id	sid	tid	token	lemma	pos
hjic-914	1	1	hungarian	hungarian	ADJ
hjic-914	1	2	journal	journal	NOUN
hjic-914	1	3	of	of	ADP
hjic-914	1	4	industry	industry	NOUN
hjic-914	1	5	and	and	CCONJ
hjic-914	1	6	chemistry	chemistry	NOUN
hjic-914	1	7	vol	vol	NOUN
hjic-914	1	8	.	.	PUNCT
hjic-914	2	1	48(1	48(1	NOUN
hjic-914	2	2	)	)	PUNCT
hjic-914	2	3	pp	pp	ADV
hjic-914	2	4	.	.	PUNCT
hjic-914	3	1	11–17	11–17	NUM
hjic-914	3	2	(	(	PUNCT
hjic-914	3	3	2020	2020	NUM
hjic-914	3	4	)	)	PUNCT
hjic-914	3	5	hjic.mk.uni-pannon.hu	hjic.mk.uni-pannon.hu	NOUN
hjic-914	3	6	doi	doi	NOUN
hjic-914	3	7	:	:	PUNCT
hjic-914	3	8	10.33927	10.33927	NUM
hjic-914	3	9	/	/	SYM
hjic-914	3	10	hjic-2020	hjic-2020	NOUN
hjic-914	3	11	-	-	PUNCT
hjic-914	3	12	03	03	NUM
hjic-914	3	13	theoretical	theoretical	ADJ
hjic-914	3	14	background	background	NOUN
hjic-914	3	15	and	and	CCONJ
hjic-914	3	16	application	application	NOUN
hjic-914	3	17	of	of	ADP
hjic-914	3	18	multiple	multiple	ADJ
hjic-914	3	19	goal	goal	NOUN
hjic-914	3	20	pursuit	pursuit	NOUN
hjic-914	3	21	trajectory	trajectory	NOUN
hjic-914	3	22	follower	follower	NOUN
hjic-914	3	23	ernő	ernő	PROPN
hjic-914	3	24	horváth*1,2	horváth*1,2	PROPN
hjic-914	3	25	,	,	PUNCT
hjic-914	3	26	claudiu	claudiu	ADJ
hjic-914	3	27	pozna3	pozna3	NOUN
hjic-914	3	28	,	,	PUNCT
hjic-914	3	29	péter	péter	PROPN
hjic-914	3	30	kőrös2	kőrös2	PROPN
hjic-914	3	31	,	,	PUNCT
hjic-914	3	32	csaba	csaba	PROPN
hjic-914	3	33	hajdu2	hajdu2	PROPN
hjic-914	3	34	,	,	PUNCT
hjic-914	3	35	and	and	CCONJ
hjic-914	3	36	áron	áron	NOUN
hjic-914	3	37	ballagi2	ballagi2	PROPN
hjic-914	3	38	1department	1department	NUM
hjic-914	3	39	of	of	ADP
hjic-914	3	40	computer	computer	NOUN
hjic-914	3	41	engineering	engineering	NOUN
hjic-914	3	42	,	,	PUNCT
hjic-914	3	43	széchenyi	széchenyi	PROPN
hjic-914	3	44	istván	istván	PROPN
hjic-914	3	45	university	university	PROPN
hjic-914	3	46	,	,	PUNCT
hjic-914	3	47	egyetem	egyetem	NOUN
hjic-914	3	48	tér	tér	PROPN
hjic-914	3	49	1	1	NUM
hjic-914	3	50	,	,	PUNCT
hjic-914	3	51	h-9026	h-9026	PROPN
hjic-914	3	52	győr	győr	PROPN
hjic-914	3	53	,	,	PUNCT
hjic-914	3	54	hungary	hungary	PROPN
hjic-914	3	55	2research	2research	NUM
hjic-914	3	56	center	center	NOUN
hjic-914	3	57	of	of	ADP
hjic-914	3	58	vehicle	vehicle	NOUN
hjic-914	3	59	industry	industry	NOUN
hjic-914	3	60	,	,	PUNCT
hjic-914	3	61	széchenyi	széchenyi	PROPN
hjic-914	3	62	istván	istván	PROPN
hjic-914	3	63	university	university	PROPN
hjic-914	3	64	,	,	PUNCT
hjic-914	3	65	egyetem	egyetem	NOUN
hjic-914	3	66	tér	tér	PROPN
hjic-914	3	67	1	1	NUM
hjic-914	3	68	,	,	PUNCT
hjic-914	3	69	h-9026	h-9026	PROPN
hjic-914	3	70	győr	győr	PROPN
hjic-914	3	71	,	,	PUNCT
hjic-914	3	72	hungary	hungary	NOUN
hjic-914	3	73	3faculty	3faculty	NUM
hjic-914	3	74	of	of	ADP
hjic-914	3	75	electrical	electrical	ADJ
hjic-914	3	76	engineering	engineering	NOUN
hjic-914	3	77	and	and	CCONJ
hjic-914	3	78	computer	computer	NOUN
hjic-914	3	79	science	science	NOUN
hjic-914	3	80	,	,	PUNCT
hjic-914	3	81	transilvania	transilvania	PROPN
hjic-914	3	82	university	university	PROPN
hjic-914	3	83	of	of	ADP
hjic-914	3	84	brasov	brasov	NOUN
hjic-914	3	85	,	,	PUNCT
hjic-914	3	86	b	b	X
hjic-914	3	87	-	-	PUNCT
hjic-914	3	88	dul	dul	NOUN
hjic-914	3	89	eroilor	eroilor	PROPN
hjic-914	3	90	nr	nr	PROPN
hjic-914	3	91	.	.	PROPN
hjic-914	3	92	29	29	NUM
hjic-914	3	93	,	,	PUNCT
hjic-914	3	94	500036	500036	NUM
hjic-914	3	95	brasov	brasov	NOUN
hjic-914	3	96	,	,	PUNCT
hjic-914	3	97	romania	romania	PROPN
hjic-914	3	98	autonomous	autonomous	ADJ
hjic-914	3	99	and	and	CCONJ
hjic-914	3	100	self	self	NOUN
hjic-914	3	101	-	-	PUNCT
hjic-914	3	102	driving	drive	VERB
hjic-914	3	103	technology	technology	NOUN
hjic-914	3	104	is	be	AUX
hjic-914	3	105	a	a	DET
hjic-914	3	106	rapidly	rapidly	ADV
hjic-914	3	107	emerging	emerge	VERB
hjic-914	3	108	field	field	NOUN
hjic-914	3	109	among	among	ADP
hjic-914	3	110	automotive	automotive	ADJ
hjic-914	3	111	-	-	PUNCT
hjic-914	3	112	related	relate	VERB
hjic-914	3	113	companies	company	NOUN
hjic-914	3	114	and	and	CCONJ
hjic-914	3	115	academic	academic	ADJ
hjic-914	3	116	research	research	NOUN
hjic-914	3	117	institutes	institute	NOUN
hjic-914	3	118	.	.	PUNCT
hjic-914	4	1	the	the	DET
hjic-914	4	2	main	main	ADJ
hjic-914	4	3	challenges	challenge	NOUN
hjic-914	4	4	include	include	VERB
hjic-914	4	5	sensory	sensory	ADJ
hjic-914	4	6	perception	perception	NOUN
hjic-914	4	7	,	,	PUNCT
hjic-914	4	8	prediction	prediction	NOUN
hjic-914	4	9	,	,	PUNCT
hjic-914	4	10	trajectory	trajectory	NOUN
hjic-914	4	11	planning	planning	NOUN
hjic-914	4	12	and	and	CCONJ
hjic-914	4	13	trajectory	trajectory	NOUN
hjic-914	4	14	execution	execution	NOUN
hjic-914	4	15	.	.	PUNCT
hjic-914	5	1	the	the	DET
hjic-914	5	2	current	current	ADJ
hjic-914	5	3	paper	paper	NOUN
hjic-914	5	4	introduces	introduce	VERB
hjic-914	5	5	a	a	DET
hjic-914	5	6	design	design	NOUN
hjic-914	5	7	strategy	strategy	NOUN
hjic-914	5	8	and	and	CCONJ
hjic-914	5	9	the	the	DET
hjic-914	5	10	mathematical	mathematical	ADJ
hjic-914	5	11	background	background	NOUN
hjic-914	5	12	of	of	ADP
hjic-914	5	13	the	the	DET
hjic-914	5	14	optimization	optimization	NOUN
hjic-914	5	15	problem	problem	NOUN
hjic-914	5	16	with	with	ADP
hjic-914	5	17	regard	regard	NOUN
hjic-914	5	18	to	to	ADP
hjic-914	5	19	the	the	DET
hjic-914	5	20	multiple	multiple	ADJ
hjic-914	5	21	goal	goal	NOUN
hjic-914	5	22	pure	pure	ADJ
hjic-914	5	23	pursuit	pursuit	NOUN
hjic-914	5	24	algorithm	algorithm	NOUN
hjic-914	5	25	.	.	PUNCT
hjic-914	6	1	the	the	DET
hjic-914	6	2	aim	aim	NOUN
hjic-914	6	3	of	of	ADP
hjic-914	6	4	the	the	DET
hjic-914	6	5	algorithm	algorithm	NOUN
hjic-914	6	6	is	be	AUX
hjic-914	6	7	to	to	PART
hjic-914	6	8	provide	provide	VERB
hjic-914	6	9	a	a	DET
hjic-914	6	10	low	low	ADJ
hjic-914	6	11	degree	degree	NOUN
hjic-914	6	12	of	of	ADP
hjic-914	6	13	computational	computational	ADJ
hjic-914	6	14	complexity	complexity	NOUN
hjic-914	6	15	and	and	CCONJ
hjic-914	6	16	,	,	PUNCT
hjic-914	6	17	therefore	therefore	ADV
hjic-914	6	18	,	,	PUNCT
hjic-914	6	19	a	a	DET
hjic-914	6	20	fast	fast	ADJ
hjic-914	6	21	trajectory	trajectory	NOUN
hjic-914	6	22	-	-	PUNCT
hjic-914	6	23	tracking	track	VERB
hjic-914	6	24	approach	approach	NOUN
hjic-914	6	25	.	.	PUNCT
hjic-914	7	1	finally	finally	ADV
hjic-914	7	2	,	,	PUNCT
hjic-914	7	3	in	in	ADP
hjic-914	7	4	terms	term	NOUN
hjic-914	7	5	of	of	ADP
hjic-914	7	6	our	our	PRON
hjic-914	7	7	approach	approach	NOUN
hjic-914	7	8	,	,	PUNCT
hjic-914	7	9	not	not	PART
hjic-914	7	10	only	only	ADV
hjic-914	7	11	the	the	DET
hjic-914	7	12	theoretical	theoretical	ADJ
hjic-914	7	13	questions	question	NOUN
hjic-914	7	14	but	but	CCONJ
hjic-914	7	15	the	the	DET
hjic-914	7	16	application	application	NOUN
hjic-914	7	17	challenges	challenge	NOUN
hjic-914	7	18	will	will	AUX
hjic-914	7	19	be	be	AUX
hjic-914	7	20	described	describe	VERB
hjic-914	7	21	as	as	ADV
hjic-914	7	22	well	well	ADV
hjic-914	7	23	.	.	PUNCT
hjic-914	8	1	keywords	keyword	NOUN
hjic-914	8	2	:	:	PUNCT
hjic-914	8	3	autonomous	autonomous	ADJ
hjic-914	8	4	,	,	PUNCT
hjic-914	8	5	self	self	NOUN
hjic-914	8	6	-	-	PUNCT
hjic-914	8	7	driving	drive	VERB
hjic-914	8	8	,	,	PUNCT
hjic-914	8	9	algorithm	algorithm	NOUN
hjic-914	8	10	,	,	PUNCT
hjic-914	8	11	trajectory	trajectory	NOUN
hjic-914	8	12	-	-	PUNCT
hjic-914	8	13	tracking	track	VERB
hjic-914	8	14	1	1	NUM
hjic-914	8	15	.	.	PUNCT
hjic-914	9	1	introduction	introduction	NOUN
hjic-914	9	2	the	the	DET
hjic-914	9	3	current	current	ADJ
hjic-914	9	4	paper	paper	NOUN
hjic-914	9	5	deals	deal	NOUN
hjic-914	9	6	with	with	ADP
hjic-914	9	7	the	the	DET
hjic-914	9	8	design	design	NOUN
hjic-914	9	9	strategies	strategy	NOUN
hjic-914	9	10	,	,	PUNCT
hjic-914	9	11	theoretical	theoretical	ADJ
hjic-914	9	12	background	background	NOUN
hjic-914	9	13	and	and	CCONJ
hjic-914	9	14	application	application	NOUN
hjic-914	9	15	of	of	ADP
hjic-914	9	16	trajectory	trajectory	NOUN
hjic-914	9	17	tracking	tracking	NOUN
hjic-914	9	18	.	.	PUNCT
hjic-914	10	1	the	the	DET
hjic-914	10	2	trajectory	trajectory	NOUN
hjic-914	10	3	-	-	PUNCT
hjic-914	10	4	follower	follower	NOUN
hjic-914	10	5	approach	approach	NOUN
hjic-914	10	6	that	that	PRON
hjic-914	10	7	is	be	AUX
hjic-914	10	8	discussed	discuss	VERB
hjic-914	10	9	is	be	AUX
hjic-914	10	10	called	call	VERB
hjic-914	10	11	the	the	DET
hjic-914	10	12	multiple	multiple	ADJ
hjic-914	10	13	goal	goal	NOUN
hjic-914	10	14	pure	pure	ADJ
hjic-914	10	15	pursuit	pursuit	NOUN
hjic-914	10	16	algorithm	algorithm	NOUN
hjic-914	10	17	,	,	PUNCT
hjic-914	10	18	in	in	ADP
hjic-914	10	19	particular	particular	ADJ
hjic-914	10	20	the	the	DET
hjic-914	10	21	windowed	windowed	ADJ
hjic-914	10	22	version	version	NOUN
hjic-914	10	23	.	.	PUNCT
hjic-914	11	1	in	in	ADP
hjic-914	11	2	mobile	mobile	ADJ
hjic-914	11	3	robots	robot	NOUN
hjic-914	11	4	or	or	CCONJ
hjic-914	11	5	vehicles	vehicle	NOUN
hjic-914	11	6	,	,	PUNCT
hjic-914	11	7	the	the	DET
hjic-914	11	8	trajectory	trajectory	NOUN
hjic-914	11	9	design	design	NOUN
hjic-914	11	10	strategy	strategy	NOUN
hjic-914	11	11	seeks	seek	VERB
hjic-914	11	12	to	to	PART
hjic-914	11	13	identify	identify	VERB
hjic-914	11	14	the	the	DET
hjic-914	11	15	best	good	ADJ
hjic-914	11	16	possible	possible	ADJ
hjic-914	11	17	trajectory	trajectory	NOUN
hjic-914	11	18	which	which	PRON
hjic-914	11	19	approximates	approximate	VERB
hjic-914	11	20	a	a	DET
hjic-914	11	21	desired	desire	VERB
hjic-914	11	22	trajectory	trajectory	NOUN
hjic-914	11	23	based	base	VERB
hjic-914	11	24	on	on	ADP
hjic-914	11	25	waypoints	waypoint	NOUN
hjic-914	11	26	.	.	PUNCT
hjic-914	12	1	this	this	PRON
hjic-914	12	2	also	also	ADV
hjic-914	12	3	assumes	assume	VERB
hjic-914	12	4	that	that	SCONJ
hjic-914	12	5	the	the	DET
hjic-914	12	6	trajectory	trajectory	NOUN
hjic-914	12	7	design	design	NOUN
hjic-914	12	8	phase	phase	NOUN
hjic-914	12	9	has	have	AUX
hjic-914	12	10	already	already	ADV
hjic-914	12	11	created	create	VERB
hjic-914	12	12	the	the	DET
hjic-914	12	13	desired	desire	VERB
hjic-914	12	14	trajectory	trajectory	NOUN
hjic-914	12	15	.	.	PUNCT
hjic-914	13	1	this	this	DET
hjic-914	13	2	paper	paper	NOUN
hjic-914	13	3	is	be	AUX
hjic-914	13	4	organized	organize	VERB
hjic-914	13	5	as	as	SCONJ
hjic-914	13	6	follows	follow	VERB
hjic-914	13	7	.	.	PUNCT
hjic-914	14	1	the	the	DET
hjic-914	14	2	first	first	ADJ
hjic-914	14	3	section	section	NOUN
hjic-914	14	4	introduces	introduce	VERB
hjic-914	14	5	the	the	DET
hjic-914	14	6	general	general	ADJ
hjic-914	14	7	problem	problem	NOUN
hjic-914	14	8	and	and	CCONJ
hjic-914	14	9	summarizes	summarize	VERB
hjic-914	14	10	the	the	DET
hjic-914	14	11	stateof	stateof	ADJ
hjic-914	14	12	-	-	PUNCT
hjic-914	14	13	the	the	DET
hjic-914	14	14	art	art	NOUN
hjic-914	14	15	and	and	CCONJ
hjic-914	14	16	most	most	ADV
hjic-914	14	17	relevant	relevant	ADJ
hjic-914	14	18	results	result	NOUN
hjic-914	14	19	.	.	PUNCT
hjic-914	15	1	the	the	DET
hjic-914	15	2	second	second	ADJ
hjic-914	15	3	section	section	NOUN
hjic-914	15	4	deals	deal	NOUN
hjic-914	15	5	with	with	ADP
hjic-914	15	6	the	the	DET
hjic-914	15	7	design	design	NOUN
hjic-914	15	8	strategy	strategy	NOUN
hjic-914	15	9	of	of	ADP
hjic-914	15	10	trajectory	trajectory	NOUN
hjic-914	15	11	tracking	tracking	NOUN
hjic-914	15	12	and	and	CCONJ
hjic-914	15	13	defines	define	VERB
hjic-914	15	14	the	the	DET
hjic-914	15	15	problem	problem	NOUN
hjic-914	15	16	precisely	precisely	ADV
hjic-914	15	17	.	.	PUNCT
hjic-914	16	1	the	the	DET
hjic-914	16	2	third	third	ADJ
hjic-914	16	3	section	section	NOUN
hjic-914	16	4	defines	define	VERB
hjic-914	16	5	the	the	DET
hjic-914	16	6	optimization	optimization	NOUN
hjic-914	16	7	problem	problem	NOUN
hjic-914	16	8	and	and	CCONJ
hjic-914	16	9	possible	possible	ADJ
hjic-914	16	10	solutions	solution	NOUN
hjic-914	16	11	,	,	PUNCT
hjic-914	16	12	while	while	SCONJ
hjic-914	16	13	the	the	DET
hjic-914	16	14	fourth	fourth	ADJ
hjic-914	16	15	section	section	NOUN
hjic-914	16	16	summarizes	summarize	VERB
hjic-914	16	17	the	the	DET
hjic-914	16	18	results	result	NOUN
hjic-914	16	19	.	.	PUNCT
hjic-914	17	1	finally	finally	ADV
hjic-914	17	2	,	,	PUNCT
hjic-914	17	3	the	the	DET
hjic-914	17	4	last	last	ADJ
hjic-914	17	5	section	section	NOUN
hjic-914	17	6	includes	include	VERB
hjic-914	17	7	a	a	DET
hjic-914	17	8	summary	summary	NOUN
hjic-914	17	9	and	and	CCONJ
hjic-914	17	10	conclusions	conclusion	NOUN
hjic-914	17	11	.	.	PUNCT
hjic-914	18	1	the	the	DET
hjic-914	18	2	current	current	ADJ
hjic-914	18	3	state	state	NOUN
hjic-914	18	4	-	-	PUNCT
hjic-914	18	5	of	of	ADP
hjic-914	18	6	-	-	PUNCT
hjic-914	18	7	the	the	DET
hjic-914	18	8	-	-	PUNCT
hjic-914	18	9	art	art	NOUN
hjic-914	18	10	results	result	VERB
hjic-914	18	11	the	the	DET
hjic-914	18	12	essence	essence	NOUN
hjic-914	18	13	of	of	ADP
hjic-914	18	14	pure	pure	ADJ
hjic-914	18	15	pursuit	pursuit	NOUN
hjic-914	18	16	is	be	AUX
hjic-914	18	17	to	to	PART
hjic-914	18	18	choose	choose	VERB
hjic-914	18	19	a	a	DET
hjic-914	18	20	look	look	VERB
hjic-914	18	21	-	-	PUNCT
hjic-914	18	22	ahead	ahead	NOUN
hjic-914	18	23	point	point	NOUN
hjic-914	18	24	from	from	ADP
hjic-914	18	25	the	the	DET
hjic-914	18	26	desired	desire	VERB
hjic-914	18	27	trajectory	trajectory	NOUN
hjic-914	18	28	in	in	ADP
hjic-914	18	29	front	front	NOUN
hjic-914	18	30	of	of	ADP
hjic-914	18	31	the	the	DET
hjic-914	18	32	vehicle	vehicle	NOUN
hjic-914	18	33	and	and	CCONJ
hjic-914	18	34	steer	steer	VERB
hjic-914	18	35	according	accord	VERB
hjic-914	18	36	to	to	ADP
hjic-914	18	37	it	it	PRON
hjic-914	18	38	.	.	PUNCT
hjic-914	19	1	this	this	DET
hjic-914	19	2	simple	simple	ADJ
hjic-914	19	3	idea	idea	NOUN
hjic-914	19	4	can	can	AUX
hjic-914	19	5	be	be	AUX
hjic-914	19	6	realized	realize	VERB
hjic-914	19	7	in	in	ADP
hjic-914	19	8	many	many	ADJ
hjic-914	19	9	different	different	ADJ
hjic-914	19	10	ways	way	NOUN
hjic-914	19	11	,	,	PUNCT
hjic-914	19	12	e.g.	e.g.	ADV
hjic-914	19	13	,	,	PUNCT
hjic-914	19	14	the	the	DET
hjic-914	19	15	classical	classical	ADJ
hjic-914	19	16	pure	pure	ADJ
hjic-914	19	17	pursuit	pursuit	NOUN
hjic-914	19	18	algorithm	algorithm	NOUN
hjic-914	19	19	uses	use	VERB
hjic-914	19	20	a	a	DET
hjic-914	19	21	fixed	fix	VERB
hjic-914	19	22	look	look	NOUN
hjic-914	19	23	-	-	PUNCT
hjic-914	19	24	ahead	ahead	NOUN
hjic-914	19	25	distance	distance	NOUN
hjic-914	19	26	.	.	PUNCT
hjic-914	20	1	this	this	PRON
hjic-914	20	2	means	mean	VERB
hjic-914	20	3	that	that	SCONJ
hjic-914	20	4	on	on	ADP
hjic-914	20	5	the	the	DET
hjic-914	20	6	given	give	VERB
hjic-914	20	7	track	track	NOUN
hjic-914	20	8	,	,	PUNCT
hjic-914	20	9	a	a	DET
hjic-914	20	10	look	look	VERB
hjic-914	20	11	-	-	PUNCT
hjic-914	20	12	ahead	ahead	ADP
hjic-914	20	13	point	point	NOUN
hjic-914	20	14	can	can	AUX
hjic-914	20	15	be	be	AUX
hjic-914	20	16	determined	determine	VERB
hjic-914	20	17	as	as	ADP
hjic-914	20	18	a	a	DET
hjic-914	20	19	subset	subset	NOUN
hjic-914	20	20	*	*	PUNCT
hjic-914	20	21	correspondence	correspondence	NOUN
hjic-914	20	22	:	:	PUNCT
hjic-914	20	23	herno@ga.sze.hu	herno@ga.sze.hu	PROPN
hjic-914	20	24	of	of	ADP
hjic-914	20	25	waypoints	waypoint	NOUN
hjic-914	20	26	,	,	PUNCT
hjic-914	20	27	which	which	PRON
hjic-914	20	28	are	be	AUX
hjic-914	20	29	a	a	DET
hjic-914	20	30	fixed	fix	VERB
hjic-914	20	31	distance	distance	NOUN
hjic-914	20	32	from	from	ADP
hjic-914	20	33	the	the	DET
hjic-914	20	34	vehicle	vehicle	NOUN
hjic-914	20	35	.	.	PUNCT
hjic-914	21	1	choosing	choose	VERB
hjic-914	21	2	a	a	DET
hjic-914	21	3	look	look	VERB
hjic-914	21	4	-	-	PUNCT
hjic-914	21	5	ahead	ahead	NOUN
hjic-914	21	6	distance	distance	NOUN
hjic-914	21	7	is	be	AUX
hjic-914	21	8	a	a	DET
hjic-914	21	9	tradeoff	tradeoff	NOUN
hjic-914	21	10	between	between	ADP
hjic-914	21	11	control	control	NOUN
hjic-914	21	12	overshoots	overshoot	NOUN
hjic-914	21	13	and	and	CCONJ
hjic-914	21	14	precision	precision	NOUN
hjic-914	21	15	.	.	PUNCT
hjic-914	22	1	if	if	SCONJ
hjic-914	22	2	the	the	DET
hjic-914	22	3	look	look	VERB
hjic-914	22	4	-	-	PUNCT
hjic-914	22	5	ahead	ahead	NOUN
hjic-914	22	6	distance	distance	NOUN
hjic-914	22	7	is	be	AUX
hjic-914	22	8	small	small	ADJ
hjic-914	22	9	,	,	PUNCT
hjic-914	22	10	the	the	DET
hjic-914	22	11	overshoot	overshoot	NOUN
hjic-914	22	12	will	will	AUX
hjic-914	22	13	appear	appear	VERB
hjic-914	22	14	because	because	SCONJ
hjic-914	22	15	the	the	DET
hjic-914	22	16	chosen	choose	VERB
hjic-914	22	17	point	point	NOUN
hjic-914	22	18	is	be	AUX
hjic-914	22	19	so	so	ADV
hjic-914	22	20	close	close	ADJ
hjic-914	22	21	that	that	SCONJ
hjic-914	22	22	the	the	DET
hjic-914	22	23	vehicle	vehicle	NOUN
hjic-914	22	24	can	can	AUX
hjic-914	22	25	not	not	PART
hjic-914	22	26	react	react	VERB
hjic-914	22	27	instantaneously	instantaneously	ADV
hjic-914	22	28	,	,	PUNCT
hjic-914	22	29	thus	thus	ADV
hjic-914	22	30	continuously	continuously	ADV
hjic-914	22	31	exceeds	exceed	VERB
hjic-914	22	32	its	its	PRON
hjic-914	22	33	target	target	NOUN
hjic-914	22	34	.	.	PUNCT
hjic-914	23	1	in	in	ADP
hjic-914	23	2	this	this	DET
hjic-914	23	3	case	case	NOUN
hjic-914	23	4	,	,	PUNCT
hjic-914	23	5	the	the	DET
hjic-914	23	6	absolute	absolute	ADJ
hjic-914	23	7	distance	distance	NOUN
hjic-914	23	8	(	(	PUNCT
hjic-914	23	9	error	error	NOUN
hjic-914	23	10	)	)	PUNCT
hjic-914	23	11	is	be	AUX
hjic-914	23	12	smaller	small	ADJ
hjic-914	23	13	but	but	CCONJ
hjic-914	23	14	the	the	DET
hjic-914	23	15	vehicle	vehicle	NOUN
hjic-914	23	16	will	will	AUX
hjic-914	23	17	oscillate	oscillate	VERB
hjic-914	23	18	.	.	PUNCT
hjic-914	24	1	in	in	ADP
hjic-914	24	2	contrast	contrast	NOUN
hjic-914	24	3	,	,	PUNCT
hjic-914	24	4	if	if	SCONJ
hjic-914	24	5	the	the	DET
hjic-914	24	6	chosen	choose	VERB
hjic-914	24	7	point	point	NOUN
hjic-914	24	8	is	be	AUX
hjic-914	24	9	too	too	ADV
hjic-914	24	10	far	far	ADV
hjic-914	24	11	away	away	ADV
hjic-914	24	12	,	,	PUNCT
hjic-914	24	13	the	the	DET
hjic-914	24	14	vehicle	vehicle	NOUN
hjic-914	24	15	will	will	AUX
hjic-914	24	16	follow	follow	VERB
hjic-914	24	17	the	the	DET
hjic-914	24	18	point	point	NOUN
hjic-914	24	19	after	after	SCONJ
hjic-914	24	20	the	the	DET
hjic-914	24	21	following	follow	VERB
hjic-914	24	22	corner	corner	NOUN
hjic-914	24	23	so	so	ADV
hjic-914	24	24	cuts	cut	VERB
hjic-914	24	25	off	off	ADP
hjic-914	24	26	the	the	DET
hjic-914	24	27	bend	bend	NOUN
hjic-914	24	28	.	.	PUNCT
hjic-914	25	1	this	this	DET
hjic-914	25	2	behavior	behavior	NOUN
hjic-914	25	3	can	can	AUX
hjic-914	25	4	be	be	AUX
hjic-914	25	5	eliminated	eliminate	VERB
hjic-914	25	6	if	if	SCONJ
hjic-914	25	7	the	the	DET
hjic-914	25	8	look	look	VERB
hjic-914	25	9	-	-	PUNCT
hjic-914	25	10	ahead	ahead	NOUN
hjic-914	25	11	distance	distance	NOUN
hjic-914	25	12	is	be	AUX
hjic-914	25	13	adjustable	adjustable	ADJ
hjic-914	25	14	or	or	CCONJ
hjic-914	25	15	changeable	changeable	ADJ
hjic-914	25	16	.	.	PUNCT
hjic-914	26	1	one	one	NUM
hjic-914	26	2	of	of	ADP
hjic-914	26	3	the	the	DET
hjic-914	26	4	most	most	ADV
hjic-914	26	5	obvious	obvious	ADJ
hjic-914	26	6	ways	way	NOUN
hjic-914	26	7	to	to	PART
hjic-914	26	8	modify	modify	VERB
hjic-914	26	9	the	the	DET
hjic-914	26	10	look	look	VERB
hjic-914	26	11	-	-	PUNCT
hjic-914	26	12	ahead	ahead	NOUN
hjic-914	26	13	distance	distance	NOUN
hjic-914	26	14	is	be	AUX
hjic-914	26	15	to	to	PART
hjic-914	26	16	scale	scale	VERB
hjic-914	26	17	the	the	DET
hjic-914	26	18	speed	speed	NOUN
hjic-914	26	19	of	of	ADP
hjic-914	26	20	the	the	DET
hjic-914	26	21	vehicle	vehicle	NOUN
hjic-914	26	22	accordingly	accordingly	ADV
hjic-914	26	23	[	[	X
hjic-914	26	24	1	1	NUM
hjic-914	26	25	]	]	PUNCT
hjic-914	26	26	.	.	PUNCT
hjic-914	27	1	the	the	DET
hjic-914	27	2	other	other	ADJ
hjic-914	27	3	method	method	NOUN
hjic-914	27	4	of	of	ADP
hjic-914	27	5	modifying	modify	VERB
hjic-914	27	6	the	the	DET
hjic-914	27	7	look	look	NOUN
hjic-914	27	8	-	-	PUNCT
hjic-914	27	9	ahead	ahead	NOUN
hjic-914	27	10	distance	distance	NOUN
hjic-914	27	11	involves	involve	VERB
hjic-914	27	12	a	a	DET
hjic-914	27	13	fuzzy	fuzzy	ADJ
hjic-914	27	14	controller	controller	NOUN
hjic-914	27	15	that	that	PRON
hjic-914	27	16	automatically	automatically	ADV
hjic-914	27	17	adjusts	adjust	VERB
hjic-914	27	18	the	the	DET
hjic-914	27	19	look	look	VERB
hjic-914	27	20	-	-	PUNCT
hjic-914	27	21	ahead	ahead	NOUN
hjic-914	27	22	distance	distance	NOUN
hjic-914	27	23	based	base	VERB
hjic-914	27	24	on	on	ADP
hjic-914	27	25	path	path	NOUN
hjic-914	27	26	characteristics	characteristic	NOUN
hjic-914	27	27	,	,	PUNCT
hjic-914	27	28	velocity	velocity	NOUN
hjic-914	27	29	and	and	CCONJ
hjic-914	27	30	tracking	track	VERB
hjic-914	27	31	errors	error	NOUN
hjic-914	27	32	[	[	X
hjic-914	27	33	2	2	NUM
hjic-914	27	34	,	,	PUNCT
hjic-914	27	35	3	3	NUM
hjic-914	27	36	]	]	PUNCT
hjic-914	27	37	.	.	PUNCT
hjic-914	28	1	similarly	similarly	ADV
hjic-914	28	2	to	to	ADP
hjic-914	28	3	the	the	DET
hjic-914	28	4	fuzzy	fuzzy	ADJ
hjic-914	28	5	approach	approach	NOUN
hjic-914	28	6	[	[	X
hjic-914	28	7	4	4	NUM
hjic-914	28	8	]	]	PUNCT
hjic-914	28	9	,	,	PUNCT
hjic-914	28	10	it	it	PRON
hjic-914	28	11	was	be	AUX
hjic-914	28	12	shown	show	VERB
hjic-914	28	13	that	that	SCONJ
hjic-914	28	14	an	an	DET
hjic-914	28	15	autonomous	autonomous	ADJ
hjic-914	28	16	vehicle	vehicle	NOUN
hjic-914	28	17	can	can	AUX
hjic-914	28	18	drive	drive	VERB
hjic-914	28	19	at	at	ADP
hjic-914	28	20	a	a	DET
hjic-914	28	21	velocity	velocity	NOUN
hjic-914	28	22	of	of	ADP
hjic-914	28	23	approximately	approximately	ADV
hjic-914	28	24	80	80	NUM
hjic-914	28	25	km	km	NOUN
hjic-914	28	26	/	/	SYM
hjic-914	28	27	h	h	NOUN
hjic-914	28	28	along	along	ADP
hjic-914	28	29	explicit	explicit	ADJ
hjic-914	28	30	paths	path	NOUN
hjic-914	28	31	using	use	VERB
hjic-914	28	32	differential	differential	ADJ
hjic-914	28	33	gps	gps	PROPN
hjic-914	28	34	data	datum	NOUN
hjic-914	28	35	.	.	PUNCT
hjic-914	29	1	to	to	PART
hjic-914	29	2	improve	improve	VERB
hjic-914	29	3	the	the	DET
hjic-914	29	4	classical	classical	ADJ
hjic-914	29	5	pure	pure	ADJ
hjic-914	29	6	pursuit	pursuit	NOUN
hjic-914	29	7	algorithm	algorithm	NOUN
hjic-914	29	8	and	and	CCONJ
hjic-914	29	9	eliminate	eliminate	VERB
hjic-914	29	10	steering	steering	NOUN
hjic-914	29	11	latency	latency	NOUN
hjic-914	29	12	,	,	PUNCT
hjic-914	29	13	cf	cf	NOUN
hjic-914	29	14	-	-	PUNCT
hjic-914	29	15	pursuit	pursuit	NOUN
hjic-914	29	16	[	[	X
hjic-914	29	17	3	3	NUM
hjic-914	29	18	]	]	PUNCT
hjic-914	29	19	replaced	replace	VERB
hjic-914	29	20	the	the	DET
hjic-914	29	21	circles	circle	NOUN
hjic-914	29	22	employed	employ	VERB
hjic-914	29	23	in	in	ADP
hjic-914	29	24	pure	pure	ADJ
hjic-914	29	25	pursuit	pursuit	NOUN
hjic-914	29	26	with	with	ADP
hjic-914	29	27	a	a	DET
hjic-914	29	28	clothoid	clothoid	ADJ
hjic-914	29	29	curve	curve	NOUN
hjic-914	29	30	to	to	PART
hjic-914	29	31	reduce	reduce	VERB
hjic-914	29	32	fitting	fitting	ADJ
hjic-914	29	33	errors	error	NOUN
hjic-914	29	34	.	.	PUNCT
hjic-914	30	1	although	although	SCONJ
hjic-914	30	2	many	many	ADJ
hjic-914	30	3	papers	paper	NOUN
hjic-914	30	4	have	have	AUX
hjic-914	30	5	examined	examine	VERB
hjic-914	30	6	this	this	DET
hjic-914	30	7	domain	domain	NOUN
hjic-914	30	8	,	,	PUNCT
hjic-914	30	9	the	the	DET
hjic-914	30	10	available	available	ADJ
hjic-914	30	11	source	source	NOUN
hjic-914	30	12	code	code	NOUN
hjic-914	30	13	is	be	AUX
hjic-914	30	14	rather	rather	ADV
hjic-914	30	15	rare	rare	ADJ
hjic-914	30	16	.	.	PUNCT
hjic-914	31	1	a	a	DET
hjic-914	31	2	few	few	ADJ
hjic-914	31	3	of	of	ADP
hjic-914	31	4	the	the	DET
hjic-914	31	5	most	most	ADV
hjic-914	31	6	notable	notable	ADJ
hjic-914	31	7	versions	version	NOUN
hjic-914	31	8	are	be	AUX
hjic-914	31	9	autoware	autoware	ADJ
hjic-914	32	1	[	[	X
hjic-914	32	2	5	5	NUM
hjic-914	32	3	]	]	PUNCT
hjic-914	32	4	,	,	PUNCT
hjic-914	32	5	python	python	NOUN
hjic-914	33	1	[	[	X
hjic-914	33	2	6	6	NUM
hjic-914	33	3	]	]	PUNCT
hjic-914	33	4	and	and	CCONJ
hjic-914	33	5	raptor	raptor	PROPN
hjic-914	33	6	unmanned	unmanned	ADJ
hjic-914	33	7	ground	ground	NOUN
hjic-914	33	8	vehicle	vehicle	NOUN
hjic-914	33	9	(	(	PUNCT
hjic-914	33	10	ugv	ugv	NOUN
hjic-914	33	11	)	)	PUNCT
hjic-914	34	1	[	[	X
hjic-914	34	2	7	7	NUM
hjic-914	34	3	]	]	PUNCT
hjic-914	34	4	.	.	PUNCT
hjic-914	35	1	our	our	PRON
hjic-914	35	2	research	research	NOUN
hjic-914	35	3	group	group	NOUN
hjic-914	35	4	also	also	ADV
hjic-914	35	5	introduced	introduce	VERB
hjic-914	35	6	a	a	DET
hjic-914	35	7	pure	pure	ADJ
hjic-914	35	8	pursuit	pursuit	NOUN
hjic-914	35	9	method	method	NOUN
hjic-914	35	10	based	base	VERB
hjic-914	35	11	on	on	ADP
hjic-914	35	12	multiple	multiple	ADJ
hjic-914	35	13	look	look	NOUN
hjic-914	35	14	-	-	PUNCT
hjic-914	35	15	ahead	ahead	NOUN
hjic-914	35	16	points	point	NOUN
hjic-914	35	17	[	[	X
hjic-914	35	18	8	8	NUM
hjic-914	35	19	]	]	PUNCT
hjic-914	35	20	,	,	PUNCT
hjic-914	35	21	in	in	ADP
hjic-914	35	22	this	this	DET
hjic-914	35	23	paper	paper	NOUN
hjic-914	35	24	its	its	PRON
hjic-914	35	25	updated	update	VERB
hjic-914	35	26	https://doi.org/10.33927/hjic-2020-03	https://doi.org/10.33927/hjic-2020-03	NOUN
hjic-914	35	27	mailto:herno@ga.sze.hu	mailto:herno@ga.sze.hu	PROPN
hjic-914	35	28	12	12	NUM
hjic-914	35	29	horváth	horváth	NOUN
hjic-914	35	30	,	,	PUNCT
hjic-914	35	31	pozna	pozna	ADJ
hjic-914	35	32	,	,	PUNCT
hjic-914	35	33	kőrös	kőrös	NOUN
hjic-914	35	34	,	,	PUNCT
hjic-914	35	35	hajdu	hajdu	NOUN
hjic-914	35	36	,	,	PUNCT
hjic-914	35	37	and	and	CCONJ
hjic-914	35	38	ballagi	ballagi	NOUN
hjic-914	35	39	version	version	NOUN
hjic-914	35	40	will	will	AUX
hjic-914	35	41	be	be	AUX
hjic-914	35	42	presented	present	VERB
hjic-914	35	43	.	.	PUNCT
hjic-914	36	1	2	2	X
hjic-914	36	2	.	.	X
hjic-914	36	3	the	the	DET
hjic-914	36	4	design	design	NOUN
hjic-914	36	5	strategy	strategy	NOUN
hjic-914	36	6	the	the	DET
hjic-914	36	7	motivation	motivation	NOUN
hjic-914	36	8	of	of	ADP
hjic-914	36	9	our	our	PRON
hjic-914	36	10	research	research	NOUN
hjic-914	36	11	was	be	AUX
hjic-914	36	12	to	to	PART
hjic-914	36	13	construct	construct	VERB
hjic-914	36	14	a	a	DET
hjic-914	36	15	simple	simple	ADJ
hjic-914	36	16	but	but	CCONJ
hjic-914	36	17	flexible	flexible	ADJ
hjic-914	36	18	kinematic	kinematic	ADJ
hjic-914	36	19	trajectory	trajectory	NOUN
hjic-914	36	20	tracking	tracking	NOUN
hjic-914	36	21	approach	approach	NOUN
hjic-914	36	22	.	.	PUNCT
hjic-914	37	1	in	in	ADP
hjic-914	37	2	addition	addition	NOUN
hjic-914	37	3	,	,	PUNCT
hjic-914	37	4	the	the	DET
hjic-914	37	5	implementation	implementation	NOUN
hjic-914	37	6	of	of	ADP
hjic-914	37	7	a	a	DET
hjic-914	37	8	more	more	ADV
hjic-914	37	9	human	human	ADJ
hjic-914	37	10	-	-	PUNCT
hjic-914	37	11	like	like	ADJ
hjic-914	37	12	thinking	thinking	NOUN
hjic-914	37	13	was	be	AUX
hjic-914	37	14	sought	seek	VERB
hjic-914	37	15	,	,	PUNCT
hjic-914	37	16	in	in	ADP
hjic-914	37	17	other	other	ADJ
hjic-914	37	18	words	word	NOUN
hjic-914	37	19	,	,	PUNCT
hjic-914	37	20	to	to	PART
hjic-914	37	21	track	track	VERB
hjic-914	37	22	and	and	CCONJ
hjic-914	37	23	follow	follow	VERB
hjic-914	37	24	more	more	ADJ
hjic-914	37	25	goal	goal	NOUN
hjic-914	37	26	points	point	NOUN
hjic-914	37	27	on	on	ADP
hjic-914	37	28	a	a	DET
hjic-914	37	29	road	road	NOUN
hjic-914	37	30	simultaneously	simultaneously	ADV
hjic-914	37	31	.	.	PUNCT
hjic-914	38	1	drivers	driver	NOUN
hjic-914	38	2	also	also	ADV
hjic-914	38	3	take	take	VERB
hjic-914	38	4	multiple	multiple	ADJ
hjic-914	38	5	considerations	consideration	NOUN
hjic-914	38	6	into	into	ADP
hjic-914	38	7	account	account	NOUN
hjic-914	38	8	,	,	PUNCT
hjic-914	38	9	e.g.	e.g.	ADV
hjic-914	38	10	,	,	PUNCT
hjic-914	38	11	not	not	PART
hjic-914	38	12	only	only	ADV
hjic-914	38	13	is	be	AUX
hjic-914	38	14	lanekeeping	lanekeepe	VERB
hjic-914	38	15	an	an	DET
hjic-914	38	16	important	important	ADJ
hjic-914	38	17	task	task	NOUN
hjic-914	38	18	but	but	CCONJ
hjic-914	38	19	a	a	DET
hjic-914	38	20	cyclist	cyclist	NOUN
hjic-914	38	21	in	in	ADP
hjic-914	38	22	the	the	DET
hjic-914	38	23	same	same	ADJ
hjic-914	38	24	lane	lane	NOUN
hjic-914	38	25	also	also	ADV
hjic-914	38	26	influences	influence	VERB
hjic-914	38	27	planning	planning	NOUN
hjic-914	38	28	.	.	PUNCT
hjic-914	39	1	in	in	ADP
hjic-914	39	2	our	our	PRON
hjic-914	39	3	previous	previous	ADJ
hjic-914	39	4	work	work	NOUN
hjic-914	39	5	the	the	DET
hjic-914	39	6	multiple	multiple	ADJ
hjic-914	39	7	goal	goal	NOUN
hjic-914	39	8	pursuit	pursuit	NOUN
hjic-914	39	9	algorithm	algorithm	NOUN
hjic-914	39	10	can	can	AUX
hjic-914	39	11	be	be	AUX
hjic-914	39	12	viewed	view	VERB
hjic-914	39	13	as	as	ADP
hjic-914	39	14	a	a	DET
hjic-914	39	15	supplement	supplement	NOUN
hjic-914	39	16	to	to	ADP
hjic-914	39	17	the	the	DET
hjic-914	39	18	pure	pure	ADJ
hjic-914	39	19	pursuit	pursuit	NOUN
hjic-914	39	20	algorithm	algorithm	NOUN
hjic-914	39	21	.	.	PUNCT
hjic-914	40	1	the	the	DET
hjic-914	40	2	most	most	ADV
hjic-914	40	3	significant	significant	ADJ
hjic-914	40	4	change	change	NOUN
hjic-914	40	5	was	be	AUX
hjic-914	40	6	the	the	DET
hjic-914	40	7	calculation	calculation	NOUN
hjic-914	40	8	of	of	ADP
hjic-914	40	9	curvature	curvature	NOUN
hjic-914	40	10	.	.	PUNCT
hjic-914	41	1	assuming	assume	VERB
hjic-914	41	2	the	the	DET
hjic-914	41	3	reference	reference	NOUN
hjic-914	41	4	trajectory	trajectory	NOUN
hjic-914	41	5	is	be	AUX
hjic-914	41	6	given	give	VERB
hjic-914	41	7	with	with	ADP
hjic-914	41	8	a	a	DET
hjic-914	41	9	set	set	NOUN
hjic-914	41	10	of	of	ADP
hjic-914	41	11	geometric	geometric	ADJ
hjic-914	41	12	points	point	NOUN
hjic-914	41	13	t	t	NOUN
hjic-914	41	14	,	,	PUNCT
hjic-914	41	15	position	position	NOUN
hjic-914	41	16	p	p	NOUN
hjic-914	41	17	,	,	PUNCT
hjic-914	41	18	steering	steer	VERB
hjic-914	41	19	angle	angle	NOUN
hjic-914	41	20	γ	γ	NOUN
hjic-914	41	21	and	and	CCONJ
hjic-914	41	22	orientation	orientation	NOUN
hjic-914	41	23	θ	θ	PROPN
hjic-914	41	24	of	of	ADP
hjic-914	41	25	the	the	DET
hjic-914	41	26	vehicle	vehicle	NOUN
hjic-914	41	27	,	,	PUNCT
hjic-914	41	28	g	g	PROPN
hjic-914	41	29	⊆	⊆	NUM
hjic-914	41	30	t	t	NOUN
hjic-914	41	31	is	be	AUX
hjic-914	41	32	defined	define	VERB
hjic-914	41	33	as	as	ADP
hjic-914	41	34	the	the	DET
hjic-914	41	35	set	set	NOUN
hjic-914	41	36	of	of	ADP
hjic-914	41	37	selected	select	VERB
hjic-914	41	38	goal	goal	NOUN
hjic-914	41	39	points	point	VERB
hjic-914	41	40	with	with	ADP
hjic-914	41	41	a	a	DET
hjic-914	41	42	preset	preset	ADJ
hjic-914	41	43	length	length	NOUN
hjic-914	41	44	n	n	ADP
hjic-914	41	45	=	=	SYM
hjic-914	41	46	|g|	|g|	ADJ
hjic-914	41	47	:	:	PUNCT
hjic-914	41	48	g	g	NOUN
hjic-914	41	49	=	=	SYM
hjic-914	41	50	{	{	PUNCT
hjic-914	41	51	g1	g1	PROPN
hjic-914	41	52	,	,	PUNCT
hjic-914	41	53	g2	g2	PROPN
hjic-914	41	54	,	,	PUNCT
hjic-914	41	55	.	.	PUNCT
hjic-914	41	56	.	.	PUNCT
hjic-914	42	1	.	.	PUNCT
hjic-914	43	1	,	,	PUNCT
hjic-914	43	2	gn	gn	PROPN
hjic-914	43	3	|gk	|gk	PROPN
hjic-914	43	4	,	,	PUNCT
hjic-914	43	5	(	(	PUNCT
hjic-914	43	6	l+o	l+o	NOUN
hjic-914	43	7	)	)	PUNCT
hjic-914	43	8	≤	≤	PUNCT
hjic-914	44	1	k	k	X
hjic-914	44	2	<	<	X
hjic-914	44	3	(	(	PUNCT
hjic-914	44	4	l+o+n	l+o+n	NUM
hjic-914	44	5	)	)	PUNCT
hjic-914	44	6	}	}	PUNCT
hjic-914	44	7	(	(	PUNCT
hjic-914	44	8	1	1	X
hjic-914	44	9	)	)	PUNCT
hjic-914	44	10	an	an	DET
hjic-914	44	11	angle	angle	NOUN
hjic-914	44	12	αf	αf	VERB
hjic-914	44	13	from	from	ADP
hjic-914	44	14	a	a	DET
hjic-914	44	15	domain	domain	NOUN
hjic-914	44	16	of	of	ADP
hjic-914	44	17	possible	possible	ADJ
hjic-914	44	18	angles	angle	NOUN
hjic-914	44	19	[	[	X
hjic-914	44	20	αmin	αmin	NOUN
hjic-914	44	21	,	,	PUNCT
hjic-914	44	22	αmax	αmax	PROPN
hjic-914	44	23	]	]	PUNCT
hjic-914	44	24	is	be	AUX
hjic-914	44	25	assumed	assume	VERB
hjic-914	44	26	(	(	PUNCT
hjic-914	44	27	presumably	presumably	ADV
hjic-914	44	28	the	the	DET
hjic-914	44	29	wheel	wheel	NOUN
hjic-914	44	30	angle	angle	NOUN
hjic-914	44	31	limits	limit	NOUN
hjic-914	44	32	)	)	PUNCT
hjic-914	44	33	.	.	PUNCT
hjic-914	45	1	a	a	DET
hjic-914	45	2	sequence	sequence	NOUN
hjic-914	45	3	of	of	ADP
hjic-914	45	4	curvatures	curvature	NOUN
hjic-914	45	5	can	can	AUX
hjic-914	45	6	be	be	AUX
hjic-914	45	7	calculated	calculate	VERB
hjic-914	45	8	each	each	PRON
hjic-914	45	9	with	with	ADP
hjic-914	45	10	a	a	DET
hjic-914	45	11	radius	radius	NOUN
hjic-914	45	12	pf	pf	NOUN
hjic-914	45	13	=	=	SYM
hjic-914	45	14	−2	−2	PROPN
hjic-914	45	15	/	/	SYM
hjic-914	45	16	α	α	NOUN
hjic-914	45	17	and	and	CCONJ
hjic-914	45	18	a	a	DET
hjic-914	45	19	centre	centre	NOUN
hjic-914	45	20	point	point	NOUN
hjic-914	45	21	cf	cf	NOUN
hjic-914	45	22	.	.	PUNCT
hjic-914	46	1	a	a	DET
hjic-914	46	2	goal	goal	NOUN
hjic-914	46	3	pointgk	pointgk	NOUN
hjic-914	46	4	from	from	ADP
hjic-914	46	5	setg	setg	NOUN
hjic-914	46	6	to	to	ADP
hjic-914	46	7	anycf	anycf	PROPN
hjic-914	46	8	determines	determine	VERB
hjic-914	46	9	a	a	DET
hjic-914	46	10	line	line	NOUN
hjic-914	46	11	segment	segment	NOUN
hjic-914	46	12	:	:	PUNCT
hjic-914	46	13	the	the	DET
hjic-914	46	14	normalized	normalize	VERB
hjic-914	46	15	difference	difference	NOUN
hjic-914	46	16	between	between	ADP
hjic-914	46	17	the	the	DET
hjic-914	46	18	length	length	NOUN
hjic-914	46	19	of	of	ADP
hjic-914	46	20	this	this	DET
hjic-914	46	21	segment	segment	NOUN
hjic-914	46	22	and	and	CCONJ
hjic-914	46	23	radius	radius	NOUN
hjic-914	46	24	pf	pf	PROPN
hjic-914	46	25	is	be	AUX
hjic-914	46	26	the	the	DET
hjic-914	46	27	distance	distance	NOUN
hjic-914	46	28	d	d	X
hjic-914	46	29	∈	∈	PROPN
hjic-914	46	30	r+	r+	NOUN
hjic-914	46	31	from	from	ADP
hjic-914	46	32	the	the	DET
hjic-914	46	33	curvature	curvature	NOUN
hjic-914	46	34	.	.	PUNCT
hjic-914	47	1	the	the	DET
hjic-914	47	2	metric	metric	NOUN
hjic-914	47	3	for	for	ADP
hjic-914	47	4	selecting	select	VERB
hjic-914	47	5	a	a	DET
hjic-914	47	6	good	good	ADJ
hjic-914	47	7	angle	angle	NOUN
hjic-914	47	8	is	be	AUX
hjic-914	47	9	the	the	DET
hjic-914	47	10	sum	sum	NOUN
hjic-914	47	11	of	of	ADP
hjic-914	47	12	this	this	DET
hjic-914	47	13	difference	difference	NOUN
hjic-914	47	14	for	for	ADP
hjic-914	47	15	each	each	DET
hjic-914	47	16	goal	goal	NOUN
hjic-914	47	17	point	point	NOUN
hjic-914	47	18	.	.	PUNCT
hjic-914	48	1	dsum	dsum	NOUN
hjic-914	48	2	=	=	SYM
hjic-914	49	1	n∑	n∑	PROPN
hjic-914	49	2	k=0	k=0	PROPN
hjic-914	49	3	∣∣∣	∣∣∣	ADP
hjic-914	49	4	∥∥∥−−−→cfgk	∥∥∥−−−→cfgk	PROPN
hjic-914	49	5	∥∥∥−ρf	∥∥∥−ρf	PROPN
hjic-914	49	6	∣∣∣.	∣∣∣.	PROPN
hjic-914	49	7	(	(	PUNCT
hjic-914	49	8	2	2	NUM
hjic-914	49	9	)	)	PUNCT
hjic-914	49	10	here	here	ADV
hjic-914	49	11	dsum	dsum	PROPN
hjic-914	49	12	denotes	denote	VERB
hjic-914	49	13	the	the	DET
hjic-914	49	14	total	total	ADJ
hjic-914	49	15	distance	distance	NOUN
hjic-914	49	16	for	for	ADP
hjic-914	49	17	goal	goal	NOUN
hjic-914	49	18	point	point	NOUN
hjic-914	49	19	set	set	VERB
hjic-914	49	20	g.	g.	NOUN
hjic-914	49	21	the	the	DET
hjic-914	49	22	aim	aim	NOUN
hjic-914	49	23	is	be	AUX
hjic-914	49	24	to	to	PART
hjic-914	49	25	minimize	minimize	VERB
hjic-914	49	26	this	this	DET
hjic-914	49	27	distance	distance	NOUN
hjic-914	49	28	.	.	PUNCT
hjic-914	50	1	this	this	DET
hjic-914	50	2	paper	paper	NOUN
hjic-914	50	3	introduces	introduce	VERB
hjic-914	50	4	a	a	DET
hjic-914	50	5	new	new	ADJ
hjic-914	50	6	approach	approach	NOUN
hjic-914	50	7	to	to	ADP
hjic-914	50	8	the	the	DET
hjic-914	50	9	multiple	multiple	ADJ
hjic-914	50	10	goal	goal	NOUN
hjic-914	50	11	pure	pure	ADJ
hjic-914	50	12	pursuit	pursuit	NOUN
hjic-914	50	13	algorithm	algorithm	NOUN
hjic-914	50	14	,	,	PUNCT
hjic-914	50	15	which	which	PRON
hjic-914	50	16	is	be	AUX
hjic-914	50	17	based	base	VERB
hjic-914	50	18	on	on	ADP
hjic-914	50	19	windowing	windowe	VERB
hjic-914	50	20	.	.	PUNCT
hjic-914	51	1	this	this	DET
hjic-914	51	2	algorithm	algorithm	NOUN
hjic-914	51	3	is	be	AUX
hjic-914	51	4	not	not	PART
hjic-914	51	5	regarded	regard	VERB
hjic-914	51	6	as	as	ADP
hjic-914	51	7	a	a	DET
hjic-914	51	8	classical	classical	ADJ
hjic-914	51	9	trajectory	trajectory	NOUN
hjic-914	51	10	tracker	tracker	NOUN
hjic-914	51	11	since	since	SCONJ
hjic-914	51	12	it	it	PRON
hjic-914	51	13	slightly	slightly	ADV
hjic-914	51	14	redesigns	redesign	VERB
hjic-914	51	15	the	the	DET
hjic-914	51	16	original	original	ADJ
hjic-914	51	17	trajectory	trajectory	NOUN
hjic-914	51	18	.	.	PUNCT
hjic-914	52	1	with	with	ADP
hjic-914	52	2	this	this	DET
hjic-914	52	3	method	method	NOUN
hjic-914	52	4	,	,	PUNCT
hjic-914	52	5	a	a	DET
hjic-914	52	6	trajectory	trajectory	NOUN
hjic-914	52	7	similar	similar	ADJ
hjic-914	52	8	to	to	ADP
hjic-914	52	9	the	the	DET
hjic-914	52	10	original	original	ADJ
hjic-914	52	11	one	one	NOUN
hjic-914	52	12	is	be	AUX
hjic-914	52	13	created	create	VERB
hjic-914	52	14	,	,	PUNCT
hjic-914	52	15	but	but	CCONJ
hjic-914	52	16	slight	slight	ADJ
hjic-914	52	17	modifications	modification	NOUN
hjic-914	52	18	render	render	VERB
hjic-914	52	19	it	it	PRON
hjic-914	52	20	more	more	ADV
hjic-914	52	21	suitable	suitable	ADJ
hjic-914	52	22	for	for	SCONJ
hjic-914	52	23	our	our	PRON
hjic-914	52	24	vehicle	vehicle	NOUN
hjic-914	52	25	to	to	PART
hjic-914	52	26	track	track	VERB
hjic-914	52	27	.	.	PUNCT
hjic-914	53	1	the	the	DET
hjic-914	53	2	design	design	NOUN
hjic-914	53	3	strategy	strategy	NOUN
hjic-914	53	4	consists	consist	VERB
hjic-914	53	5	of	of	ADP
hjic-914	53	6	identifying	identify	VERB
hjic-914	53	7	the	the	DET
hjic-914	53	8	optimum	optimum	ADJ
hjic-914	53	9	trajectory	trajectory	NOUN
hjic-914	53	10	which	which	PRON
hjic-914	53	11	approximates	approximate	VERB
hjic-914	53	12	a	a	DET
hjic-914	53	13	desired	desire	VERB
hjic-914	53	14	trajectory	trajectory	NOUN
hjic-914	53	15	defined	define	VERB
hjic-914	53	16	by	by	ADP
hjic-914	53	17	a	a	DET
hjic-914	53	18	set	set	NOUN
hjic-914	53	19	of	of	ADP
hjic-914	53	20	chosen	choose	VERB
hjic-914	53	21	points	point	NOUN
hjic-914	53	22	.	.	PUNCT
hjic-914	54	1	this	this	PRON
hjic-914	54	2	means	mean	VERB
hjic-914	54	3	that	that	SCONJ
hjic-914	54	4	the	the	DET
hjic-914	54	5	aforementioned	aforementioned	ADJ
hjic-914	54	6	set	set	NOUN
hjic-914	54	7	is	be	AUX
hjic-914	54	8	initial	initial	ADJ
hjic-914	54	9	data	datum	NOUN
hjic-914	54	10	and	and	CCONJ
hjic-914	54	11	a	a	DET
hjic-914	54	12	minimum	minimum	ADJ
hjic-914	54	13	problem	problem	NOUN
hjic-914	54	14	must	must	AUX
hjic-914	54	15	be	be	AUX
hjic-914	54	16	defined	define	VERB
hjic-914	54	17	.	.	PUNCT
hjic-914	55	1	from	from	ADP
hjic-914	55	2	the	the	DET
hjic-914	55	3	multitude	multitude	NOUN
hjic-914	55	4	of	of	ADP
hjic-914	55	5	possibilities	possibility	NOUN
hjic-914	55	6	,	,	PUNCT
hjic-914	55	7	the	the	DET
hjic-914	55	8	minimum	minimum	ADJ
hjic-914	55	9	problem	problem	NOUN
hjic-914	55	10	will	will	AUX
hjic-914	55	11	be	be	AUX
hjic-914	55	12	defined	define	VERB
hjic-914	55	13	starting	start	VERB
hjic-914	55	14	with	with	ADP
hjic-914	55	15	the	the	DET
hjic-914	55	16	following	follow	VERB
hjic-914	55	17	hypothesis	hypothesis	NOUN
hjic-914	55	18	:	:	PUNCT
hjic-914	55	19	1	1	X
hjic-914	55	20	.	.	PUNCT
hjic-914	56	1	during	during	ADP
hjic-914	56	2	the	the	DET
hjic-914	56	3	approximation	approximation	NOUN
hjic-914	56	4	,	,	PUNCT
hjic-914	56	5	the	the	DET
hjic-914	56	6	steering	steering	NOUN
hjic-914	56	7	angle	angle	NOUN
hjic-914	56	8	γ	γ	NOUN
hjic-914	56	9	is	be	AUX
hjic-914	56	10	constant	constant	ADJ
hjic-914	56	11	;	;	PUNCT
hjic-914	56	12	2	2	X
hjic-914	56	13	.	.	X
hjic-914	56	14	changing	change	VERB
hjic-914	56	15	the	the	DET
hjic-914	56	16	steering	steering	NOUN
hjic-914	56	17	angle	angle	NOUN
hjic-914	56	18	γ	γ	NOUN
hjic-914	56	19	is	be	AUX
hjic-914	56	20	an	an	DET
hjic-914	56	21	instantaneous	instantaneous	ADJ
hjic-914	56	22	process	process	NOUN
hjic-914	56	23	.	.	PUNCT
hjic-914	57	1	if	if	SCONJ
hjic-914	57	2	the	the	DET
hjic-914	57	3	previous	previous	ADJ
hjic-914	57	4	hypotheses	hypothesis	NOUN
hjic-914	57	5	are	be	AUX
hjic-914	57	6	correlated	correlate	VERB
hjic-914	57	7	,	,	PUNCT
hjic-914	57	8	it	it	PRON
hjic-914	57	9	can	can	AUX
hjic-914	57	10	be	be	AUX
hjic-914	57	11	concluded	conclude	VERB
hjic-914	57	12	that	that	SCONJ
hjic-914	57	13	the	the	DET
hjic-914	57	14	initial	initial	ADJ
hjic-914	57	15	set	set	NOUN
hjic-914	57	16	of	of	ADP
hjic-914	57	17	points	point	NOUN
hjic-914	57	18	is	be	AUX
hjic-914	57	19	approximated	approximate	VERB
hjic-914	57	20	by	by	ADP
hjic-914	57	21	a	a	DET
hjic-914	57	22	figure	figure	NOUN
hjic-914	57	23	1	1	NUM
hjic-914	57	24	:	:	PUNCT
hjic-914	57	25	the	the	DET
hjic-914	57	26	windowed	windowed	ADJ
hjic-914	57	27	goal	goal	NOUN
hjic-914	57	28	pursuit	pursuit	NOUN
hjic-914	57	29	strategy	strategy	NOUN
hjic-914	57	30	trajectory	trajectory	NOUN
hjic-914	57	31	composed	compose	VERB
hjic-914	57	32	from	from	ADP
hjic-914	57	33	arcs	arc	NOUN
hjic-914	57	34	of	of	ADP
hjic-914	57	35	a	a	DET
hjic-914	57	36	circle	circle	NOUN
hjic-914	57	37	.	.	PUNCT
hjic-914	58	1	the	the	DET
hjic-914	58	2	transition	transition	NOUN
hjic-914	58	3	from	from	ADP
hjic-914	58	4	one	one	NUM
hjic-914	58	5	arc	arc	NOUN
hjic-914	58	6	to	to	ADP
hjic-914	58	7	another	another	PRON
hjic-914	58	8	is	be	AUX
hjic-914	58	9	instantaneous	instantaneous	ADJ
hjic-914	58	10	.	.	PUNCT
hjic-914	59	1	for	for	ADP
hjic-914	59	2	a	a	DET
hjic-914	59	3	particular	particular	ADJ
hjic-914	59	4	arc	arc	NOUN
hjic-914	59	5	of	of	ADP
hjic-914	59	6	the	the	DET
hjic-914	59	7	circle	circle	NOUN
hjic-914	59	8	,	,	PUNCT
hjic-914	59	9	a	a	DET
hjic-914	59	10	subset	subset	NOUN
hjic-914	59	11	(	(	PUNCT
hjic-914	59	12	referred	refer	VERB
hjic-914	59	13	to	to	ADP
hjic-914	59	14	here	here	ADV
hjic-914	59	15	as	as	ADP
hjic-914	59	16	the	the	DET
hjic-914	59	17	working	working	NOUN
hjic-914	59	18	set	set	NOUN
hjic-914	59	19	)	)	PUNCT
hjic-914	59	20	is	be	AUX
hjic-914	59	21	selected	select	VERB
hjic-914	59	22	from	from	ADP
hjic-914	59	23	the	the	DET
hjic-914	59	24	initial	initial	ADJ
hjic-914	59	25	set	set	NOUN
hjic-914	59	26	.	.	PUNCT
hjic-914	60	1	the	the	DET
hjic-914	60	2	following	follow	VERB
hjic-914	60	3	decisions	decision	NOUN
hjic-914	60	4	are	be	AUX
hjic-914	60	5	subjects	subject	NOUN
hjic-914	60	6	of	of	ADP
hjic-914	60	7	debate	debate	NOUN
hjic-914	60	8	:	:	PUNCT
hjic-914	60	9	•	•	ADP
hjic-914	60	10	the	the	DET
hjic-914	60	11	number	number	NOUN
hjic-914	60	12	of	of	ADP
hjic-914	60	13	points	point	NOUN
hjic-914	60	14	included	include	VERB
hjic-914	60	15	in	in	ADP
hjic-914	60	16	the	the	DET
hjic-914	60	17	working	working	NOUN
hjic-914	60	18	set	set	NOUN
hjic-914	60	19	;	;	PUNCT
hjic-914	60	20	•	•	NUM
hjic-914	60	21	the	the	DET
hjic-914	60	22	number	number	NOUN
hjic-914	60	23	of	of	ADP
hjic-914	60	24	commune	commune	NOUN
hjic-914	60	25	points	point	NOUN
hjic-914	60	26	which	which	PRON
hjic-914	60	27	belong	belong	VERB
hjic-914	60	28	to	to	ADP
hjic-914	60	29	different	different	ADJ
hjic-914	60	30	working	working	NOUN
hjic-914	60	31	sets	set	NOUN
hjic-914	60	32	;	;	PUNCT
hjic-914	60	33	•	•	NUM
hjic-914	60	34	the	the	DET
hjic-914	60	35	position	position	NOUN
hjic-914	60	36	of	of	ADP
hjic-914	60	37	the	the	DET
hjic-914	60	38	car	car	NOUN
hjic-914	60	39	when	when	SCONJ
hjic-914	60	40	the	the	DET
hjic-914	60	41	next	next	ADJ
hjic-914	60	42	working	working	NOUN
hjic-914	60	43	set	set	NOUN
hjic-914	60	44	is	be	AUX
hjic-914	60	45	defined	define	VERB
hjic-914	60	46	.	.	PUNCT
hjic-914	61	1	the	the	DET
hjic-914	61	2	aforementioned	aforementioned	ADJ
hjic-914	61	3	observations	observation	NOUN
hjic-914	61	4	are	be	AUX
hjic-914	61	5	shown	show	VERB
hjic-914	61	6	in	in	ADP
hjic-914	61	7	fig	fig	NOUN
hjic-914	61	8	.	.	PUNCT
hjic-914	62	1	1	1	NUM
hjic-914	62	2	,	,	PUNCT
hjic-914	62	3	where	where	SCONJ
hjic-914	62	4	a	a	DET
hjic-914	62	5	possible	possible	ADJ
hjic-914	62	6	strategy	strategy	NOUN
hjic-914	62	7	is	be	AUX
hjic-914	62	8	illustrated	illustrate	VERB
hjic-914	62	9	.	.	PUNCT
hjic-914	63	1	the	the	DET
hjic-914	63	2	figure	figure	NOUN
hjic-914	63	3	contains	contain	VERB
hjic-914	63	4	two	two	NUM
hjic-914	63	5	referential	referential	ADJ
hjic-914	63	6	systems	system	NOUN
hjic-914	63	7	.	.	PUNCT
hjic-914	64	1	the	the	DET
hjic-914	64	2	first	first	ADJ
hjic-914	64	3	,	,	PUNCT
hjic-914	64	4	0	0	NUM
hjic-914	64	5	,	,	PUNCT
hjic-914	64	6	is	be	AUX
hjic-914	64	7	the	the	DET
hjic-914	64	8	global	global	ADJ
hjic-914	64	9	(	(	PUNCT
hjic-914	64	10	stationary	stationary	ADJ
hjic-914	64	11	)	)	PUNCT
hjic-914	64	12	referential	referential	ADJ
hjic-914	64	13	system	system	NOUN
hjic-914	64	14	;	;	PUNCT
hjic-914	64	15	the	the	DET
hjic-914	64	16	second	second	ADJ
hjic-914	64	17	,	,	PUNCT
hjic-914	64	18	1	1	NUM
hjic-914	64	19	,	,	PUNCT
hjic-914	64	20	2	2	NUM
hjic-914	64	21	,	,	PUNCT
hjic-914	64	22	3	3	NUM
hjic-914	64	23	,	,	PUNCT
hjic-914	64	24	is	be	AUX
hjic-914	64	25	the	the	DET
hjic-914	64	26	mobile	mobile	ADJ
hjic-914	64	27	referential	referential	ADJ
hjic-914	64	28	system	system	NOUN
hjic-914	64	29	attached	attach	VERB
hjic-914	64	30	to	to	ADP
hjic-914	64	31	the	the	DET
hjic-914	64	32	vehicle	vehicle	NOUN
hjic-914	64	33	.	.	PUNCT
hjic-914	65	1	the	the	DET
hjic-914	65	2	blue	blue	ADJ
hjic-914	65	3	triangles	triangle	NOUN
hjic-914	65	4	denote	denote	VERB
hjic-914	65	5	the	the	DET
hjic-914	65	6	abstraction	abstraction	NOUN
hjic-914	65	7	of	of	ADP
hjic-914	65	8	the	the	DET
hjic-914	65	9	vehicle	vehicle	NOUN
hjic-914	65	10	.	.	PUNCT
hjic-914	66	1	two	two	NUM
hjic-914	66	2	windows	window	NOUN
hjic-914	66	3	are	be	AUX
hjic-914	66	4	labelled	label	VERB
hjic-914	66	5	as	as	ADP
hjic-914	66	6	w1,2	w1,2	PROPN
hjic-914	66	7	.	.	PUNCT
hjic-914	67	1	each	each	PRON
hjic-914	67	2	of	of	ADP
hjic-914	67	3	them	they	PRON
hjic-914	67	4	contains	contain	VERB
hjic-914	67	5	a	a	DET
hjic-914	67	6	working	work	VERB
hjic-914	67	7	set	set	NOUN
hjic-914	67	8	of	of	ADP
hjic-914	67	9	three	three	NUM
hjic-914	67	10	points	point	NOUN
hjic-914	67	11	.	.	PUNCT
hjic-914	68	1	the	the	DET
hjic-914	68	2	trajectory	trajectory	NOUN
hjic-914	68	3	is	be	AUX
hjic-914	68	4	a	a	DET
hjic-914	68	5	composition	composition	NOUN
hjic-914	68	6	of	of	ADP
hjic-914	68	7	two	two	NUM
hjic-914	68	8	arcs	arc	NOUN
hjic-914	68	9	of	of	ADP
hjic-914	68	10	a	a	DET
hjic-914	68	11	circle	circle	NOUN
hjic-914	68	12	,	,	PUNCT
hjic-914	68	13	c1	c1	PROPN
hjic-914	68	14	and	and	CCONJ
hjic-914	68	15	c2	c2	PROPN
hjic-914	68	16	.	.	PUNCT
hjic-914	69	1	the	the	DET
hjic-914	69	2	first	first	ADJ
hjic-914	69	3	(	(	PUNCT
hjic-914	69	4	c1	c1	NOUN
hjic-914	69	5	)	)	PUNCT
hjic-914	69	6	is	be	AUX
hjic-914	69	7	defined	define	VERB
hjic-914	69	8	in	in	ADP
hjic-914	69	9	referential	referential	ADJ
hjic-914	69	10	frame	frame	NOUN
hjic-914	69	11	1	1	NUM
hjic-914	69	12	using	use	VERB
hjic-914	69	13	the	the	DET
hjic-914	69	14	window	window	NOUN
hjic-914	69	15	w1	w1	NOUN
hjic-914	69	16	,	,	PUNCT
hjic-914	69	17	i.e.	i.e.	X
hjic-914	69	18	,	,	PUNCT
hjic-914	69	19	the	the	DET
hjic-914	69	20	points	point	NOUN
hjic-914	69	21	0x1	0x1	NOUN
hjic-914	69	22	,	,	PUNCT
hjic-914	69	23	0x2	0x2	PROPN
hjic-914	69	24	and	and	CCONJ
hjic-914	69	25	0x3	0x3	PROPN
hjic-914	69	26	.	.	PUNCT
hjic-914	70	1	the	the	DET
hjic-914	70	2	second	second	ADJ
hjic-914	70	3	(	(	PUNCT
hjic-914	70	4	c2	c2	PROPN
hjic-914	70	5	)	)	PUNCT
hjic-914	70	6	is	be	AUX
hjic-914	70	7	defined	define	VERB
hjic-914	70	8	in	in	ADP
hjic-914	70	9	referential	referential	ADJ
hjic-914	70	10	frame	frame	NOUN
hjic-914	70	11	2	2	NUM
hjic-914	70	12	using	use	VERB
hjic-914	70	13	the	the	DET
hjic-914	70	14	window	window	NOUN
hjic-914	70	15	w2	w2	NOUN
hjic-914	70	16	,	,	PUNCT
hjic-914	70	17	i.e.	i.e.	X
hjic-914	70	18	the	the	DET
hjic-914	70	19	points	point	NOUN
hjic-914	70	20	0x4	0x4	NUM
hjic-914	70	21	,	,	PUNCT
hjic-914	70	22	0x5	0x5	NUM
hjic-914	70	23	and	and	CCONJ
hjic-914	70	24	0x6	0x6	NOUN
hjic-914	70	25	.	.	PUNCT
hjic-914	71	1	each	each	PRON
hjic-914	71	2	of	of	ADP
hjic-914	71	3	the	the	DET
hjic-914	71	4	mentioned	mention	VERB
hjic-914	71	5	points	point	NOUN
hjic-914	71	6	is	be	AUX
hjic-914	71	7	defined	define	VERB
hjic-914	71	8	in	in	ADP
hjic-914	71	9	referential	referential	ADJ
hjic-914	71	10	frame	frame	NOUN
hjic-914	71	11	0	0	NUM
hjic-914	71	12	.	.	PUNCT
hjic-914	72	1	3	3	X
hjic-914	72	2	.	.	X
hjic-914	73	1	the	the	DET
hjic-914	73	2	optimization	optimization	NOUN
hjic-914	73	3	problem	problem	NOUN
hjic-914	73	4	using	use	VERB
hjic-914	73	5	m	m	PROPN
hjic-914	73	6	windows	window	NOUN
hjic-914	73	7	and	and	CCONJ
hjic-914	73	8	n	n	NUM
hjic-914	73	9	points	point	NOUN
hjic-914	73	10	for	for	ADP
hjic-914	73	11	each	each	DET
hjic-914	73	12	window	window	NOUN
hjic-914	73	13	,	,	PUNCT
hjic-914	73	14	the	the	DET
hjic-914	73	15	mathematical	mathematical	ADJ
hjic-914	73	16	definition	definition	NOUN
hjic-914	73	17	of	of	ADP
hjic-914	73	18	the	the	DET
hjic-914	73	19	problem	problem	NOUN
hjic-914	73	20	is	be	AUX
hjic-914	73	21	rj	rj	PROPN
hjic-914	73	22	=	=	NOUN
hjic-914	73	23	arg	arg	NOUN
hjic-914	73	24	(	(	PUNCT
hjic-914	73	25	min	min	NOUN
hjic-914	73	26	m∑	m∑	NOUN
hjic-914	73	27	i=1	i=1	PROPN
hjic-914	73	28	ei	ei	PROPN
hjic-914	73	29	)	)	PUNCT
hjic-914	73	30	,	,	PUNCT
hjic-914	73	31	(	(	PUNCT
hjic-914	73	32	3	3	X
hjic-914	73	33	)	)	PUNCT
hjic-914	73	34	where	where	SCONJ
hjic-914	73	35	rj	rj	PROPN
hjic-914	73	36	denotes	denote	VERB
hjic-914	73	37	the	the	DET
hjic-914	73	38	radius	radius	NOUN
hjic-914	73	39	of	of	ADP
hjic-914	73	40	arc	arc	NOUN
hjic-914	73	41	cj	cj	NOUN
hjic-914	73	42	,	,	PUNCT
hjic-914	73	43	ei	ei	NOUN
hjic-914	73	44	stands	stand	VERB
hjic-914	73	45	for	for	ADP
hjic-914	73	46	the	the	DET
hjic-914	73	47	distance	distance	NOUN
hjic-914	73	48	from	from	ADP
hjic-914	73	49	point	point	NOUN
hjic-914	73	50	i	i	PRON
hjic-914	73	51	to	to	PART
hjic-914	73	52	arc	arc	VERB
hjic-914	73	53	cj	cj	PROPN
hjic-914	73	54	,	,	PUNCT
hjic-914	73	55	j	j	PROPN
hjic-914	73	56	represents	represent	VERB
hjic-914	73	57	the	the	DET
hjic-914	73	58	current	current	ADJ
hjic-914	73	59	window	window	NOUN
hjic-914	73	60	number	number	NOUN
hjic-914	73	61	j	j	PROPN
hjic-914	73	62	=	=	NOUN
hjic-914	73	63	1	1	NUM
hjic-914	73	64	,	,	PUNCT
hjic-914	73	65	.	.	PUNCT
hjic-914	73	66	.	.	PUNCT
hjic-914	74	1	.	.	PUNCT
hjic-914	75	1	,	,	PUNCT
hjic-914	75	2	m	m	PROPN
hjic-914	75	3	,	,	PUNCT
hjic-914	75	4	and	and	CCONJ
hjic-914	75	5	i	i	PRON
hjic-914	75	6	is	be	AUX
hjic-914	75	7	the	the	DET
hjic-914	75	8	current	current	ADJ
hjic-914	75	9	point	point	NOUN
hjic-914	75	10	number	number	NOUN
hjic-914	75	11	which	which	PRON
hjic-914	75	12	belongs	belong	VERB
hjic-914	75	13	to	to	ADP
hjic-914	75	14	window	window	NOUN
hjic-914	75	15	j.	j.	PROPN
hjic-914	75	16	the	the	DET
hjic-914	75	17	distance	distance	NOUN
hjic-914	75	18	from	from	ADP
hjic-914	75	19	point	point	NOUN
hjic-914	75	20	xi	xi	PROPN
hjic-914	75	21	to	to	ADP
hjic-914	75	22	cj	cj	PROPN
hjic-914	75	23	is	be	AUX
hjic-914	75	24	also	also	ADV
hjic-914	75	25	debatable	debatable	ADJ
hjic-914	75	26	.	.	PUNCT
hjic-914	76	1	fig	fig	NOUN
hjic-914	76	2	.	.	PUNCT
hjic-914	77	1	2	2	NUM
hjic-914	77	2	illustrates	illustrate	VERB
hjic-914	77	3	two	two	NUM
hjic-914	77	4	possibilities	possibility	NOUN
hjic-914	77	5	:	:	PUNCT
hjic-914	77	6	the	the	DET
hjic-914	77	7	first	first	ADJ
hjic-914	77	8	(	(	PUNCT
hjic-914	77	9	fig	fig	NOUN
hjic-914	77	10	.	.	PUNCT
hjic-914	77	11	2a	2a	NUM
hjic-914	77	12	)	)	PUNCT
hjic-914	77	13	only	only	ADV
hjic-914	77	14	considers	consider	VERB
hjic-914	77	15	one	one	NUM
hjic-914	77	16	coordinate	coordinate	NOUN
hjic-914	77	17	of	of	ADP
hjic-914	77	18	the	the	DET
hjic-914	77	19	current	current	ADJ
hjic-914	77	20	point	point	NOUN
hjic-914	77	21	.	.	PUNCT
hjic-914	78	1	in	in	ADP
hjic-914	78	2	contrast	contrast	NOUN
hjic-914	78	3	,	,	PUNCT
hjic-914	78	4	in	in	ADP
hjic-914	78	5	fig	fig	NOUN
hjic-914	78	6	.	.	PUNCT
hjic-914	78	7	2b	2b	NOUN
hjic-914	78	8	the	the	DET
hjic-914	78	9	shortest	short	ADJ
hjic-914	78	10	distance	distance	NOUN
hjic-914	78	11	is	be	AUX
hjic-914	78	12	considered	consider	VERB
hjic-914	78	13	.	.	PUNCT
hjic-914	79	1	hungarian	hungarian	ADJ
hjic-914	79	2	journal	journal	NOUN
hjic-914	79	3	of	of	ADP
hjic-914	79	4	industry	industry	NOUN
hjic-914	79	5	and	and	CCONJ
hjic-914	79	6	chemistry	chemistry	NOUN
hjic-914	79	7	multiple	multiple	ADJ
hjic-914	79	8	goal	goal	NOUN
hjic-914	79	9	pursuit	pursuit	NOUN
hjic-914	79	10	trajectory	trajectory	NOUN
hjic-914	79	11	follower	follower	NOUN
hjic-914	79	12	13	13	NUM
hjic-914	79	13	figure	figure	NOUN
hjic-914	79	14	2	2	NUM
hjic-914	79	15	:	:	PUNCT
hjic-914	79	16	possible	possible	ADJ
hjic-914	79	17	ways	way	NOUN
hjic-914	79	18	of	of	ADP
hjic-914	79	19	computing	compute	VERB
hjic-914	79	20	the	the	DET
hjic-914	79	21	distances	distance	NOUN
hjic-914	79	22	for	for	ADP
hjic-914	79	23	the	the	DET
hjic-914	79	24	first	first	ADJ
hjic-914	79	25	choice	choice	NOUN
hjic-914	79	26	:	:	PUNCT
hjic-914	79	27	ei	ei	X
hjic-914	79	28	=	=	PUNCT
hjic-914	79	29	yi	yi	PROPN
hjic-914	79	30	−	−	PROPN
hjic-914	79	31	cj	cj	PROPN
hjic-914	79	32	(	(	PUNCT
hjic-914	79	33	xi	xi	PROPN
hjic-914	79	34	)	)	PUNCT
hjic-914	79	35	,	,	PUNCT
hjic-914	79	36	(	(	PUNCT
hjic-914	79	37	4	4	X
hjic-914	79	38	)	)	PUNCT
hjic-914	79	39	where	where	VERB
hjic-914	80	1	jxi	jxi	NOUN
hjic-914	80	2	jyi	jyi	VERB
hjic-914	80	3	1	1	NUM
hjic-914	80	4			NOUN
hjic-914	80	5	=	=	SYM
hjic-914	80	6	j	j	PROPN
hjic-914	80	7	0	0	NUM
hjic-914	80	8	t	t	NOUN
hjic-914	80	9	0xi	0xi	NOUN
hjic-914	81	1	=	=	PUNCT
hjic-914	81	2			NOUN
hjic-914	81	3	cθ	cθ	ADP
hjic-914	81	4	−sθ	−sθ	PROPN
hjic-914	81	5	0	0	PROPN
hjic-914	81	6	sθ	sθ	NOUN
hjic-914	81	7	cθ	cθ	ADP
hjic-914	81	8	0	0	NUM
hjic-914	81	9	0	0	NUM
hjic-914	81	10	0	0	NUM
hjic-914	81	11	1	1	NUM
hjic-914	81	12			NOUN
hjic-914	81	13	xi	xi	ADP
hjic-914	81	14	yi	yi	NOUN
hjic-914	81	15	1	1	NUM
hjic-914	81	16			NOUN
hjic-914	81	17	0xi	0xi	NOUN
hjic-914	81	18	;	;	PUNCT
hjic-914	81	19	(	(	PUNCT
hjic-914	81	20	5	5	X
hjic-914	81	21	)	)	PUNCT
hjic-914	81	22	θ	θ	PROPN
hjic-914	81	23	denotes	denote	VERB
hjic-914	81	24	the	the	DET
hjic-914	81	25	orientation	orientation	NOUN
hjic-914	81	26	of	of	ADP
hjic-914	81	27	the	the	DET
hjic-914	81	28	referential	referential	ADJ
hjic-914	81	29	system	system	NOUN
hjic-914	81	30	j	j	PROPN
hjic-914	81	31	;	;	PUNCT
hjic-914	81	32	and	and	CCONJ
hjic-914	81	33	xj	xj	PROPN
hjic-914	81	34	,	,	PUNCT
hjic-914	81	35	yj	yj	PROPN
hjic-914	81	36	represent	represent	VERB
hjic-914	81	37	the	the	DET
hjic-914	81	38	coordinates	coordinate	NOUN
hjic-914	81	39	of	of	ADP
hjic-914	81	40	the	the	DET
hjic-914	81	41	origin	origin	NOUN
hjic-914	81	42	of	of	ADP
hjic-914	81	43	referential	referential	ADJ
hjic-914	81	44	system	system	NOUN
hjic-914	81	45	j.	j.	PROPN
hjic-914	81	46	if	if	SCONJ
hjic-914	81	47	this	this	DET
hjic-914	81	48	definition	definition	NOUN
hjic-914	81	49	is	be	AUX
hjic-914	81	50	assumed	assume	VERB
hjic-914	81	51	,	,	PUNCT
hjic-914	81	52	it	it	PRON
hjic-914	81	53	is	be	AUX
hjic-914	81	54	evident	evident	ADJ
hjic-914	81	55	that	that	SCONJ
hjic-914	81	56	this	this	PRON
hjic-914	81	57	is	be	AUX
hjic-914	81	58	a	a	DET
hjic-914	81	59	quadratic	quadratic	ADJ
hjic-914	81	60	regression	regression	NOUN
hjic-914	81	61	problem	problem	NOUN
hjic-914	81	62	with	with	ADP
hjic-914	81	63	the	the	DET
hjic-914	81	64	analytical	analytical	ADJ
hjic-914	81	65	solution	solution	NOUN
hjic-914	81	66	1	1	NUM
hjic-914	81	67	r	r	NOUN
hjic-914	81	68	=	=	SYM
hjic-914	81	69	κ	κ	NOUN
hjic-914	81	70	=	=	SYM
hjic-914	81	71	(	(	PUNCT
hjic-914	81	72	xtx	xtx	PROPN
hjic-914	81	73	)	)	PUNCT
hjic-914	81	74	−1	−1	NOUN
hjic-914	81	75	(	(	PUNCT
hjic-914	81	76	xty	xty	PROPN
hjic-914	81	77	)	)	PUNCT
hjic-914	81	78	,	,	PUNCT
hjic-914	81	79	(	(	PUNCT
hjic-914	81	80	6	6	NUM
hjic-914	81	81	)	)	PUNCT
hjic-914	81	82	where	where	SCONJ
hjic-914	81	83	x	x	X
hjic-914	81	84	=	=	PUNCT
hjic-914	81	85			PUNCT
hjic-914	81	86	x2	x2	NOUN
hjic-914	81	87	1	1	NUM
hjic-914	81	88	+	+	CCONJ
hjic-914	81	89	y2	y2	NOUN
hjic-914	81	90	1	1	NUM
hjic-914	81	91	.	.	PUNCT
hjic-914	81	92	.	.	PUNCT
hjic-914	81	93	.	.	PUNCT
hjic-914	82	1	x2	x2	INTJ
hjic-914	82	2	n	n	PROPN
hjic-914	83	1	+	+	CCONJ
hjic-914	83	2	y2	y2	NOUN
hjic-914	83	3	n	n	CCONJ
hjic-914	83	4			NOUN
hjic-914	83	5	(	(	PUNCT
hjic-914	83	6	7	7	X
hjic-914	83	7	)	)	PUNCT
hjic-914	83	8	y	y	NOUN
hjic-914	83	9	=	=	SYM
hjic-914	83	10			PROPN
hjic-914	83	11	2y1	2y1	NUM
hjic-914	83	12	.	.	PUNCT
hjic-914	83	13	.	.	PUNCT
hjic-914	83	14	.	.	PUNCT
hjic-914	84	1	2yn	2yn	ADJ
hjic-914	84	2			NOUN
hjic-914	84	3	(	(	PUNCT
hjic-914	84	4	8)	8)	NUM
hjic-914	84	5	for	for	ADP
hjic-914	84	6	the	the	DET
hjic-914	84	7	second	second	ADJ
hjic-914	84	8	choice	choice	NOUN
hjic-914	84	9	:	:	PUNCT
hjic-914	84	10	ei	ei	X
hjic-914	84	11	=	=	PUNCT
hjic-914	84	12	∣∣∣∣	∣∣∣∣	PROPN
hjic-914	84	13	r−	r−	PROPN
hjic-914	84	14	∣∣∣∣	∣∣∣∣	PROPN
hjic-914	84	15	[	[	PUNCT
hjic-914	84	16	xi	xi	PROPN
hjic-914	84	17	yi	yi	PROPN
hjic-914	84	18	−r	−r	PROPN
hjic-914	84	19	]	]	X
hjic-914	84	20	∣∣∣∣	∣∣∣∣	NOUN
hjic-914	84	21	∣∣∣∣	∣∣∣∣	NOUN
hjic-914	84	22	=	=	SYM
hjic-914	84	23	∣∣∣∣r−√x2	∣∣∣∣r−√x2	NOUN
hjic-914	84	24	i	i	PRON
hjic-914	84	25	+	+	CCONJ
hjic-914	84	26	(	(	PUNCT
hjic-914	84	27	yi	yi	PROPN
hjic-914	84	28	−r	−r	ADJ
hjic-914	84	29	)	)	PUNCT
hjic-914	84	30	2	2	NUM
hjic-914	84	31	∣∣∣∣	∣∣∣∣	NOUN
hjic-914	84	32	(	(	PUNCT
hjic-914	84	33	9	9	NUM
hjic-914	84	34	)	)	PUNCT
hjic-914	84	35	which	which	PRON
hjic-914	84	36	has	have	VERB
hjic-914	84	37	a	a	DET
hjic-914	84	38	numerical	numerical	ADJ
hjic-914	84	39	solution	solution	NOUN
hjic-914	84	40	.	.	PUNCT
hjic-914	85	1	3.1	3.1	NUM
hjic-914	85	2	algorithm	algorithm	NOUN
hjic-914	85	3	flowchart	flowchart	NOUN
hjic-914	85	4	in	in	ADP
hjic-914	85	5	fig	fig	NOUN
hjic-914	85	6	.	.	PUNCT
hjic-914	86	1	3	3	NUM
hjic-914	86	2	,	,	PUNCT
hjic-914	86	3	a	a	DET
hjic-914	86	4	flowchart	flowchart	NOUN
hjic-914	86	5	is	be	AUX
hjic-914	86	6	presented	present	VERB
hjic-914	86	7	in	in	ADP
hjic-914	86	8	order	order	NOUN
hjic-914	86	9	to	to	PART
hjic-914	86	10	understand	understand	VERB
hjic-914	86	11	the	the	DET
hjic-914	86	12	approach	approach	NOUN
hjic-914	86	13	more	more	ADV
hjic-914	86	14	comprehensively	comprehensively	ADV
hjic-914	86	15	.	.	PUNCT
hjic-914	87	1	the	the	DET
hjic-914	87	2	algorithm	algorithm	NOUN
hjic-914	87	3	uses	use	VERB
hjic-914	87	4	the	the	DET
hjic-914	87	5	vehicle	vehicle	NOUN
hjic-914	87	6	parameters	parameter	NOUN
hjic-914	87	7	,	,	PUNCT
hjic-914	87	8	pose	pose	VERB
hjic-914	87	9	,	,	PUNCT
hjic-914	87	10	trajectory	trajectory	NOUN
hjic-914	87	11	points	point	NOUN
hjic-914	87	12	and	and	CCONJ
hjic-914	87	13	input	input	NOUN
hjic-914	87	14	parameters	parameter	NOUN
hjic-914	87	15	as	as	ADP
hjic-914	87	16	inputs	input	NOUN
hjic-914	87	17	.	.	PUNCT
hjic-914	88	1	the	the	DET
hjic-914	88	2	vehicle	vehicle	NOUN
hjic-914	88	3	parameters	parameter	NOUN
hjic-914	88	4	are	be	AUX
hjic-914	88	5	wheelbase	wheelbase	PROPN
hjic-914	88	6	b	b	NOUN
hjic-914	88	7	,	,	PUNCT
hjic-914	88	8	steering	steer	VERB
hjic-914	88	9	angle	angle	NOUN
hjic-914	88	10	γ	γ	NOUN
hjic-914	88	11	and	and	CCONJ
hjic-914	88	12	its	its	PRON
hjic-914	88	13	position	position	NOUN
hjic-914	88	14	.	.	PUNCT
hjic-914	89	1	also	also	ADV
hjic-914	89	2	,	,	PUNCT
hjic-914	89	3	the	the	DET
hjic-914	89	4	points	point	NOUN
hjic-914	89	5	:	:	PUNCT
hjic-914	89	6	0xk	0xk	NOUN
hjic-914	89	7	are	be	AUX
hjic-914	89	8	part	part	NOUN
hjic-914	89	9	of	of	ADP
hjic-914	89	10	the	the	DET
hjic-914	89	11	initial	initial	ADJ
hjic-914	89	12	data	datum	NOUN
hjic-914	89	13	.	.	PUNCT
hjic-914	90	1	the	the	DET
hjic-914	90	2	algorithm	algorithm	NOUN
hjic-914	90	3	parameters	parameter	NOUN
hjic-914	90	4	are	be	AUX
hjic-914	90	5	:	:	PUNCT
hjic-914	90	6	working	work	VERB
hjic-914	90	7	set	set	VERB
hjic-914	90	8	n	n	CCONJ
hjic-914	90	9	,	,	PUNCT
hjic-914	90	10	skyline	skyline	ADJ
hjic-914	90	11	d	d	NOUN
hjic-914	90	12	and	and	CCONJ
hjic-914	90	13	curvature	curvature	NOUN
hjic-914	90	14	limit	limit	NOUN
hjic-914	90	15	.	.	PUNCT
hjic-914	91	1	this	this	DET
hjic-914	91	2	limit	limit	NOUN
hjic-914	91	3	decides	decide	VERB
hjic-914	91	4	whether	whether	SCONJ
hjic-914	91	5	the	the	DET
hjic-914	91	6	locomotion	locomotion	NOUN
hjic-914	91	7	is	be	AUX
hjic-914	91	8	based	base	VERB
hjic-914	91	9	on	on	ADP
hjic-914	91	10	a	a	DET
hjic-914	91	11	linear	linear	ADJ
hjic-914	91	12	or	or	CCONJ
hjic-914	91	13	circular	circular	ADJ
hjic-914	91	14	trajectory	trajectory	NOUN
hjic-914	91	15	window	window	NOUN
hjic-914	91	16	.	.	PUNCT
hjic-914	92	1	for	for	ADP
hjic-914	92	2	every	every	DET
hjic-914	92	3	iteration	iteration	NOUN
hjic-914	92	4	,	,	PUNCT
hjic-914	92	5	a	a	DET
hjic-914	92	6	new	new	ADJ
hjic-914	92	7	window	window	NOUN
hjic-914	92	8	is	be	AUX
hjic-914	92	9	calculated	calculate	VERB
hjic-914	92	10	.	.	PUNCT
hjic-914	93	1	4	4	X
hjic-914	93	2	.	.	X
hjic-914	93	3	discussion	discussion	NOUN
hjic-914	93	4	4.1	4.1	NUM
hjic-914	93	5	simulation	simulation	NOUN
hjic-914	93	6	the	the	DET
hjic-914	93	7	simulation	simulation	NOUN
hjic-914	93	8	uses	use	VERB
hjic-914	93	9	the	the	DET
hjic-914	93	10	previous	previous	ADJ
hjic-914	93	11	algorithm	algorithm	NOUN
hjic-914	93	12	for	for	ADP
hjic-914	93	13	a	a	DET
hjic-914	93	14	kinematic	kinematic	ADJ
hjic-914	93	15	model	model	NOUN
hjic-914	93	16	which	which	PRON
hjic-914	93	17	is	be	AUX
hjic-914	93	18	in	in	ADP
hjic-914	93	19	accordance	accordance	NOUN
hjic-914	93	20	with	with	ADP
hjic-914	93	21	the	the	DET
hjic-914	93	22	starting	start	VERB
hjic-914	93	23	hyfigure	hyfigure	NOUN
hjic-914	93	24	3	3	NUM
hjic-914	93	25	:	:	PUNCT
hjic-914	93	26	algorithm	algorithm	PROPN
hjic-914	93	27	flowchart	flowchart	PROPN
hjic-914	93	28	48(1	48(1	PROPN
hjic-914	93	29	)	)	PUNCT
hjic-914	93	30	pp	pp	ADV
hjic-914	93	31	.	.	PUNCT
hjic-914	94	1	11–17	11–17	NUM
hjic-914	94	2	(	(	PUNCT
hjic-914	94	3	2020	2020	NUM
hjic-914	94	4	)	)	PUNCT
hjic-914	94	5	14	14	NUM
hjic-914	94	6	horváth	horváth	NOUN
hjic-914	94	7	,	,	PUNCT
hjic-914	94	8	pozna	pozna	ADJ
hjic-914	94	9	,	,	PUNCT
hjic-914	94	10	kőrös	kőrös	NOUN
hjic-914	94	11	,	,	PUNCT
hjic-914	94	12	hajdu	hajdu	NOUN
hjic-914	94	13	,	,	PUNCT
hjic-914	94	14	and	and	CCONJ
hjic-914	94	15	ballagi	ballagi	PROPN
hjic-914	94	16	xu	xu	PROPN
hjic-914	95	1	x(k	x(k	PROPN
hjic-914	95	2	)	)	PUNCT
hjic-914	95	3	x(k	x(k	PROPN
hjic-914	96	1	+	+	PUNCT
hjic-914	96	2	1	1	X
hjic-914	96	3	)	)	PUNCT
hjic-914	96	4	xu+1	xu+1	X
hjic-914	96	5	x(k	x(k	PROPN
hjic-914	97	1	+	+	CCONJ
hjic-914	97	2	2	2	X
hjic-914	97	3	)	)	PUNCT
hjic-914	97	4	xu+2	xu+2	NOUN
hjic-914	97	5	xu+3	xu+3	PROPN
hjic-914	97	6	e(k	e(k	PROPN
hjic-914	97	7	)	)	PUNCT
hjic-914	97	8	figure	figure	NOUN
hjic-914	97	9	4	4	NUM
hjic-914	97	10	:	:	PUNCT
hjic-914	97	11	the	the	DET
hjic-914	97	12	definition	definition	NOUN
hjic-914	97	13	of	of	ADP
hjic-914	97	14	lateral	lateral	ADJ
hjic-914	97	15	deviation	deviation	NOUN
hjic-914	97	16	pothesis	pothesis	NOUN
hjic-914	97	17	,	,	PUNCT
hjic-914	97	18	i.e.	i.e.	X
hjic-914	97	19	,	,	PUNCT
hjic-914	97	20	the	the	DET
hjic-914	97	21	steering	steering	NOUN
hjic-914	97	22	is	be	AUX
hjic-914	97	23	instantaneous	instantaneous	ADJ
hjic-914	97	24	.	.	PUNCT
hjic-914	98	1	in	in	ADP
hjic-914	98	2	the	the	DET
hjic-914	98	3	first	first	ADJ
hjic-914	98	4	simulation	simulation	NOUN
hjic-914	98	5	,	,	PUNCT
hjic-914	98	6	the	the	DET
hjic-914	98	7	following	follow	VERB
hjic-914	98	8	kinematic	kinematic	ADJ
hjic-914	98	9	bicycle	bicycle	NOUN
hjic-914	98	10	model	model	NOUN
hjic-914	98	11	ẋ	ẋ	PROPN
hjic-914	99	1	=	=	PROPN
hjic-914	99	2	v	v	PROPN
hjic-914	99	3	cos	cos	PROPN
hjic-914	99	4	(	(	PUNCT
hjic-914	99	5	θ	θ	NOUN
hjic-914	99	6	)	)	PUNCT
hjic-914	99	7	ẏ	ẏ	NOUN
hjic-914	99	8	=	=	SYM
hjic-914	99	9	v	v	NUM
hjic-914	99	10	sin	sin	NOUN
hjic-914	99	11	(	(	PUNCT
hjic-914	99	12	θ	θ	NOUN
hjic-914	99	13	)	)	PUNCT
hjic-914	99	14	θ̇	θ̇	NOUN
hjic-914	99	15	=	=	SYM
hjic-914	99	16	v	v	PROPN
hjic-914	99	17	l	l	PROPN
hjic-914	99	18	tan	tan	PROPN
hjic-914	99	19	(	(	PUNCT
hjic-914	99	20	γ	γ	NOUN
hjic-914	99	21	)	)	PUNCT
hjic-914	99	22	γ	γ	NOUN
hjic-914	99	23	=	=	SYM
hjic-914	99	24	ct	ct	PROPN
hjic-914	99	25	(	(	PUNCT
hjic-914	99	26	10	10	NUM
hjic-914	99	27	)	)	PUNCT
hjic-914	99	28	was	be	AUX
hjic-914	99	29	used	use	VERB
hjic-914	99	30	.	.	PUNCT
hjic-914	100	1	to	to	PART
hjic-914	100	2	analyze	analyze	VERB
hjic-914	100	3	the	the	DET
hjic-914	100	4	results	result	NOUN
hjic-914	100	5	,	,	PUNCT
hjic-914	100	6	the	the	DET
hjic-914	100	7	lateral	lateral	ADJ
hjic-914	100	8	approximation	approximation	NOUN
hjic-914	100	9	error	error	NOUN
hjic-914	100	10	was	be	AUX
hjic-914	100	11	defined	define	VERB
hjic-914	100	12	:	:	PUNCT
hjic-914	100	13	•	•	ADP
hjic-914	100	14	the	the	DET
hjic-914	100	15	lateral	lateral	ADJ
hjic-914	100	16	deviation	deviation	NOUN
hjic-914	100	17	error	error	NOUN
hjic-914	100	18	of	of	ADP
hjic-914	100	19	the	the	DET
hjic-914	100	20	current	current	ADJ
hjic-914	100	21	position	position	NOUN
hjic-914	100	22	e(k	e(k	NOUN
hjic-914	100	23	)	)	PUNCT
hjic-914	100	24	is	be	AUX
hjic-914	100	25	the	the	DET
hjic-914	100	26	distance	distance	NOUN
hjic-914	100	27	between	between	ADP
hjic-914	100	28	this	this	DET
hjic-914	100	29	position	position	NOUN
hjic-914	100	30	and	and	CCONJ
hjic-914	100	31	the	the	DET
hjic-914	100	32	current	current	ADJ
hjic-914	100	33	segment	segment	NOUN
hjic-914	100	34	of	of	ADP
hjic-914	100	35	the	the	DET
hjic-914	100	36	desired	desire	VERB
hjic-914	100	37	trajectory	trajectory	NOUN
hjic-914	100	38	(	(	PUNCT
hjic-914	100	39	fig	fig	NOUN
hjic-914	100	40	.	.	PUNCT
hjic-914	100	41	4	4	NUM
hjic-914	100	42	)	)	PUNCT
hjic-914	100	43	;	;	PUNCT
hjic-914	100	44	•	•	X
hjic-914	100	45	the	the	DET
hjic-914	100	46	total	total	ADJ
hjic-914	100	47	deviation	deviation	NOUN
hjic-914	100	48	error	error	NOUN
hjic-914	100	49	et	et	NOUN
hjic-914	100	50	is	be	AUX
hjic-914	100	51	the	the	DET
hjic-914	100	52	sum	sum	NOUN
hjic-914	100	53	of	of	ADP
hjic-914	100	54	the	the	DET
hjic-914	100	55	error	error	NOUN
hjic-914	100	56	throughout	throughout	ADP
hjic-914	100	57	the	the	DET
hjic-914	100	58	simulation	simulation	NOUN
hjic-914	100	59	from	from	ADP
hjic-914	100	60	1	1	NUM
hjic-914	100	61	to	to	ADP
hjic-914	100	62	n	n	NUM
hjic-914	100	63	;	;	PUNCT
hjic-914	100	64	•	•	SCONJ
hjic-914	100	65	the	the	DET
hjic-914	100	66	relative	relative	ADJ
hjic-914	100	67	deviation	deviation	NOUN
hjic-914	100	68	error	error	NOUN
hjic-914	100	69	er	er	INTJ
hjic-914	100	70	is	be	AUX
hjic-914	100	71	the	the	DET
hjic-914	100	72	ratio	ratio	NOUN
hjic-914	100	73	of	of	ADP
hjic-914	100	74	the	the	DET
hjic-914	100	75	total	total	ADJ
hjic-914	100	76	error	error	NOUN
hjic-914	100	77	to	to	ADP
hjic-914	100	78	the	the	DET
hjic-914	100	79	total	total	ADJ
hjic-914	100	80	number	number	NOUN
hjic-914	100	81	of	of	ADP
hjic-914	100	82	simulated	simulated	ADJ
hjic-914	100	83	points	point	NOUN
hjic-914	100	84	.	.	PUNCT
hjic-914	101	1	e(k	e(k	NOUN
hjic-914	101	2	)	)	PUNCT
hjic-914	102	1	=	=	SYM
hjic-914	102	2	distance	distance	NOUN
hjic-914	102	3	(	(	PUNCT
hjic-914	102	4	x(k	x(k	PROPN
hjic-914	102	5	)	)	PUNCT
hjic-914	102	6	,	,	PUNCT
hjic-914	102	7	0xu0xu+1	0xu0xu+1	NUM
hjic-914	102	8	)	)	PUNCT
hjic-914	103	1	=	=	PUNCT
hjic-914	104	1	=	=	SYM
hjic-914	104	2	∣∣∣x(k)xu+1	∣∣∣x(k)xu+1	VERB
hjic-914	104	3	−	−	PROPN
hjic-914	104	4	x̂uxu+1	x̂uxu+1	PROPN
hjic-914	104	5	(	(	PUNCT
hjic-914	104	6	x(k)xu+1	x(k)xu+1	X
hjic-914	104	7	·	·	PUNCT
hjic-914	104	8	xuxu+1	xuxu+1	X
hjic-914	104	9	)	)	PUNCT
hjic-914	104	10	∣∣∣	∣∣∣	NOUN
hjic-914	104	11	(	(	PUNCT
hjic-914	104	12	11	11	NUM
hjic-914	104	13	)	)	PUNCT
hjic-914	104	14	et	et	NOUN
hjic-914	105	1	=	=	PUNCT
hjic-914	105	2	n∑	n∑	PROPN
hjic-914	105	3	k=1	k=1	PROPN
hjic-914	105	4	e(k	e(k	NOUN
hjic-914	105	5	)	)	PUNCT
hjic-914	106	1	(	(	PUNCT
hjic-914	106	2	12	12	NUM
hjic-914	106	3	)	)	PUNCT
hjic-914	106	4	er	er	INTJ
hjic-914	106	5	=	=	PUNCT
hjic-914	106	6	et	et	NOUN
hjic-914	106	7	n	n	PROPN
hjic-914	106	8	(	(	PUNCT
hjic-914	106	9	13	13	NUM
hjic-914	106	10	)	)	PUNCT
hjic-914	106	11	these	these	DET
hjic-914	106	12	errors	error	NOUN
hjic-914	106	13	are	be	AUX
hjic-914	106	14	dependent	dependent	ADJ
hjic-914	106	15	on	on	ADP
hjic-914	106	16	the	the	DET
hjic-914	106	17	number	number	NOUN
hjic-914	106	18	of	of	ADP
hjic-914	106	19	points	point	NOUN
hjic-914	106	20	included	include	VERB
hjic-914	106	21	in	in	ADP
hjic-914	106	22	the	the	DET
hjic-914	106	23	working	work	VERB
hjic-914	106	24	set	set	NOUN
hjic-914	106	25	(	(	PUNCT
hjic-914	106	26	n	n	CCONJ
hjic-914	106	27	)	)	PUNCT
hjic-914	106	28	referred	refer	VERB
hjic-914	106	29	to	to	ADP
hjic-914	106	30	as	as	ADP
hjic-914	106	31	the	the	DET
hjic-914	106	32	skyline	skyline	NOUN
hjic-914	106	33	and	and	CCONJ
hjic-914	106	34	the	the	DET
hjic-914	106	35	position	position	NOUN
hjic-914	106	36	of	of	ADP
hjic-914	106	37	the	the	DET
hjic-914	106	38	decision	decision	NOUN
hjic-914	106	39	point	point	NOUN
hjic-914	106	40	(	(	PUNCT
hjic-914	106	41	d	d	NOUN
hjic-914	106	42	)	)	PUNCT
hjic-914	106	43	.	.	PUNCT
hjic-914	107	1	for	for	ADP
hjic-914	107	2	the	the	DET
hjic-914	107	3	desired	desire	VERB
hjic-914	107	4	trajectory	trajectory	NOUN
hjic-914	107	5	,	,	PUNCT
hjic-914	107	6	a	a	DET
hjic-914	107	7	study	study	NOUN
hjic-914	107	8	relative	relative	ADJ
hjic-914	107	9	to	to	ADP
hjic-914	107	10	this	this	DET
hjic-914	107	11	dependency	dependency	NOUN
hjic-914	107	12	was	be	AUX
hjic-914	107	13	conducted	conduct	VERB
hjic-914	107	14	and	and	CCONJ
hjic-914	107	15	the	the	DET
hjic-914	107	16	relative	relative	ADJ
hjic-914	107	17	errors	error	NOUN
hjic-914	107	18	for	for	ADP
hjic-914	107	19	each	each	DET
hjic-914	107	20	case	case	NOUN
hjic-914	107	21	were	be	AUX
hjic-914	107	22	obtained	obtain	VERB
hjic-914	107	23	(	(	PUNCT
hjic-914	107	24	n	n	X
hjic-914	107	25	,	,	PUNCT
hjic-914	107	26	d	d	NOUN
hjic-914	107	27	)	)	PUNCT
hjic-914	107	28	.	.	PUNCT
hjic-914	108	1	the	the	DET
hjic-914	108	2	non	non	ADJ
hjic-914	108	3	-	-	ADJ
hjic-914	108	4	instantaneous	instantaneous	ADJ
hjic-914	108	5	steering	steering	NOUN
hjic-914	108	6	was	be	AUX
hjic-914	108	7	also	also	ADV
hjic-914	108	8	simulated	simulate	VERB
hjic-914	108	9	(	(	PUNCT
hjic-914	108	10	fig	fig	NOUN
hjic-914	108	11	.	.	PUNCT
hjic-914	108	12	5	5	NUM
hjic-914	108	13	)	)	PUNCT
hjic-914	108	14	.	.	PUNCT
hjic-914	109	1	in	in	ADP
hjic-914	109	2	this	this	DET
hjic-914	109	3	case	case	NOUN
hjic-914	109	4	,	,	PUNCT
hjic-914	109	5	the	the	DET
hjic-914	109	6	kinematic	kinematic	ADJ
hjic-914	109	7	bicycle	bicycle	NOUN
hjic-914	109	8	model	model	NOUN
hjic-914	109	9	can	can	AUX
hjic-914	109	10	be	be	AUX
hjic-914	109	11	modified	modify	VERB
hjic-914	109	12	as	as	ADP
hjic-914	109	13	follows:	follows:	NOUN
hjic-914	109	14	ẋ	ẋ	PROPN
hjic-914	110	1	=	=	NOUN
hjic-914	110	2	v	v	PROPN
hjic-914	110	3	cos(θ	cos(θ	NOUN
hjic-914	110	4	)	)	PUNCT
hjic-914	111	1	ẏ	ẏ	PROPN
hjic-914	111	2	=	=	SYM
hjic-914	111	3	v	v	NUM
hjic-914	111	4	sin(θ	sin(θ	PROPN
hjic-914	111	5	)	)	PUNCT
hjic-914	111	6	θ̇	θ̇	NOUN
hjic-914	111	7	=	=	SYM
hjic-914	111	8	v	v	PROPN
hjic-914	111	9	l	l	NOUN
hjic-914	111	10	tan(γ	tan(γ	NOUN
hjic-914	111	11	)	)	PUNCT
hjic-914	111	12	γ	γ	PROPN
hjic-914	111	13	=	=	SYM
hjic-914	111	14	γ0	γ0	PROPN
hjic-914	111	15	+	+	CCONJ
hjic-914	111	16	γ̇t	γ̇t	ADJ
hjic-914	111	17	γ̇	γ̇	NOUN
hjic-914	111	18	=	=	PUNCT
hjic-914	111	19	ct	ct	PROPN
hjic-914	111	20	(	(	PUNCT
hjic-914	111	21	14	14	NUM
hjic-914	111	22	)	)	PUNCT
hjic-914	111	23	the	the	DET
hjic-914	111	24	steering	steering	NOUN
hjic-914	111	25	angle	angle	NOUN
hjic-914	111	26	is	be	AUX
hjic-914	111	27	a	a	DET
hjic-914	111	28	linear	linear	ADJ
hjic-914	111	29	function	function	NOUN
hjic-914	111	30	where	where	SCONJ
hjic-914	111	31	the	the	DET
hjic-914	111	32	steering	steering	NOUN
hjic-914	111	33	velocity	velocity	NOUN
hjic-914	111	34	is	be	AUX
hjic-914	111	35	constant	constant	ADJ
hjic-914	111	36	during	during	ADP
hjic-914	111	37	the	the	DET
hjic-914	111	38	steering	steering	NOUN
hjic-914	111	39	process	process	NOUN
hjic-914	111	40	.	.	PUNCT
hjic-914	112	1	the	the	DET
hjic-914	112	2	figure	figure	NOUN
hjic-914	112	3	5	5	NUM
hjic-914	112	4	:	:	PUNCT
hjic-914	112	5	simulation	simulation	NOUN
hjic-914	112	6	result	result	NOUN
hjic-914	112	7	:	:	PUNCT
hjic-914	112	8	the	the	DET
hjic-914	112	9	blue	blue	ADJ
hjic-914	112	10	dots	dot	NOUN
hjic-914	112	11	denote	denote	VERB
hjic-914	112	12	the	the	DET
hjic-914	112	13	waypoints	waypoint	NOUN
hjic-914	112	14	,	,	PUNCT
hjic-914	112	15	the	the	DET
hjic-914	112	16	red	red	ADJ
hjic-914	112	17	line	line	NOUN
hjic-914	112	18	represents	represent	VERB
hjic-914	112	19	the	the	DET
hjic-914	112	20	trajectory	trajectory	NOUN
hjic-914	112	21	generated	generate	VERB
hjic-914	112	22	by	by	ADP
hjic-914	112	23	our	our	PRON
hjic-914	112	24	model	model	NOUN
hjic-914	112	25	trajectory	trajectory	NOUN
hjic-914	112	26	of	of	ADP
hjic-914	112	27	the	the	DET
hjic-914	112	28	robot	robot	NOUN
hjic-914	112	29	is	be	AUX
hjic-914	112	30	no	no	ADV
hjic-914	112	31	longer	long	ADV
hjic-914	112	32	an	an	DET
hjic-914	112	33	arc	arc	NOUN
hjic-914	112	34	of	of	ADP
hjic-914	112	35	a	a	DET
hjic-914	112	36	circle	circle	NOUN
hjic-914	112	37	but	but	CCONJ
hjic-914	112	38	a	a	DET
hjic-914	112	39	combination	combination	NOUN
hjic-914	112	40	of	of	ADP
hjic-914	112	41	two	two	NUM
hjic-914	112	42	curves	curve	NOUN
hjic-914	112	43	.	.	PUNCT
hjic-914	113	1	the	the	DET
hjic-914	113	2	first	first	ADJ
hjic-914	113	3	of	of	ADP
hjic-914	113	4	which	which	PRON
hjic-914	113	5	is	be	AUX
hjic-914	113	6	a	a	DET
hjic-914	113	7	clothoid	clothoid	PROPN
hjic-914	113	8	(	(	PUNCT
hjic-914	113	9	also	also	ADV
hjic-914	113	10	referred	refer	VERB
hjic-914	113	11	to	to	ADP
hjic-914	113	12	as	as	ADP
hjic-914	113	13	an	an	DET
hjic-914	113	14	euler	euler	NOUN
hjic-914	113	15	spiral	spiral	NOUN
hjic-914	113	16	)	)	PUNCT
hjic-914	114	1	when	when	SCONJ
hjic-914	114	2	γ	γ	PROPN
hjic-914	114	3	=	=	SYM
hjic-914	114	4	γ0	γ0	PROPN
hjic-914	114	5	+	+	CCONJ
hjic-914	114	6	γ̇t	γ̇t	NOUN
hjic-914	114	7	and	and	CCONJ
hjic-914	114	8	an	an	DET
hjic-914	114	9	arc	arc	NOUN
hjic-914	114	10	of	of	ADP
hjic-914	114	11	a	a	DET
hjic-914	114	12	circle	circle	NOUN
hjic-914	114	13	when	when	SCONJ
hjic-914	114	14	γ	γ	X
hjic-914	114	15	=	=	SYM
hjic-914	114	16	ct	ct	PROPN
hjic-914	114	17	.	.	PUNCT
hjic-914	114	18	in	in	ADP
hjic-914	114	19	this	this	DET
hjic-914	114	20	case	case	NOUN
hjic-914	114	21	,	,	PUNCT
hjic-914	114	22	the	the	DET
hjic-914	114	23	simulation	simulation	NOUN
hjic-914	114	24	result	result	NOUN
hjic-914	114	25	shows	show	VERB
hjic-914	114	26	a	a	DET
hjic-914	114	27	lower	low	ADJ
hjic-914	114	28	quality	quality	NOUN
hjic-914	114	29	of	of	ADP
hjic-914	114	30	approximation	approximation	NOUN
hjic-914	114	31	.	.	PUNCT
hjic-914	115	1	given	give	VERB
hjic-914	115	2	this	this	DET
hjic-914	115	3	phenomenon	phenomenon	NOUN
hjic-914	115	4	,	,	PUNCT
hjic-914	115	5	the	the	DET
hjic-914	115	6	robot	robot	NOUN
hjic-914	115	7	orientation	orientation	NOUN
hjic-914	115	8	angle	angle	NOUN
hjic-914	115	9	error	error	NOUN
hjic-914	115	10	is	be	AUX
hjic-914	115	11	defined	define	VERB
hjic-914	115	12	as	as	ADP
hjic-914	115	13	the	the	DET
hjic-914	115	14	difference	difference	NOUN
hjic-914	115	15	between	between	ADP
hjic-914	115	16	the	the	DET
hjic-914	115	17	orientation	orientation	NOUN
hjic-914	115	18	angle	angle	NOUN
hjic-914	115	19	in	in	ADP
hjic-914	115	20	the	the	DET
hjic-914	115	21	hypothesis	hypothesis	NOUN
hjic-914	115	22	where	where	SCONJ
hjic-914	115	23	the	the	DET
hjic-914	115	24	steering	steering	NOUN
hjic-914	115	25	is	be	AUX
hjic-914	115	26	instantaneously	instantaneously	ADV
hjic-914	115	27	modified	modify	VERB
hjic-914	115	28	to	to	ADP
hjic-914	115	29	the	the	DET
hjic-914	115	30	final	final	ADJ
hjic-914	115	31	value	value	NOUN
hjic-914	115	32	and	and	CCONJ
hjic-914	115	33	the	the	DET
hjic-914	115	34	orientation	orientation	NOUN
hjic-914	115	35	angle	angle	NOUN
hjic-914	115	36	in	in	ADP
hjic-914	115	37	the	the	DET
hjic-914	115	38	hypothesis	hypothesis	NOUN
hjic-914	115	39	where	where	SCONJ
hjic-914	115	40	the	the	DET
hjic-914	115	41	steering	steering	NOUN
hjic-914	115	42	angle	angle	NOUN
hjic-914	115	43	is	be	AUX
hjic-914	115	44	continuously	continuously	ADV
hjic-914	115	45	modified	modify	VERB
hjic-914	115	46	from	from	ADP
hjic-914	115	47	the	the	DET
hjic-914	115	48	initial	initial	NOUN
hjic-914	115	49	to	to	ADP
hjic-914	115	50	the	the	DET
hjic-914	115	51	final	final	ADJ
hjic-914	115	52	value	value	NOUN
hjic-914	115	53	.	.	PUNCT
hjic-914	116	1	eθ	eθ	PROPN
hjic-914	116	2	=	=	NOUN
hjic-914	116	3	v	v	PROPN
hjic-914	116	4	l	l	NOUN
hjic-914	117	1	(	(	PUNCT
hjic-914	117	2	tan	tan	PROPN
hjic-914	117	3	(	(	PUNCT
hjic-914	117	4	γf	γf	PROPN
hjic-914	117	5	)	)	PUNCT
hjic-914	117	6	∆t−	∆t−	NOUN
hjic-914	117	7	∫	∫	PROPN
hjic-914	117	8	∆t	∆t	PROPN
hjic-914	117	9	0	0	NUM
hjic-914	118	1	tan(γ0	tan(γ0	NOUN
hjic-914	118	2	+	+	X
hjic-914	118	3	γ̇τ)dτ	γ̇τ)dτ	NUM
hjic-914	118	4	)	)	PUNCT
hjic-914	119	1	=	=	PUNCT
hjic-914	119	2	=	=	SYM
hjic-914	119	3	v	v	NUM
hjic-914	119	4	γ̇l	γ̇l	PROPN
hjic-914	119	5	(	(	PUNCT
hjic-914	119	6	tan	tan	PROPN
hjic-914	119	7	(	(	PUNCT
hjic-914	119	8	γf	γf	ADJ
hjic-914	119	9	)	)	PUNCT
hjic-914	119	10	∆γ	∆γ	NOUN
hjic-914	119	11	−	−	NOUN
hjic-914	120	1	log	log	NOUN
hjic-914	120	2	(	(	PUNCT
hjic-914	120	3	cos(γ0	cos(γ0	NOUN
hjic-914	120	4	)	)	PUNCT
hjic-914	120	5	cos(γf	cos(γf	NOUN
hjic-914	120	6	)	)	PUNCT
hjic-914	120	7	)	)	PUNCT
hjic-914	120	8	)	)	PUNCT
hjic-914	120	9	(	(	PUNCT
hjic-914	120	10	15	15	X
hjic-914	120	11	)	)	PUNCT
hjic-914	120	12	where	where	SCONJ
hjic-914	120	13	γ0	γ0	NOUN
hjic-914	120	14	denotes	denote	VERB
hjic-914	120	15	the	the	DET
hjic-914	120	16	initial	initial	ADJ
hjic-914	120	17	steering	steering	NOUN
hjic-914	120	18	angle	angle	NOUN
hjic-914	120	19	,	,	PUNCT
hjic-914	120	20	γf	γf	NOUN
hjic-914	120	21	=	=	SYM
hjic-914	120	22	arctan(lκ	arctan(lκ	PROPN
hjic-914	120	23	represents	represent	VERB
hjic-914	120	24	the	the	DET
hjic-914	120	25	final	final	ADJ
hjic-914	120	26	steering	steering	NOUN
hjic-914	120	27	angle	angle	NOUN
hjic-914	120	28	,	,	PUNCT
hjic-914	120	29	γ̇	γ̇	PROPN
hjic-914	120	30	stands	stand	VERB
hjic-914	120	31	for	for	ADP
hjic-914	120	32	the	the	DET
hjic-914	120	33	steering	steering	NOUN
hjic-914	120	34	angle	angle	NOUN
hjic-914	120	35	velocity	velocity	NOUN
hjic-914	120	36	,	,	PUNCT
hjic-914	120	37	and	and	CCONJ
hjic-914	120	38	∆t	∆t	PROPN
hjic-914	120	39	is	be	AUX
hjic-914	120	40	the	the	DET
hjic-914	120	41	steering	steering	NOUN
hjic-914	120	42	time	time	NOUN
hjic-914	120	43	.	.	PUNCT
hjic-914	121	1	it	it	PRON
hjic-914	121	2	is	be	AUX
hjic-914	121	3	observed	observe	VERB
hjic-914	121	4	that	that	SCONJ
hjic-914	121	5	eq	eq	ADP
hjic-914	121	6	.	.	PROPN
hjic-914	121	7	12	12	NUM
hjic-914	121	8	is	be	AUX
hjic-914	121	9	in	in	ADP
hjic-914	121	10	accordance	accordance	NOUN
hjic-914	121	11	with	with	ADP
hjic-914	121	12	our	our	PRON
hjic-914	121	13	intuitions	intuition	NOUN
hjic-914	121	14	:	:	PUNCT
hjic-914	121	15	if	if	SCONJ
hjic-914	121	16	the	the	DET
hjic-914	121	17	steering	steering	NOUN
hjic-914	121	18	angle	angle	NOUN
hjic-914	121	19	velocity	velocity	NOUN
hjic-914	121	20	increases	increase	VERB
hjic-914	121	21	the	the	DET
hjic-914	121	22	orientation	orientation	NOUN
hjic-914	121	23	error	error	NOUN
hjic-914	121	24	angle	angle	NOUN
hjic-914	121	25	will	will	AUX
hjic-914	121	26	decrease	decrease	VERB
hjic-914	121	27	;	;	PUNCT
hjic-914	121	28	in	in	ADP
hjic-914	121	29	contrast	contrast	NOUN
hjic-914	121	30	,	,	PUNCT
hjic-914	121	31	the	the	DET
hjic-914	121	32	velocity	velocity	NOUN
hjic-914	121	33	is	be	AUX
hjic-914	121	34	proportional	proportional	ADJ
hjic-914	121	35	to	to	ADP
hjic-914	121	36	the	the	DET
hjic-914	121	37	error	error	NOUN
hjic-914	121	38	.	.	PUNCT
hjic-914	122	1	a	a	DET
hjic-914	122	2	strategy	strategy	NOUN
hjic-914	122	3	where	where	SCONJ
hjic-914	122	4	a	a	DET
hjic-914	122	5	maximum	maximum	ADJ
hjic-914	122	6	orientation	orientation	NOUN
hjic-914	122	7	error	error	NOUN
hjic-914	122	8	eθmax	eθmax	ADJ
hjic-914	122	9	is	be	AUX
hjic-914	122	10	allowed	allow	VERB
hjic-914	122	11	can	can	AUX
hjic-914	122	12	now	now	ADV
hjic-914	122	13	be	be	AUX
hjic-914	122	14	contemplated	contemplate	VERB
hjic-914	122	15	and	and	CCONJ
hjic-914	122	16	since	since	SCONJ
hjic-914	122	17	the	the	DET
hjic-914	122	18	maximum	maximum	ADJ
hjic-914	122	19	steering	steering	NOUN
hjic-914	122	20	velocity	velocity	NOUN
hjic-914	122	21	γ̇	γ̇	NOUN
hjic-914	122	22	is	be	AUX
hjic-914	122	23	an	an	DET
hjic-914	122	24	actuator	actuator	NOUN
hjic-914	122	25	parameter	parameter	NOUN
hjic-914	122	26	(	(	PUNCT
hjic-914	122	27	which	which	PRON
hjic-914	122	28	is	be	AUX
hjic-914	122	29	constant	constant	ADJ
hjic-914	122	30	)	)	PUNCT
hjic-914	122	31	,	,	PUNCT
hjic-914	122	32	the	the	DET
hjic-914	122	33	following	follow	VERB
hjic-914	122	34	function	function	NOUN
hjic-914	122	35	for	for	ADP
hjic-914	122	36	the	the	DET
hjic-914	122	37	vehicle	vehicle	NOUN
hjic-914	122	38	velocity	velocity	NOUN
hjic-914	122	39	is	be	AUX
hjic-914	122	40	proposed	propose	VERB
hjic-914	122	41	:	:	PUNCT
hjic-914	122	42	vnew	vnew	ADJ
hjic-914	122	43	=	=	PUNCT
hjic-914	122	44	eθmax	eθmax	ADJ
hjic-914	122	45	eθ	eθ	PRON
hjic-914	122	46	vold	vold	PROPN
hjic-914	122	47	.	.	PUNCT
hjic-914	123	1	(	(	PUNCT
hjic-914	123	2	16	16	NUM
hjic-914	123	3	)	)	PUNCT
hjic-914	123	4	in	in	ADP
hjic-914	123	5	conclusion	conclusion	NOUN
hjic-914	123	6	,	,	PUNCT
hjic-914	123	7	the	the	DET
hjic-914	123	8	algorithm	algorithm	NOUN
hjic-914	123	9	must	must	AUX
hjic-914	123	10	be	be	AUX
hjic-914	123	11	improved	improve	VERB
hjic-914	123	12	in	in	ADP
hjic-914	123	13	order	order	NOUN
hjic-914	123	14	to	to	PART
hjic-914	123	15	yield	yield	VERB
hjic-914	123	16	better	well	ADJ
hjic-914	123	17	results	result	NOUN
hjic-914	123	18	.	.	PUNCT
hjic-914	124	1	the	the	DET
hjic-914	124	2	following	follow	VERB
hjic-914	124	3	possibilities	possibility	NOUN
hjic-914	124	4	are	be	AUX
hjic-914	124	5	suggested	suggest	VERB
hjic-914	124	6	(	(	PUNCT
hjic-914	124	7	fig	fig	NOUN
hjic-914	124	8	.	.	PUNCT
hjic-914	125	1	6	6	NUM
hjic-914	125	2	):	):	PUNCT
hjic-914	125	3	•	•	NUM
hjic-914	125	4	refine	refine	VERB
hjic-914	125	5	the	the	DET
hjic-914	125	6	input	input	NOUN
hjic-914	125	7	set	set	NOUN
hjic-914	125	8	of	of	ADP
hjic-914	125	9	points	point	NOUN
hjic-914	125	10	:	:	PUNCT
hjic-914	125	11	interpolate	interpolate	VERB
hjic-914	125	12	new	new	ADJ
hjic-914	125	13	points	point	NOUN
hjic-914	125	14	;	;	PUNCT
hjic-914	125	15	•	•	NUM
hjic-914	125	16	change	change	VERB
hjic-914	125	17	the	the	DET
hjic-914	125	18	vehicle	vehicle	NOUN
hjic-914	125	19	velocity	velocity	NOUN
hjic-914	125	20	during	during	ADP
hjic-914	125	21	locomotion	locomotion	NOUN
hjic-914	125	22	(	(	PUNCT
hjic-914	125	23	eq	eq	NOUN
hjic-914	125	24	.	.	PROPN
hjic-914	125	25	16	16	NUM
hjic-914	125	26	)	)	PUNCT
hjic-914	125	27	;	;	PUNCT
hjic-914	125	28	hungarian	hungarian	ADJ
hjic-914	125	29	journal	journal	NOUN
hjic-914	125	30	of	of	ADP
hjic-914	125	31	industry	industry	NOUN
hjic-914	125	32	and	and	CCONJ
hjic-914	125	33	chemistry	chemistry	NOUN
hjic-914	125	34	multiple	multiple	ADJ
hjic-914	125	35	goal	goal	NOUN
hjic-914	125	36	pursuit	pursuit	NOUN
hjic-914	125	37	trajectory	trajectory	NOUN
hjic-914	125	38	follower	follower	NOUN
hjic-914	125	39	15	15	NUM
hjic-914	125	40	figure	figure	NOUN
hjic-914	125	41	6	6	NUM
hjic-914	125	42	:	:	PUNCT
hjic-914	125	43	the	the	DET
hjic-914	125	44	proposed	propose	VERB
hjic-914	125	45	new	new	ADJ
hjic-914	125	46	strategy	strategy	NOUN
hjic-914	125	47	•	•	NOUN
hjic-914	125	48	define	define	VERB
hjic-914	125	49	the	the	DET
hjic-914	125	50	new	new	ADJ
hjic-914	125	51	windows	window	NOUN
hjic-914	125	52	by	by	ADP
hjic-914	125	53	including	include	VERB
hjic-914	125	54	the	the	DET
hjic-914	125	55	points	point	NOUN
hjic-914	125	56	which	which	PRON
hjic-914	125	57	succeed	succeed	VERB
hjic-914	125	58	the	the	DET
hjic-914	125	59	decision	decision	NOUN
hjic-914	125	60	point	point	NOUN
hjic-914	125	61	in	in	ADP
hjic-914	125	62	the	the	DET
hjic-914	125	63	new	new	ADJ
hjic-914	125	64	working	working	NOUN
hjic-914	125	65	set	set	NOUN
hjic-914	125	66	.	.	PUNCT
hjic-914	126	1	with	with	ADP
hjic-914	126	2	regard	regard	NOUN
hjic-914	126	3	to	to	ADP
hjic-914	126	4	an	an	DET
hjic-914	126	5	examined	examine	VERB
hjic-914	126	6	sample	sample	NOUN
hjic-914	126	7	trajectory	trajectory	NOUN
hjic-914	126	8	,	,	PUNCT
hjic-914	126	9	a	a	DET
hjic-914	126	10	3d	3d	NOUN
hjic-914	126	11	graph	graph	NOUN
hjic-914	126	12	(	(	PUNCT
hjic-914	126	13	fig	fig	NOUN
hjic-914	126	14	.	.	PUNCT
hjic-914	126	15	7	7	X
hjic-914	126	16	)	)	PUNCT
hjic-914	126	17	is	be	AUX
hjic-914	126	18	provided	provide	VERB
hjic-914	126	19	which	which	PRON
hjic-914	126	20	shows	show	VERB
hjic-914	126	21	the	the	DET
hjic-914	126	22	relative	relative	ADJ
hjic-914	126	23	dependency	dependency	NOUN
hjic-914	126	24	obtained	obtain	VERB
hjic-914	126	25	in	in	ADP
hjic-914	126	26	terms	term	NOUN
hjic-914	126	27	of	of	ADP
hjic-914	126	28	the	the	DET
hjic-914	126	29	relative	relative	ADJ
hjic-914	126	30	error	error	NOUN
hjic-914	126	31	value	value	NOUN
hjic-914	126	32	in	in	ADP
hjic-914	126	33	each	each	DET
hjic-914	126	34	case	case	NOUN
hjic-914	126	35	(	(	PUNCT
hjic-914	126	36	n	n	X
hjic-914	126	37	,	,	PUNCT
hjic-914	126	38	d	d	NOUN
hjic-914	126	39	)	)	PUNCT
hjic-914	126	40	.	.	PUNCT
hjic-914	127	1	in	in	ADP
hjic-914	127	2	fig	fig	NOUN
hjic-914	127	3	.	.	PUNCT
hjic-914	128	1	7	7	NUM
hjic-914	128	2	,	,	PUNCT
hjic-914	128	3	the	the	DET
hjic-914	128	4	x	x	PUNCT
hjic-914	128	5	axis	axis	NOUN
hjic-914	128	6	denotes	denote	VERB
hjic-914	128	7	the	the	DET
hjic-914	128	8	skyline	skyline	NOUN
hjic-914	128	9	(	(	PUNCT
hjic-914	128	10	n	n	CCONJ
hjic-914	128	11	)	)	PUNCT
hjic-914	128	12	,	,	PUNCT
hjic-914	128	13	the	the	DET
hjic-914	128	14	figure	figure	NOUN
hjic-914	128	15	7	7	NUM
hjic-914	128	16	:	:	PUNCT
hjic-914	128	17	the	the	DET
hjic-914	128	18	relative	relative	ADJ
hjic-914	128	19	error	error	NOUN
hjic-914	128	20	depends	depend	VERB
hjic-914	128	21	on	on	ADP
hjic-914	128	22	the	the	DET
hjic-914	128	23	skyline	skyline	NOUN
hjic-914	128	24	(	(	PUNCT
hjic-914	128	25	n	n	CCONJ
hjic-914	128	26	)	)	PUNCT
hjic-914	128	27	and	and	CCONJ
hjic-914	128	28	decision	decision	NOUN
hjic-914	128	29	point	point	NOUN
hjic-914	128	30	(	(	PUNCT
hjic-914	128	31	d	d	NOUN
hjic-914	128	32	)	)	PUNCT
hjic-914	128	33	figure	figure	NOUN
hjic-914	128	34	8	8	NUM
hjic-914	128	35	:	:	PUNCT
hjic-914	128	36	typical	typical	ADJ
hjic-914	128	37	behaviors	behavior	NOUN
hjic-914	128	38	of	of	ADP
hjic-914	128	39	the	the	DET
hjic-914	128	40	examined	examine	VERB
hjic-914	128	41	approaches	approach	NOUN
hjic-914	128	42	y	y	PROPN
hjic-914	128	43	axis	axis	NOUN
hjic-914	128	44	represents	represent	VERB
hjic-914	128	45	the	the	DET
hjic-914	128	46	decision	decision	NOUN
hjic-914	128	47	point	point	NOUN
hjic-914	128	48	(	(	PUNCT
hjic-914	128	49	d	d	NOUN
hjic-914	128	50	)	)	PUNCT
hjic-914	128	51	,	,	PUNCT
hjic-914	128	52	and	and	CCONJ
hjic-914	128	53	the	the	DET
hjic-914	128	54	z	z	NOUN
hjic-914	128	55	axis	axis	NOUN
hjic-914	128	56	stands	stand	VERB
hjic-914	128	57	for	for	ADP
hjic-914	128	58	the	the	DET
hjic-914	128	59	relative	relative	ADJ
hjic-914	128	60	error	error	NOUN
hjic-914	128	61	.	.	PUNCT
hjic-914	129	1	4.2	4.2	NUM
hjic-914	129	2	experiments	experiment	NOUN
hjic-914	129	3	firstly	firstly	ADV
hjic-914	129	4	,	,	PUNCT
hjic-914	129	5	the	the	DET
hjic-914	129	6	behavior	behavior	NOUN
hjic-914	129	7	of	of	ADP
hjic-914	129	8	the	the	DET
hjic-914	129	9	algorithm	algorithm	NOUN
hjic-914	129	10	in	in	ADP
hjic-914	129	11	its	its	PRON
hjic-914	129	12	own	own	ADJ
hjic-914	129	13	simulation	simulation	NOUN
hjic-914	129	14	environments	environment	NOUN
hjic-914	129	15	was	be	AUX
hjic-914	129	16	tested	test	VERB
hjic-914	129	17	;	;	PUNCT
hjic-914	129	18	the	the	DET
hjic-914	129	19	two	two	NUM
hjic-914	129	20	presented	present	VERB
hjic-914	129	21	approaches	approach	NOUN
hjic-914	129	22	(	(	PUNCT
hjic-914	129	23	the	the	DET
hjic-914	129	24	plain	plain	ADJ
hjic-914	129	25	multiple	multiple	ADJ
hjic-914	129	26	goal	goal	NOUN
hjic-914	129	27	pursuit	pursuit	NOUN
hjic-914	129	28	and	and	CCONJ
hjic-914	129	29	the	the	DET
hjic-914	129	30	windowed	windowed	ADJ
hjic-914	129	31	multiple	multiple	ADJ
hjic-914	129	32	goal	goal	NOUN
hjic-914	129	33	version	version	NOUN
hjic-914	129	34	)	)	PUNCT
hjic-914	129	35	were	be	AUX
hjic-914	129	36	developed	develop	VERB
hjic-914	129	37	in	in	ADP
hjic-914	129	38	parallel	parallel	NOUN
hjic-914	129	39	in	in	ADP
hjic-914	129	40	python	python	NOUN
hjic-914	129	41	and	and	CCONJ
hjic-914	129	42	matlab	matlab	PROPN
hjic-914	129	43	.	.	PUNCT
hjic-914	130	1	these	these	DET
hjic-914	130	2	simulations	simulation	NOUN
hjic-914	130	3	also	also	ADV
hjic-914	130	4	used	use	VERB
hjic-914	130	5	real	real	ADJ
hjic-914	130	6	-	-	PUNCT
hjic-914	130	7	world	world	NOUN
hjic-914	130	8	trajectories	trajectory	NOUN
hjic-914	130	9	and	and	CCONJ
hjic-914	130	10	the	the	DET
hjic-914	130	11	vehicle	vehicle	NOUN
hjic-914	130	12	model	model	NOUN
hjic-914	130	13	was	be	AUX
hjic-914	130	14	first	first	ADV
hjic-914	130	15	a	a	DET
hjic-914	130	16	kinematic	kinematic	NOUN
hjic-914	130	17	,	,	PUNCT
hjic-914	130	18	and	and	CCONJ
hjic-914	130	19	later	later	ADV
hjic-914	130	20	a	a	DET
hjic-914	130	21	dynamic	dynamic	ADJ
hjic-914	130	22	one	one	NOUN
hjic-914	130	23	.	.	PUNCT
hjic-914	131	1	subsequently	subsequently	ADV
hjic-914	131	2	,	,	PUNCT
hjic-914	131	3	it	it	PRON
hjic-914	131	4	became	become	VERB
hjic-914	131	5	necessary	necessary	ADJ
hjic-914	131	6	to	to	PART
hjic-914	131	7	even	even	ADV
hjic-914	131	8	test	test	VERB
hjic-914	131	9	the	the	DET
hjic-914	131	10	algorithms	algorithm	NOUN
hjic-914	131	11	in	in	ADP
hjic-914	131	12	open	open	ADJ
hjic-914	131	13	source	source	NOUN
hjic-914	131	14	robotics	robotic	NOUN
hjic-914	131	15	foundation	foundation	NOUN
hjic-914	131	16	’s	’s	PART
hjic-914	131	17	(	(	PUNCT
hjic-914	131	18	osrf	osrf	ADJ
hjic-914	131	19	)	)	PUNCT
hjic-914	131	20	gazebo	gazebo	NOUN
hjic-914	131	21	for	for	ADP
hjic-914	131	22	two	two	NUM
hjic-914	131	23	reasons	reason	NOUN
hjic-914	131	24	.	.	PUNCT
hjic-914	132	1	firstly	firstly	ADV
hjic-914	132	2	,	,	PUNCT
hjic-914	132	3	implementation	implementation	NOUN
hjic-914	132	4	of	of	ADP
hjic-914	132	5	the	the	DET
hjic-914	132	6	algorithm	algorithm	NOUN
hjic-914	132	7	as	as	ADP
hjic-914	132	8	a	a	DET
hjic-914	132	9	robot	robot	NOUN
hjic-914	132	10	operating	operate	VERB
hjic-914	132	11	system	system	NOUN
hjic-914	132	12	(	(	PUNCT
hjic-914	132	13	ros	ros	PROPN
hjic-914	132	14	)	)	PUNCT
hjic-914	132	15	node	node	NOUN
hjic-914	132	16	was	be	AUX
hjic-914	132	17	sought	seek	VERB
hjic-914	132	18	and	and	CCONJ
hjic-914	132	19	secondly	secondly	ADV
hjic-914	132	20	,	,	PUNCT
hjic-914	132	21	a	a	DET
hjic-914	132	22	more	more	ADV
hjic-914	132	23	precise	precise	ADJ
hjic-914	132	24	dynamic	dynamic	ADJ
hjic-914	132	25	model	model	NOUN
hjic-914	132	26	of	of	ADP
hjic-914	132	27	the	the	DET
hjic-914	132	28	vehicle	vehicle	NOUN
hjic-914	132	29	already	already	ADV
hjic-914	132	30	existed	exist	VERB
hjic-914	132	31	in	in	ADP
hjic-914	132	32	gazebo	gazebo	PROPN
hjic-914	132	33	.	.	PUNCT
hjic-914	133	1	gazebo	gazebo	PROPN
hjic-914	133	2	also	also	ADV
hjic-914	133	3	facilitated	facilitate	VERB
hjic-914	133	4	the	the	DET
hjic-914	133	5	integration	integration	NOUN
hjic-914	133	6	of	of	ADP
hjic-914	133	7	the	the	DET
hjic-914	133	8	useful	useful	ADJ
hjic-914	133	9	software	software	NOUN
hjic-914	133	10	as	as	ADV
hjic-914	133	11	well	well	ADV
hjic-914	133	12	as	as	ADP
hjic-914	133	13	agile	agile	ADJ
hjic-914	133	14	migration	migration	NOUN
hjic-914	133	15	between	between	ADP
hjic-914	133	16	development	development	NOUN
hjic-914	133	17	and	and	CCONJ
hjic-914	133	18	target	target	NOUN
hjic-914	133	19	.	.	PUNCT
hjic-914	134	1	for	for	ADP
hjic-914	134	2	these	these	DET
hjic-914	134	3	purposes	purpose	NOUN
hjic-914	134	4	,	,	PUNCT
hjic-914	134	5	the	the	DET
hjic-914	134	6	algorithm	algorithm	NOUN
hjic-914	134	7	had	have	VERB
hjic-914	134	8	to	to	PART
hjic-914	134	9	be	be	AUX
hjic-914	134	10	recreated	recreate	VERB
hjic-914	134	11	in	in	ADP
hjic-914	134	12	c++	c++	NOUN
hjic-914	134	13	not	not	PART
hjic-914	134	14	only	only	ADV
hjic-914	134	15	because	because	SCONJ
hjic-914	134	16	of	of	ADP
hjic-914	134	17	the	the	DET
hjic-914	134	18	ros	ros	PROPN
hjic-914	134	19	compatibility	compatibility	NOUN
hjic-914	134	20	but	but	CCONJ
hjic-914	134	21	computational	computational	ADJ
hjic-914	134	22	resources	resource	NOUN
hjic-914	134	23	as	as	ADV
hjic-914	134	24	well	well	ADV
hjic-914	134	25	.	.	PUNCT
hjic-914	135	1	simulation	simulation	NOUN
hjic-914	135	2	-	-	PUNCT
hjic-914	135	3	based	base	VERB
hjic-914	135	4	execution	execution	NOUN
hjic-914	135	5	yielded	yield	VERB
hjic-914	135	6	no	no	DET
hjic-914	135	7	significant	significant	ADJ
hjic-914	135	8	deviation	deviation	NOUN
hjic-914	135	9	from	from	ADP
hjic-914	135	10	the	the	DET
hjic-914	135	11	simulated	simulate	VERB
hjic-914	135	12	tests	test	NOUN
hjic-914	135	13	.	.	PUNCT
hjic-914	136	1	in	in	ADP
hjic-914	136	2	fig	fig	NOUN
hjic-914	136	3	.	.	PUNCT
hjic-914	137	1	8	8	NUM
hjic-914	137	2	,	,	PUNCT
hjic-914	137	3	some	some	PRON
hjic-914	137	4	of	of	ADP
hjic-914	137	5	our	our	PRON
hjic-914	137	6	results	result	NOUN
hjic-914	137	7	are	be	AUX
hjic-914	137	8	shown	show	VERB
hjic-914	137	9	regarding	regard	VERB
hjic-914	137	10	the	the	DET
hjic-914	137	11	examined	examine	VERB
hjic-914	137	12	trajectories	trajectory	NOUN
hjic-914	137	13	.	.	PUNCT
hjic-914	138	1	the	the	DET
hjic-914	138	2	x	x	PROPN
hjic-914	138	3	and	and	CCONJ
hjic-914	138	4	y	y	PROPN
hjic-914	138	5	axes	axis	NOUN
hjic-914	138	6	are	be	AUX
hjic-914	138	7	in	in	ADP
hjic-914	138	8	meters	meter	NOUN
hjic-914	138	9	.	.	PUNCT
hjic-914	139	1	this	this	DET
hjic-914	139	2	simulation	simulation	NOUN
hjic-914	139	3	is	be	AUX
hjic-914	139	4	based	base	VERB
hjic-914	139	5	on	on	ADP
hjic-914	139	6	real	real	ADJ
hjic-914	139	7	-	-	PUNCT
hjic-914	139	8	world	world	NOUN
hjic-914	139	9	measurements	measurement	NOUN
hjic-914	139	10	taken	take	VERB
hjic-914	139	11	at	at	ADP
hjic-914	139	12	the	the	DET
hjic-914	139	13	zalazone	zalazone	PROPN
hjic-914	139	14	automotive	automotive	ADJ
hjic-914	139	15	test	test	NOUN
hjic-914	139	16	track	track	NOUN
hjic-914	139	17	in	in	ADP
hjic-914	139	18	zalaegerszeg	zalaegerszeg	PROPN
hjic-914	139	19	and	and	CCONJ
hjic-914	139	20	the	the	DET
hjic-914	139	21	gps	gps	PROPN
hjic-914	139	22	coordinates	coordinate	NOUN
hjic-914	139	23	are	be	AUX
hjic-914	139	24	assigned	assign	VERB
hjic-914	139	25	using	use	VERB
hjic-914	139	26	universal	universal	ADJ
hjic-914	139	27	transverse	transverse	NOUN
hjic-914	139	28	mercator	mercator	NOUN
hjic-914	139	29	(	(	PUNCT
hjic-914	139	30	utm	utm	PROPN
hjic-914	139	31	)	)	PUNCT
hjic-914	139	32	because	because	SCONJ
hjic-914	139	33	of	of	ADP
hjic-914	139	34	the	the	DET
hjic-914	139	35	minimal	minimal	ADJ
hjic-914	139	36	degree	degree	NOUN
hjic-914	139	37	of	of	ADP
hjic-914	139	38	distortion	distortion	NOUN
hjic-914	139	39	involved	involve	VERB
hjic-914	139	40	.	.	PUNCT
hjic-914	140	1	the	the	DET
hjic-914	140	2	follow	follow	VERB
hjic-914	140	3	the	the	DET
hjic-914	140	4	carrot	carrot	NOUN
hjic-914	140	5	and	and	CCONJ
hjic-914	140	6	speed	speed	NOUN
hjic-914	140	7	ratio	ratio	NOUN
hjic-914	140	8	-	-	PUNCT
hjic-914	140	9	based	base	VERB
hjic-914	140	10	pure	pure	ADJ
hjic-914	140	11	pursuit	pursuit	NOUN
hjic-914	140	12	algorithms	algorithm	NOUN
hjic-914	140	13	had	have	VERB
hjic-914	140	14	to	to	PART
hjic-914	140	15	be	be	AUX
hjic-914	140	16	implemented	implement	VERB
hjic-914	140	17	in	in	ADP
hjic-914	140	18	order	order	NOUN
hjic-914	140	19	to	to	PART
hjic-914	140	20	experiment	experiment	VERB
hjic-914	140	21	with	with	ADP
hjic-914	140	22	them	they	PRON
hjic-914	140	23	in	in	ADP
hjic-914	140	24	the	the	DET
hjic-914	140	25	same	same	ADJ
hjic-914	140	26	environment	environment	NOUN
hjic-914	140	27	.	.	PUNCT
hjic-914	141	1	in	in	ADP
hjic-914	141	2	another	another	DET
hjic-914	141	3	experiment	experiment	NOUN
hjic-914	141	4	,	,	PUNCT
hjic-914	141	5	autonomous	autonomous	ADJ
hjic-914	141	6	functionalities	functionality	NOUN
hjic-914	141	7	were	be	AUX
hjic-914	141	8	installed	instal	VERB
hjic-914	141	9	in	in	ADP
hjic-914	141	10	an	an	DET
hjic-914	141	11	electric	electric	ADJ
hjic-914	141	12	vehicle	vehicle	NOUN
hjic-914	141	13	(	(	PUNCT
hjic-914	141	14	nissan	nissan	PROPN
hjic-914	141	15	leaf	leaf	NOUN
hjic-914	141	16	)	)	PUNCT
hjic-914	141	17	.	.	PUNCT
hjic-914	142	1	fig	fig	NOUN
hjic-914	142	2	.	.	PUNCT
hjic-914	143	1	9	9	NUM
hjic-914	143	2	represents	represent	VERB
hjic-914	143	3	the	the	DET
hjic-914	143	4	vehicle	vehicle	NOUN
hjic-914	143	5	in	in	ADP
hjic-914	143	6	operation	operation	NOUN
hjic-914	143	7	.	.	PUNCT
hjic-914	144	1	the	the	DET
hjic-914	144	2	operational	operational	ADJ
hjic-914	144	3	domain	domain	NOUN
hjic-914	144	4	of	of	ADP
hjic-914	144	5	this	this	DET
hjic-914	144	6	vehicle	vehicle	NOUN
hjic-914	144	7	was	be	AUX
hjic-914	144	8	limited	limit	VERB
hjic-914	144	9	to	to	ADP
hjic-914	144	10	the	the	DET
hjic-914	144	11	zalazone	zalazone	PROPN
hjic-914	144	12	auto48(1	auto48(1	NOUN
hjic-914	144	13	)	)	PUNCT
hjic-914	144	14	pp	pp	ADV
hjic-914	144	15	.	.	PUNCT
hjic-914	145	1	11–17	11–17	NUM
hjic-914	145	2	(	(	PUNCT
hjic-914	145	3	2020	2020	NUM
hjic-914	145	4	)	)	PUNCT
hjic-914	145	5	16	16	NUM
hjic-914	145	6	horváth	horváth	NOUN
hjic-914	145	7	,	,	PUNCT
hjic-914	145	8	pozna	pozna	ADJ
hjic-914	145	9	,	,	PUNCT
hjic-914	145	10	kőrös	kőrös	NOUN
hjic-914	145	11	,	,	PUNCT
hjic-914	145	12	hajdu	hajdu	NOUN
hjic-914	145	13	,	,	PUNCT
hjic-914	145	14	and	and	CCONJ
hjic-914	145	15	ballagi	ballagi	NOUN
hjic-914	145	16	figure	figure	NOUN
hjic-914	145	17	9	9	NUM
hjic-914	145	18	:	:	PUNCT
hjic-914	145	19	the	the	DET
hjic-914	145	20	vehicle	vehicle	NOUN
hjic-914	145	21	used	use	VERB
hjic-914	145	22	in	in	ADP
hjic-914	145	23	our	our	PRON
hjic-914	145	24	experiments	experiment	NOUN
hjic-914	145	25	motive	motive	VERB
hjic-914	145	26	test	test	NOUN
hjic-914	145	27	track	track	NOUN
hjic-914	145	28	and	and	CCONJ
hjic-914	145	29	the	the	DET
hjic-914	145	30	university	university	NOUN
hjic-914	145	31	campus	campus	NOUN
hjic-914	145	32	,	,	PUNCT
hjic-914	145	33	moreover	moreover	ADV
hjic-914	145	34	,	,	PUNCT
hjic-914	145	35	it	it	PRON
hjic-914	145	36	was	be	AUX
hjic-914	145	37	required	require	VERB
hjic-914	145	38	to	to	PART
hjic-914	145	39	reach	reach	VERB
hjic-914	145	40	a	a	DET
hjic-914	145	41	relatively	relatively	ADV
hjic-914	145	42	slow	slow	ADJ
hjic-914	145	43	speed	speed	NOUN
hjic-914	145	44	of	of	ADP
hjic-914	145	45	25	25	NUM
hjic-914	145	46	km	km	PROPN
hjic-914	145	47	/	/	SYM
hjic-914	145	48	h.	h.	PROPN
hjic-914	145	49	the	the	DET
hjic-914	145	50	vehicle	vehicle	NOUN
hjic-914	145	51	has	have	VERB
hjic-914	145	52	front	front	ADJ
hjic-914	145	53	-	-	PUNCT
hjic-914	145	54	wheel	wheel	NOUN
hjic-914	145	55	drive	drive	NOUN
hjic-914	145	56	,	,	PUNCT
hjic-914	145	57	with	with	ADP
hjic-914	145	58	a	a	DET
hjic-914	145	59	wheelbase	wheelbase	NOUN
hjic-914	145	60	of	of	ADP
hjic-914	145	61	2.70	2.70	NUM
hjic-914	145	62	meters	meter	NOUN
hjic-914	145	63	and	and	CCONJ
hjic-914	145	64	a	a	DET
hjic-914	145	65	track	track	NOUN
hjic-914	145	66	width	width	NOUN
hjic-914	145	67	of	of	ADP
hjic-914	145	68	1.77	1.77	NUM
hjic-914	145	69	meters	meter	NOUN
hjic-914	145	70	.	.	PUNCT
hjic-914	146	1	to	to	PART
hjic-914	146	2	ensure	ensure	VERB
hjic-914	146	3	instantaneous	instantaneous	ADJ
hjic-914	146	4	localization	localization	NOUN
hjic-914	146	5	of	of	ADP
hjic-914	146	6	the	the	DET
hjic-914	146	7	vehicle	vehicle	NOUN
hjic-914	146	8	,	,	PUNCT
hjic-914	146	9	two	two	NUM
hjic-914	146	10	highly	highly	ADV
hjic-914	146	11	accurate	accurate	ADJ
hjic-914	146	12	real	real	ADJ
hjic-914	146	13	time	time	NOUN
hjic-914	146	14	kinematic	kinematic	ADJ
hjic-914	146	15	(	(	PUNCT
hjic-914	146	16	rtk)-capable	rtk)-capable	ADJ
hjic-914	146	17	gpss	gpss	PROPN
hjic-914	146	18	were	be	AUX
hjic-914	146	19	used	use	VERB
hjic-914	146	20	.	.	PUNCT
hjic-914	147	1	one	one	NUM
hjic-914	147	2	was	be	AUX
hjic-914	147	3	kvh	kvh	PROPN
hjic-914	147	4	’s	’s	PART
hjic-914	147	5	fiber	fiber	NOUN
hjic-914	147	6	optic	optic	NOUN
hjic-914	147	7	gyro	gyro	NOUN
hjic-914	147	8	3d	3d	NOUN
hjic-914	147	9	inertial	inertial	ADJ
hjic-914	147	10	navigation	navigation	NOUN
hjic-914	147	11	system	system	NOUN
hjic-914	147	12	(	(	PUNCT
hjic-914	147	13	geo	geo	PROPN
hjic-914	147	14	-	-	PUNCT
hjic-914	147	15	fog	fog	PROPN
hjic-914	147	16	3d	3d	PROPN
hjic-914	147	17	ins	in	NOUN
hjic-914	147	18	)	)	PUNCT
hjic-914	147	19	,	,	PUNCT
hjic-914	147	20	the	the	DET
hjic-914	147	21	other	other	ADJ
hjic-914	147	22	was	be	AUX
hjic-914	147	23	swift	swift	ADJ
hjic-914	147	24	navigation	navigation	NOUN
hjic-914	147	25	’s	’s	PART
hjic-914	147	26	duro	duro	PROPN
hjic-914	147	27	inertial	inertial	PROPN
hjic-914	147	28	rtk	rtk	PROPN
hjic-914	147	29	.	.	PUNCT
hjic-914	148	1	these	these	DET
hjic-914	148	2	sensors	sensor	NOUN
hjic-914	148	3	were	be	AUX
hjic-914	148	4	also	also	ADV
hjic-914	148	5	used	use	VERB
hjic-914	148	6	to	to	PART
hjic-914	148	7	capture	capture	VERB
hjic-914	148	8	reference	reference	NOUN
hjic-914	148	9	trajectories	trajectory	NOUN
hjic-914	148	10	.	.	PUNCT
hjic-914	149	1	our	our	PRON
hjic-914	149	2	software	software	NOUN
hjic-914	149	3	was	be	AUX
hjic-914	149	4	based	base	VERB
hjic-914	149	5	on	on	ADP
hjic-914	149	6	osrf	osrf	PROPN
hjic-914	149	7	’s	’s	PART
hjic-914	149	8	ros	ros	PROPN
hjic-914	150	1	[	[	X
hjic-914	150	2	9	9	NUM
hjic-914	150	3	]	]	PUNCT
hjic-914	150	4	.	.	PUNCT
hjic-914	151	1	our	our	PRON
hjic-914	151	2	computing	computing	NOUN
hjic-914	151	3	platform	platform	NOUN
hjic-914	151	4	first	first	ADV
hjic-914	151	5	features	feature	VERB
hjic-914	151	6	the	the	DET
hjic-914	151	7	nvidia	nvidia	PROPN
hjic-914	151	8	jetson	jetson	PROPN
hjic-914	151	9	tx2	tx2	PROPN
hjic-914	151	10	,	,	PUNCT
hjic-914	151	11	later	later	ADV
hjic-914	151	12	the	the	DET
hjic-914	151	13	nvidia	nvidia	PROPN
hjic-914	151	14	jetson	jetson	PROPN
hjic-914	151	15	agx	agx	PROPN
hjic-914	151	16	xavier	xavier	PROPN
hjic-914	151	17	.	.	PUNCT
hjic-914	152	1	low	low	ADJ
hjic-914	152	2	-	-	PUNCT
hjic-914	152	3	level	level	NOUN
hjic-914	152	4	control	control	NOUN
hjic-914	152	5	is	be	AUX
hjic-914	152	6	realized	realize	VERB
hjic-914	152	7	by	by	ADP
hjic-914	152	8	using	use	VERB
hjic-914	152	9	a	a	DET
hjic-914	152	10	national	national	ADJ
hjic-914	152	11	instruments	instrument	NOUN
hjic-914	152	12	’	'	PUNCT
hjic-914	152	13	compactrio	compactrio	NOUN
hjic-914	152	14	controller	controller	NOUN
hjic-914	152	15	,	,	PUNCT
hjic-914	152	16	namely	namely	ADV
hjic-914	152	17	crio-9039	crio-9039	NOUN
hjic-914	152	18	,	,	PUNCT
hjic-914	152	19	as	as	SCONJ
hjic-914	152	20	the	the	DET
hjic-914	152	21	real	real	ADJ
hjic-914	152	22	-	-	PUNCT
hjic-914	152	23	time	time	NOUN
hjic-914	152	24	and	and	CCONJ
hjic-914	152	25	fpga	fpga	PROPN
hjic-914	152	26	modules	module	VERB
hjic-914	152	27	the	the	DET
hjic-914	152	28	ni-9853	ni-9853	NOUN
hjic-914	152	29	can	can	AUX
hjic-914	152	30	,	,	PUNCT
hjic-914	152	31	ni-9403	ni-9403	PROPN
hjic-914	152	32	di	di	PROPN
hjic-914	152	33	,	,	PUNCT
hjic-914	152	34	ni9205	ni9205	PROPN
hjic-914	152	35	voltage	voltage	NOUN
hjic-914	152	36	input	input	NOUN
hjic-914	152	37	and	and	CCONJ
hjic-914	152	38	ni-9264	ni-9264	VERB
hjic-914	152	39	voltage	voltage	NOUN
hjic-914	152	40	output	output	NOUN
hjic-914	152	41	modules	module	NOUN
hjic-914	152	42	to	to	PART
hjic-914	152	43	be	be	AUX
hjic-914	152	44	exact	exact	ADJ
hjic-914	152	45	.	.	PUNCT
hjic-914	153	1	after	after	SCONJ
hjic-914	153	2	the	the	DET
hjic-914	153	3	algorithm	algorithm	NOUN
hjic-914	153	4	exhibited	exhibit	VERB
hjic-914	153	5	satisfactory	satisfactory	ADJ
hjic-914	153	6	behavior	behavior	NOUN
hjic-914	153	7	in	in	ADP
hjic-914	153	8	the	the	DET
hjic-914	153	9	simulation	simulation	NOUN
hjic-914	153	10	environment	environment	NOUN
hjic-914	153	11	,	,	PUNCT
hjic-914	153	12	it	it	PRON
hjic-914	153	13	was	be	AUX
hjic-914	153	14	tested	test	VERB
hjic-914	153	15	in	in	ADP
hjic-914	153	16	a	a	DET
hjic-914	153	17	realworld	realworld	PROPN
hjic-914	153	18	scenario	scenario	NOUN
hjic-914	153	19	.	.	PUNCT
hjic-914	154	1	during	during	ADP
hjic-914	154	2	the	the	DET
hjic-914	154	3	experiment	experiment	NOUN
hjic-914	154	4	,	,	PUNCT
hjic-914	154	5	the	the	DET
hjic-914	154	6	nvidia	nvidia	PROPN
hjic-914	154	7	jetson	jetson	PROPN
hjic-914	154	8	tx2	tx2	PROPN
hjic-914	154	9	was	be	AUX
hjic-914	154	10	used	use	VERB
hjic-914	154	11	in	in	ADP
hjic-914	154	12	the	the	DET
hjic-914	154	13	nissan	nissan	PROPN
hjic-914	154	14	leaf	leaf	NOUN
hjic-914	154	15	.	.	PUNCT
hjic-914	155	1	the	the	DET
hjic-914	155	2	nvidia	nvidia	PROPN
hjic-914	155	3	jetson	jetson	PROPN
hjic-914	155	4	tx2	tx2	PROPN
hjic-914	155	5	is	be	AUX
hjic-914	155	6	a	a	DET
hjic-914	155	7	7.5	7.5	NUM
hjic-914	155	8	-	-	PUNCT
hjic-914	155	9	watt	watt	NOUN
hjic-914	155	10	embedded	embed	VERB
hjic-914	155	11	controller	controller	NOUN
hjic-914	155	12	in	in	ADP
hjic-914	155	13	which	which	PRON
hjic-914	155	14	the	the	DET
hjic-914	155	15	ubuntu	ubuntu	ADJ
hjic-914	155	16	18.04	18.04	NUM
hjic-914	155	17	lts	lts	NOUN
hjic-914	155	18	bionic	bionic	ADJ
hjic-914	155	19	beaver	beaver	NOUN
hjic-914	155	20	along	along	ADP
hjic-914	155	21	with	with	ADP
hjic-914	155	22	the	the	DET
hjic-914	155	23	ros	ros	PROPN
hjic-914	155	24	melodic	melodic	ADJ
hjic-914	155	25	morenia	morenia	NOUN
hjic-914	155	26	were	be	AUX
hjic-914	155	27	used	use	VERB
hjic-914	155	28	.	.	PUNCT
hjic-914	156	1	the	the	DET
hjic-914	156	2	embedded	embed	VERB
hjic-914	156	3	controller	controller	NOUN
hjic-914	156	4	had	have	VERB
hjic-914	156	5	a	a	DET
hjic-914	156	6	memory	memory	NOUN
hjic-914	156	7	capacity	capacity	NOUN
hjic-914	156	8	of	of	ADP
hjic-914	156	9	8	8	NUM
hjic-914	156	10	gb	gb	NOUN
hjic-914	156	11	and	and	CCONJ
hjic-914	156	12	memory	memory	NOUN
hjic-914	156	13	bandwidth	bandwidth	NOUN
hjic-914	156	14	of	of	ADP
hjic-914	156	15	59.7	59.7	NUM
hjic-914	156	16	gb	gb	NOUN
hjic-914	156	17	/	/	SYM
hjic-914	156	18	s	s	NOUN
hjic-914	156	19	as	as	ADV
hjic-914	156	20	well	well	ADV
hjic-914	156	21	as	as	ADP
hjic-914	156	22	nvidia	nvidia	PROPN
hjic-914	156	23	’s	’s	PART
hjic-914	156	24	denver2	denver2	PROPN
hjic-914	156	25	,	,	PUNCT
hjic-914	156	26	quad	quad	ADJ
hjic-914	156	27	-	-	PUNCT
hjic-914	156	28	core	core	NOUN
hjic-914	156	29	arm	arm	NOUN
hjic-914	156	30	cortex	cortex	NOUN
hjic-914	156	31	-	-	PUNCT
hjic-914	156	32	a57	a57	ADJ
hjic-914	156	33	cpu	cpu	NOUN
hjic-914	156	34	and	and	CCONJ
hjic-914	156	35	integrated	integrate	VERB
hjic-914	156	36	256	256	NUM
hjic-914	156	37	-	-	PUNCT
hjic-914	156	38	core	core	NOUN
hjic-914	156	39	pascal	pascal	ADJ
hjic-914	156	40	gpu	gpu	PROPN
hjic-914	156	41	installed	instal	VERB
hjic-914	156	42	.	.	PUNCT
hjic-914	157	1	during	during	ADP
hjic-914	157	2	our	our	PRON
hjic-914	157	3	experiments	experiment	NOUN
hjic-914	157	4	,	,	PUNCT
hjic-914	157	5	only	only	ADV
hjic-914	157	6	the	the	DET
hjic-914	157	7	kvh	kvh	PROPN
hjic-914	157	8	’s	’s	PART
hjic-914	157	9	geo	geo	PROPN
hjic-914	157	10	-	-	PUNCT
hjic-914	157	11	fog	fog	PROPN
hjic-914	157	12	3d	3d	PROPN
hjic-914	157	13	ins	in	NOUN
hjic-914	157	14	sensor	sensor	NOUN
hjic-914	157	15	was	be	AUX
hjic-914	157	16	used	use	VERB
hjic-914	157	17	as	as	ADP
hjic-914	157	18	the	the	DET
hjic-914	157	19	source	source	NOUN
hjic-914	157	20	of	of	ADP
hjic-914	157	21	localization	localization	NOUN
hjic-914	157	22	,	,	PUNCT
hjic-914	157	23	the	the	DET
hjic-914	157	24	wheel	wheel	NOUN
hjic-914	157	25	angle	angle	NOUN
hjic-914	157	26	reference	reference	NOUN
hjic-914	157	27	signal	signal	NOUN
hjic-914	157	28	in	in	ADP
hjic-914	157	29	addition	addition	NOUN
hjic-914	157	30	to	to	ADP
hjic-914	157	31	the	the	DET
hjic-914	157	32	speed	speed	NOUN
hjic-914	157	33	reference	reference	NOUN
hjic-914	157	34	via	via	ADP
hjic-914	157	35	can	can	AUX
hjic-914	157	36	were	be	AUX
hjic-914	157	37	provided	provide	VERB
hjic-914	157	38	,	,	PUNCT
hjic-914	157	39	and	and	CCONJ
hjic-914	157	40	the	the	DET
hjic-914	157	41	wheel	wheel	NOUN
hjic-914	157	42	angle	angle	NOUN
hjic-914	157	43	and	and	CCONJ
hjic-914	157	44	speed	speed	NOUN
hjic-914	157	45	were	be	AUX
hjic-914	157	46	measured	measure	VERB
hjic-914	157	47	back	back	ADV
hjic-914	157	48	in	in	ADP
hjic-914	157	49	the	the	DET
hjic-914	157	50	same	same	ADJ
hjic-914	157	51	protocol	protocol	NOUN
hjic-914	157	52	.	.	PUNCT
hjic-914	158	1	nevertheless	nevertheless	ADV
hjic-914	158	2	,	,	PUNCT
hjic-914	158	3	during	during	ADP
hjic-914	158	4	acquisition	acquisition	NOUN
hjic-914	158	5	of	of	ADP
hjic-914	158	6	the	the	DET
hjic-914	158	7	data	datum	NOUN
hjic-914	158	8	,	,	PUNCT
hjic-914	158	9	all	all	DET
hjic-914	158	10	the	the	DET
hjic-914	158	11	sensory	sensory	ADJ
hjic-914	158	12	information	information	NOUN
hjic-914	158	13	was	be	AUX
hjic-914	158	14	logged	log	VERB
hjic-914	158	15	by	by	ADP
hjic-914	158	16	two	two	NUM
hjic-914	158	17	of	of	ADP
hjic-914	158	18	velodyne	velodyne	PROPN
hjic-914	158	19	’s	’s	PART
hjic-914	158	20	16	16	NUM
hjic-914	158	21	-	-	PUNCT
hjic-914	158	22	channel	channel	NOUN
hjic-914	158	23	lidars	lidar	NOUN
hjic-914	158	24	,	,	PUNCT
hjic-914	158	25	sick	sick	ADJ
hjic-914	158	26	’s	’s	PART
hjic-914	158	27	1	1	NUM
hjic-914	158	28	-	-	PUNCT
hjic-914	158	29	channel	channel	NOUN
hjic-914	158	30	laser	laser	NOUN
hjic-914	158	31	measurement	measurement	NOUN
hjic-914	158	32	sensor	sensor	NOUN
hjic-914	158	33	lms111	lms111	PROPN
hjic-914	158	34	and	and	CCONJ
hjic-914	158	35	the	the	DET
hjic-914	158	36	camera	camera	NOUN
hjic-914	158	37	stream	stream	NOUN
hjic-914	158	38	into	into	ADP
hjic-914	158	39	ros	ros	PROPN
hjic-914	158	40	bag	bag	NOUN
hjic-914	158	41	files	file	NOUN
hjic-914	158	42	.	.	PUNCT
hjic-914	159	1	the	the	DET
hjic-914	159	2	following	follow	VERB
hjic-914	159	3	chart	chart	NOUN
hjic-914	159	4	(	(	PUNCT
hjic-914	159	5	fig	fig	NOUN
hjic-914	159	6	.	.	PUNCT
hjic-914	159	7	10	10	NUM
hjic-914	159	8	)	)	PUNCT
hjic-914	159	9	shows	show	VERB
hjic-914	159	10	an	an	DET
hjic-914	159	11	example	example	NOUN
hjic-914	159	12	of	of	ADP
hjic-914	159	13	how	how	SCONJ
hjic-914	159	14	the	the	DET
hjic-914	159	15	algorithm	algorithm	NOUN
hjic-914	159	16	generated	generate	VERB
hjic-914	159	17	reference	reference	NOUN
hjic-914	159	18	trajectories	trajectory	NOUN
hjic-914	159	19	for	for	ADP
hjic-914	159	20	two	two	NUM
hjic-914	159	21	bends	bend	NOUN
hjic-914	159	22	on	on	ADP
hjic-914	159	23	the	the	DET
hjic-914	159	24	routine	routine	ADJ
hjic-914	159	25	track	track	NOUN
hjic-914	159	26	,	,	PUNCT
hjic-914	159	27	moreover	moreover	ADV
hjic-914	159	28	,	,	PUNCT
hjic-914	159	29	the	the	DET
hjic-914	159	30	measured	measured	ADJ
hjic-914	159	31	wheel	wheel	NOUN
hjic-914	159	32	angle	angle	NOUN
hjic-914	159	33	is	be	AUX
hjic-914	159	34	shown	show	VERB
hjic-914	159	35	.	.	PUNCT
hjic-914	160	1	the	the	DET
hjic-914	160	2	waypoints	waypoint	NOUN
hjic-914	160	3	for	for	ADP
hjic-914	160	4	the	the	DET
hjic-914	160	5	algorithm	algorithm	NOUN
hjic-914	160	6	were	be	AUX
hjic-914	160	7	provided	provide	VERB
hjic-914	160	8	by	by	ADP
hjic-914	160	9	driving	drive	VERB
hjic-914	160	10	through	through	ADP
hjic-914	160	11	a	a	DET
hjic-914	160	12	predetermined	predetermined	ADJ
hjic-914	160	13	path	path	NOUN
hjic-914	160	14	then	then	ADV
hjic-914	160	15	saving	save	VERB
hjic-914	160	16	as	as	ADV
hjic-914	160	17	well	well	ADV
hjic-914	160	18	as	as	ADP
hjic-914	160	19	filtering	filter	VERB
hjic-914	160	20	the	the	DET
hjic-914	160	21	position	position	NOUN
hjic-914	160	22	and	and	CCONJ
hjic-914	160	23	speed	speed	NOUN
hjic-914	160	24	data	datum	NOUN
hjic-914	160	25	via	via	ADP
hjic-914	160	26	the	the	DET
hjic-914	160	27	waypoint_saver	waypoint_saver	X
hjic-914	160	28	node	node	NOUN
hjic-914	160	29	.	.	PUNCT
hjic-914	161	1	in	in	ADP
hjic-914	161	2	this	this	DET
hjic-914	161	3	experiment	experiment	NOUN
hjic-914	161	4	,	,	PUNCT
hjic-914	161	5	only	only	ADV
hjic-914	161	6	the	the	DET
hjic-914	161	7	multiple	multiple	ADJ
hjic-914	161	8	goal	goal	NOUN
hjic-914	161	9	pursuit	pursuit	NOUN
hjic-914	161	10	al-4	al-4	ADP
hjic-914	161	11	-2	-2	NOUN
hjic-914	161	12	0	0	NUM
hjic-914	161	13	2	2	NUM
hjic-914	161	14	4	4	NUM
hjic-914	161	15	6	6	NUM
hjic-914	161	16	8	8	NUM
hjic-914	161	17	10	10	NUM
hjic-914	161	18	12	12	NUM
hjic-914	161	19	14	14	NUM
hjic-914	161	20	0.00	0.00	NUM
hjic-914	161	21	2.00	2.00	NUM
hjic-914	161	22	4.00	4.00	NUM
hjic-914	161	23	6.00	6.00	NUM
hjic-914	161	24	8.00	8.00	NUM
hjic-914	161	25	10.00	10.00	NUM
hjic-914	161	26	12.00	12.00	NUM
hjic-914	161	27	14.00	14.00	NUM
hjic-914	161	28	16.00	16.00	NUM
hjic-914	161	29	18.00	18.00	NUM
hjic-914	161	30	20.00	20.00	NUM
hjic-914	161	31	an	an	DET
hjic-914	161	32	gl	gl	NOUN
hjic-914	161	33	e	e	X
hjic-914	161	34	(	(	PUNCT
hjic-914	161	35	d	d	NOUN
hjic-914	161	36	eg	eg	NOUN
hjic-914	161	37	)	)	PUNCT
hjic-914	161	38	time	time	NOUN
hjic-914	161	39	(	(	PUNCT
hjic-914	161	40	s	s	NOUN
hjic-914	161	41	)	)	PUNCT
hjic-914	161	42	wheel	wheel	NOUN
hjic-914	161	43	angle	angle	NOUN
hjic-914	161	44	measurements	measurement	NOUN
hjic-914	161	45	wheel	wheel	PROPN
hjic-914	161	46	angle	angle	NOUN
hjic-914	161	47	reference	reference	NOUN
hjic-914	161	48	wheel	wheel	NOUN
hjic-914	161	49	angle	angle	NOUN
hjic-914	161	50	figure	figure	NOUN
hjic-914	161	51	10	10	NUM
hjic-914	161	52	:	:	PUNCT
hjic-914	161	53	changes	change	NOUN
hjic-914	161	54	in	in	ADP
hjic-914	161	55	the	the	DET
hjic-914	161	56	wheel	wheel	NOUN
hjic-914	161	57	angle	angle	NOUN
hjic-914	161	58	around	around	ADP
hjic-914	161	59	two	two	NUM
hjic-914	161	60	bends	bend	NOUN
hjic-914	161	61	gorithm	gorithm	NOUN
hjic-914	161	62	with	with	ADP
hjic-914	161	63	one	one	NUM
hjic-914	161	64	parameter	parameter	NOUN
hjic-914	161	65	set	set	NOUN
hjic-914	161	66	was	be	AUX
hjic-914	161	67	used	use	VERB
hjic-914	161	68	.	.	PUNCT
hjic-914	162	1	this	this	DET
hjic-914	162	2	set	set	NOUN
hjic-914	162	3	is	be	AUX
hjic-914	162	4	better	well	ADJ
hjic-914	162	5	compared	compare	VERB
hjic-914	162	6	to	to	ADP
hjic-914	162	7	autoware	autoware	PROPN
hjic-914	162	8	’s	’s	PART
hjic-914	162	9	pure	pure	ADJ
hjic-914	162	10	pursuit	pursuit	NOUN
hjic-914	162	11	algorithm	algorithm	NOUN
hjic-914	162	12	in	in	ADP
hjic-914	162	13	terms	term	NOUN
hjic-914	162	14	of	of	ADP
hjic-914	162	15	lateral	lateral	ADJ
hjic-914	162	16	deviation	deviation	NOUN
hjic-914	162	17	,	,	PUNCT
hjic-914	162	18	but	but	CCONJ
hjic-914	162	19	the	the	DET
hjic-914	162	20	speed	speed	NOUN
hjic-914	162	21	ratio	ratio	NOUN
hjic-914	162	22	-	-	PUNCT
hjic-914	162	23	based	base	VERB
hjic-914	162	24	version	version	NOUN
hjic-914	162	25	worked	work	VERB
hjic-914	162	26	even	even	ADV
hjic-914	162	27	better	well	ADV
hjic-914	162	28	.	.	PUNCT
hjic-914	163	1	as	as	ADP
hjic-914	163	2	a	a	DET
hjic-914	163	3	result	result	NOUN
hjic-914	163	4	,	,	PUNCT
hjic-914	163	5	the	the	DET
hjic-914	163	6	multiple	multiple	ADJ
hjic-914	163	7	goal	goal	NOUN
hjic-914	163	8	pursuit	pursuit	NOUN
hjic-914	163	9	algorithm	algorithm	NOUN
hjic-914	163	10	was	be	AUX
hjic-914	163	11	able	able	ADJ
hjic-914	163	12	to	to	PART
hjic-914	163	13	control	control	VERB
hjic-914	163	14	the	the	DET
hjic-914	163	15	vehicle	vehicle	NOUN
hjic-914	163	16	with	with	ADP
hjic-914	163	17	the	the	DET
hjic-914	163	18	aforementioned	aforementioned	ADJ
hjic-914	163	19	embedded	embed	VERB
hjic-914	163	20	controller	controller	NOUN
hjic-914	163	21	at	at	ADP
hjic-914	163	22	slow	slow	ADJ
hjic-914	163	23	speeds	speed	NOUN
hjic-914	163	24	of	of	ADP
hjic-914	163	25	approximately	approximately	ADV
hjic-914	163	26	25	25	NUM
hjic-914	163	27	km	km	PROPN
hjic-914	163	28	/	/	SYM
hjic-914	163	29	h.	h.	NOUN
hjic-914	163	30	the	the	DET
hjic-914	163	31	algorithm	algorithm	NOUN
hjic-914	163	32	is	be	AUX
hjic-914	163	33	able	able	ADJ
hjic-914	163	34	to	to	PART
hjic-914	163	35	perform	perform	VERB
hjic-914	163	36	smooth	smooth	ADJ
hjic-914	163	37	and	and	CCONJ
hjic-914	163	38	continuous	continuous	ADJ
hjic-914	163	39	movements	movement	NOUN
hjic-914	163	40	along	along	ADP
hjic-914	163	41	a	a	DET
hjic-914	163	42	predefined	predefine	VERB
hjic-914	163	43	trajectory	trajectory	NOUN
hjic-914	163	44	,	,	PUNCT
hjic-914	163	45	even	even	ADV
hjic-914	163	46	maneuvering	maneuver	VERB
hjic-914	163	47	around	around	ADP
hjic-914	163	48	bends	bend	NOUN
hjic-914	163	49	and	and	CCONJ
hjic-914	163	50	along	along	ADP
hjic-914	163	51	edges	edge	NOUN
hjic-914	163	52	.	.	PUNCT
hjic-914	164	1	5	5	X
hjic-914	164	2	.	.	X
hjic-914	164	3	conclusion	conclusion	NOUN
hjic-914	164	4	the	the	DET
hjic-914	164	5	current	current	ADJ
hjic-914	164	6	paper	paper	NOUN
hjic-914	164	7	described	describe	VERB
hjic-914	164	8	the	the	DET
hjic-914	164	9	development	development	NOUN
hjic-914	164	10	of	of	ADP
hjic-914	164	11	a	a	DET
hjic-914	164	12	trajectory	trajectory	NOUN
hjic-914	164	13	-	-	PUNCT
hjic-914	164	14	tracking	track	VERB
hjic-914	164	15	approach	approach	NOUN
hjic-914	164	16	,	,	PUNCT
hjic-914	164	17	namely	namely	ADV
hjic-914	164	18	the	the	DET
hjic-914	164	19	multiple	multiple	ADJ
hjic-914	164	20	goal	goal	NOUN
hjic-914	164	21	pursuit	pursuit	NOUN
hjic-914	164	22	,	,	PUNCT
hjic-914	164	23	and	and	CCONJ
hjic-914	164	24	summarized	summarize	VERB
hjic-914	164	25	the	the	DET
hjic-914	164	26	mathematical	mathematical	ADJ
hjic-914	164	27	and	and	CCONJ
hjic-914	164	28	theoretical	theoretical	ADJ
hjic-914	164	29	background	background	NOUN
hjic-914	164	30	needed	need	VERB
hjic-914	164	31	to	to	PART
hjic-914	164	32	understand	understand	VERB
hjic-914	164	33	its	its	PRON
hjic-914	164	34	working	work	VERB
hjic-914	164	35	principles	principle	NOUN
hjic-914	164	36	.	.	PUNCT
hjic-914	165	1	enhancements	enhancement	NOUN
hjic-914	165	2	to	to	ADP
hjic-914	165	3	and	and	CCONJ
hjic-914	165	4	variations	variation	NOUN
hjic-914	165	5	in	in	ADP
hjic-914	165	6	the	the	DET
hjic-914	165	7	basic	basic	ADJ
hjic-914	165	8	approach	approach	NOUN
hjic-914	165	9	are	be	AUX
hjic-914	165	10	also	also	ADV
hjic-914	165	11	described	describe	VERB
hjic-914	165	12	with	with	ADP
hjic-914	165	13	regard	regard	NOUN
hjic-914	165	14	to	to	ADP
hjic-914	165	15	their	their	PRON
hjic-914	165	16	benefits	benefit	NOUN
hjic-914	165	17	and	and	CCONJ
hjic-914	165	18	weaknesses	weakness	NOUN
hjic-914	165	19	.	.	PUNCT
hjic-914	166	1	furthermore	furthermore	ADV
hjic-914	166	2	,	,	PUNCT
hjic-914	166	3	a	a	DET
hjic-914	166	4	brief	brief	ADJ
hjic-914	166	5	insight	insight	NOUN
hjic-914	166	6	into	into	ADP
hjic-914	166	7	the	the	DET
hjic-914	166	8	development	development	NOUN
hjic-914	166	9	process	process	NOUN
hjic-914	166	10	is	be	AUX
hjic-914	166	11	given	give	VERB
hjic-914	166	12	.	.	PUNCT
hjic-914	167	1	firstly	firstly	ADV
hjic-914	167	2	,	,	PUNCT
hjic-914	167	3	an	an	DET
hjic-914	167	4	initial	initial	ADJ
hjic-914	167	5	version	version	NOUN
hjic-914	167	6	was	be	AUX
hjic-914	167	7	developed	develop	VERB
hjic-914	167	8	in	in	ADP
hjic-914	167	9	our	our	PRON
hjic-914	167	10	own	own	ADJ
hjic-914	167	11	simulation	simulation	NOUN
hjic-914	167	12	environment	environment	NOUN
hjic-914	167	13	,	,	PUNCT
hjic-914	167	14	later	later	ADV
hjic-914	167	15	the	the	DET
hjic-914	167	16	code	code	NOUN
hjic-914	167	17	became	become	VERB
hjic-914	167	18	an	an	DET
hjic-914	167	19	ros	ros	PROPN
hjic-914	167	20	node	node	NOUN
hjic-914	167	21	and	and	CCONJ
hjic-914	167	22	the	the	DET
hjic-914	167	23	simulation	simulation	NOUN
hjic-914	167	24	environment	environment	NOUN
hjic-914	167	25	was	be	AUX
hjic-914	167	26	replaced	replace	VERB
hjic-914	167	27	by	by	ADP
hjic-914	167	28	gazebo	gazebo	PROPN
hjic-914	167	29	.	.	PUNCT
hjic-914	168	1	finally	finally	ADV
hjic-914	168	2	,	,	PUNCT
hjic-914	168	3	real	real	ADJ
hjic-914	168	4	-	-	PUNCT
hjic-914	168	5	world	world	NOUN
hjic-914	168	6	tests	test	NOUN
hjic-914	168	7	showed	show	VERB
hjic-914	168	8	the	the	DET
hjic-914	168	9	viability	viability	NOUN
hjic-914	168	10	of	of	ADP
hjic-914	168	11	the	the	DET
hjic-914	168	12	new	new	ADJ
hjic-914	168	13	algorithm	algorithm	NOUN
hjic-914	168	14	,	,	PUNCT
hjic-914	168	15	which	which	PRON
hjic-914	168	16	was	be	AUX
hjic-914	168	17	tested	test	VERB
hjic-914	168	18	by	by	ADP
hjic-914	168	19	an	an	DET
hjic-914	168	20	autonomously	autonomously	ADV
hjic-914	168	21	guided	guide	VERB
hjic-914	168	22	vehicle	vehicle	NOUN
hjic-914	168	23	in	in	ADP
hjic-914	168	24	a	a	DET
hjic-914	168	25	closed	closed	ADJ
hjic-914	168	26	but	but	CCONJ
hjic-914	168	27	real	real	ADJ
hjic-914	168	28	-	-	PUNCT
hjic-914	168	29	world	world	NOUN
hjic-914	168	30	traffic	traffic	NOUN
hjic-914	168	31	environment	environment	NOUN
hjic-914	168	32	.	.	PUNCT
hjic-914	169	1	one	one	NUM
hjic-914	169	2	of	of	ADP
hjic-914	169	3	the	the	DET
hjic-914	169	4	benefits	benefit	NOUN
hjic-914	169	5	of	of	ADP
hjic-914	169	6	this	this	DET
hjic-914	169	7	algorithm	algorithm	NOUN
hjic-914	169	8	is	be	AUX
hjic-914	169	9	that	that	SCONJ
hjic-914	169	10	it	it	PRON
hjic-914	169	11	can	can	AUX
hjic-914	169	12	be	be	AUX
hjic-914	169	13	tuned	tune	VERB
hjic-914	169	14	more	more	ADV
hjic-914	169	15	precisely	precisely	ADV
hjic-914	169	16	around	around	ADP
hjic-914	169	17	bends	bend	NOUN
hjic-914	169	18	,	,	PUNCT
hjic-914	169	19	moreover	moreover	ADV
hjic-914	169	20	,	,	PUNCT
hjic-914	169	21	it	it	PRON
hjic-914	169	22	involves	involve	VERB
hjic-914	169	23	more	more	ADJ
hjic-914	169	24	human	human	ADJ
hjic-914	169	25	-	-	PUNCT
hjic-914	169	26	like	like	ADJ
hjic-914	169	27	thinking	thinking	NOUN
hjic-914	169	28	,	,	PUNCT
hjic-914	169	29	that	that	ADV
hjic-914	169	30	is	is	ADV
hjic-914	169	31	,	,	PUNCT
hjic-914	169	32	tracks	track	NOUN
hjic-914	169	33	and	and	CCONJ
hjic-914	169	34	follows	follow	VERB
hjic-914	169	35	more	more	ADJ
hjic-914	169	36	waypoints	waypoint	NOUN
hjic-914	169	37	on	on	ADP
hjic-914	169	38	the	the	DET
hjic-914	169	39	road	road	NOUN
hjic-914	169	40	simultaneously	simultaneously	ADV
hjic-914	169	41	.	.	PUNCT
hjic-914	170	1	furthermore	furthermore	ADV
hjic-914	170	2	,	,	PUNCT
hjic-914	170	3	this	this	DET
hjic-914	170	4	approach	approach	NOUN
hjic-914	170	5	provides	provide	VERB
hjic-914	170	6	quick	quick	ADJ
hjic-914	170	7	and	and	CCONJ
hjic-914	170	8	reliable	reliable	ADJ
hjic-914	170	9	reference	reference	NOUN
hjic-914	170	10	signals	signal	NOUN
hjic-914	170	11	for	for	ADP
hjic-914	170	12	car	car	NOUN
hjic-914	170	13	-	-	PUNCT
hjic-914	170	14	like	like	ADJ
hjic-914	170	15	robot	robot	NOUN
hjic-914	170	16	kinematics	kinematic	NOUN
hjic-914	170	17	,	,	PUNCT
hjic-914	170	18	thus	thus	ADV
hjic-914	170	19	can	can	AUX
hjic-914	170	20	follow	follow	VERB
hjic-914	170	21	the	the	DET
hjic-914	170	22	trajectory	trajectory	NOUN
hjic-914	170	23	with	with	ADP
hjic-914	170	24	relatively	relatively	ADV
hjic-914	170	25	small	small	ADJ
hjic-914	170	26	errors	error	NOUN
hjic-914	170	27	.	.	PUNCT
hjic-914	171	1	the	the	DET
hjic-914	171	2	discussed	discuss	VERB
hjic-914	171	3	algorithm	algorithm	NOUN
hjic-914	171	4	was	be	AUX
hjic-914	171	5	implemented	implement	VERB
hjic-914	171	6	in	in	ADP
hjic-914	171	7	matlab	matlab	PROPN
hjic-914	171	8	and	and	CCONJ
hjic-914	171	9	c++	c++	NOUN
hjic-914	171	10	as	as	ADP
hjic-914	171	11	a	a	DET
hjic-914	171	12	robot	robot	NOUN
hjic-914	171	13	operating	operate	VERB
hjic-914	171	14	system	system	NOUN
hjic-914	171	15	node	node	NOUN
hjic-914	171	16	and	and	CCONJ
hjic-914	171	17	our	our	PRON
hjic-914	171	18	measurements	measurement	NOUN
hjic-914	171	19	were	be	AUX
hjic-914	171	20	based	base	VERB
hjic-914	171	21	on	on	ADP
hjic-914	171	22	debug	debug	NOUN
hjic-914	171	23	data	datum	NOUN
hjic-914	171	24	generated	generate	VERB
hjic-914	171	25	by	by	ADP
hjic-914	171	26	this	this	DET
hjic-914	171	27	node	node	NOUN
hjic-914	171	28	.	.	PUNCT
hjic-914	172	1	this	this	DET
hjic-914	172	2	implementation	implementation	NOUN
hjic-914	172	3	is	be	AUX
hjic-914	172	4	currently	currently	ADV
hjic-914	172	5	publicly	publicly	ADV
hjic-914	172	6	available	available	ADJ
hjic-914	172	7	on	on	ADP
hjic-914	172	8	github	github	NOUN
hjic-914	172	9	in	in	ADP
hjic-914	172	10	addition	addition	NOUN
hjic-914	172	11	to	to	ADP
hjic-914	172	12	other	other	ADJ
hjic-914	172	13	measurements	measurement	NOUN
hjic-914	172	14	,	,	PUNCT
hjic-914	172	15	videos	video	NOUN
hjic-914	172	16	,	,	PUNCT
hjic-914	172	17	results	result	NOUN
hjic-914	172	18	and	and	CCONJ
hjic-914	172	19	source	source	NOUN
hjic-914	172	20	codes	code	NOUN
hjic-914	172	21	:	:	PUNCT
hjic-914	172	22	https://github.com/szenergy/	https://github.com/szenergy/	X
hjic-914	172	23	szenergy	szenergy	NOUN
hjic-914	172	24	-	-	PUNCT
hjic-914	172	25	public	public	ADJ
hjic-914	172	26	-	-	PUNCT
hjic-914	172	27	resources	resource	NOUN
hjic-914	172	28	.	.	PUNCT
hjic-914	173	1	hungarian	hungarian	ADJ
hjic-914	173	2	journal	journal	NOUN
hjic-914	173	3	of	of	ADP
hjic-914	173	4	industry	industry	NOUN
hjic-914	173	5	and	and	CCONJ
hjic-914	173	6	chemistry	chemistry	NOUN
hjic-914	173	7	https://github.com/szenergy/szenergy-public-resources	https://github.com/szenergy/szenergy-public-resource	NOUN
hjic-914	173	8	https://github.com/szenergy/szenergy-public-resources	https://github.com/szenergy/szenergy-public-resource	NOUN
hjic-914	173	9	multiple	multiple	ADJ
hjic-914	173	10	goal	goal	NOUN
hjic-914	173	11	pursuit	pursuit	NOUN
hjic-914	173	12	trajectory	trajectory	NOUN
hjic-914	173	13	follower	follower	NOUN
hjic-914	173	14	17	17	NUM
hjic-914	173	15	acknowledgements	acknowledgement	NOUN
hjic-914	173	16	the	the	DET
hjic-914	173	17	research	research	NOUN
hjic-914	173	18	was	be	AUX
hjic-914	173	19	carried	carry	VERB
hjic-914	173	20	out	out	ADP
hjic-914	173	21	as	as	ADP
hjic-914	173	22	part	part	NOUN
hjic-914	173	23	of	of	ADP
hjic-914	173	24	the	the	DET
hjic-914	173	25	“	"	PUNCT
hjic-914	173	26	autonomous	autonomous	ADJ
hjic-914	173	27	vehicle	vehicle	NOUN
hjic-914	173	28	systems	system	NOUN
hjic-914	173	29	research	research	NOUN
hjic-914	173	30	related	relate	VERB
hjic-914	173	31	to	to	ADP
hjic-914	173	32	the	the	DET
hjic-914	173	33	autonomous	autonomous	ADJ
hjic-914	173	34	vehicle	vehicle	NOUN
hjic-914	173	35	proving	prove	VERB
hjic-914	173	36	ground	ground	NOUN
hjic-914	173	37	of	of	ADP
hjic-914	173	38	zalaegerszeg	zalaegerszeg	PROPN
hjic-914	173	39	(	(	PUNCT
hjic-914	173	40	efop-3.6.216	efop-3.6.216	VERB
hjic-914	173	41	-	-	PUNCT
hjic-914	173	42	2017	2017	NUM
hjic-914	173	43	-	-	PUNCT
hjic-914	173	44	00002	00002	NUM
hjic-914	173	45	)	)	PUNCT
hjic-914	173	46	"	"	PUNCT
hjic-914	173	47	project	project	NOUN
hjic-914	173	48	in	in	ADP
hjic-914	173	49	the	the	DET
hjic-914	173	50	framework	framework	NOUN
hjic-914	173	51	of	of	ADP
hjic-914	173	52	the	the	DET
hjic-914	173	53	new	new	ADJ
hjic-914	173	54	széchenyi	széchenyi	PROPN
hjic-914	173	55	plan	plan	NOUN
hjic-914	173	56	.	.	PUNCT
hjic-914	174	1	the	the	DET
hjic-914	174	2	completion	completion	NOUN
hjic-914	174	3	of	of	ADP
hjic-914	174	4	this	this	DET
hjic-914	174	5	project	project	NOUN
hjic-914	174	6	is	be	AUX
hjic-914	174	7	funded	fund	VERB
hjic-914	174	8	by	by	ADP
hjic-914	174	9	the	the	DET
hjic-914	174	10	european	european	PROPN
hjic-914	174	11	union	union	PROPN
hjic-914	174	12	and	and	CCONJ
hjic-914	174	13	co	co	VERB
hjic-914	174	14	-	-	VERB
hjic-914	174	15	financed	finance	VERB
hjic-914	174	16	by	by	ADP
hjic-914	174	17	the	the	DET
hjic-914	174	18	european	european	ADJ
hjic-914	174	19	social	social	PROPN
hjic-914	174	20	fund	fund	PROPN
hjic-914	174	21	.	.	PUNCT
hjic-914	175	1	references	reference	NOUN
hjic-914	175	2	[	[	X
hjic-914	175	3	1	1	NUM
hjic-914	175	4	]	]	X
hjic-914	175	5	paden	paden	PROPN
hjic-914	175	6	,	,	PUNCT
hjic-914	175	7	b.	b.	PROPN
hjic-914	175	8	;	;	PUNCT
hjic-914	175	9	čáp	čáp	NOUN
hjic-914	175	10	,	,	PUNCT
hjic-914	175	11	m.	m.	NOUN
hjic-914	175	12	;	;	PUNCT
hjic-914	175	13	yong	yong	PROPN
hjic-914	175	14	,	,	PUNCT
hjic-914	175	15	s.	s.	PROPN
hjic-914	175	16	z.	z.	PROPN
hjic-914	175	17	;	;	PUNCT
hjic-914	175	18	yershov	yershov	PROPN
hjic-914	175	19	,	,	PUNCT
hjic-914	175	20	d.	d.	PROPN
hjic-914	175	21	;	;	PUNCT
hjic-914	175	22	frazzoli	frazzoli	PROPN
hjic-914	175	23	,	,	PUNCT
hjic-914	175	24	e.	e.	PROPN
hjic-914	175	25	:	:	PUNCT
hjic-914	175	26	a	a	DET
hjic-914	175	27	survey	survey	NOUN
hjic-914	175	28	of	of	ADP
hjic-914	175	29	motion	motion	NOUN
hjic-914	175	30	planning	planning	NOUN
hjic-914	175	31	and	and	CCONJ
hjic-914	175	32	control	control	NOUN
hjic-914	175	33	techniques	technique	NOUN
hjic-914	175	34	for	for	ADP
hjic-914	175	35	self	self	NOUN
hjic-914	175	36	-	-	PUNCT
hjic-914	175	37	driving	drive	VERB
hjic-914	175	38	urban	urban	ADJ
hjic-914	175	39	vehicles	vehicle	NOUN
hjic-914	175	40	,	,	PUNCT
hjic-914	175	41	ieee	ieee	NOUN
hjic-914	175	42	trans	trans	PROPN
hjic-914	175	43	.	.	PUNCT
hjic-914	176	1	intell	intell	PROPN
hjic-914	176	2	.	.	PUNCT
hjic-914	177	1	veh	veh	PROPN
hjic-914	177	2	.	.	PROPN
hjic-914	177	3	,	,	PUNCT
hjic-914	177	4	2016	2016	NUM
hjic-914	177	5	,	,	PUNCT
hjic-914	177	6	1(1	1(1	NUM
hjic-914	177	7	)	)	PUNCT
hjic-914	177	8	,	,	PUNCT
hjic-914	177	9	33–35	33–35	NUM
hjic-914	177	10	doi	doi	NOUN
hjic-914	177	11	:	:	PUNCT
hjic-914	177	12	10.1109	10.1109	NUM
hjic-914	177	13	/	/	SYM
hjic-914	177	14	tiv.2016.2578706	tiv.2016.2578706	PROPN
hjic-914	177	15	[	[	X
hjic-914	177	16	2	2	NUM
hjic-914	177	17	]	]	SYM
hjic-914	177	18	ollero	ollero	NOUN
hjic-914	177	19	,	,	PUNCT
hjic-914	177	20	a.	a.	NOUN
hjic-914	177	21	;	;	PUNCT
hjic-914	177	22	garcía	garcía	ADJ
hjic-914	177	23	-	-	PUNCT
hjic-914	177	24	cerezo	cerezo	NOUN
hjic-914	177	25	,	,	PUNCT
hjic-914	177	26	a.	a.	PROPN
hjic-914	177	27	;	;	PUNCT
hjic-914	177	28	martinez	martinez	PROPN
hjic-914	177	29	,	,	PUNCT
hjic-914	177	30	j.	j.	PROPN
hjic-914	177	31	:	:	PUNCT
hjic-914	177	32	fuzzy	fuzzy	ADJ
hjic-914	177	33	supervisory	supervisory	ADJ
hjic-914	177	34	path	path	NOUN
hjic-914	177	35	tracking	tracking	NOUN
hjic-914	177	36	of	of	ADP
hjic-914	177	37	mobile	mobile	ADJ
hjic-914	177	38	reports	report	NOUN
hjic-914	177	39	,	,	PUNCT
hjic-914	177	40	control	control	PROPN
hjic-914	177	41	eng	eng	PROPN
hjic-914	177	42	.	.	PROPN
hjic-914	177	43	practice	practice	PROPN
hjic-914	177	44	,	,	PUNCT
hjic-914	177	45	1994	1994	NUM
hjic-914	177	46	,	,	PUNCT
hjic-914	177	47	2(2	2(2	NUM
hjic-914	177	48	)	)	PUNCT
hjic-914	177	49	,	,	PUNCT
hjic-914	177	50	313–319	313–319	NUM
hjic-914	177	51	doi	doi	NOUN
hjic-914	177	52	:	:	PUNCT
hjic-914	177	53	10.1016/09670661(94)90213	10.1016/09670661(94)90213	NUM
hjic-914	177	54	-	-	SYM
hjic-914	177	55	5	5	NUM
hjic-914	177	56	[	[	SYM
hjic-914	177	57	3	3	NUM
hjic-914	177	58	]	]	X
hjic-914	177	59	samuel	samuel	PROPN
hjic-914	177	60	,	,	PUNCT
hjic-914	177	61	m.	m.	NOUN
hjic-914	177	62	;	;	PUNCT
hjic-914	177	63	hussein	hussein	PROPN
hjic-914	177	64	,	,	PUNCT
hjic-914	177	65	m.	m.	NOUN
hjic-914	177	66	;	;	PUNCT
hjic-914	177	67	mohamad	mohamad	PROPN
hjic-914	177	68	,	,	PUNCT
hjic-914	177	69	m.	m.	PROPN
hjic-914	177	70	b.	b.	PROPN
hjic-914	177	71	:	:	PUNCT
hjic-914	177	72	a	a	DET
hjic-914	177	73	review	review	NOUN
hjic-914	177	74	of	of	ADP
hjic-914	177	75	some	some	DET
hjic-914	177	76	pure	pure	ADJ
hjic-914	177	77	-	-	PUNCT
hjic-914	177	78	pursuit	pursuit	NOUN
hjic-914	177	79	based	base	VERB
hjic-914	177	80	path	path	NOUN
hjic-914	177	81	tracking	tracking	NOUN
hjic-914	177	82	techniques	technique	NOUN
hjic-914	177	83	for	for	ADP
hjic-914	177	84	control	control	NOUN
hjic-914	177	85	of	of	ADP
hjic-914	177	86	autonomous	autonomous	ADJ
hjic-914	177	87	vehicle	vehicle	NOUN
hjic-914	177	88	,	,	PUNCT
hjic-914	177	89	int	int	NOUN
hjic-914	177	90	.	.	PUNCT
hjic-914	178	1	j.	j.	PROPN
hjic-914	178	2	computer	computer	PROPN
hjic-914	178	3	applications	application	NOUN
hjic-914	178	4	2016	2016	NUM
hjic-914	178	5	,	,	PUNCT
hjic-914	178	6	135(1	135(1	NUM
hjic-914	178	7	)	)	PUNCT
hjic-914	178	8	35–38	35–38	NUM
hjic-914	178	9	doi	doi	NOUN
hjic-914	178	10	:	:	PUNCT
hjic-914	178	11	10.5120	10.5120	NUM
hjic-914	178	12	/	/	SYM
hjic-914	178	13	ijca2016908314	ijca2016908314	PROPN
hjic-914	179	1	[	[	X
hjic-914	179	2	4	4	NUM
hjic-914	179	3	]	]	PUNCT
hjic-914	179	4	rodríguez	rodríguez	NOUN
hjic-914	179	5	-	-	PUNCT
hjic-914	179	6	castaño	castaño	NOUN
hjic-914	179	7	,	,	PUNCT
hjic-914	179	8	a.	a.	NOUN
hjic-914	179	9	;	;	PUNCT
hjic-914	179	10	heredia	heredia	PROPN
hjic-914	179	11	,	,	PUNCT
hjic-914	179	12	g.	g.	PROPN
hjic-914	179	13	;	;	PUNCT
hjic-914	179	14	ollero	ollero	NOUN
hjic-914	179	15	,	,	PUNCT
hjic-914	179	16	a.	a.	NOUN
hjic-914	179	17	:	:	PUNCT
hjic-914	179	18	analysis	analysis	NOUN
hjic-914	179	19	of	of	ADP
hjic-914	179	20	a	a	DET
hjic-914	179	21	gps	gps	NOUN
hjic-914	179	22	-	-	PUNCT
hjic-914	179	23	based	base	VERB
hjic-914	179	24	fuzzy	fuzzy	ADJ
hjic-914	179	25	supervised	supervised	ADJ
hjic-914	179	26	path	path	NOUN
hjic-914	179	27	tracking	tracking	NOUN
hjic-914	179	28	system	system	NOUN
hjic-914	179	29	for	for	ADP
hjic-914	179	30	large	large	ADJ
hjic-914	179	31	unmanned	unmanned	ADJ
hjic-914	179	32	vehicles	vehicle	NOUN
hjic-914	179	33	,	,	PUNCT
hjic-914	179	34	ifac	ifac	NOUN
hjic-914	179	35	proceedings	proceeding	NOUN
hjic-914	179	36	volumes	volume	NOUN
hjic-914	179	37	,	,	PUNCT
hjic-914	179	38	2000	2000	NUM
hjic-914	179	39	,	,	PUNCT
hjic-914	179	40	33(25	33(25	PROPN
hjic-914	179	41	)	)	PUNCT
hjic-914	179	42	125–130	125–130	NUM
hjic-914	179	43	doi	doi	NOUN
hjic-914	179	44	:	:	PUNCT
hjic-914	179	45	10.1016	10.1016	NUM
hjic-914	179	46	/	/	SYM
hjic-914	179	47	s1474	s1474	NOUN
hjic-914	179	48	-	-	PROPN
hjic-914	179	49	6670(17)39327	6670(17)39327	NUM
hjic-914	179	50	-	-	SYM
hjic-914	179	51	8	8	NUM
hjic-914	179	52	[	[	SYM
hjic-914	179	53	5	5	NUM
hjic-914	179	54	]	]	X
hjic-914	179	55	kato	kato	PROPN
hjic-914	179	56	,	,	PUNCT
hjic-914	179	57	s.	s.	PROPN
hjic-914	179	58	;	;	PUNCT
hjic-914	179	59	tokunaga	tokunaga	NOUN
hjic-914	179	60	,	,	PUNCT
hjic-914	179	61	s.	s.	PROPN
hjic-914	179	62	;	;	PUNCT
hjic-914	179	63	maruyama	maruyama	PROPN
hjic-914	179	64	,	,	PUNCT
hjic-914	179	65	y.	y.	PROPN
hjic-914	179	66	;	;	PUNCT
hjic-914	179	67	maeda	maeda	PROPN
hjic-914	179	68	,	,	PUNCT
hjic-914	179	69	s.	s.	PROPN
hjic-914	179	70	;	;	PUNCT
hjic-914	179	71	hirabayashi	hirabayashi	PROPN
hjic-914	179	72	,	,	PUNCT
hjic-914	179	73	m.	m.	NOUN
hjic-914	179	74	;	;	PUNCT
hjic-914	179	75	kitsukawa	kitsukawa	PROPN
hjic-914	179	76	,	,	PUNCT
hjic-914	179	77	y.	y.	PROPN
hjic-914	179	78	;	;	PUNCT
hjic-914	179	79	monrroy	monrroy	PROPN
hjic-914	179	80	,	,	PUNCT
hjic-914	179	81	a.	a.	NOUN
hjic-914	179	82	;	;	PUNCT
hjic-914	179	83	ando	ando	PROPN
hjic-914	179	84	,	,	PUNCT
hjic-914	179	85	t.	t.	PROPN
hjic-914	179	86	;	;	PUNCT
hjic-914	179	87	fujii	fujii	PROPN
hjic-914	179	88	,	,	PUNCT
hjic-914	179	89	y.	y.	PROPN
hjic-914	179	90	;	;	PUNCT
hjic-914	179	91	azumi	azumi	PROPN
hjic-914	179	92	,	,	PUNCT
hjic-914	179	93	t.	t.	PROPN
hjic-914	179	94	:	:	PUNCT
hjic-914	179	95	autoware	autoware	PROPN
hjic-914	179	96	on	on	ADP
hjic-914	179	97	board	board	NOUN
hjic-914	179	98	:	:	PUNCT
hjic-914	179	99	enabling	enable	VERB
hjic-914	179	100	autonomous	autonomous	ADJ
hjic-914	179	101	vehicles	vehicle	NOUN
hjic-914	179	102	with	with	ADP
hjic-914	179	103	embedded	embed	VERB
hjic-914	179	104	systems	system	NOUN
hjic-914	179	105	,	,	PUNCT
hjic-914	179	106	in	in	ADP
hjic-914	179	107	proceedings	proceeding	NOUN
hjic-914	179	108	of	of	ADP
hjic-914	179	109	the	the	DET
hjic-914	179	110	9th	9th	PROPN
hjic-914	179	111	acm	acm	PROPN
hjic-914	179	112	/	/	SYM
hjic-914	179	113	ieee	ieee	PROPN
hjic-914	179	114	international	international	ADJ
hjic-914	179	115	conference	conference	NOUN
hjic-914	179	116	on	on	ADP
hjic-914	179	117	cyber	cyber	ADJ
hjic-914	179	118	-	-	PUNCT
hjic-914	179	119	physical	physical	ADJ
hjic-914	179	120	systems	system	NOUN
hjic-914	179	121	,	,	PUNCT
hjic-914	179	122	2018	2018	NUM
hjic-914	179	123	,	,	PUNCT
hjic-914	179	124	287–296	287–296	NUM
hjic-914	179	125	doi	doi	NOUN
hjic-914	179	126	:	:	PUNCT
hjic-914	179	127	10.1109	10.1109	NUM
hjic-914	179	128	/	/	SYM
hjic-914	179	129	iccps.2018.00035	iccps.2018.00035	NOUN
hjic-914	180	1	[	[	X
hjic-914	180	2	6	6	NUM
hjic-914	180	3	]	]	SYM
hjic-914	180	4	sakai	sakai	NOUN
hjic-914	180	5	,	,	PUNCT
hjic-914	180	6	a.	a.	NOUN
hjic-914	180	7	;	;	PUNCT
hjic-914	180	8	ingram	ingram	PROPN
hjic-914	180	9	,	,	PUNCT
hjic-914	180	10	d.	d.	PROPN
hjic-914	180	11	;	;	PUNCT
hjic-914	180	12	dinius	diniu	VERB
hjic-914	180	13	,	,	PUNCT
hjic-914	180	14	j.	j.	PROPN
hjic-914	180	15	;	;	PUNCT
hjic-914	180	16	chawla	chawla	PROPN
hjic-914	180	17	,	,	PUNCT
hjic-914	180	18	k.	k.	PROPN
hjic-914	180	19	;	;	PUNCT
hjic-914	180	20	raffin	raffin	PROPN
hjic-914	180	21	,	,	PUNCT
hjic-914	180	22	a.	a.	NOUN
hjic-914	180	23	;	;	PUNCT
hjic-914	180	24	paques	paque	NOUN
hjic-914	180	25	,	,	PUNCT
hjic-914	180	26	a.	a.	NOUN
hjic-914	180	27	:	:	PUNCT
hjic-914	181	1	pythonrobotics	pythonrobotic	NOUN
hjic-914	181	2	:	:	PUNCT
hjic-914	181	3	a	a	DET
hjic-914	181	4	python	python	NOUN
hjic-914	181	5	code	code	NOUN
hjic-914	181	6	collection	collection	NOUN
hjic-914	181	7	of	of	ADP
hjic-914	181	8	robotics	robotic	NOUN
hjic-914	181	9	algorithms	algorithm	NOUN
hjic-914	181	10	,	,	PUNCT
hjic-914	181	11	2018	2018	NUM
hjic-914	181	12	,	,	PUNCT
hjic-914	181	13	arxiv	arxiv	NOUN
hjic-914	181	14	:	:	PUNCT
hjic-914	181	15	1808.10703	1808.10703	NUM
hjic-914	182	1	[	[	X
hjic-914	182	2	7	7	NUM
hjic-914	182	3	]	]	X
hjic-914	182	4	giesbrecht	giesbrecht	NOUN
hjic-914	182	5	,	,	PUNCT
hjic-914	182	6	j.	j.	PROPN
hjic-914	182	7	;	;	PUNCT
hjic-914	182	8	mackay	mackay	PROPN
hjic-914	182	9	,	,	PUNCT
hjic-914	182	10	d.	d.	PROPN
hjic-914	182	11	;	;	PUNCT
hjic-914	182	12	collier	collier	PROPN
hjic-914	182	13	,	,	PUNCT
hjic-914	182	14	j.	j.	PROPN
hjic-914	182	15	;	;	PUNCT
hjic-914	182	16	verret	verret	PROPN
hjic-914	182	17	,	,	PUNCT
hjic-914	182	18	s.	s.	PROPN
hjic-914	182	19	:	:	PUNCT
hjic-914	182	20	path	path	NOUN
hjic-914	182	21	tracking	tracking	NOUN
hjic-914	182	22	for	for	ADP
hjic-914	182	23	unmanned	unmanned	ADJ
hjic-914	182	24	ground	ground	NOUN
hjic-914	182	25	vehicle	vehicle	NOUN
hjic-914	182	26	navigation	navigation	NOUN
hjic-914	182	27	:	:	PUNCT
hjic-914	182	28	implementation	implementation	NOUN
hjic-914	182	29	and	and	CCONJ
hjic-914	182	30	adaptation	adaptation	NOUN
hjic-914	182	31	of	of	ADP
hjic-914	182	32	the	the	DET
hjic-914	182	33	pure	pure	ADJ
hjic-914	182	34	pursuit	pursuit	NOUN
hjic-914	182	35	algorithm	algorithm	NOUN
hjic-914	182	36	,	,	PUNCT
hjic-914	182	37	defence	defence	NOUN
hjic-914	182	38	research	research	NOUN
hjic-914	182	39	and	and	CCONJ
hjic-914	182	40	development	development	PROPN
hjic-914	182	41	canada	canada	PROPN
hjic-914	182	42	(	(	PUNCT
hjic-914	182	43	drdc	drdc	PROPN
hjic-914	182	44	)	)	PUNCT
hjic-914	182	45	,	,	PUNCT
hjic-914	182	46	suffield	suffield	PROPN
hjic-914	182	47	,	,	PUNCT
hjic-914	182	48	alberta	alberta	PROPN
hjic-914	182	49	,	,	PUNCT
hjic-914	182	50	canada	canada	PROPN
hjic-914	182	51	,	,	PUNCT
hjic-914	182	52	2005	2005	NUM
hjic-914	182	53	.	.	PUNCT
hjic-914	183	1	https://apps.dtic.mil/sti/pdfs/ada599492.pdf	https://apps.dtic.mil/sti/pdfs/ada599492.pdf	PROPN
hjic-914	184	1	[	[	X
hjic-914	184	2	8	8	NUM
hjic-914	184	3	]	]	PUNCT
hjic-914	184	4	horváth	horváth	PROPN
hjic-914	184	5	,	,	PUNCT
hjic-914	184	6	e.	e.	PROPN
hjic-914	184	7	;	;	PUNCT
hjic-914	184	8	hajdu	hajdu	NOUN
hjic-914	184	9	,	,	PUNCT
hjic-914	184	10	cs	cs	PROPN
hjic-914	184	11	.	.	PROPN
hjic-914	184	12	;	;	PUNCT
hjic-914	185	1	kőrös	kőrös	X
hjic-914	185	2	,	,	PUNCT
hjic-914	185	3	p.	p.	NOUN
hjic-914	185	4	:	:	PUNCT
hjic-914	185	5	novel	novel	ADJ
hjic-914	185	6	purepursuit	purepursuit	NOUN
hjic-914	185	7	trajectory	trajectory	NOUN
hjic-914	185	8	following	follow	VERB
hjic-914	185	9	approaches	approach	NOUN
hjic-914	185	10	and	and	CCONJ
hjic-914	185	11	their	their	PRON
hjic-914	185	12	practical	practical	ADJ
hjic-914	185	13	,	,	PUNCT
hjic-914	185	14	in	in	ADP
hjic-914	185	15	10th	10th	ADJ
hjic-914	185	16	ieee	ieee	NOUN
hjic-914	185	17	international	international	ADJ
hjic-914	185	18	conference	conference	NOUN
hjic-914	185	19	on	on	ADP
hjic-914	185	20	infocommunications	infocommunication	NOUN
hjic-914	185	21	(	(	PUNCT
hjic-914	185	22	coginfocom	coginfocom	PROPN
hjic-914	185	23	)	)	PUNCT
hjic-914	185	24	,	,	PUNCT
hjic-914	185	25	naples	naples	PROPN
hjic-914	185	26	,	,	PUNCT
hjic-914	185	27	italy	italy	PROPN
hjic-914	185	28	,	,	PUNCT
hjic-914	185	29	2019	2019	NUM
hjic-914	185	30	.	.	PUNCT
hjic-914	186	1	[	[	X
hjic-914	186	2	9	9	NUM
hjic-914	186	3	]	]	SYM
hjic-914	186	4	quigley	quigley	PROPN
hjic-914	186	5	,	,	PUNCT
hjic-914	186	6	m.	m.	NOUN
hjic-914	186	7	;	;	PUNCT
hjic-914	186	8	conley	conley	PROPN
hjic-914	186	9	,	,	PUNCT
hjic-914	186	10	k.	k.	PROPN
hjic-914	186	11	;	;	PUNCT
hjic-914	186	12	gerkey	gerkey	PROPN
hjic-914	186	13	,	,	PUNCT
hjic-914	186	14	b.	b.	PROPN
hjic-914	186	15	;	;	PUNCT
hjic-914	186	16	faust	faust	PROPN
hjic-914	186	17	,	,	PUNCT
hjic-914	186	18	j.	j.	PROPN
hjic-914	186	19	;	;	PUNCT
hjic-914	186	20	foote	foote	NOUN
hjic-914	186	21	,	,	PUNCT
hjic-914	186	22	t.	t.	PROPN
hjic-914	186	23	;	;	PUNCT
hjic-914	186	24	leibs	leibs	PROPN
hjic-914	186	25	,	,	PUNCT
hjic-914	186	26	j.	j.	PROPN
hjic-914	186	27	;	;	PUNCT
hjic-914	186	28	wheeler	wheeler	NOUN
hjic-914	186	29	,	,	PUNCT
hjic-914	186	30	r.	r.	PROPN
hjic-914	186	31	;	;	PUNCT
hjic-914	186	32	ng	ng	PROPN
hjic-914	186	33	,	,	PUNCT
hjic-914	186	34	a.	a.	PROPN
hjic-914	186	35	y.	y.	PROPN
hjic-914	186	36	:	:	PUNCT
hjic-914	186	37	ros	ros	PROPN
hjic-914	186	38	:	:	PUNCT
hjic-914	186	39	an	an	DET
hjic-914	186	40	open	open	ADJ
hjic-914	186	41	-	-	PUNCT
hjic-914	186	42	source	source	NOUN
hjic-914	186	43	robot	robot	NOUN
hjic-914	186	44	operating	operating	NOUN
hjic-914	186	45	system	system	NOUN
hjic-914	186	46	,	,	PUNCT
hjic-914	186	47	icra	icra	PROPN
hjic-914	186	48	workshop	workshop	NOUN
hjic-914	186	49	on	on	ADP
hjic-914	186	50	open	open	ADJ
hjic-914	186	51	source	source	NOUN
hjic-914	186	52	software	software	NOUN
hjic-914	186	53	,	,	PUNCT
hjic-914	186	54	2009	2009	NUM
hjic-914	186	55	3(2	3(2	NUM
hjic-914	186	56	)	)	PUNCT
hjic-914	186	57	48(1	48(1	NOUN
hjic-914	186	58	)	)	PUNCT
hjic-914	186	59	pp	pp	ADV
hjic-914	186	60	.	.	PUNCT
hjic-914	187	1	11–17	11–17	NUM
hjic-914	187	2	(	(	PUNCT
hjic-914	187	3	2020	2020	NUM
hjic-914	187	4	)	)	PUNCT
hjic-914	188	1	https://doi.org/10.1109/tiv.2016.2578706	https://doi.org/10.1109/tiv.2016.2578706	PROPN
hjic-914	188	2	https://doi.org/10.1109/tiv.2016.2578706	https://doi.org/10.1109/tiv.2016.2578706	PROPN
hjic-914	188	3	https://doi.org/10.1016/0967-0661(94)90213-5	https://doi.org/10.1016/0967-0661(94)90213-5	PROPN
hjic-914	188	4	https://doi.org/10.1016/0967-0661(94)90213-5	https://doi.org/10.1016/0967-0661(94)90213-5	PROPN
hjic-914	188	5	https://doi.org/10.5120/ijca2016908314	https://doi.org/10.5120/ijca2016908314	VERB
hjic-914	188	6	https://doi.org/10.5120/ijca2016908314	https://doi.org/10.5120/ijca2016908314	NOUN
hjic-914	188	7	https://doi.org/10.1016/s1474-6670(17)39327-8	https://doi.org/10.1016/s1474-6670(17)39327-8	ADJ
hjic-914	188	8	https://doi.org/10.1016/s1474-6670(17)39327-8	https://doi.org/10.1016/s1474-6670(17)39327-8	PROPN
hjic-914	188	9	https://doi.org/10.1109/iccps.2018.00035	https://doi.org/10.1109/iccps.2018.00035	PROPN
hjic-914	188	10	https://arxiv.org/abs/1808.10703	https://arxiv.org/abs/1808.10703	NOUN
hjic-914	188	11	https://arxiv.org/abs/1808.10703	https://arxiv.org/abs/1808.10703	PROPN
hjic-914	188	12	https://apps.dtic.mil/sti/pdfs/ada599492.pdf	https://apps.dtic.mil/sti/pdfs/ada599492.pdf	PROPN
hjic-914	188	13	introduction	introduction	NOUN
hjic-914	188	14	the	the	DET
hjic-914	188	15	design	design	NOUN
hjic-914	188	16	strategy	strategy	NOUN
hjic-914	188	17	the	the	DET
hjic-914	188	18	optimization	optimization	NOUN
hjic-914	188	19	problem	problem	NOUN
hjic-914	188	20	algorithm	algorithm	PROPN
hjic-914	188	21	flowchart	flowchart	PROPN
hjic-914	188	22	discussion	discussion	PROPN
hjic-914	188	23	simulation	simulation	NOUN
hjic-914	188	24	experiments	experiment	NOUN
hjic-914	188	25	conclusion	conclusion	VERB