
futech-566	374	1	561	561	NUM
futech-566	374	2	,	,	PUNCT
futech-566	374	3	p.	p.	NOUN
futech-566	374	4	126888	126888	NUM
futech-566	374	5	,	,	PUNCT
futech-566	374	6	2023	2023	NUM
futech-566	374	7	.	.	PUNCT
futech-566	375	1	https://doi.org/10.1016/j.neucom.2023.126888	https://doi.org/10.1016/j.neucom.2023.126888	PROPN
futech-566	375	2	[	[	X
futech-566	375	3	24	24	NUM
futech-566	375	4	]	]	PUNCT
futech-566	375	5	z.	z.	PROPN
futech-566	375	6	yang	yang	PROPN
futech-566	375	7	,	,	PUNCT
futech-566	375	8	s.	s.	PROPN
futech-566	375	9	sosnowski	sosnowski	PROPN
futech-566	375	10	,	,	PUNCT
futech-566	375	11	q.	q.	PROPN
futech-566	375	12	liu	liu	PROPN
futech-566	375	13	,	,	PUNCT
futech-566	375	14	j.	j.	PROPN
futech-566	375	15	jiao	jiao	PROPN
futech-566	375	16	,	,	PUNCT
futech-566	375	17	a.	a.	PROPN
futech-566	375	18	lederer	lederer	PROPN
futech-566	375	19	and	and	CCONJ
futech-566	375	20	s.	s.	PROPN
futech-566	375	21	hirche	hirche	PROPN
futech-566	375	22	,	,	PUNCT
futech-566	375	23	“	"	PUNCT
futech-566	375	24	distributed	distribute	VERB
futech-566	375	25	learning	learn	VERB
futech-566	375	26	consensus	consensus	NOUN
futech-566	375	27	control	control	NOUN
futech-566	375	28	for	for	ADP
futech-566	375	29	unknown	unknown	ADJ
futech-566	375	30	nonlinear	nonlinear	ADJ
futech-566	375	31	multi	multi	ADJ
futech-566	375	32	-	-	ADJ
futech-566	375	33	agent	agent	ADJ
futech-566	375	34	systems	system	NOUN
futech-566	375	35	based	base	VERB
futech-566	375	36	on	on	ADP
futech-566	375	37	gaussian	gaussian	ADJ
futech-566	375	38	processes	process	NOUN
futech-566	375	39	,	,	PUNCT
futech-566	375	40	”	"	PUNCT
futech-566	375	41	proceedings	proceeding	NOUN
futech-566	375	42	of	of	ADP
futech-566	375	43	the	the	DET
futech-566	375	44	2021	2021	NUM
futech-566	375	45	60th	60th	ADJ
futech-566	375	46	ieee	ieee	NOUN
futech-566	375	47	conference	conference	NOUN
futech-566	375	48	on	on	ADP
futech-566	375	49	decision	decision	NOUN
futech-566	375	50	and	and	CCONJ
futech-566	375	51	control	control	NOUN
futech-566	375	52	(	(	PUNCT
futech-566	375	53	cdc	cdc	PROPN
futech-566	375	54	)	)	PUNCT
futech-566	375	55	,	,	PUNCT
futech-566	375	56	pp	pp	PROPN
futech-566	375	57	.	.	PUNCT
futech-566	375	58	4406–4411	4406–4411	NOUN
futech-566	375	59	,	,	PUNCT
futech-566	375	60	2021	2021	NUM
futech-566	375	61	https://doi.org/0.1109/cdc45484.2021.9683522	https://doi.org/0.1109/cdc45484.2021.9683522	CCONJ
futech-566	376	1	[	[	X
futech-566	376	2	25	25	NUM
futech-566	376	3	]	]	PUNCT
futech-566	376	4	z.	z.	PROPN
futech-566	376	5	wang	wang	PROPN
futech-566	376	6	,	,	PUNCT
futech-566	376	7	y.	y.	PROPN
futech-566	376	8	gao	gao	PROPN
futech-566	376	9	,	,	PUNCT
futech-566	376	10	a.	a.	PROPN
futech-566	376	11	i.	i.	PROPN
futech-566	376	12	rikos	rikos	PROPN
futech-566	376	13	,	,	PUNCT
futech-566	376	14	n.	n.	NOUN
futech-566	376	15	pang	pang	NOUN
futech-566	376	16	and	and	CCONJ
futech-566	376	17	y.	y.	PROPN
futech-566	376	18	ji	ji	PROPN
futech-566	376	19	,	,	PUNCT
futech-566	376	20	“	"	PUNCT
futech-566	376	21	fixedrelative	fixedrelative	ADJ
futech-566	376	22	-	-	PUNCT
futech-566	376	23	switched	switch	VERB
futech-566	376	24	threshold	threshold	NOUN
futech-566	376	25	strategies	strategy	NOUN
futech-566	376	26	for	for	ADP
futech-566	376	27	consensus	consensus	NOUN
futech-566	376	28	tracking	tracking	NOUN
futech-566	376	29	control	control	NOUN
futech-566	376	30	of	of	ADP
futech-566	376	31	nonlinear	nonlinear	ADJ
futech-566	376	32	multiagent	multiagent	NOUN
futech-566	376	33	systems	system	NOUN
futech-566	376	34	,	,	PUNCT
futech-566	376	35	”	"	PUNCT
futech-566	376	36	proceedings	proceeding	NOUN
futech-566	376	37	of	of	ADP
futech-566	376	38	the	the	DET
futech-566	376	39	2025	2025	NUM
futech-566	376	40	ieee	ieee	NOUN
futech-566	376	41	19th	19th	ADJ
futech-566	376	42	international	international	ADJ
futech-566	376	43	conference	conference	NOUN
futech-566	376	44	on	on	ADP
futech-566	376	45	control	control	NOUN
futech-566	376	46	&	&	CCONJ
futech-566	376	47	automation	automation	NOUN
futech-566	376	48	(	(	PUNCT
futech-566	376	49	icca	icca	PROPN
futech-566	376	50	)	)	PUNCT
futech-566	376	51	,	,	PUNCT
futech-566	376	52	pp	pp	PROPN
futech-566	376	53	.	.	PUNCT
futech-566	377	1	899–905	899–905	NUM
futech-566	377	2	,	,	PUNCT
futech-566	377	3	june	june	PROPN
futech-566	377	4	2025	2025	NUM
futech-566	377	5	.	.	PUNCT
futech-566	378	1	https://doi.org/10.48550/arxiv.2411.19571	https://doi.org/10.48550/arxiv.2411.19571	PROPN
futech-566	379	1	[	[	X
futech-566	379	2	26	26	NUM
futech-566	379	3	]	]	PUNCT
futech-566	379	4	m.	m.	NOUN
futech-566	379	5	li	li	PROPN
futech-566	379	6	,	,	PUNCT
futech-566	379	7	h.	h.	PROPN
futech-566	379	8	liu	liu	PROPN
futech-566	379	9	,	,	PUNCT
futech-566	379	10	f.	f.	PROPN
futech-566	379	11	xie	xie	PROPN
futech-566	379	12	and	and	CCONJ
futech-566	379	13	h.	h.	PROPN
futech-566	379	14	huang	huang	PROPN
futech-566	379	15	,	,	PUNCT
futech-566	379	16	“	"	PUNCT
futech-566	379	17	adaptive	adaptive	ADJ
futech-566	379	18	distributed	distribute	VERB
futech-566	379	19	control	control	NOUN
futech-566	379	20	for	for	ADP
futech-566	379	21	leader	leader	NOUN
futech-566	379	22	–	–	PUNCT
futech-566	379	23	follower	follower	NOUN
futech-566	379	24	formation	formation	NOUN
futech-566	379	25	based	base	VERB
futech-566	379	26	on	on	ADP
futech-566	379	27	a	a	DET
futech-566	379	28	recurrent	recurrent	ADJ
futech-566	379	29	sac	sac	NOUN
futech-566	379	30	algorithm	algorithm	NOUN
futech-566	379	31	,	,	PUNCT
futech-566	379	32	”	"	PUNCT
futech-566	379	33	electronics	electronic	NOUN
futech-566	379	34	,	,	PUNCT
futech-566	379	35	vol	vol	NOUN
futech-566	379	36	.	.	PROPN
futech-566	379	37	13	13	NUM
futech-566	379	38	,	,	PUNCT
futech-566	379	39	no	no	INTJ
futech-566	379	40	.	.	NOUN
futech-566	379	41	17	17	NUM
futech-566	379	42	,	,	PUNCT
futech-566	379	43	p.	p.	NOUN
futech-566	379	44	3513	3513	NUM
futech-566	379	45	,	,	PUNCT
futech-566	379	46	2024	2024	NUM
futech-566	379	47	.	.	PUNCT
futech-566	380	1	https://doi.org/10.3390/electronics13173513	https://doi.org/10.3390/electronics13173513	PROPN
futech-566	381	1	[	[	X
futech-566	381	2	27	27	NUM
futech-566	381	3	]	]	PUNCT
futech-566	381	4	k.	k.	PROPN
futech-566	381	5	g.	g.	PROPN
futech-566	381	6	dastidar	dastidar	PROPN
futech-566	381	7	,	,	PUNCT
futech-566	381	8	o.	o.	NOUN
futech-566	381	9	caelen	caelen	VERB
futech-566	381	10	and	and	CCONJ
futech-566	381	11	m.	m.	NOUN
futech-566	381	12	granitzer	granitzer	NOUN
futech-566	381	13	,	,	PUNCT
futech-566	381	14	“	"	PUNCT
futech-566	381	15	machine	machine	NOUN
futech-566	381	16	learning	learning	NOUN
futech-566	381	17	methods	method	NOUN
futech-566	381	18	for	for	ADP
futech-566	381	19	credit	credit	NOUN
futech-566	381	20	card	card	NOUN
futech-566	381	21	fraud	fraud	NOUN
futech-566	381	22	detection	detection	NOUN
futech-566	381	23	:	:	PUNCT
futech-566	381	24	a	a	DET
futech-566	381	25	survey	survey	NOUN
futech-566	381	26	,	,	PUNCT
futech-566	381	27	”	"	PUNCT
futech-566	381	28	ieee	ieee	NOUN
futech-566	381	29	access	access	NOUN
futech-566	381	30	,	,	PUNCT
futech-566	381	31	2024	2024	NUM
futech-566	381	32	.	.	PUNCT
futech-566	382	1	https://doi.org/10.1109/access.2024.3487298	https://doi.org/10.1109/access.2024.3487298	PROPN
futech-566	383	1	[	[	X
futech-566	383	2	28	28	NUM
futech-566	383	3	]	]	PUNCT
futech-566	383	4	k.	k.	PROPN
futech-566	383	5	aitken	aitken	PROPN
futech-566	383	6	and	and	CCONJ
futech-566	383	7	s.	s.	PROPN
futech-566	383	8	mihalas	mihalas	PROPN
futech-566	383	9	,	,	PUNCT
futech-566	383	10	“	"	PUNCT
futech-566	383	11	neural	neural	ADJ
futech-566	383	12	population	population	NOUN
futech-566	383	13	dynamics	dynamic	NOUN
futech-566	383	14	of	of	ADP
futech-566	383	15	computing	compute	VERB
futech-566	383	16	with	with	ADP
futech-566	383	17	synaptic	synaptic	ADJ
futech-566	383	18	modulations	modulation	NOUN
futech-566	383	19	,	,	PUNCT
futech-566	383	20	”	"	PUNCT
futech-566	383	21	elife	elife	NOUN
futech-566	383	22	,	,	PUNCT
futech-566	383	23	vol	vol	NOUN
futech-566	383	24	.	.	PROPN
futech-566	383	25	12	12	NUM
futech-566	383	26	,	,	PUNCT
futech-566	383	27	p.	p.	PROPN
futech-566	383	28	e83035	e83035	PROPN
futech-566	383	29	,	,	PUNCT
futech-566	383	30	2023	2023	NUM
futech-566	383	31	.	.	PUNCT
futech-566	384	1	https://doi.org/10.7554/elife.83035	https://doi.org/10.7554/elife.83035	NUM
futech-566	385	1	[	[	X
futech-566	385	2	29	29	NUM
futech-566	385	3	]	]	X
futech-566	385	4	b.	b.	PROPN
futech-566	385	5	r.	r.	PROPN
futech-566	385	6	floriano	floriano	PROPN
futech-566	385	7	,	,	PUNCT
futech-566	385	8	a.	a.	PROPN
futech-566	385	9	n.	n.	PROPN
futech-566	385	10	vargas	vargas	PROPN
futech-566	385	11	,	,	PUNCT
futech-566	385	12	j.	j.	PROPN
futech-566	385	13	y.	y.	PROPN
futech-566	385	14	ishihara	ishihara	PROPN
futech-566	385	15	and	and	CCONJ
futech-566	385	16	h.	h.	PROPN
futech-566	385	17	c.	c.	PROPN
futech-566	385	18	ferreira	ferreira	PROPN
futech-566	385	19	,	,	PUNCT
futech-566	385	20	“	"	PUNCT
futech-566	385	21	neural	neural	ADJ
futech-566	385	22	-	-	PUNCT
futech-566	385	23	network	network	NOUN
futech-566	385	24	-	-	PUNCT
futech-566	385	25	based	base	VERB
futech-566	385	26	model	model	NOUN
futech-566	385	27	predictive	predictive	ADJ
futech-566	385	28	control	control	NOUN
futech-566	385	29	for	for	ADP
futech-566	385	30	consensus	consensus	NOUN
futech-566	385	31	of	of	ADP
futech-566	385	32	nonlinear	nonlinear	ADJ
futech-566	385	33	systems	system	NOUN
futech-566	385	34	,	,	PUNCT
futech-566	385	35	”	"	PUNCT
futech-566	385	36	engineering	engineering	NOUN
futech-566	385	37	applications	application	NOUN
futech-566	385	38	of	of	ADP
futech-566	385	39	artificial	artificial	ADJ
futech-566	385	40	intelligence	intelligence	NOUN
futech-566	385	41	,	,	PUNCT
futech-566	385	42	vol	vol	NOUN
futech-566	385	43	.	.	PROPN
futech-566	385	44	116	116	NUM
futech-566	385	45	,	,	PUNCT
futech-566	385	46	p.	p.	NOUN
futech-566	385	47	105327	105327	NUM
futech-566	385	48	,	,	PUNCT
futech-566	385	49	2022	2022	NUM
futech-566	385	50	.	.	PUNCT
futech-566	386	1	https://doi.org/10.1016/j.engappai.2022.105327	https://doi.org/10.1016/j.engappai.2022.105327	NOUN
futech-566	387	1	[	[	X
futech-566	387	2	30	30	NUM
futech-566	387	3	]	]	X
futech-566	387	4	w.	w.	PROPN
futech-566	387	5	ren	ren	PROPN
futech-566	387	6	,	,	PUNCT
futech-566	387	7	r.	r.	PROPN
futech-566	387	8	w.	w.	PROPN
futech-566	387	9	beard	beard	PROPN
futech-566	387	10	and	and	CCONJ
futech-566	387	11	e.	e.	PROPN
futech-566	387	12	m.	m.	PROPN
futech-566	387	13	atkins	atkins	PROPN
futech-566	387	14	,	,	PUNCT
futech-566	387	15	“	"	PUNCT
futech-566	387	16	information	information	NOUN
futech-566	387	17	consensus	consensus	NOUN
futech-566	387	18	in	in	ADP
futech-566	387	19	multivehicle	multivehicle	NOUN
futech-566	387	20	cooperative	cooperative	ADJ
futech-566	387	21	control	control	NOUN
futech-566	387	22	,	,	PUNCT
futech-566	387	23	”	"	PUNCT
futech-566	387	24	ieee	ieee	PROPN
futech-566	387	25	p.	p.	PROPN
futech-566	387	26	chaubey	chaubey	NOUN
futech-566	387	27	et	et	PROPN
futech-566	387	28	al	al	PROPN
futech-566	387	29	.	.	PROPN
futech-566	387	30	/future	/future	PUNCT
futech-566	387	31	technology	technology	PROPN
futech-566	387	32	february	february	PROPN
futech-566	387	33	2026|	2026|	NUM
futech-566	387	34	volume	volume	NOUN
futech-566	387	35	05	05	NUM
futech-566	388	1	|	|	ADV
futech-566	388	2	issue	issue	NOUN
futech-566	388	3	01	01	NUM
futech-566	389	1	|	|	ADV
futech-566	389	2	pages	page	VERB
futech-566	389	3	148	148	NUM
futech-566	389	4	-	-	SYM
futech-566	389	5	158	158	NUM
futech-566	389	6	158	158	NUM
futech-566	389	7	control	control	NOUN
futech-566	389	8	systems	systems	PROPN
futech-566	389	9	magazine	magazine	NOUN
futech-566	389	10	,	,	PUNCT
futech-566	389	11	vol	vol	NOUN
futech-566	389	12	.	.	PROPN
futech-566	389	13	27	27	NUM
futech-566	389	14	,	,	PUNCT
futech-566	389	15	no	no	INTJ
futech-566	389	16	.	.	NOUN
futech-566	389	17	2	2	NUM
futech-566	389	18	,	,	PUNCT
futech-566	389	19	pp	pp	ADJ
futech-566	389	20	.	.	PUNCT
futech-566	390	1	71–82	71–82	NUM
futech-566	390	2	,	,	PUNCT
futech-566	390	3	2007	2007	NUM
futech-566	390	4	.	.	PUNCT
futech-566	391	1	https://doi.org/10.1109/mcs.2007.338264	https://doi.org/10.1109/mcs.2007.338264	VERB
futech-566	391	2	[	[	X
futech-566	391	3	31	31	NUM
futech-566	391	4	]	]	PUNCT
futech-566	391	5	t.	t.	PROPN
futech-566	391	6	zhang	zhang	PROPN
futech-566	391	7	and	and	CCONJ
futech-566	391	8	y.	y.	PROPN
futech-566	391	9	u.	u.	PROPN
futech-566	391	10	hui	hui	PROPN
futech-566	391	11	,	,	PUNCT
futech-566	391	12	“	"	PUNCT
futech-566	391	13	average	average	ADJ
futech-566	391	14	consensus	consensus	NOUN
futech-566	391	15	in	in	ADP
futech-566	391	16	networks	network	NOUN
futech-566	391	17	of	of	ADP
futech-566	391	18	multi	multi	ADJ
futech-566	391	19	-	-	NOUN
futech-566	391	20	agent	agent	NOUN
futech-566	391	21	with	with	ADP
futech-566	391	22	multiple	multiple	ADJ
futech-566	391	23	time	time	NOUN
futech-566	391	24	-	-	PUNCT
futech-566	391	25	varying	vary	VERB
futech-566	391	26	delays	delay	NOUN
futech-566	391	27	,	,	PUNCT
futech-566	391	28	”	"	PUNCT
futech-566	391	29	international	international	ADJ
futech-566	391	30	journal	journal	NOUN
futech-566	391	31	of	of	ADP
futech-566	391	32	communications	communication	NOUN
futech-566	391	33	,	,	PUNCT
futech-566	391	34	network	network	NOUN
futech-566	391	35	and	and	CCONJ
futech-566	391	36	system	system	NOUN
futech-566	391	37	sciences	science	NOUN
futech-566	391	38	,	,	PUNCT
futech-566	391	39	vol	vol	NOUN
futech-566	391	40	.	.	PROPN
futech-566	392	1	3	3	NUM
futech-566	392	2	,	,	PUNCT
futech-566	392	3	no	no	INTJ
futech-566	392	4	.	.	NOUN
futech-566	392	5	2	2	NUM
futech-566	392	6	,	,	PUNCT
futech-566	392	7	pp	pp	ADJ
futech-566	392	8	.	.	PUNCT
futech-566	393	1	196	196	NUM
futech-566	393	2	–	–	PUNCT
futech-566	393	3	203	203	NUM
futech-566	393	4	,	,	PUNCT
futech-566	393	5	2010	2010	NUM
futech-566	393	6	.	.	PUNCT
futech-566	394	1	http://dx.doi.org/10.4236/ijcns.2010.32028	http://dx.doi.org/10.4236/ijcns.2010.32028	PROPN
futech-566	395	1	[	[	X
futech-566	395	2	32	32	NUM
futech-566	395	3	]	]	PUNCT
futech-566	395	4	j.	j.	PROPN
futech-566	395	5	gao	gao	PROPN
futech-566	395	6	,	,	PUNCT
futech-566	395	7	j.	j.	PROPN
futech-566	395	8	li	li	PROPN
futech-566	395	9	,	,	PUNCT
futech-566	395	10	h.	h.	PROPN
futech-566	395	11	pan	pan	PROPN
futech-566	395	12	,	,	PUNCT
futech-566	395	13	z.	z.	PROPN
futech-566	395	14	wu	wu	PROPN
futech-566	395	15	,	,	PUNCT
futech-566	395	16	x.	x.	PROPN
futech-566	395	17	yin	yin	PROPN
futech-566	395	18	and	and	CCONJ
futech-566	395	19	h.	h.	PROPN
futech-566	395	20	wang	wang	PROPN
futech-566	395	21	,	,	PUNCT
futech-566	395	22	“	"	PUNCT
futech-566	395	23	consensus	consensus	NOUN
futech-566	395	24	via	via	ADP
futech-566	395	25	event	event	NOUN
futech-566	395	26	-	-	PUNCT
futech-566	395	27	triggered	trigger	VERB
futech-566	395	28	strategy	strategy	NOUN
futech-566	395	29	of	of	ADP
futech-566	395	30	nonlinear	nonlinear	ADJ
futech-566	395	31	multi	multi	ADJ
futech-566	395	32	-	-	ADJ
futech-566	395	33	agent	agent	ADJ
futech-566	395	34	systems	system	NOUN
futech-566	395	35	with	with	ADP
futech-566	395	36	markovian	markovian	ADJ
futech-566	395	37	switching	switch	VERB
futech-566	395	38	topologies	topology	NOUN
futech-566	395	39	,	,	PUNCT
futech-566	395	40	”	"	PUNCT
futech-566	395	41	isa	isa	NOUN
futech-566	395	42	transactions	transaction	NOUN
futech-566	395	43	,	,	PUNCT
futech-566	395	44	vol	vol	NOUN
futech-566	395	45	.	.	PROPN
futech-566	395	46	104	104	NUM
futech-566	395	47	,	,	PUNCT
futech-566	395	48	pp	pp	ADJ
futech-566	395	49	.	.	PUNCT
futech-566	396	1	122–129	122–129	NUM
futech-566	396	2	,	,	PUNCT
futech-566	396	3	2020	2020	NUM
futech-566	396	4	.	.	PUNCT
futech-566	397	1	https://doi.org/10.1016/j.isatra.2019.11.013	https://doi.org/10.1016/j.isatra.2019.11.013	VERB
futech-566	397	2	this	this	DET
futech-566	397	3	article	article	NOUN
futech-566	397	4	is	be	AUX
futech-566	397	5	an	an	DET
futech-566	397	6	open	open	ADJ
futech-566	397	7	-	-	PUNCT
futech-566	397	8	access	access	NOUN
futech-566	397	9	article	article	NOUN
futech-566	397	10	distributed	distribute	VERB
futech-566	397	11	under	under	ADP
futech-566	397	12	the	the	DET
futech-566	397	13	terms	term	NOUN
futech-566	397	14	and	and	CCONJ
futech-566	397	15	conditions	condition	NOUN
futech-566	397	16	of	of	ADP
futech-566	397	17	the	the	DET
futech-566	397	18	creative	creative	ADJ
futech-566	397	19	commons	common	NOUN
futech-566	397	20	attribution	attribution	NOUN
futech-566	397	21	(	(	PUNCT
futech-566	397	22	cc	cc	NOUN
futech-566	397	23	by	by	ADP
futech-566	397	24	)	)	PUNCT
futech-566	397	25	license	license	NOUN
futech-566	397	26	(	(	PUNCT
futech-566	397	27	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
futech-566	397	28	)	)	PUNCT
futech-566	397	29	.	.	PUNCT
futech-566	398	1	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN