id	sid	tid	token	lemma	pos
iajs-1018	1	1	ibn	ibn	PROPN
iajs-1018	1	2	alhaitham	alhaitham	NOUN
iajs-1018	1	3	j.	j.	PROPN
iajs-1018	1	4	for	for	ADP
iajs-1018	1	5	pure	pure	ADJ
iajs-1018	1	6	&	&	CCONJ
iajs-1018	1	7	appl	appl	PROPN
iajs-1018	1	8	.	.	PUNCT
iajs-1018	2	1	sci	sci	PROPN
iajs-1018	2	2	.	.	PUNCT
iajs-1018	3	1	vol.23	vol.23	PROPN
iajs-1018	3	2	(	(	PUNCT
iajs-1018	3	3	2	2	NUM
iajs-1018	3	4	)	)	PUNCT
iajs-1018	3	5	2010	2010	NUM
iajs-1018	3	6	on	on	ADP
iajs-1018	3	7	-	-	PUNCT
iajs-1018	3	8	line	line	NOUN
iajs-1018	3	9	navigational	navigational	ADJ
iajs-1018	3	10	problem	problem	NOUN
iajs-1018	3	11	of	of	ADP
iajs-1018	3	12	a	a	DET
iajs-1018	3	13	mobile	mobile	ADJ
iajs-1018	3	14	robot	robot	NOUN
iajs-1018	3	15	using	use	VERB
iajs-1018	3	16	genetic	genetic	ADJ
iajs-1018	3	17	algorithm	algorithm	NOUN
iajs-1018	3	18	w.	w.	PROPN
iajs-1018	3	19	n.	n.	PROPN
iajs-1018	3	20	abdullah	abdullah	PROPN
iajs-1018	3	21	department	department	PROPN
iajs-1018	3	22	of	of	ADP
iajs-1018	3	23	computer	computer	NOUN
iajs-1018	3	24	science	science	NOUN
iajs-1018	3	25	,	,	PUNCT
iajs-1018	3	26	college	college	NOUN
iajs-1018	3	27	of	of	ADP
iajs-1018	3	28	educationibn	educationibn	PROPN
iajs-1018	3	29	alhaitham	alhaitham	PROPN
iajs-1018	3	30	,	,	PUNCT
iajs-1018	3	31	university	university	NOUN
iajs-1018	3	32	of	of	ADP
iajs-1018	3	33	baghdad	baghdad	PROPN
iajs-1018	3	34	abstract	abstract	ADJ
iajs-1018	3	35	manufacturing	manufacturing	NOUN
iajs-1018	3	36	systems	system	NOUN
iajs-1018	3	37	of	of	ADP
iajs-1018	3	38	the	the	DET
iajs-1018	3	39	future	future	ADJ
iajs-1018	3	40	foresee	foresee	NOUN
iajs-1018	3	41	the	the	DET
iajs-1018	3	42	use	use	NOUN
iajs-1018	3	43	of	of	ADP
iajs-1018	3	44	intelligent	intelligent	ADJ
iajs-1018	3	45	vehicles	vehicle	NOUN
iajs-1018	3	46	,	,	PUNCT
iajs-1018	3	47	op	op	NOUN
iajs-1018	3	48	timizing	timizing	NOUN
iajs-1018	3	49	and	and	CCONJ
iajs-1018	3	50	navigating	navigate	VERB
iajs-1018	3	51	.	.	PUNCT
iajs-1018	4	1	the	the	DET
iajs-1018	4	2	navigational	navigational	ADJ
iajs-1018	4	3	problem	problem	NOUN
iajs-1018	4	4	is	be	AUX
iajs-1018	4	5	an	an	DET
iajs-1018	4	6	important	important	ADJ
iajs-1018	4	7	and	and	CCONJ
iajs-1018	4	8	challenging	challenging	ADJ
iajs-1018	4	9	problem	problem	NOUN
iajs-1018	4	10	in	in	ADP
iajs-1018	4	11	the	the	DET
iajs-1018	4	12	field	field	NOUN
iajs-1018	4	13	of	of	ADP
iajs-1018	4	14	robotics	robotic	NOUN
iajs-1018	4	15	.	.	PUNCT
iajs-1018	5	1	the	the	DET
iajs-1018	5	2	robots	robot	NOUN
iajs-1018	5	3	often	often	ADV
iajs-1018	5	4	find	find	VERB
iajs-1018	5	5	themselves	themselves	PRON
iajs-1018	5	6	in	in	ADP
iajs-1018	5	7	a	a	DET
iajs-1018	5	8	situation	situation	NOUN
iajs-1018	5	9	where	where	SCONJ
iajs-1018	5	10	they	they	PRON
iajs-1018	5	11	must	must	AUX
iajs-1018	5	12	find	find	VERB
iajs-1018	5	13	a	a	DET
iajs-1018	5	14	trajectory	trajectory	NOUN
iajs-1018	5	15	to	to	ADP
iajs-1018	5	16	another	another	DET
iajs-1018	5	17	position	position	NOUN
iajs-1018	5	18	in	in	ADP
iajs-1018	5	19	their	their	PRON
iajs-1018	5	20	environment	environment	NOUN
iajs-1018	5	21	,	,	PUNCT
iajs-1018	5	22	subject	subject	ADJ
iajs-1018	5	23	to	to	ADP
iajs-1018	5	24	constraints	constraint	NOUN
iajs-1018	5	25	posed	pose	VERB
iajs-1018	5	26	by	by	ADP
iajs-1018	5	27	obstacles	obstacle	NOUN
iajs-1018	5	28	and	and	CCONJ
iajs-1018	5	29	the	the	DET
iajs-1018	5	30	capabilities	capability	NOUN
iajs-1018	5	31	of	of	ADP
iajs-1018	5	32	the	the	DET
iajs-1018	5	33	robot	robot	NOUN
iajs-1018	5	34	itself	itself	PRON
iajs-1018	5	35	.	.	PUNCT
iajs-1018	6	1	on	on	ADP
iajs-1018	6	2	-	-	PUNCT
iajs-1018	6	3	line	line	NOUN
iajs-1018	6	4	navigation	navigation	NOUN
iajs-1018	6	5	is	be	AUX
iajs-1018	6	6	a	a	DET
iajs-1018	6	7	set	set	NOUN
iajs-1018	6	8	of	of	ADP
iajs-1018	6	9	algorithms	algorithm	NOUN
iajs-1018	6	10	that	that	PRON
iajs-1018	6	11	p	p	NOUN
iajs-1018	6	12	lans	lan	NOUN
iajs-1018	6	13	and	and	CCONJ
iajs-1018	6	14	executes	execute	VERB
iajs-1018	6	15	a	a	DET
iajs-1018	6	16	trajectory	trajectory	NOUN
iajs-1018	6	17	at	at	ADP
iajs-1018	6	18	the	the	DET
iajs-1018	6	19	same	same	ADJ
iajs-1018	6	20	time	time	NOUN
iajs-1018	6	21	.	.	PUNCT
iajs-1018	7	1	the	the	DET
iajs-1018	7	2	system	system	NOUN
iajs-1018	7	3	adopted	adopt	VERB
iajs-1018	7	4	in	in	ADP
iajs-1018	7	5	this	this	DET
iajs-1018	7	6	research	research	NOUN
iajs-1018	7	7	searches	search	NOUN
iajs-1018	7	8	for	for	ADP
iajs-1018	7	9	a	a	DET
iajs-1018	7	10	robot	robot	NOUN
iajs-1018	7	11	collision	collision	NOUN
iajs-1018	7	12	-	-	PUNCT
iajs-1018	7	13	free	free	ADJ
iajs-1018	7	14	trajectory	trajectory	NOUN
iajs-1018	7	15	in	in	ADP
iajs-1018	7	16	a	a	DET
iajs-1018	7	17	dynamic	dynamic	ADJ
iajs-1018	7	18	environment	environment	NOUN
iajs-1018	7	19	in	in	ADP
iajs-1018	7	20	which	which	PRON
iajs-1018	7	21	obstacles	obstacle	NOUN
iajs-1018	7	22	can	can	AUX
iajs-1018	7	23	move	move	VERB
iajs-1018	7	24	while	while	SCONJ
iajs-1018	7	25	the	the	DET
iajs-1018	7	26	robot	robot	NOUN
iajs-1018	7	27	was	be	AUX
iajs-1018	7	28	moving	move	VERB
iajs-1018	7	29	toward	toward	ADP
iajs-1018	7	30	the	the	DET
iajs-1018	7	31	target	target	NOUN
iajs-1018	7	32	.	.	PUNCT
iajs-1018	8	1	so	so	ADV
iajs-1018	8	2	,	,	PUNCT
iajs-1018	8	3	the	the	DET
iajs-1018	8	4	robot	robot	NOUN
iajs-1018	8	5	must	must	AUX
iajs-1018	8	6	operate	operate	VERB
iajs-1018	8	7	in	in	ADP
iajs-1018	8	8	real	real	ADJ
iajs-1018	8	9	-	-	PUNCT
iajs-1018	8	10	time	time	NOUN
iajs-1018	8	11	such	such	ADJ
iajs-1018	8	12	that	that	SCONJ
iajs-1018	8	13	the	the	DET
iajs-1018	8	14	system	system	NOUN
iajs-1018	8	15	reacts	react	VERB
iajs-1018	8	16	to	to	PART
iajs-1018	8	17	unexpected	unexpected	ADJ
iajs-1018	8	18	obstacles	obstacle	NOUN
iajs-1018	8	19	.	.	PUNCT
iajs-1018	9	1	genetic	genetic	ADJ
iajs-1018	9	2	algorithms	algorithm	NOUN
iajs-1018	9	3	that	that	PRON
iajs-1018	9	4	have	have	AUX
iajs-1018	9	5	been	be	AUX
iajs-1018	9	6	used	use	VERB
iajs-1018	9	7	successfully	successfully	ADV
iajs-1018	9	8	in	in	ADP
iajs-1018	9	9	many	many	ADJ
iajs-1018	9	10	search	search	NOUN
iajs-1018	9	11	problems	problem	NOUN
iajs-1018	9	12	are	be	AUX
iajs-1018	9	13	used	use	VERB
iajs-1018	9	14	to	to	PART
iajs-1018	9	15	solve	solve	VERB
iajs-1018	9	16	the	the	DET
iajs-1018	9	17	on	on	ADP
iajs-1018	9	18	-	-	PUNCT
iajs-1018	9	19	line	line	NOUN
iajs-1018	9	20	navigation	navigation	NOUN
iajs-1018	9	21	problem	problem	NOUN
iajs-1018	9	22	with	with	ADP
iajs-1018	9	23	less	less	ADJ
iajs-1018	9	24	computational	computational	ADJ
iajs-1018	9	25	cost	cost	NOUN
iajs-1018	9	26	.	.	PUNCT
iajs-1018	10	1	the	the	DET
iajs-1018	10	2	system	system	NOUN
iajs-1018	10	3	uses	use	VERB
iajs-1018	10	4	genetic	genetic	ADJ
iajs-1018	10	5	algorithm	algorithm	NOUN
iajs-1018	10	6	as	as	ADP
iajs-1018	10	7	a	a	DET
iajs-1018	10	8	search	search	NOUN
iajs-1018	10	9	method	method	NOUN
iajs-1018	10	10	for	for	ADP
iajs-1018	10	11	an	an	DET
iajs-1018	10	12	optimal	optimal	ADJ
iajs-1018	10	13	trajectory	trajectory	NOUN
iajs-1018	10	14	.	.	PUNCT
iajs-1018	11	1	key	key	ADJ
iajs-1018	11	2	words	word	NOUN
iajs-1018	11	3	navigational	navigational	ADJ
iajs-1018	11	4	problem	problem	NOUN
iajs-1018	11	5	,	,	PUNCT
iajs-1018	11	6	on	on	ADP
iajs-1018	11	7	-	-	PUNCT
iajs-1018	11	8	line	line	NOUN
iajs-1018	11	9	navigational	navigational	ADJ
iajs-1018	11	10	problem	problem	NOUN
iajs-1018	11	11	,	,	PUNCT
iajs-1018	11	12	genetic	genetic	ADJ
iajs-1018	11	13	algorithm	algorithm	NOUN
iajs-1018	11	14	.	.	PUNCT
iajs-1018	12	1	introduction	introduction	NOUN
iajs-1018	12	2	planning	planning	NOUN
iajs-1018	12	3	is	be	AUX
iajs-1018	12	4	an	an	DET
iajs-1018	12	5	important	important	ADJ
iajs-1018	12	6	aspect	aspect	NOUN
iajs-1018	12	7	of	of	ADP
iajs-1018	12	8	the	the	DET
iajs-1018	12	9	effort	effort	NOUN
iajs-1018	12	10	to	to	PART
iajs-1018	12	11	design	design	VERB
iajs-1018	12	12	robots	robot	NOUN
iajs-1018	12	13	that	that	PRON
iajs-1018	12	14	perform	perform	VERB
iajs-1018	12	15	their	their	PRON
iajs-1018	12	16	task	task	NOUN
iajs-1018	12	17	with	with	ADP
iajs-1018	12	18	some	some	DET
iajs-1018	12	19	degree	degree	NOUN
iajs-1018	12	20	of	of	ADP
iajs-1018	12	21	flexibility	flexibility	NOUN
iajs-1018	12	22	and	and	CCONJ
iajs-1018	12	23	response	response	NOUN
iajs-1018	12	24	to	to	ADP
iajs-1018	12	25	the	the	DET
iajs-1018	12	26	outside	outside	ADJ
iajs-1018	12	27	world	world	NOUN
iajs-1018	13	1	[	[	X
iajs-1018	13	2	1	1	NUM
iajs-1018	13	3	]	]	PUNCT
iajs-1018	13	4	.	.	PUNCT
iajs-1018	14	1	navigational	navigational	ADJ
iajs-1018	14	2	problems	problem	NOUN
iajs-1018	14	3	would	would	AUX
iajs-1018	14	4	involve	involve	VERB
iajs-1018	14	5	a	a	DET
iajs-1018	14	6	workspace	workspace	NOUN
iajs-1018	14	7	that	that	PRON
iajs-1018	14	8	captures	capture	VERB
iajs-1018	14	9	all	all	DET
iajs-1018	14	10	possible	possible	ADJ
iajs-1018	14	11	actions	action	NOUN
iajs-1018	14	12	that	that	PRON
iajs-1018	14	13	could	could	AUX
iajs-1018	14	14	exist	exist	VERB
iajs-1018	14	15	[	[	X
iajs-1018	14	16	2	2	NUM
iajs-1018	14	17	]	]	PUNCT
iajs-1018	14	18	.	.	PUNCT
iajs-1018	15	1	hence	hence	ADV
iajs-1018	15	2	,	,	PUNCT
iajs-1018	15	3	plans	plan	NOUN
iajs-1018	15	4	are	be	AUX
iajs-1018	15	5	created	create	VERB
iajs-1018	15	6	by	by	ADP
iajs-1018	15	7	searching	search	VERB
iajs-1018	15	8	through	through	ADP
iajs-1018	15	9	the	the	DET
iajs-1018	15	10	workspace	workspace	NOUN
iajs-1018	15	11	of	of	ADP
iajs-1018	15	12	possible	possible	ADJ
iajs-1018	15	13	actions	action	NOUN
iajs-1018	15	14	until	until	SCONJ
iajs-1018	15	15	the	the	DET
iajs-1018	15	16	sequence	sequence	NOUN
iajs-1018	15	17	necessary	necessary	ADJ
iajs-1018	15	18	to	to	PART
iajs-1018	15	19	accomplish	accomplish	VERB
iajs-1018	15	20	the	the	DET
iajs-1018	15	21	task	task	NOUN
iajs-1018	15	22	is	be	AUX
iajs-1018	15	23	discovered	discover	VERB
iajs-1018	15	24	[	[	X
iajs-1018	15	25	1	1	NUM
iajs-1018	15	26	]	]	PUNCT
iajs-1018	15	27	.	.	PUNCT
iajs-1018	16	1	a	a	DET
iajs-1018	16	2	successful	successful	ADJ
iajs-1018	16	3	action	action	NOUN
iajs-1018	16	4	plan	plan	NOUN
iajs-1018	16	5	allows	allow	VERB
iajs-1018	16	6	the	the	DET
iajs-1018	16	7	robot	robot	NOUN
iajs-1018	16	8	to	to	PART
iajs-1018	16	9	complete	complete	VERB
iajs-1018	16	10	the	the	DET
iajs-1018	16	11	task	task	NOUN
iajs-1018	16	12	without	without	ADP
iajs-1018	16	13	violating	violate	VERB
iajs-1018	16	14	any	any	DET
iajs-1018	16	15	physical	physical	ADJ
iajs-1018	16	16	constraints	constraint	NOUN
iajs-1018	16	17	of	of	ADP
iajs-1018	16	18	the	the	DET
iajs-1018	16	19	robot	robot	NOUN
iajs-1018	16	20	or	or	CCONJ
iajs-1018	16	21	task	task	NOUN
iajs-1018	16	22	[	[	X
iajs-1018	16	23	3	3	NUM
iajs-1018	16	24	]	]	PUNCT
iajs-1018	16	25	.	.	PUNCT
iajs-1018	17	1	many	many	ADJ
iajs-1018	17	2	ai	ai	VERB
iajs-1018	17	3	planning	plan	VERB
iajs-1018	17	4	problems	problem	NOUN
iajs-1018	17	5	involve	involve	VERB
iajs-1018	17	6	navigational	navigational	ADJ
iajs-1018	17	7	planning	planning	NOUN
iajs-1018	17	8	.	.	PUNCT
iajs-1018	18	1	in	in	ADP
iajs-1018	18	2	navigational	navigational	ADJ
iajs-1018	18	3	planning	planning	NOUN
iajs-1018	18	4	problem	problem	NOUN
iajs-1018	18	5	,	,	PUNCT
iajs-1018	18	6	a	a	DET
iajs-1018	18	7	mobile	mobile	NOUN
iajs-1018	18	8	robot	robot	NOUN
iajs-1018	18	9	has	have	VERB
iajs-1018	18	10	to	to	PART
iajs-1018	18	11	identify	identify	VERB
iajs-1018	18	12	the	the	DET
iajs-1018	18	13	trajectories	trajectory	NOUN
iajs-1018	18	14	between	between	ADP
iajs-1018	18	15	a	a	DET
iajs-1018	18	16	starting	starting	NOUN
iajs-1018	18	17	and	and	CCONJ
iajs-1018	18	18	a	a	DET
iajs-1018	18	19	goal	goal	NOUN
iajs-1018	18	20	position	position	NOUN
iajs-1018	18	21	within	within	ADP
iajs-1018	18	22	its	its	PRON
iajs-1018	18	23	environment	environment	NOUN
iajs-1018	18	24	.	.	PUNCT
iajs-1018	19	1	the	the	DET
iajs-1018	19	2	robot	robot	NOUN
iajs-1018	19	3	environment	environment	NOUN
iajs-1018	19	4	includes	include	VERB
iajs-1018	19	5	many	many	ADJ
iajs-1018	19	6	obstacles	obstacle	NOUN
iajs-1018	19	7	(	(	PUNCT
iajs-1018	19	8	portions	portion	NOUN
iajs-1018	19	9	of	of	ADP
iajs-1018	19	10	the	the	DET
iajs-1018	19	11	world	world	NOUN
iajs-1018	19	12	that	that	PRON
iajs-1018	19	13	are	be	AUX
iajs-1018	19	14	permanently	permanently	ADV
iajs-1018	19	15	occupied	occupy	VERB
iajs-1018	19	16	;	;	PUNCT
iajs-1018	19	17	for	for	ADP
iajs-1018	19	18	example	example	NOUN
iajs-1018	19	19	,	,	PUNCT
iajs-1018	19	20	the	the	DET
iajs-1018	19	21	walls	wall	NOUN
iajs-1018	19	22	of	of	ADP
iajs-1018	19	23	a	a	DET
iajs-1018	19	24	building	building	NOUN
iajs-1018	19	25	)	)	PUNCT
iajs-1018	19	26	and	and	CCONJ
iajs-1018	19	27	thus	thus	ADV
iajs-1018	19	28	finding	find	VERB
iajs-1018	19	29	the	the	DET
iajs-1018	19	30	shortest	short	ADJ
iajs-1018	19	31	trajectory	trajectory	NOUN
iajs-1018	19	32	without	without	ADP
iajs-1018	19	33	touching	touch	VERB
iajs-1018	19	34	the	the	DET
iajs-1018	19	35	obstacles	obstacle	NOUN
iajs-1018	19	36	in	in	ADP
iajs-1018	19	37	many	many	ADJ
iajs-1018	19	38	cases	case	NOUN
iajs-1018	19	39	is	be	AUX
iajs-1018	19	40	an	an	DET
iajs-1018	19	41	extremely	extremely	ADV
iajs-1018	19	42	complex	complex	ADJ
iajs-1018	19	43	problem	problem	NOUN
iajs-1018	19	44	[	[	X
iajs-1018	19	45	4	4	NUM
iajs-1018	19	46	]	]	PUNCT
iajs-1018	19	47	.	.	PUNCT
iajs-1018	20	1	the	the	DET
iajs-1018	20	2	object	object	NOUN
iajs-1018	20	3	of	of	ADP
iajs-1018	20	4	this	this	DET
iajs-1018	20	5	paper	paper	NOUN
iajs-1018	20	6	is	be	AUX
iajs-1018	20	7	to	to	PART
iajs-1018	20	8	identify	identify	VERB
iajs-1018	20	9	the	the	DET
iajs-1018	20	10	sequence	sequence	NOUN
iajs-1018	20	11	of	of	ADP
iajs-1018	20	12	steps	step	NOUN
iajs-1018	20	13	and	and	CCONJ
iajs-1018	20	14	type	type	NOUN
iajs-1018	20	15	of	of	ADP
iajs-1018	20	16	processes	process	NOUN
iajs-1018	20	17	necessary	necessary	ADJ
iajs-1018	20	18	to	to	PART
iajs-1018	20	19	implement	implement	VERB
iajs-1018	20	20	a	a	DET
iajs-1018	20	21	navigational	navigational	ADJ
iajs-1018	20	22	system	system	NOUN
iajs-1018	20	23	using	use	VERB
iajs-1018	20	24	genetic	genetic	ADJ
iajs-1018	20	25	algorithm	algorithm	NOUN
iajs-1018	20	26	that	that	PRON
iajs-1018	20	27	can	can	AUX
iajs-1018	20	28	generate	generate	VERB
iajs-1018	20	29	optimal	optimal	ADJ
iajs-1018	20	30	or	or	CCONJ
iajs-1018	20	31	near	near	ADV
iajs-1018	20	32	-	-	PUNCT
iajs-1018	20	33	optimal	optimal	ADJ
iajs-1018	20	34	trajectory	trajectory	NOUN
iajs-1018	20	35	according	accord	VERB
iajs-1018	20	36	to	to	ADP
iajs-1018	20	37	a	a	DET
iajs-1018	20	38	given	give	VERB
iajs-1018	20	39	workspace	workspace	NOUN
iajs-1018	20	40	that	that	PRON
iajs-1018	20	41	does	do	AUX
iajs-1018	20	42	not	not	PART
iajs-1018	20	43	make	make	VERB
iajs-1018	20	44	any	any	DET
iajs-1018	20	45	prior	prior	ADJ
iajs-1018	20	46	assumptions	assumption	NOUN
iajs-1018	20	47	about	about	ADP
iajs-1018	20	48	feasible	feasible	ADJ
iajs-1018	20	49	knot	knot	NOUN
iajs-1018	20	50	points	point	NOUN
iajs-1018	20	51	.	.	PUNCT
iajs-1018	21	1	the	the	DET
iajs-1018	21	2	rest	rest	NOUN
iajs-1018	21	3	of	of	ADP
iajs-1018	21	4	this	this	DET
iajs-1018	21	5	paper	paper	NOUN
iajs-1018	21	6	is	be	AUX
iajs-1018	21	7	organized	organize	VERB
iajs-1018	21	8	as	as	SCONJ
iajs-1018	21	9	follows	follow	VERB
iajs-1018	21	10	:	:	PUNCT
iajs-1018	21	11	the	the	DET
iajs-1018	21	12	on	on	ADP
iajs-1018	21	13	-	-	PUNCT
iajs-1018	21	14	line	line	NOUN
iajs-1018	21	15	navigational	navigational	ADJ
iajs-1018	21	16	problem	problem	NOUN
iajs-1018	21	17	,	,	PUNCT
iajs-1018	21	18	the	the	DET
iajs-1018	21	19	genetic	genetic	ADJ
iajs-1018	21	20	algorithm	algorithm	NOUN
iajs-1018	21	21	process	process	NOUN
iajs-1018	21	22	,	,	PUNCT
iajs-1018	21	23	the	the	DET
iajs-1018	21	24	design	design	NOUN
iajs-1018	21	25	of	of	ADP
iajs-1018	21	26	the	the	DET
iajs-1018	21	27	system	system	NOUN
iajs-1018	21	28	of	of	ADP
iajs-1018	21	29	planning	plan	VERB
iajs-1018	21	30	on	on	ADP
iajs-1018	21	31	-	-	PUNCT
iajs-1018	21	32	line	line	NOUN
iajs-1018	21	33	trajectory	trajectory	NOUN
iajs-1018	21	34	using	use	VERB
iajs-1018	21	35	genetic	genetic	ADJ
iajs-1018	21	36	algorithm	algorithm	NOUN
iajs-1018	21	37	including	include	VERB
iajs-1018	21	38	the	the	DET
iajs-1018	21	39	representation	representation	NOUN
iajs-1018	21	40	of	of	ADP
iajs-1018	21	41	the	the	DET
iajs-1018	21	42	chromosome	chromosome	NOUN
iajs-1018	21	43	,	,	PUNCT
iajs-1018	21	44	and	and	CCONJ
iajs-1018	21	45	finally	finally	ADV
iajs-1018	21	46	,	,	PUNCT
iajs-1018	21	47	the	the	DET
iajs-1018	21	48	results	result	NOUN
iajs-1018	21	49	of	of	ADP
iajs-1018	21	50	the	the	DET
iajs-1018	21	51	system	system	NOUN
iajs-1018	21	52	and	and	CCONJ
iajs-1018	21	53	some	some	DET
iajs-1018	21	54	concluding	conclude	VERB
iajs-1018	21	55	remarks	remark	NOUN
iajs-1018	21	56	are	be	AUX
iajs-1018	21	57	given	give	VERB
iajs-1018	21	58	.	.	PUNCT
iajs-1018	22	1	ihjpas	ihjpas	PROPN
iajs-1018	22	2	ibn	ibn	PROPN
iajs-1018	22	3	alhaitham	alhaitham	PROPN
iajs-1018	22	4	j.	j.	PROPN
iajs-1018	22	5	for	for	ADP
iajs-1018	22	6	pure	pure	ADJ
iajs-1018	22	7	&	&	CCONJ
iajs-1018	22	8	appl	appl	PROPN
iajs-1018	22	9	.	.	PUNCT
iajs-1018	23	1	sci	sci	PROPN
iajs-1018	23	2	.	.	PUNCT
iajs-1018	24	1	vol.23	vol.23	PROPN
iajs-1018	24	2	(	(	PUNCT
iajs-1018	24	3	2	2	NUM
iajs-1018	24	4	)	)	PUNCT
iajs-1018	24	5	2010	2010	NUM
iajs-1018	24	6	on	on	ADP
iajs-1018	24	7	-	-	PUNCT
iajs-1018	24	8	line	line	NOUN
iajs-1018	24	9	navigational	navigational	ADJ
iajs-1018	24	10	problem	problem	NOUN
iajs-1018	24	11	navigational	navigational	ADJ
iajs-1018	24	12	planning	planning	NOUN
iajs-1018	24	13	is	be	AUX
iajs-1018	24	14	the	the	DET
iajs-1018	24	15	science	science	NOUN
iajs-1018	24	16	of	of	ADP
iajs-1018	24	17	directing	direct	VERB
iajs-1018	24	18	the	the	DET
iajs-1018	24	19	course	course	NOUN
iajs-1018	24	20	of	of	ADP
iajs-1018	24	21	a	a	DET
iajs-1018	24	22	mobile	mobile	NOUN
iajs-1018	24	23	as	as	SCONJ
iajs-1018	24	24	it	it	PRON
iajs-1018	24	25	traverses	traverse	VERB
iajs-1018	24	26	the	the	DET
iajs-1018	24	27	environment	environment	NOUN
iajs-1018	24	28	and	and	CCONJ
iajs-1018	24	29	reaching	reach	VERB
iajs-1018	24	30	a	a	DET
iajs-1018	24	31	destination	destination	NOUN
iajs-1018	24	32	without	without	ADP
iajs-1018	24	33	getting	getting	AUX
iajs-1018	24	34	lost	lose	VERB
iajs-1018	24	35	or	or	CCONJ
iajs-1018	24	36	crashing	crash	VERB
iajs-1018	24	37	into	into	ADP
iajs-1018	24	38	any	any	DET
iajs-1018	24	39	obstacles	obstacle	NOUN
iajs-1018	24	40	[	[	X
iajs-1018	24	41	5	5	NUM
iajs-1018	24	42	]	]	PUNCT
iajs-1018	24	43	in	in	ADP
iajs-1018	24	44	the	the	DET
iajs-1018	24	45	workspace	workspace	NOUN
iajs-1018	24	46	.	.	PUNCT
iajs-1018	25	1	the	the	DET
iajs-1018	25	2	requirement	requirement	NOUN
iajs-1018	25	3	that	that	SCONJ
iajs-1018	25	4	the	the	DET
iajs-1018	25	5	navigational	navigational	ADJ
iajs-1018	25	6	planning	planning	NOUN
iajs-1018	25	7	must	must	AUX
iajs-1018	25	8	meet	meet	VERB
iajs-1018	25	9	is	be	AUX
iajs-1018	25	10	finding	find	VERB
iajs-1018	25	11	quickly	quickly	ADV
iajs-1018	25	12	an	an	DET
iajs-1018	25	13	optimal	optimal	ADJ
iajs-1018	25	14	trajectory	trajectory	NOUN
iajs-1018	25	15	due	due	ADP
iajs-1018	25	16	to	to	ADP
iajs-1018	25	17	some	some	DET
iajs-1018	25	18	imposed	impose	VERB
iajs-1018	25	19	criteria	criterion	NOUN
iajs-1018	25	20	for	for	ADP
iajs-1018	25	21	the	the	DET
iajs-1018	25	22	solution	solution	NOUN
iajs-1018	25	23	of	of	ADP
iajs-1018	25	24	the	the	DET
iajs-1018	25	25	problem	problem	NOUN
iajs-1018	25	26	(	(	PUNCT
iajs-1018	25	27	which	which	PRON
iajs-1018	25	28	are	be	AUX
iajs-1018	25	29	referred	refer	VERB
iajs-1018	25	30	to	to	ADP
iajs-1018	25	31	as	as	ADP
iajs-1018	25	32	trajectory	trajectory	NOUN
iajs-1018	25	33	metrics	metric	NOUN
iajs-1018	25	34	)	)	PUNCT
iajs-1018	25	35	.	.	PUNCT
iajs-1018	26	1	for	for	ADP
iajs-1018	26	2	example	example	NOUN
iajs-1018	26	3	,	,	PUNCT
iajs-1018	26	4	trajectory	trajectory	NOUN
iajs-1018	26	5	length	length	NOUN
iajs-1018	26	6	,	,	PUNCT
iajs-1018	26	7	evaluation	evaluation	NOUN
iajs-1018	26	8	of	of	ADP
iajs-1018	26	9	clearance	clearance	NOUN
iajs-1018	26	10	between	between	ADP
iajs-1018	26	11	the	the	DET
iajs-1018	26	12	robot	robot	NOUN
iajs-1018	26	13	and	and	CCONJ
iajs-1018	26	14	obstacles	obstacle	NOUN
iajs-1018	26	15	,	,	PUNCT
iajs-1018	26	16	and	and	CCONJ
iajs-1018	26	17	others	other	NOUN
iajs-1018	27	1	[	[	X
iajs-1018	27	2	6	6	NUM
iajs-1018	27	3	,	,	PUNCT
iajs-1018	27	4	7	7	NUM
iajs-1018	27	5	]	]	PUNCT
iajs-1018	27	6	.	.	PUNCT
iajs-1018	28	1	the	the	DET
iajs-1018	28	2	on	on	ADP
iajs-1018	28	3	-	-	PUNCT
iajs-1018	28	4	line	line	NOUN
iajs-1018	28	5	navigational	navigational	ADJ
iajs-1018	28	6	reacts	react	NOUN
iajs-1018	28	7	in	in	ADP
iajs-1018	28	8	real	real	ADJ
iajs-1018	28	9	-	-	PUNCT
iajs-1018	28	10	time	time	NOUN
iajs-1018	28	11	to	to	PART
iajs-1018	28	12	unforeseen	unforeseen	ADJ
iajs-1018	28	13	obstacles	obstacle	NOUN
iajs-1018	28	14	such	such	ADJ
iajs-1018	28	15	as	as	ADP
iajs-1018	28	16	human	human	NOUN
iajs-1018	28	17	,	,	PUNCT
iajs-1018	28	18	and	and	CCONJ
iajs-1018	28	19	it	it	PRON
iajs-1018	28	20	capable	capable	ADJ
iajs-1018	28	21	of	of	ADP
iajs-1018	28	22	changing	change	VERB
iajs-1018	28	23	the	the	DET
iajs-1018	28	24	motion	motion	NOUN
iajs-1018	28	25	direction	direction	NOUN
iajs-1018	28	26	while	while	SCONJ
iajs-1018	28	27	the	the	DET
iajs-1018	28	28	robot	robot	NOUN
iajs-1018	28	29	is	be	AUX
iajs-1018	28	30	moving	move	VERB
iajs-1018	28	31	and	and	CCONJ
iajs-1018	28	32	can	can	AUX
iajs-1018	28	33	adjust	adjust	VERB
iajs-1018	28	34	the	the	DET
iajs-1018	28	35	direction	direction	NOUN
iajs-1018	28	36	commanded	command	VERB
iajs-1018	28	37	by	by	ADP
iajs-1018	28	38	the	the	DET
iajs-1018	28	39	planner	planner	NOUN
iajs-1018	28	40	based	base	VERB
iajs-1018	28	41	on	on	ADP
iajs-1018	28	42	sensing	sense	VERB
iajs-1018	28	43	readings	reading	NOUN
iajs-1018	28	44	[	[	X
iajs-1018	28	45	8	8	NUM
iajs-1018	28	46	]	]	PUNCT
iajs-1018	28	47	where	where	SCONJ
iajs-1018	28	48	there	there	PRON
iajs-1018	28	49	is	be	VERB
iajs-1018	28	50	no	no	DET
iajs-1018	28	51	prior	prior	ADJ
iajs-1018	28	52	information	information	NOUN
iajs-1018	28	53	about	about	ADP
iajs-1018	28	54	the	the	DET
iajs-1018	28	55	environment	environment	NOUN
iajs-1018	28	56	which	which	PRON
iajs-1018	28	57	the	the	DET
iajs-1018	28	58	robot	robot	NOUN
iajs-1018	28	59	is	be	AUX
iajs-1018	28	60	supported	support	VERB
iajs-1018	28	61	to	to	PART
iajs-1018	28	62	travel	travel	VERB
iajs-1018	28	63	the	the	DET
iajs-1018	28	64	problem	problem	NOUN
iajs-1018	28	65	of	of	ADP
iajs-1018	28	66	finding	find	VERB
iajs-1018	28	67	a	a	DET
iajs-1018	28	68	trajectory	trajectory	NOUN
iajs-1018	28	69	between	between	ADP
iajs-1018	28	70	a	a	DET
iajs-1018	28	71	start	start	NOUN
iajs-1018	28	72	point	point	NOUN
iajs-1018	28	73	and	and	CCONJ
iajs-1018	28	74	a	a	DET
iajs-1018	28	75	target	target	NOUN
iajs-1018	28	76	point	point	NOUN
iajs-1018	28	77	.	.	PUNCT
iajs-1018	29	1	the	the	DET
iajs-1018	29	2	initial	initial	ADJ
iajs-1018	29	3	data	datum	NOUN
iajs-1018	29	4	are	be	AUX
iajs-1018	29	5	in	in	ADP
iajs-1018	29	6	this	this	DET
iajs-1018	29	7	case	case	NOUN
iajs-1018	29	8	only	only	ADV
iajs-1018	29	9	the	the	DET
iajs-1018	29	10	coordinates	coordinate	NOUN
iajs-1018	29	11	of	of	ADP
iajs-1018	29	12	the	the	DET
iajs-1018	29	13	two	two	NUM
iajs-1018	29	14	points	point	NOUN
iajs-1018	29	15	or	or	CCONJ
iajs-1018	29	16	equivalently	equivalently	ADV
iajs-1018	29	17	the	the	DET
iajs-1018	29	18	direction	direction	NOUN
iajs-1018	29	19	and	and	CCONJ
iajs-1018	29	20	distance	distance	NOUN
iajs-1018	29	21	to	to	ADP
iajs-1018	29	22	the	the	DET
iajs-1018	29	23	target	target	NOUN
iajs-1018	29	24	.	.	PUNCT
iajs-1018	30	1	the	the	DET
iajs-1018	30	2	problem	problem	NOUN
iajs-1018	30	3	can	can	AUX
iajs-1018	30	4	be	be	AUX
iajs-1018	30	5	solved	solve	VERB
iajs-1018	30	6	only	only	ADV
iajs-1018	30	7	if	if	SCONJ
iajs-1018	30	8	the	the	DET
iajs-1018	30	9	robot	robot	NOUN
iajs-1018	30	10	is	be	AUX
iajs-1018	30	11	equipped	equip	VERB
iajs-1018	30	12	with	with	ADP
iajs-1018	30	13	some	some	DET
iajs-1018	30	14	sensor	sensor	NOUN
iajs-1018	30	15	system	system	NOUN
iajs-1018	30	16	which	which	PRON
iajs-1018	30	17	can	can	AUX
iajs-1018	30	18	detect	detect	VERB
iajs-1018	30	19	the	the	DET
iajs-1018	30	20	obstacles	obstacle	NOUN
iajs-1018	30	21	around	around	ADP
iajs-1018	30	22	.	.	PUNCT
iajs-1018	31	1	examples	example	NOUN
iajs-1018	31	2	of	of	ADP
iajs-1018	31	3	such	such	ADJ
iajs-1018	31	4	sensors	sensor	NOUN
iajs-1018	31	5	are	be	AUX
iajs-1018	31	6	:	:	PUNCT
iajs-1018	31	7	touch	touch	NOUN
iajs-1018	31	8	sensors	sensor	NOUN
iajs-1018	31	9	,	,	PUNCT
iajs-1018	31	10	range	range	NOUN
iajs-1018	31	11	finding	find	VERB
iajs-1018	31	12	sensors	sensor	NOUN
iajs-1018	31	13	(	(	PUNCT
iajs-1018	31	14	based	base	VERB
iajs-1018	31	15	on	on	ADP
iajs-1018	31	16	triangulation	triangulation	NOUN
iajs-1018	31	17	or	or	CCONJ
iajs-1018	31	18	time	time	NOUN
iajs-1018	31	19	of	of	ADP
iajs-1018	31	20	flight	flight	NOUN
iajs-1018	31	21	techniques	technique	NOUN
iajs-1018	31	22	)	)	PUNCT
iajs-1018	31	23	,	,	PUNCT
iajs-1018	31	24	or	or	CCONJ
iajs-1018	31	25	video	video	NOUN
iajs-1018	31	26	cameras	camera	NOUN
iajs-1018	31	27	[	[	X
iajs-1018	31	28	9	9	NUM
iajs-1018	31	29	]	]	PUNCT
iajs-1018	31	30	.	.	PUNCT
iajs-1018	32	1	in	in	ADP
iajs-1018	32	2	on	on	ADP
iajs-1018	32	3	-	-	PUNCT
iajs-1018	32	4	line	line	NOUN
iajs-1018	32	5	navigation	navigation	NOUN
iajs-1018	32	6	,	,	PUNCT
iajs-1018	32	7	the	the	DET
iajs-1018	32	8	robot	robot	NOUN
iajs-1018	32	9	can	can	AUX
iajs-1018	32	10	perform	perform	VERB
iajs-1018	32	11	a	a	DET
iajs-1018	32	12	sequence	sequence	NOUN
iajs-1018	32	13	of	of	ADP
iajs-1018	32	14	actions	action	NOUN
iajs-1018	32	15	with	with	ADP
iajs-1018	32	16	responding	respond	VERB
iajs-1018	32	17	to	to	ADP
iajs-1018	32	18	changes	change	NOUN
iajs-1018	32	19	in	in	ADP
iajs-1018	32	20	its	its	PRON
iajs-1018	32	21	environment	environment	NOUN
iajs-1018	32	22	and	and	CCONJ
iajs-1018	32	23	would	would	AUX
iajs-1018	32	24	be	be	AUX
iajs-1018	32	25	able	able	ADJ
iajs-1018	32	26	to	to	PART
iajs-1018	32	27	detect	detect	VERB
iajs-1018	32	28	and	and	CCONJ
iajs-1018	32	29	correct	correct	ADJ
iajs-1018	32	30	errors	error	NOUN
iajs-1018	32	31	in	in	ADP
iajs-1018	32	32	its	its	PRON
iajs-1018	32	33	own	own	ADJ
iajs-1018	32	34	plans	plan	NOUN
iajs-1018	32	35	as	as	SCONJ
iajs-1018	32	36	it	it	PRON
iajs-1018	32	37	executes	execute	VERB
iajs-1018	32	38	the	the	DET
iajs-1018	32	39	navigation	navigation	NOUN
iajs-1018	33	1	[	[	X
iajs-1018	33	2	1	1	NUM
iajs-1018	33	3	]	]	PUNCT
iajs-1018	33	4	.	.	PUNCT
iajs-1018	34	1	the	the	DET
iajs-1018	34	2	task	task	NOUN
iajs-1018	34	3	of	of	ADP
iajs-1018	34	4	on	on	ADP
iajs-1018	34	5	-	-	PUNCT
iajs-1018	34	6	line	line	NOUN
iajs-1018	34	7	navigation	navigation	NOUN
iajs-1018	34	8	is	be	AUX
iajs-1018	34	9	to	to	PART
iajs-1018	34	10	navigate	navigate	VERB
iajs-1018	34	11	the	the	DET
iajs-1018	34	12	robot	robot	NOUN
iajs-1018	34	13	to	to	PART
iajs-1018	34	14	sub	sub	VERB
iajs-1018	34	15	-	-	NOUN
iajs-1018	34	16	goals	goal	NOUN
iajs-1018	34	17	generated	generate	VERB
iajs-1018	34	18	by	by	ADP
iajs-1018	34	19	the	the	DET
iajs-1018	34	20	navigator	navigator	NOUN
iajs-1018	34	21	while	while	SCONJ
iajs-1018	34	22	avoiding	avoid	VERB
iajs-1018	34	23	collisions	collision	NOUN
iajs-1018	34	24	with	with	ADP
iajs-1018	34	25	obstacles	obstacle	NOUN
iajs-1018	34	26	[	[	X
iajs-1018	34	27	8	8	NUM
iajs-1018	34	28	]	]	PUNCT
iajs-1018	34	29	and	and	CCONJ
iajs-1018	34	30	reacting	react	VERB
iajs-1018	34	31	to	to	ADP
iajs-1018	34	32	sensory	sensory	ADJ
iajs-1018	34	33	data	datum	NOUN
iajs-1018	34	34	as	as	ADV
iajs-1018	34	35	quickly	quickly	ADV
iajs-1018	34	36	as	as	ADP
iajs-1018	34	37	possible	possible	ADJ
iajs-1018	34	38	while	while	SCONJ
iajs-1018	34	39	driving	drive	VERB
iajs-1018	34	40	towards	towards	ADP
iajs-1018	34	41	a	a	DET
iajs-1018	34	42	sub	sub	NOUN
iajs-1018	34	43	-	-	NOUN
iajs-1018	34	44	goal	goal	NOUN
iajs-1018	34	45	.	.	PUNCT
iajs-1018	35	1	genetic	genetic	ADJ
iajs-1018	35	2	algorithm	algorithm	NOUN
iajs-1018	35	3	genetic	genetic	ADJ
iajs-1018	35	4	algorithms	algorithm	NOUN
iajs-1018	35	5	(	(	PUNCT
iajs-1018	35	6	gas	gas	NOUN
iajs-1018	35	7	)	)	PUNCT
iajs-1018	35	8	are	be	AUX
iajs-1018	35	9	stochastic	stochastic	ADJ
iajs-1018	35	10	search	search	NOUN
iajs-1018	35	11	algorithms	algorithm	NOUN
iajs-1018	35	12	based	base	VERB
iajs-1018	35	13	on	on	ADP
iajs-1018	35	14	evolutionary	evolutionary	ADJ
iajs-1018	35	15	and	and	CCONJ
iajs-1018	35	16	biological	biological	ADJ
iajs-1018	35	17	processes	process	NOUN
iajs-1018	35	18	that	that	PRON
iajs-1018	35	19	enable	enable	VERB
iajs-1018	35	20	organisms	organism	NOUN
iajs-1018	35	21	to	to	PART
iajs-1018	35	22	adapt	adapt	VERB
iajs-1018	35	23	more	more	ADJ
iajs-1018	35	24	to	to	ADP
iajs-1018	35	25	their	their	PRON
iajs-1018	35	26	environment	environment	NOUN
iajs-1018	35	27	.	.	PUNCT
iajs-1018	36	1	they	they	PRON
iajs-1018	36	2	are	be	AUX
iajs-1018	36	3	being	be	AUX
iajs-1018	36	4	successfully	successfully	ADV
iajs-1018	36	5	applied	apply	VERB
iajs-1018	36	6	to	to	ADP
iajs-1018	36	7	problem	problem	NOUN
iajs-1018	36	8	in	in	ADP
iajs-1018	36	9	business	business	NOUN
iajs-1018	36	10	,	,	PUNCT
iajs-1018	36	11	engineering	engineering	NOUN
iajs-1018	36	12	and	and	CCONJ
iajs-1018	36	13	science	science	NOUN
iajs-1018	36	14	[	[	X
iajs-1018	36	15	10	10	NUM
iajs-1018	36	16	]	]	PUNCT
iajs-1018	36	17	.	.	PUNCT
iajs-1018	37	1	ga	ga	PROPN
iajs-1018	37	2	works	work	VERB
iajs-1018	37	3	on	on	ADP
iajs-1018	37	4	a	a	DET
iajs-1018	37	5	set	set	NOUN
iajs-1018	37	6	of	of	ADP
iajs-1018	37	7	possible	possible	ADJ
iajs-1018	37	8	solutions	solution	NOUN
iajs-1018	37	9	,	,	PUNCT
iajs-1018	37	10	which	which	PRON
iajs-1018	37	11	is	be	AUX
iajs-1018	37	12	called	call	VERB
iajs-1018	37	13	the	the	DET
iajs-1018	37	14	population	population	NOUN
iajs-1018	37	15	.	.	PUNCT
iajs-1018	38	1	a	a	DET
iajs-1018	38	2	ga	ga	PROPN
iajs-1018	38	3	encodes	encode	VERB
iajs-1018	38	4	a	a	DET
iajs-1018	38	5	potential	potential	ADJ
iajs-1018	38	6	solution	solution	NOUN
iajs-1018	38	7	to	to	ADP
iajs-1018	38	8	a	a	DET
iajs-1018	38	9	specific	specific	ADJ
iajs-1018	38	10	problem	problem	NOUN
iajs-1018	38	11	on	on	ADP
iajs-1018	38	12	a	a	DET
iajs-1018	38	13	chromosome	chromosome	NOUN
iajs-1018	38	14	-	-	PUNCT
iajs-1018	38	15	like	like	ADJ
iajs-1018	38	16	data	datum	NOUN
iajs-1018	38	17	structure	structure	NOUN
iajs-1018	38	18	and	and	CCONJ
iajs-1018	38	19	applies	apply	VERB
iajs-1018	38	20	recombination	recombination	NOUN
iajs-1018	38	21	operators	operator	NOUN
iajs-1018	38	22	to	to	ADP
iajs-1018	38	23	these	these	DET
iajs-1018	38	24	structures	structure	NOUN
iajs-1018	38	25	in	in	ADP
iajs-1018	38	26	a	a	DET
iajs-1018	38	27	manner	manner	NOUN
iajs-1018	38	28	that	that	PRON
iajs-1018	38	29	preserves	preserve	VERB
iajs-1018	38	30	critical	critical	ADJ
iajs-1018	38	31	information	information	NOUN
iajs-1018	38	32	.	.	PUNCT
iajs-1018	39	1	reproduction	reproduction	NOUN
iajs-1018	39	2	opportunities	opportunity	NOUN
iajs-1018	39	3	are	be	AUX
iajs-1018	39	4	applied	apply	VERB
iajs-1018	39	5	in	in	ADP
iajs-1018	39	6	such	such	DET
iajs-1018	39	7	a	a	DET
iajs-1018	39	8	way	way	NOUN
iajs-1018	39	9	that	that	PRON
iajs-1018	39	10	those	those	DET
iajs-1018	39	11	chromosomes	chromosome	NOUN
iajs-1018	39	12	representing	represent	VERB
iajs-1018	39	13	a	a	DET
iajs-1018	39	14	better	well	ADJ
iajs-1018	39	15	solution	solution	NOUN
iajs-1018	39	16	to	to	ADP
iajs-1018	39	17	the	the	DET
iajs-1018	39	18	target	target	NOUN
iajs-1018	39	19	problem	problem	NOUN
iajs-1018	39	20	are	be	AUX
iajs-1018	39	21	given	give	VERB
iajs-1018	39	22	more	more	ADJ
iajs-1018	39	23	chances	chance	NOUN
iajs-1018	39	24	to	to	PART
iajs-1018	39	25	reproduce	reproduce	VERB
iajs-1018	39	26	than	than	ADP
iajs-1018	39	27	chromosomes	chromosome	NOUN
iajs-1018	39	28	with	with	ADP
iajs-1018	39	29	poorer	poor	ADJ
iajs-1018	39	30	solutions	solution	NOUN
iajs-1018	39	31	.	.	PUNCT
iajs-1018	40	1	ga	ga	PROPN
iajs-1018	40	2	is	be	AUX
iajs-1018	40	3	a	a	DET
iajs-1018	40	4	promising	promising	ADJ
iajs-1018	40	5	heuristic	heuristic	ADJ
iajs-1018	40	6	approach	approach	NOUN
iajs-1018	40	7	for	for	ADP
iajs-1018	40	8	locating	locate	VERB
iajs-1018	40	9	near	near	ADJ
iajs-1018	40	10	-	-	PUNCT
iajs-1018	40	11	optimal	optimal	ADJ
iajs-1018	40	12	solutions	solution	NOUN
iajs-1018	40	13	in	in	ADP
iajs-1018	40	14	large	large	ADJ
iajs-1018	40	15	search	search	NOUN
iajs-1018	40	16	spaces	space	NOUN
iajs-1018	40	17	[	[	X
iajs-1018	40	18	11	11	NUM
iajs-1018	40	19	]	]	PUNCT
iajs-1018	40	20	.	.	PUNCT
iajs-1018	41	1	typically	typically	ADV
iajs-1018	41	2	,	,	PUNCT
iajs-1018	41	3	a	a	DET
iajs-1018	41	4	ga	ga	NOUN
iajs-1018	41	5	is	be	AUX
iajs-1018	41	6	composed	compose	VERB
iajs-1018	41	7	of	of	ADP
iajs-1018	41	8	two	two	NUM
iajs-1018	41	9	main	main	ADJ
iajs-1018	41	10	components	component	NOUN
iajs-1018	41	11	,	,	PUNCT
iajs-1018	41	12	which	which	PRON
iajs-1018	41	13	are	be	AUX
iajs-1018	41	14	problem	problem	NOUN
iajs-1018	41	15	dependent	dependent	ADJ
iajs-1018	41	16	:	:	PUNCT
iajs-1018	41	17	the	the	DET
iajs-1018	41	18	encoding	encoding	NOUN
iajs-1018	41	19	problem	problem	NOUN
iajs-1018	41	20	and	and	CCONJ
iajs-1018	41	21	the	the	DET
iajs-1018	41	22	evaluation	evaluation	NOUN
iajs-1018	41	23	function	function	NOUN
iajs-1018	41	24	.	.	PUNCT
iajs-1018	42	1	the	the	DET
iajs-1018	42	2	encoding	encoding	NOUN
iajs-1018	42	3	problem	problem	NOUN
iajs-1018	42	4	involves	involve	VERB
iajs-1018	42	5	generating	generate	VERB
iajs-1018	42	6	an	an	DET
iajs-1018	42	7	encoding	encoding	NOUN
iajs-1018	42	8	scheme	scheme	NOUN
iajs-1018	42	9	to	to	PART
iajs-1018	42	10	represent	represent	VERB
iajs-1018	42	11	the	the	DET
iajs-1018	42	12	possible	possible	ADJ
iajs-1018	42	13	solutions	solution	NOUN
iajs-1018	42	14	to	to	ADP
iajs-1018	42	15	the	the	DET
iajs-1018	42	16	optimization	optimization	NOUN
iajs-1018	42	17	problem	problem	NOUN
iajs-1018	42	18	.	.	PUNCT
iajs-1018	43	1	in	in	ADP
iajs-1018	43	2	this	this	DET
iajs-1018	43	3	paper	paper	NOUN
iajs-1018	43	4	,	,	PUNCT
iajs-1018	43	5	a	a	DET
iajs-1018	43	6	candidate	candidate	NOUN
iajs-1018	43	7	solution	solution	NOUN
iajs-1018	43	8	(	(	PUNCT
iajs-1018	43	9	i.e.	i.e.	X
iajs-1018	43	10	,	,	PUNCT
iajs-1018	43	11	a	a	DET
iajs-1018	43	12	chromosome	chromosome	NOUN
iajs-1018	43	13	)	)	PUNCT
iajs-1018	43	14	is	be	AUX
iajs-1018	43	15	encoded	encode	VERB
iajs-1018	43	16	to	to	PART
iajs-1018	43	17	represent	represent	VERB
iajs-1018	43	18	a	a	DET
iajs-1018	43	19	trajectory	trajectory	NOUN
iajs-1018	43	20	from	from	ADP
iajs-1018	43	21	the	the	DET
iajs-1018	43	22	start	start	NOUN
iajs-1018	43	23	position	position	NOUN
iajs-1018	43	24	to	to	ADP
iajs-1018	43	25	the	the	DET
iajs-1018	43	26	goal	goal	NOUN
iajs-1018	43	27	position	position	NOUN
iajs-1018	43	28	.	.	PUNCT
iajs-1018	44	1	the	the	DET
iajs-1018	44	2	evaluation	evaluation	NOUN
iajs-1018	44	3	function	function	NOUN
iajs-1018	44	4	measures	measure	VERB
iajs-1018	44	5	the	the	DET
iajs-1018	44	6	quality	quality	NOUN
iajs-1018	44	7	of	of	ADP
iajs-1018	44	8	a	a	DET
iajs-1018	44	9	particular	particular	ADJ
iajs-1018	44	10	solution	solution	NOUN
iajs-1018	44	11	.	.	PUNCT
iajs-1018	45	1	each	each	DET
iajs-1018	45	2	chromosome	chromosome	NOUN
iajs-1018	45	3	is	be	AUX
iajs-1018	45	4	associated	associate	VERB
iajs-1018	45	5	with	with	ADP
iajs-1018	45	6	a	a	DET
iajs-1018	45	7	fitness	fitness	NOUN
iajs-1018	45	8	value	value	NOUN
iajs-1018	45	9	,	,	PUNCT
iajs-1018	45	10	which	which	PRON
iajs-1018	45	11	in	in	ADP
iajs-1018	45	12	this	this	DET
iajs-1018	45	13	case	case	NOUN
iajs-1018	45	14	is	be	AUX
iajs-1018	45	15	the	the	DET
iajs-1018	45	16	length	length	NOUN
iajs-1018	45	17	of	of	ADP
iajs-1018	45	18	the	the	DET
iajs-1018	45	19	chromosome	chromosome	NOUN
iajs-1018	45	20	.	.	PUNCT
iajs-1018	46	1	for	for	ADP
iajs-1018	46	2	this	this	DET
iajs-1018	46	3	paper	paper	NOUN
iajs-1018	46	4	,	,	PUNCT
iajs-1018	46	5	the	the	DET
iajs-1018	46	6	smallest	small	ADJ
iajs-1018	46	7	fitness	fitness	NOUN
iajs-1018	46	8	value	value	NOUN
iajs-1018	46	9	represents	represent	VERB
iajs-1018	46	10	the	the	DET
iajs-1018	46	11	better	well	ADJ
iajs-1018	46	12	solution	solution	NOUN
iajs-1018	46	13	.	.	PUNCT
iajs-1018	47	1	chromosomes	chromosome	NOUN
iajs-1018	47	2	evolve	evolve	VERB
iajs-1018	47	3	through	through	ADP
iajs-1018	47	4	successive	successive	ADJ
iajs-1018	47	5	iterations	iteration	NOUN
iajs-1018	47	6	,	,	PUNCT
iajs-1018	47	7	called	call	VERB
iajs-1018	47	8	generations	generation	NOUN
iajs-1018	47	9	.	.	PUNCT
iajs-1018	48	1	to	to	PART
iajs-1018	48	2	create	create	VERB
iajs-1018	48	3	the	the	DET
iajs-1018	48	4	next	next	ADJ
iajs-1018	48	5	generation	generation	NOUN
iajs-1018	48	6	,	,	PUNCT
iajs-1018	48	7	new	new	ADJ
iajs-1018	48	8	chromosomes	chromosome	NOUN
iajs-1018	48	9	,	,	PUNCT
iajs-1018	48	10	called	call	VERB
iajs-1018	48	11	offspring	offspring	NOUN
iajs-1018	48	12	,	,	PUNCT
iajs-1018	48	13	are	be	AUX
iajs-1018	48	14	formed	form	VERB
iajs-1018	48	15	by	by	ADP
iajs-1018	48	16	(	(	PUNCT
iajs-1018	48	17	a	a	DET
iajs-1018	48	18	)	)	PUNCT
iajs-1018	48	19	selecting	select	VERB
iajs-1018	48	20	chromosomes	chromosome	NOUN
iajs-1018	48	21	to	to	PART
iajs-1018	48	22	be	be	AUX
iajs-1018	48	23	merged	merge	VERB
iajs-1018	48	24	(	(	PUNCT
iajs-1018	48	25	b	b	NOUN
iajs-1018	48	26	)	)	PUNCT
iajs-1018	48	27	merging	merge	VERB
iajs-1018	48	28	two	two	NUM
iajs-1018	48	29	chromosomes	chromosome	NOUN
iajs-1018	48	30	from	from	ADP
iajs-1018	48	31	the	the	DET
iajs-1018	48	32	current	current	ADJ
iajs-1018	48	33	population	population	NOUN
iajs-1018	48	34	together	together	ADV
iajs-1018	48	35	using	use	VERB
iajs-1018	48	36	a	a	DET
iajs-1018	48	37	crossover	crossover	NOUN
iajs-1018	48	38	operator	operator	NOUN
iajs-1018	48	39	and	and	CCONJ
iajs-1018	48	40	(	(	PUNCT
iajs-1018	48	41	c	c	NOUN
iajs-1018	48	42	)	)	PUNCT
iajs-1018	48	43	modifying	modify	VERB
iajs-1018	48	44	a	a	DET
iajs-1018	48	45	chromosome	chromosome	NOUN
iajs-1018	48	46	using	use	VERB
iajs-1018	48	47	a	a	DET
iajs-1018	48	48	mutation	mutation	NOUN
iajs-1018	48	49	operator	operator	NOUN
iajs-1018	48	50	.	.	PUNCT
iajs-1018	49	1	selection	selection	NOUN
iajs-1018	49	2	is	be	AUX
iajs-1018	49	3	the	the	DET
iajs-1018	49	4	process	process	NOUN
iajs-1018	49	5	of	of	ADP
iajs-1018	49	6	keeping	keep	VERB
iajs-1018	49	7	and	and	CCONJ
iajs-1018	49	8	eliminating	eliminate	VERB
iajs-1018	49	9	chromosomes	chromosome	NOUN
iajs-1018	49	10	in	in	ADP
iajs-1018	49	11	the	the	DET
iajs-1018	49	12	population	population	NOUN
iajs-1018	49	13	based	base	VERB
iajs-1018	49	14	on	on	ADP
iajs-1018	49	15	their	their	PRON
iajs-1018	49	16	relative	relative	ADJ
iajs-1018	49	17	quality	quality	NOUN
iajs-1018	49	18	or	or	CCONJ
iajs-1018	49	19	fitness	fitness	NOUN
iajs-1018	49	20	.	.	PUNCT
iajs-1018	50	1	there	there	PRON
iajs-1018	50	2	are	be	VERB
iajs-1018	50	3	several	several	ADJ
iajs-1018	50	4	possible	possible	ADJ
iajs-1018	50	5	selection	selection	NOUN
iajs-1018	50	6	strategies	strategy	NOUN
iajs-1018	50	7	.	.	PUNCT
iajs-1018	51	1	one	one	NUM
iajs-1018	51	2	of	of	ADP
iajs-1018	51	3	them	they	PRON
iajs-1018	51	4	is	be	AUX
iajs-1018	51	5	tournament	tournament	NOUN
iajs-1018	51	6	selection	selection	NOUN
iajs-1018	51	7	which	which	PRON
iajs-1018	51	8	is	be	AUX
iajs-1018	51	9	adopted	adopt	VERB
iajs-1018	51	10	in	in	ADP
iajs-1018	51	11	this	this	DET
iajs-1018	51	12	paper	paper	NOUN
iajs-1018	51	13	.	.	PUNCT
iajs-1018	52	1	in	in	ADP
iajs-1018	52	2	tournament	tournament	NOUN
iajs-1018	52	3	selection	selection	NOUN
iajs-1018	52	4	,	,	PUNCT
iajs-1018	52	5	s	s	PART
iajs-1018	52	6	chromosomes	chromosome	NOUN
iajs-1018	52	7	are	be	AUX
iajs-1018	52	8	taken	take	VERB
iajs-1018	52	9	at	at	ADP
iajs-1018	52	10	random	random	ADJ
iajs-1018	52	11	,	,	PUNCT
iajs-1018	52	12	and	and	CCONJ
iajs-1018	52	13	the	the	DET
iajs-1018	52	14	better	well	ADJ
iajs-1018	52	15	chromosome	chromosome	NOUN
iajs-1018	52	16	is	be	AUX
iajs-1018	52	17	selected	select	VERB
iajs-1018	52	18	from	from	ADP
iajs-1018	52	19	them	they	PRON
iajs-1018	52	20	.	.	PUNCT
iajs-1018	53	1	the	the	DET
iajs-1018	53	2	winner	winner	NOUN
iajs-1018	53	3	of	of	ADP
iajs-1018	53	4	the	the	DET
iajs-1018	53	5	tournament	tournament	NOUN
iajs-1018	53	6	is	be	AUX
iajs-1018	53	7	the	the	DET
iajs-1018	53	8	chromosome	chromosome	NOUN
iajs-1018	53	9	with	with	ADP
iajs-1018	53	10	the	the	DET
iajs-1018	53	11	lowest	low	ADJ
iajs-1018	53	12	fitness	fitness	NOUN
iajs-1018	53	13	of	of	ADP
iajs-1018	53	14	the	the	DET
iajs-1018	53	15	s	s	PART
iajs-1018	53	16	tournament	tournament	NOUN
iajs-1018	53	17	ihjpas	ihjpa	VERB
iajs-1018	53	18	ibn	ibn	PROPN
iajs-1018	53	19	alhaitham	alhaitham	PROPN
iajs-1018	53	20	j.	j.	PROPN
iajs-1018	53	21	for	for	ADP
iajs-1018	53	22	pure	pure	ADJ
iajs-1018	53	23	&	&	CCONJ
iajs-1018	53	24	appl	appl	PROPN
iajs-1018	53	25	.	.	PUNCT
iajs-1018	54	1	sci	sci	PROPN
iajs-1018	54	2	.	.	PUNCT
iajs-1018	55	1	vol.23	vol.23	PROPN
iajs-1018	55	2	(	(	PUNCT
iajs-1018	55	3	2	2	NUM
iajs-1018	55	4	)	)	PUNCT
iajs-1018	55	5	2010	2010	NUM
iajs-1018	55	6	competitors	competitor	NOUN
iajs-1018	55	7	,	,	PUNCT
iajs-1018	55	8	and	and	CCONJ
iajs-1018	55	9	the	the	DET
iajs-1018	55	10	winner	winner	NOUN
iajs-1018	55	11	is	be	AUX
iajs-1018	55	12	inserted	insert	VERB
iajs-1018	55	13	into	into	ADP
iajs-1018	55	14	mating	mate	VERB
iajs-1018	55	15	pool	pool	NOUN
iajs-1018	55	16	.	.	PUNCT
iajs-1018	56	1	the	the	DET
iajs-1018	56	2	mating	mating	NOUN
iajs-1018	56	3	pool	pool	NOUN
iajs-1018	56	4	,	,	PUNCT
iajs-1018	56	5	being	be	AUX
iajs-1018	56	6	filled	fill	VERB
iajs-1018	56	7	with	with	ADP
iajs-1018	56	8	tournament	tournament	NOUN
iajs-1018	56	9	winners	winner	NOUN
iajs-1018	56	10	,	,	PUNCT
iajs-1018	56	11	has	have	VERB
iajs-1018	56	12	a	a	DET
iajs-1018	56	13	lower	low	ADJ
iajs-1018	56	14	average	average	ADJ
iajs-1018	56	15	fitness	fitness	NOUN
iajs-1018	56	16	than	than	ADP
iajs-1018	56	17	the	the	DET
iajs-1018	56	18	average	average	ADJ
iajs-1018	56	19	population	population	NOUN
iajs-1018	56	20	fitness	fitness	NOUN
iajs-1018	56	21	.	.	PUNCT
iajs-1018	57	1	crossover	crossover	NOUN
iajs-1018	57	2	generates	generate	VERB
iajs-1018	57	3	valid	valid	ADJ
iajs-1018	57	4	offspring	offspring	NOUN
iajs-1018	57	5	by	by	ADP
iajs-1018	57	6	combining	combine	VERB
iajs-1018	57	7	features	feature	NOUN
iajs-1018	57	8	of	of	ADP
iajs-1018	57	9	two	two	NUM
iajs-1018	57	10	parent	parent	NOUN
iajs-1018	57	11	chromosomes	chromosome	NOUN
iajs-1018	57	12	.	.	PUNCT
iajs-1018	58	1	chromosomes	chromosome	NOUN
iajs-1018	58	2	are	be	AUX
iajs-1018	58	3	combined	combine	VERB
iajs-1018	58	4	together	together	ADV
iajs-1018	58	5	at	at	ADP
iajs-1018	58	6	a	a	DET
iajs-1018	58	7	defined	define	VERB
iajs-1018	58	8	crossover	crossover	NOUN
iajs-1018	58	9	rate	rate	NOUN
iajs-1018	58	10	,	,	PUNCT
iajs-1018	58	11	which	which	PRON
iajs-1018	58	12	is	be	AUX
iajs-1018	58	13	defined	define	VERB
iajs-1018	58	14	as	as	ADP
iajs-1018	58	15	the	the	DET
iajs-1018	58	16	ratio	ratio	NOUN
iajs-1018	58	17	of	of	ADP
iajs-1018	58	18	the	the	DET
iajs-1018	58	19	number	number	NOUN
iajs-1018	58	20	of	of	ADP
iajs-1018	58	21	offspring	offspring	NOUN
iajs-1018	58	22	produced	produce	VERB
iajs-1018	58	23	in	in	ADP
iajs-1018	58	24	each	each	DET
iajs-1018	58	25	generation	generation	NOUN
iajs-1018	58	26	to	to	ADP
iajs-1018	58	27	the	the	DET
iajs-1018	58	28	population	population	NOUN
iajs-1018	58	29	size	size	NOUN
iajs-1018	58	30	.	.	PUNCT
iajs-1018	59	1	mutation	mutation	NOUN
iajs-1018	59	2	produces	produce	VERB
iajs-1018	59	3	random	random	ADJ
iajs-1018	59	4	changes	change	NOUN
iajs-1018	59	5	in	in	ADP
iajs-1018	59	6	various	various	ADJ
iajs-1018	59	7	chromosomes	chromosome	NOUN
iajs-1018	59	8	.	.	PUNCT
iajs-1018	60	1	mutation	mutation	NOUN
iajs-1018	60	2	serves	serve	VERB
iajs-1018	60	3	the	the	DET
iajs-1018	60	4	critical	critical	ADJ
iajs-1018	60	5	role	role	NOUN
iajs-1018	60	6	of	of	ADP
iajs-1018	60	7	either	either	CCONJ
iajs-1018	60	8	replacing	replace	VERB
iajs-1018	60	9	the	the	DET
iajs-1018	60	10	chromosomes	chromosome	NOUN
iajs-1018	60	11	lost	lose	VERB
iajs-1018	60	12	from	from	ADP
iajs-1018	60	13	the	the	DET
iajs-1018	60	14	population	population	NOUN
iajs-1018	60	15	during	during	ADP
iajs-1018	60	16	the	the	DET
iajs-1018	60	17	selection	selection	NOUN
iajs-1018	60	18	process	process	NOUN
iajs-1018	60	19	or	or	CCONJ
iajs-1018	60	20	introducing	introduce	VERB
iajs-1018	60	21	new	new	ADJ
iajs-1018	60	22	chromosomes	chromosome	NOUN
iajs-1018	60	23	that	that	PRON
iajs-1018	60	24	were	be	AUX
iajs-1018	60	25	not	not	PART
iajs-1018	60	26	present	present	ADJ
iajs-1018	60	27	in	in	ADP
iajs-1018	60	28	the	the	DET
iajs-1018	60	29	initial	initial	ADJ
iajs-1018	60	30	population	population	NOUN
iajs-1018	60	31	.	.	PUNCT
iajs-1018	61	1	the	the	DET
iajs-1018	61	2	mutation	mutation	NOUN
iajs-1018	61	3	rate	rate	NOUN
iajs-1018	61	4	controls	control	VERB
iajs-1018	61	5	the	the	DET
iajs-1018	61	6	rate	rate	NOUN
iajs-1018	61	7	at	at	ADP
iajs-1018	61	8	which	which	PRON
iajs-1018	61	9	new	new	ADJ
iajs-1018	61	10	chromosomes	chromosome	NOUN
iajs-1018	61	11	are	be	AUX
iajs-1018	61	12	introduced	introduce	VERB
iajs-1018	61	13	into	into	ADP
iajs-1018	61	14	the	the	DET
iajs-1018	61	15	population	population	NOUN
iajs-1018	61	16	.	.	PUNCT
iajs-1018	62	1	on	on	ADP
iajs-1018	62	2	-	-	PUNCT
iajs-1018	62	3	line	line	NOUN
iajs-1018	62	4	navigational	navigational	ADJ
iajs-1018	62	5	problem	problem	NOUN
iajs-1018	62	6	using	use	VERB
iajs-1018	62	7	genetic	genetic	ADJ
iajs-1018	62	8	algorithm	algorithm	NOUN
iajs-1018	62	9	the	the	DET
iajs-1018	62	10	design	design	NOUN
iajs-1018	62	11	of	of	ADP
iajs-1018	62	12	the	the	DET
iajs-1018	62	13	system	system	NOUN
iajs-1018	62	14	adopted	adopt	VERB
iajs-1018	62	15	here	here	ADV
iajs-1018	62	16	is	be	AUX
iajs-1018	62	17	based	base	VERB
iajs-1018	62	18	on	on	ADP
iajs-1018	62	19	on	on	ADP
iajs-1018	62	20	-	-	PUNCT
iajs-1018	62	21	line	line	NOUN
iajs-1018	62	22	navigation	navigation	NOUN
iajs-1018	62	23	.	.	PUNCT
iajs-1018	63	1	the	the	DET
iajs-1018	63	2	general	general	ADJ
iajs-1018	63	3	steps	step	NOUN
iajs-1018	63	4	of	of	ADP
iajs-1018	63	5	this	this	DET
iajs-1018	63	6	system	system	NOUN
iajs-1018	63	7	and	and	CCONJ
iajs-1018	63	8	the	the	DET
iajs-1018	63	9	details	detail	NOUN
iajs-1018	63	10	description	description	NOUN
iajs-1018	63	11	of	of	ADP
iajs-1018	63	12	its	its	PRON
iajs-1018	63	13	steps	step	NOUN
iajs-1018	63	14	are	be	AUX
iajs-1018	63	15	presented	present	VERB
iajs-1018	63	16	in	in	ADP
iajs-1018	63	17	the	the	DET
iajs-1018	63	18	following	following	NOUN
iajs-1018	63	19	:	:	PUNCT
iajs-1018	63	20	before	before	ADP
iajs-1018	63	21	applying	apply	VERB
iajs-1018	63	22	genetic	genetic	ADJ
iajs-1018	63	23	algorithm	algorithm	NOUN
iajs-1018	63	24	operations	operation	NOUN
iajs-1018	63	25	,	,	PUNCT
iajs-1018	63	26	the	the	DET
iajs-1018	63	27	robot	robot	NOUN
iajs-1018	63	28	workspace	workspace	NOUN
iajs-1018	63	29	must	must	AUX
iajs-1018	63	30	be	be	AUX
iajs-1018	63	31	translated	translate	VERB
iajs-1018	63	32	in	in	ADP
iajs-1018	63	33	a	a	DET
iajs-1018	63	34	form	form	NOUN
iajs-1018	63	35	that	that	PRON
iajs-1018	63	36	computer	computer	NOUN
iajs-1018	63	37	programs	program	NOUN
iajs-1018	63	38	can	can	AUX
iajs-1018	63	39	deal	deal	VERB
iajs-1018	63	40	with	with	ADP
iajs-1018	63	41	.	.	PUNCT
iajs-1018	64	1	so	so	ADV
iajs-1018	64	2	,	,	PUNCT
iajs-1018	64	3	two	two	NUM
iajs-1018	64	4	-	-	PUNCT
iajs-1018	64	5	dimensional	dimensional	ADJ
iajs-1018	64	6	array	array	NOUN
iajs-1018	64	7	of	of	ADP
iajs-1018	64	8	grids	grid	NOUN
iajs-1018	64	9	is	be	AUX
iajs-1018	64	10	used	use	VERB
iajs-1018	64	11	for	for	ADP
iajs-1018	64	12	representing	represent	VERB
iajs-1018	64	13	the	the	DET
iajs-1018	64	14	map	map	NOUN
iajs-1018	64	15	of	of	ADP
iajs-1018	64	16	the	the	DET
iajs-1018	64	17	workspace	workspace	NOUN
iajs-1018	64	18	with	with	ADP
iajs-1018	64	19	a	a	DET
iajs-1018	64	20	given	give	VERB
iajs-1018	64	21	start	start	NOUN
iajs-1018	64	22	and	and	CCONJ
iajs-1018	64	23	goal	goal	NOUN
iajs-1018	64	24	points	point	NOUN
iajs-1018	64	25	and	and	CCONJ
iajs-1018	64	26	obstacles	obstacle	NOUN
iajs-1018	64	27	are	be	AUX
iajs-1018	64	28	represented	represent	VERB
iajs-1018	64	29	by	by	ADP
iajs-1018	64	30	rectangular	rectangular	ADJ
iajs-1018	64	31	shapes	shape	NOUN
iajs-1018	64	32	.	.	PUNCT
iajs-1018	65	1	representation	representation	NOUN
iajs-1018	65	2	and	and	CCONJ
iajs-1018	65	3	initialization	initialization	NOUN
iajs-1018	65	4	the	the	DET
iajs-1018	65	5	first	first	ADJ
iajs-1018	65	6	step	step	NOUN
iajs-1018	65	7	in	in	ADP
iajs-1018	65	8	this	this	DET
iajs-1018	65	9	navigational	navigational	ADJ
iajs-1018	65	10	problem	problem	NOUN
iajs-1018	65	11	is	be	AUX
iajs-1018	65	12	to	to	PART
iajs-1018	65	13	set	set	VERB
iajs-1018	65	14	up	up	ADP
iajs-1018	65	15	the	the	DET
iajs-1018	65	16	initial	initial	ADJ
iajs-1018	65	17	population	population	NOUN
iajs-1018	65	18	.	.	PUNCT
iajs-1018	66	1	for	for	ADP
iajs-1018	66	2	this	this	DET
iajs-1018	66	3	purpose	purpose	NOUN
iajs-1018	66	4	,	,	PUNCT
iajs-1018	66	5	we	we	PRON
iajs-1018	66	6	have	have	AUX
iajs-1018	66	7	taken	take	VERB
iajs-1018	66	8	the	the	DET
iajs-1018	66	9	sensor	sensor	NOUN
iajs-1018	66	10	information	information	NOUN
iajs-1018	66	11	into	into	ADP
iajs-1018	66	12	account	account	NOUN
iajs-1018	66	13	and	and	CCONJ
iajs-1018	66	14	the	the	DET
iajs-1018	66	15	coordinates	coordinate	NOUN
iajs-1018	66	16	obtained	obtain	VERB
iajs-1018	66	17	from	from	ADP
iajs-1018	66	18	those	those	DET
iajs-1018	66	19	sensors	sensor	NOUN
iajs-1018	66	20	are	be	AUX
iajs-1018	66	21	used	use	VERB
iajs-1018	66	22	to	to	PART
iajs-1018	66	23	set	set	VERB
iajs-1018	66	24	up	up	ADP
iajs-1018	66	25	the	the	DET
iajs-1018	66	26	initial	initial	ADJ
iajs-1018	66	27	population	population	NOUN
iajs-1018	66	28	.	.	PUNCT
iajs-1018	67	1	in	in	ADP
iajs-1018	67	2	this	this	DET
iajs-1018	67	3	case	case	NOUN
iajs-1018	67	4	,	,	PUNCT
iajs-1018	67	5	it	it	PRON
iajs-1018	67	6	is	be	AUX
iajs-1018	67	7	assured	assure	VERB
iajs-1018	67	8	that	that	SCONJ
iajs-1018	67	9	all	all	DET
iajs-1018	67	10	the	the	DET
iajs-1018	67	11	initial	initial	ADJ
iajs-1018	67	12	population	population	NOUN
iajs-1018	67	13	are	be	AUX
iajs-1018	67	14	feasible	feasible	ADJ
iajs-1018	67	15	,	,	PUNCT
iajs-1018	67	16	in	in	ADP
iajs-1018	67	17	the	the	DET
iajs-1018	67	18	sense	sense	NOUN
iajs-1018	67	19	they	they	PRON
iajs-1018	67	20	are	be	AUX
iajs-1018	67	21	obstacle	obstacle	NOUN
iajs-1018	67	22	-	-	PUNCT
iajs-1018	67	23	free	free	ADJ
iajs-1018	67	24	points	point	NOUN
iajs-1018	67	25	and	and	CCONJ
iajs-1018	67	26	the	the	DET
iajs-1018	67	27	straight	straight	ADJ
iajs-1018	67	28	line	line	NOUN
iajs-1018	67	29	trajectories	trajectory	NOUN
iajs-1018	67	30	between	between	ADP
iajs-1018	67	31	the	the	DET
iajs-1018	67	32	starting	starting	NOUN
iajs-1018	67	33	and	and	CCONJ
iajs-1018	67	34	the	the	DET
iajs-1018	67	35	selected	select	VERB
iajs-1018	67	36	next	next	ADJ
iajs-1018	67	37	points	point	NOUN
iajs-1018	67	38	are	be	AUX
iajs-1018	67	39	obstacle	obstacle	NOUN
iajs-1018	67	40	-	-	PUNCT
iajs-1018	67	41	free	free	ADJ
iajs-1018	67	42	.	.	PUNCT
iajs-1018	68	1	the	the	DET
iajs-1018	68	2	chromosome	chromosome	NOUN
iajs-1018	68	3	representation	representation	NOUN
iajs-1018	68	4	is	be	AUX
iajs-1018	68	5	extremely	extremely	ADV
iajs-1018	68	6	simple	simple	ADJ
iajs-1018	68	7	due	due	ADJ
iajs-1018	68	8	to	to	ADP
iajs-1018	68	9	that	that	PRON
iajs-1018	68	10	in	in	ADP
iajs-1018	68	11	one	one	NUM
iajs-1018	68	12	genetic	genetic	ADJ
iajs-1018	68	13	iteration	iteration	NOUN
iajs-1018	68	14	,	,	PUNCT
iajs-1018	68	15	we	we	PRON
iajs-1018	68	16	plan	plan	VERB
iajs-1018	68	17	the	the	DET
iajs-1018	68	18	trajectory	trajectory	NOUN
iajs-1018	68	19	up	up	ADP
iajs-1018	68	20	to	to	ADP
iajs-1018	68	21	the	the	DET
iajs-1018	68	22	selected	select	VERB
iajs-1018	68	23	next	next	ADJ
iajs-1018	68	24	point	point	NOUN
iajs-1018	68	25	.	.	PUNCT
iajs-1018	69	1	the	the	DET
iajs-1018	69	2	data	data	NOUN
iajs-1018	69	3	structure	structure	NOUN
iajs-1018	69	4	to	to	PART
iajs-1018	69	5	represent	represent	VERB
iajs-1018	69	6	the	the	DET
iajs-1018	69	7	chromosome	chromosome	NOUN
iajs-1018	69	8	consists	consist	VERB
iajs-1018	69	9	of	of	ADP
iajs-1018	69	10	four	four	NUM
iajs-1018	69	11	fields	field	NOUN
iajs-1018	69	12	(	(	PUNCT
iajs-1018	69	13	xi	xi	X
iajs-1018	69	14	,	,	PUNCT
iajs-1018	69	15	yi	yi	PROPN
iajs-1018	69	16	,	,	PUNCT
iajs-1018	69	17	xj	xj	PROPN
iajs-1018	69	18	,	,	PUNCT
iajs-1018	69	19	and	and	CCONJ
iajs-1018	69	20	yj	yj	PROPN
iajs-1018	69	21	)	)	PUNCT
iajs-1018	69	22	.	.	PUNCT
iajs-1018	70	1	the	the	DET
iajs-1018	70	2	first	first	ADJ
iajs-1018	70	3	two	two	NUM
iajs-1018	70	4	fields	field	NOUN
iajs-1018	70	5	(	(	PUNCT
iajs-1018	70	6	xi	xi	X
iajs-1018	70	7	,	,	PUNCT
iajs-1018	70	8	yi	yi	PROPN
iajs-1018	70	9	)	)	PUNCT
iajs-1018	70	10	are	be	AUX
iajs-1018	70	11	the	the	DET
iajs-1018	70	12	coordinates	coordinate	NOUN
iajs-1018	70	13	of	of	ADP
iajs-1018	70	14	the	the	DET
iajs-1018	70	15	starting	starting	NOUN
iajs-1018	70	16	point	point	NOUN
iajs-1018	70	17	and	and	CCONJ
iajs-1018	70	18	the	the	DET
iajs-1018	70	19	second	second	ADJ
iajs-1018	70	20	two	two	NUM
iajs-1018	70	21	fields	field	NOUN
iajs-1018	70	22	(	(	PUNCT
iajs-1018	70	23	xj	xj	PROPN
iajs-1018	70	24	,	,	PUNCT
iajs-1018	70	25	yj	yj	PROPN
iajs-1018	70	26	)	)	PUNCT
iajs-1018	70	27	are	be	AUX
iajs-1018	70	28	the	the	DET
iajs-1018	70	29	coordinates	coordinate	NOUN
iajs-1018	70	30	of	of	ADP
iajs-1018	70	31	one	one	NUM
iajs-1018	70	32	of	of	ADP
iajs-1018	70	33	the	the	DET
iajs-1018	70	34	2d	2d	NUM
iajs-1018	70	35	points	point	NOUN
iajs-1018	70	36	,	,	PUNCT
iajs-1018	70	37	obtained	obtain	VERB
iajs-1018	70	38	from	from	ADP
iajs-1018	70	39	the	the	DET
iajs-1018	70	40	sensor	sensor	NOUN
iajs-1018	70	41	information	information	NOUN
iajs-1018	70	42	.	.	PUNCT
iajs-1018	71	1	for	for	ADP
iajs-1018	71	2	example	example	NOUN
iajs-1018	71	3	,	,	PUNCT
iajs-1018	71	4	the	the	DET
iajs-1018	71	5	starting	starting	NOUN
iajs-1018	71	6	point	point	NOUN
iajs-1018	71	7	is	be	AUX
iajs-1018	71	8	(	(	PUNCT
iajs-1018	71	9	30,50	30,50	NUM
iajs-1018	71	10	)	)	PUNCT
iajs-1018	71	11	,	,	PUNCT
iajs-1018	71	12	the	the	DET
iajs-1018	71	13	robot	robot	NOUN
iajs-1018	71	14	sensing	sense	VERB
iajs-1018	71	15	range=10	range=10	NOUN
iajs-1018	71	16	,	,	PUNCT
iajs-1018	71	17	and	and	CCONJ
iajs-1018	71	18	the	the	DET
iajs-1018	71	19	coordinates	coordinate	NOUN
iajs-1018	71	20	of	of	ADP
iajs-1018	71	21	some	some	DET
iajs-1018	71	22	points	point	NOUN
iajs-1018	71	23	sensed	sense	VERB
iajs-1018	71	24	by	by	ADP
iajs-1018	71	25	the	the	DET
iajs-1018	71	26	robot	robot	NOUN
iajs-1018	71	27	are	be	AUX
iajs-1018	71	28	(	(	PUNCT
iajs-1018	71	29	40,40),(20,60),(40,60	40,40),(20,60),(40,60	NOUN
iajs-1018	71	30	)	)	PUNCT
iajs-1018	71	31	.	.	PUNCT
iajs-1018	72	1	then	then	ADV
iajs-1018	72	2	,	,	PUNCT
iajs-1018	72	3	the	the	DET
iajs-1018	72	4	chromosomes	chromosome	NOUN
iajs-1018	72	5	correspond	correspond	VERB
iajs-1018	72	6	to	to	ADP
iajs-1018	72	7	those	those	DET
iajs-1018	72	8	point	point	NOUN
iajs-1018	72	9	are	be	AUX
iajs-1018	72	10	formed	form	VERB
iajs-1018	72	11	as	as	ADP
iajs-1018	72	12	(	(	PUNCT
iajs-1018	72	13	30,50,40,40	30,50,40,40	NUM
iajs-1018	72	14	)	)	PUNCT
iajs-1018	72	15	,	,	PUNCT
iajs-1018	72	16	(	(	PUNCT
iajs-1018	72	17	30,50,20,60	30,50,20,60	NUM
iajs-1018	72	18	)	)	PUNCT
iajs-1018	72	19	,	,	PUNCT
iajs-1018	72	20	and	and	CCONJ
iajs-1018	72	21	(	(	PUNCT
iajs-1018	72	22	30,50,40,60	30,50,40,60	NUM
iajs-1018	72	23	)	)	PUNCT
iajs-1018	72	24	respectively	respectively	ADV
iajs-1018	72	25	.	.	PUNCT
iajs-1018	73	1	all	all	DET
iajs-1018	73	2	these	these	DET
iajs-1018	73	3	chromosomes	chromosome	NOUN
iajs-1018	73	4	form	form	VERB
iajs-1018	73	5	the	the	DET
iajs-1018	73	6	initial	initial	ADJ
iajs-1018	73	7	population	population	NOUN
iajs-1018	73	8	.	.	PUNCT
iajs-1018	74	1	checking	check	VERB
iajs-1018	74	2	the	the	DET
iajs-1018	74	3	feasibility	feasibility	NOUN
iajs-1018	74	4	the	the	DET
iajs-1018	74	5	process	process	NOUN
iajs-1018	74	6	of	of	ADP
iajs-1018	74	7	evaluating	evaluate	VERB
iajs-1018	74	8	the	the	DET
iajs-1018	74	9	feasibility	feasibility	NOUN
iajs-1018	74	10	of	of	ADP
iajs-1018	74	11	the	the	DET
iajs-1018	74	12	trajectory	trajectory	NOUN
iajs-1018	74	13	includes	include	VERB
iajs-1018	74	14	two	two	NUM
iajs-1018	74	15	aspects	aspect	NOUN
iajs-1018	74	16	:	:	PUNCT
iajs-1018	74	17	(	(	PUNCT
iajs-1018	74	18	a	a	X
iajs-1018	74	19	)	)	PUNCT
iajs-1018	74	20	checking	checking	NOUN
iajs-1018	74	21	that	that	SCONJ
iajs-1018	74	22	the	the	DET
iajs-1018	74	23	trajectory	trajectory	NOUN
iajs-1018	74	24	does	do	AUX
iajs-1018	74	25	not	not	PART
iajs-1018	74	26	fall	fall	VERB
iajs-1018	74	27	on	on	ADP
iajs-1018	74	28	an	an	DET
iajs-1018	74	29	obstacle	obstacle	NOUN
iajs-1018	74	30	.	.	PUNCT
iajs-1018	75	1	to	to	PART
iajs-1018	75	2	do	do	VERB
iajs-1018	75	3	so	so	ADV
iajs-1018	75	4	,	,	PUNCT
iajs-1018	75	5	the	the	DET
iajs-1018	75	6	system	system	NOUN
iajs-1018	75	7	should	should	AUX
iajs-1018	75	8	check	check	VERB
iajs-1018	75	9	the	the	DET
iajs-1018	75	10	feasibility	feasibility	NOUN
iajs-1018	75	11	of	of	ADP
iajs-1018	75	12	each	each	DET
iajs-1018	75	13	trajectory	trajectory	NOUN
iajs-1018	75	14	points	point	NOUN
iajs-1018	75	15	.	.	PUNCT
iajs-1018	76	1	the	the	DET
iajs-1018	76	2	system	system	NOUN
iajs-1018	76	3	modifies	modify	VERB
iajs-1018	76	4	digital	digital	ADJ
iajs-1018	76	5	differential	differential	NOUN
iajs-1018	76	6	analyzer	analyzer	NOUN
iajs-1018	76	7	(	(	PUNCT
iajs-1018	76	8	dda	dda	PROPN
iajs-1018	76	9	)	)	PUNCT
iajs-1018	76	10	algorithm	algorithm	NOUN
iajs-1018	77	1	[	[	X
iajs-1018	77	2	13	13	NUM
iajs-1018	77	3	]	]	PUNCT
iajs-1018	77	4	to	to	PART
iajs-1018	77	5	check	check	VERB
iajs-1018	77	6	each	each	DET
iajs-1018	77	7	trajectory	trajectory	NOUN
iajs-1018	77	8	point	point	NOUN
iajs-1018	77	9	if	if	SCONJ
iajs-1018	77	10	it	it	PRON
iajs-1018	77	11	is	be	AUX
iajs-1018	77	12	feasible	feasible	ADJ
iajs-1018	77	13	or	or	CCONJ
iajs-1018	77	14	not	not	PART
iajs-1018	77	15	(	(	PUNCT
iajs-1018	77	16	b	b	X
iajs-1018	77	17	)	)	PUNCT
iajs-1018	77	18	checking	check	VERB
iajs-1018	77	19	that	that	SCONJ
iajs-1018	77	20	it	it	PRON
iajs-1018	77	21	is	be	AUX
iajs-1018	77	22	sufficient	sufficient	ADJ
iajs-1018	77	23	spaces	space	NOUN
iajs-1018	77	24	between	between	ADP
iajs-1018	77	25	obstacles	obstacle	NOUN
iajs-1018	77	26	in	in	ADP
iajs-1018	77	27	the	the	DET
iajs-1018	77	28	environment	environment	NOUN
iajs-1018	77	29	for	for	ADP
iajs-1018	77	30	the	the	DET
iajs-1018	77	31	easy	easy	ADJ
iajs-1018	77	32	movement	movement	NOUN
iajs-1018	77	33	of	of	ADP
iajs-1018	77	34	the	the	DET
iajs-1018	77	35	robot	robot	NOUN
iajs-1018	77	36	through	through	ADP
iajs-1018	77	37	the	the	DET
iajs-1018	77	38	trajectory	trajectory	NOUN
iajs-1018	77	39	(	(	PUNCT
iajs-1018	77	40	the	the	DET
iajs-1018	77	41	space	space	NOUN
iajs-1018	77	42	should	should	AUX
iajs-1018	77	43	be	be	AUX
iajs-1018	77	44	greater	great	ADJ
iajs-1018	77	45	than	than	ADP
iajs-1018	77	46	the	the	DET
iajs-1018	77	47	robot	robot	NOUN
iajs-1018	77	48	size	size	NOUN
iajs-1018	77	49	)	)	PUNCT
iajs-1018	77	50	.	.	PUNCT
iajs-1018	78	1	if	if	SCONJ
iajs-1018	78	2	any	any	DET
iajs-1018	78	3	trajectory	trajectory	NOUN
iajs-1018	78	4	point	point	NOUN
iajs-1018	78	5	is	be	AUX
iajs-1018	78	6	on	on	ADP
iajs-1018	78	7	an	an	DET
iajs-1018	78	8	obstacle	obstacle	NOUN
iajs-1018	78	9	or	or	CCONJ
iajs-1018	78	10	if	if	SCONJ
iajs-1018	78	11	there	there	PRON
iajs-1018	78	12	insufficient	insufficient	ADJ
iajs-1018	78	13	space	space	NOUN
iajs-1018	78	14	between	between	ADP
iajs-1018	78	15	obstacles	obstacle	NOUN
iajs-1018	78	16	around	around	ADP
iajs-1018	78	17	the	the	DET
iajs-1018	78	18	trajectory	trajectory	NOUN
iajs-1018	78	19	then	then	ADV
iajs-1018	78	20	this	this	DET
iajs-1018	78	21	trajectory	trajectory	NOUN
iajs-1018	78	22	is	be	AUX
iajs-1018	78	23	infeasible	infeasible	ADJ
iajs-1018	78	24	genetic	genetic	ADJ
iajs-1018	78	25	algorithm	algorithm	NOUN
iajs-1018	78	26	operators	operator	NOUN
iajs-1018	78	27	to	to	PART
iajs-1018	78	28	create	create	VERB
iajs-1018	78	29	a	a	DET
iajs-1018	78	30	sequence	sequence	NOUN
iajs-1018	78	31	of	of	ADP
iajs-1018	78	32	populations	population	NOUN
iajs-1018	78	33	that	that	PRON
iajs-1018	78	34	will	will	AUX
iajs-1018	78	35	contain	contain	VERB
iajs-1018	78	36	the	the	DET
iajs-1018	78	37	next	next	ADJ
iajs-1018	78	38	points	point	NOUN
iajs-1018	78	39	to	to	ADP
iajs-1018	78	40	the	the	DET
iajs-1018	78	41	current	current	ADJ
iajs-1018	78	42	point	point	NOUN
iajs-1018	78	43	as	as	SCONJ
iajs-1018	78	44	time	time	NOUN
iajs-1018	78	45	goes	go	VERB
iajs-1018	78	46	on	on	ADP
iajs-1018	78	47	,	,	PUNCT
iajs-1018	78	48	the	the	DET
iajs-1018	78	49	main	main	ADJ
iajs-1018	78	50	genetic	genetic	ADJ
iajs-1018	78	51	operators	operator	NOUN
iajs-1018	78	52	(	(	PUNCT
iajs-1018	78	53	crossover	crossover	NOUN
iajs-1018	78	54	,	,	PUNCT
iajs-1018	78	55	mutation	mutation	NOUN
iajs-1018	78	56	and	and	CCONJ
iajs-1018	78	57	selection	selection	NOUN
iajs-1018	78	58	)	)	PUNCT
iajs-1018	78	59	are	be	AUX
iajs-1018	78	60	applied	apply	VERB
iajs-1018	78	61	iteratively	iteratively	ADV
iajs-1018	78	62	on	on	ADP
iajs-1018	78	63	each	each	DET
iajs-1018	78	64	population	population	NOUN
iajs-1018	78	65	.	.	PUNCT
iajs-1018	79	1	ihjpas	ihjpa	VERB
iajs-1018	79	2	ibn	ibn	PROPN
iajs-1018	79	3	alhaitham	alhaitham	PROPN
iajs-1018	79	4	j.	j.	PROPN
iajs-1018	79	5	for	for	ADP
iajs-1018	79	6	pure	pure	ADJ
iajs-1018	79	7	&	&	CCONJ
iajs-1018	79	8	appl	appl	PROPN
iajs-1018	79	9	.	.	PUNCT
iajs-1018	80	1	sci	sci	PROPN
iajs-1018	80	2	.	.	PUNCT
iajs-1018	81	1	vol.23	vol.23	PROPN
iajs-1018	81	2	(	(	PUNCT
iajs-1018	81	3	2	2	NUM
iajs-1018	81	4	)	)	PUNCT
iajs-1018	81	5	2010	2010	NUM
iajs-1018	81	6	the	the	DET
iajs-1018	81	7	integer	integer	NOUN
iajs-1018	81	8	crossover	crossover	NOUN
iajs-1018	81	9	operation	operation	NOUN
iajs-1018	81	10	is	be	AUX
iajs-1018	81	11	employed	employ	VERB
iajs-1018	81	12	in	in	ADP
iajs-1018	81	13	this	this	DET
iajs-1018	81	14	system	system	NOUN
iajs-1018	81	15	.	.	PUNCT
iajs-1018	82	1	the	the	DET
iajs-1018	82	2	crossover	crossover	NOUN
iajs-1018	82	3	point	point	NOUN
iajs-1018	82	4	should	should	AUX
iajs-1018	82	5	be	be	AUX
iajs-1018	82	6	selected	select	VERB
iajs-1018	82	7	such	such	ADJ
iajs-1018	82	8	that	that	SCONJ
iajs-1018	82	9	most	most	ADJ
iajs-1018	82	10	of	of	ADP
iajs-1018	82	11	the	the	DET
iajs-1018	82	12	offsprings	offspring	NOUN
iajs-1018	82	13	generated	generate	VERB
iajs-1018	82	14	in	in	ADP
iajs-1018	82	15	this	this	DET
iajs-1018	82	16	process	process	NOUN
iajs-1018	82	17	are	be	AUX
iajs-1018	82	18	feasible	feasible	ADJ
iajs-1018	82	19	.	.	PUNCT
iajs-1018	83	1	the	the	DET
iajs-1018	83	2	crossover	crossover	NOUN
iajs-1018	83	3	point	point	NOUN
iajs-1018	83	4	is	be	AUX
iajs-1018	83	5	set	set	VERB
iajs-1018	83	6	between	between	ADP
iajs-1018	83	7	the	the	DET
iajs-1018	83	8	third	third	NOUN
iajs-1018	83	9	and	and	CCONJ
iajs-1018	83	10	the	the	DET
iajs-1018	83	11	fourth	fourth	ADJ
iajs-1018	83	12	integer	integer	NOUN
iajs-1018	83	13	for	for	ADP
iajs-1018	83	14	every	every	DET
iajs-1018	83	15	chromosome	chromosome	NOUN
iajs-1018	83	16	[	[	X
iajs-1018	83	17	12	12	NUM
iajs-1018	83	18	]	]	PUNCT
iajs-1018	83	19	.	.	PUNCT
iajs-1018	84	1	after	after	ADP
iajs-1018	84	2	making	make	VERB
iajs-1018	84	3	crossover	crossover	NOUN
iajs-1018	84	4	between	between	ADP
iajs-1018	84	5	all	all	DET
iajs-1018	84	6	pairs	pair	NOUN
iajs-1018	84	7	of	of	ADP
iajs-1018	84	8	population	population	NOUN
iajs-1018	84	9	,	,	PUNCT
iajs-1018	84	10	we	we	PRON
iajs-1018	84	11	will	will	AUX
iajs-1018	84	12	get	get	VERB
iajs-1018	84	13	the	the	DET
iajs-1018	84	14	new	new	ADJ
iajs-1018	84	15	population	population	NOUN
iajs-1018	84	16	.	.	PUNCT
iajs-1018	85	1	for	for	ADP
iajs-1018	85	2	this	this	DET
iajs-1018	85	3	new	new	ADJ
iajs-1018	85	4	population	population	NOUN
iajs-1018	85	5	,	,	PUNCT
iajs-1018	85	6	we	we	PRON
iajs-1018	85	7	will	will	AUX
iajs-1018	85	8	find	find	VERB
iajs-1018	85	9	the	the	DET
iajs-1018	85	10	feasibility	feasibility	NOUN
iajs-1018	85	11	,	,	PUNCT
iajs-1018	85	12	i.e.	i.e.	X
iajs-1018	85	13	;	;	PUNCT
iajs-1018	85	14	they	they	PRON
iajs-1018	85	15	are	be	AUX
iajs-1018	85	16	reachable	reachable	ADJ
iajs-1018	85	17	from	from	ADP
iajs-1018	85	18	the	the	DET
iajs-1018	85	19	starting	starting	NOUN
iajs-1018	85	20	point	point	NOUN
iajs-1018	85	21	by	by	ADP
iajs-1018	85	22	the	the	DET
iajs-1018	85	23	straight	straight	ADJ
iajs-1018	85	24	line	line	NOUN
iajs-1018	85	25	or	or	CCONJ
iajs-1018	85	26	not	not	PART
iajs-1018	85	27	.	.	PUNCT
iajs-1018	86	1	if	if	SCONJ
iajs-1018	86	2	the	the	DET
iajs-1018	86	3	trajectory	trajectory	NOUN
iajs-1018	86	4	resulted	result	VERB
iajs-1018	86	5	from	from	ADP
iajs-1018	86	6	crossover	crossover	NOUN
iajs-1018	86	7	operation	operation	NOUN
iajs-1018	86	8	is	be	AUX
iajs-1018	86	9	not	not	PART
iajs-1018	86	10	feasible	feasible	ADJ
iajs-1018	86	11	,	,	PUNCT
iajs-1018	86	12	this	this	DET
iajs-1018	86	13	trajectory	trajectory	NOUN
iajs-1018	86	14	will	will	AUX
iajs-1018	86	15	not	not	PART
iajs-1018	86	16	store	store	VERB
iajs-1018	86	17	in	in	ADP
iajs-1018	86	18	the	the	DET
iajs-1018	86	19	new	new	ADJ
iajs-1018	86	20	population	population	NOUN
iajs-1018	86	21	in	in	ADP
iajs-1018	86	22	order	order	NOUN
iajs-1018	86	23	not	not	PART
iajs-1018	86	24	to	to	PART
iajs-1018	86	25	compete	compete	VERB
iajs-1018	86	26	with	with	ADP
iajs-1018	86	27	the	the	DET
iajs-1018	86	28	other	other	ADJ
iajs-1018	86	29	trajectories	trajectory	NOUN
iajs-1018	86	30	stored	store	VERB
iajs-1018	86	31	in	in	ADP
iajs-1018	86	32	the	the	DET
iajs-1018	86	33	mating	mating	NOUN
iajs-1018	86	34	pool	pool	NOUN
iajs-1018	86	35	.	.	PUNCT
iajs-1018	87	1	the	the	DET
iajs-1018	87	2	next	next	ADJ
iajs-1018	87	3	step	step	NOUN
iajs-1018	87	4	of	of	ADP
iajs-1018	87	5	the	the	DET
iajs-1018	87	6	algorithm	algorithm	NOUN
iajs-1018	87	7	is	be	AUX
iajs-1018	87	8	making	make	VERB
iajs-1018	87	9	the	the	DET
iajs-1018	87	10	mutation	mutation	NOUN
iajs-1018	87	11	.	.	PUNCT
iajs-1018	88	1	in	in	ADP
iajs-1018	88	2	this	this	DET
iajs-1018	88	3	process	process	NOUN
iajs-1018	88	4	a	a	DET
iajs-1018	88	5	binary	binary	ADJ
iajs-1018	88	6	bit	bit	NOUN
iajs-1018	88	7	is	be	AUX
iajs-1018	88	8	randomly	randomly	ADV
iajs-1018	88	9	selected	select	VERB
iajs-1018	88	10	on	on	ADP
iajs-1018	88	11	the	the	DET
iajs-1018	88	12	bit	bit	NOUN
iajs-1018	88	13	stream	stream	NOUN
iajs-1018	88	14	of	of	ADP
iajs-1018	88	15	the	the	DET
iajs-1018	88	16	sensor	sensor	NOUN
iajs-1018	88	17	coordinates	coordinate	NOUN
iajs-1018	88	18	and	and	CCONJ
iajs-1018	88	19	alters	alter	VERB
iajs-1018	88	20	that	that	DET
iajs-1018	88	21	binary	binary	ADJ
iajs-1018	88	22	bit	bit	NOUN
iajs-1018	88	23	value	value	NOUN
iajs-1018	88	24	,	,	PUNCT
iajs-1018	88	25	such	such	ADJ
iajs-1018	88	26	that	that	SCONJ
iajs-1018	88	27	the	the	DET
iajs-1018	88	28	feasibility	feasibility	NOUN
iajs-1018	88	29	should	should	AUX
iajs-1018	88	30	not	not	PART
iajs-1018	88	31	be	be	AUX
iajs-1018	88	32	lost	lose	VERB
iajs-1018	88	33	for	for	ADP
iajs-1018	88	34	that	that	DET
iajs-1018	88	35	chromosome	chromosome	NOUN
iajs-1018	88	36	.	.	PUNCT
iajs-1018	89	1	evaluation	evaluation	NOUN
iajs-1018	89	2	of	of	ADP
iajs-1018	89	3	fitness	fitness	NOUN
iajs-1018	89	4	value	value	NOUN
iajs-1018	89	5	the	the	DET
iajs-1018	89	6	next	next	ADJ
iajs-1018	89	7	task	task	NOUN
iajs-1018	89	8	is	be	AUX
iajs-1018	89	9	estimating	estimate	VERB
iajs-1018	89	10	the	the	DET
iajs-1018	89	11	fitness	fitness	NOUN
iajs-1018	89	12	of	of	ADP
iajs-1018	89	13	each	each	DET
iajs-1018	89	14	chromosome	chromosome	NOUN
iajs-1018	89	15	of	of	ADP
iajs-1018	89	16	the	the	DET
iajs-1018	89	17	total	total	ADJ
iajs-1018	89	18	present	present	ADJ
iajs-1018	89	19	population	population	NOUN
iajs-1018	89	20	(	(	PUNCT
iajs-1018	89	21	both	both	CCONJ
iajs-1018	89	22	for	for	ADP
iajs-1018	89	23	the	the	DET
iajs-1018	89	24	initial	initial	ADJ
iajs-1018	89	25	and	and	CCONJ
iajs-1018	89	26	new	new	ADJ
iajs-1018	89	27	populations	population	NOUN
iajs-1018	89	28	)	)	PUNCT
iajs-1018	89	29	.	.	PUNCT
iajs-1018	90	1	calculation	calculation	NOUN
iajs-1018	90	2	of	of	ADP
iajs-1018	90	3	the	the	DET
iajs-1018	90	4	fitness	fitness	NOUN
iajs-1018	90	5	involves	involve	VERB
iajs-1018	90	6	finding	find	VERB
iajs-1018	90	7	the	the	DET
iajs-1018	90	8	sum	sum	NOUN
iajs-1018	90	9	of	of	ADP
iajs-1018	90	10	the	the	DET
iajs-1018	90	11	straight	straight	ADJ
iajs-1018	90	12	line	line	NOUN
iajs-1018	90	13	distance	distance	NOUN
iajs-1018	90	14	from	from	ADP
iajs-1018	90	15	the	the	DET
iajs-1018	90	16	starting	starting	NOUN
iajs-1018	90	17	point	point	NOUN
iajs-1018	90	18	to	to	ADP
iajs-1018	90	19	the	the	DET
iajs-1018	90	20	coordinate	coordinate	NOUN
iajs-1018	90	21	obtained	obtain	VERB
iajs-1018	90	22	from	from	ADP
iajs-1018	90	23	the	the	DET
iajs-1018	90	24	sensor	sensor	NOUN
iajs-1018	90	25	information	information	NOUN
iajs-1018	90	26	and	and	CCONJ
iajs-1018	90	27	the	the	DET
iajs-1018	90	28	distance	distance	NOUN
iajs-1018	90	29	from	from	ADP
iajs-1018	90	30	the	the	DET
iajs-1018	90	31	current	current	ADJ
iajs-1018	90	32	point	point	NOUN
iajs-1018	90	33	to	to	ADP
iajs-1018	90	34	the	the	DET
iajs-1018	90	35	goal	goal	NOUN
iajs-1018	90	36	point	point	NOUN
iajs-1018	90	37	.	.	PUNCT
iajs-1018	91	1	the	the	DET
iajs-1018	91	2	formula	formula	NOUN
iajs-1018	91	3	of	of	ADP
iajs-1018	91	4	fitness	fitness	NOUN
iajs-1018	91	5	function	function	NOUN
iajs-1018	91	6	is	be	AUX
iajs-1018	91	7	:	:	PUNCT
iajs-1018	91	8	fitness	fitness	NOUN
iajs-1018	91	9	of	of	ADP
iajs-1018	91	10	chromosome	chromosome	NOUN
iajs-1018	91	11	(	(	PUNCT
iajs-1018	91	12	xi	xi	PROPN
iajs-1018	91	13	,	,	PUNCT
iajs-1018	91	14	yi	yi	PROPN
iajs-1018	91	15	,	,	PUNCT
iajs-1018	91	16	xj1,yj1)=	xj1,yj1)=	X
iajs-1018	91	17	1/((xj1	1/((xj1	NOUN
iajs-1018	91	18	xi	xi	ADJ
iajs-1018	91	19	)	)	PUNCT
iajs-1018	91	20	2	2	NUM
iajs-1018	92	1	+	+	CCONJ
iajs-1018	92	2	(	(	PUNCT
iajs-1018	92	3	yj1	yj1	NOUN
iajs-1018	92	4	yi	yi	NOUN
iajs-1018	92	5	)	)	PUNCT
iajs-1018	92	6	2	2	NUM
iajs-1018	93	1	+	+	CCONJ
iajs-1018	93	2	(	(	PUNCT
iajs-1018	93	3	xg	xg	PROPN
iajs-1018	93	4	–	–	PUNCT
iajs-1018	93	5	xj1	xj1	PROPN
iajs-1018	93	6	)	)	PUNCT
iajs-1018	93	7	2	2	NUM
iajs-1018	94	1	+	+	CCONJ
iajs-1018	94	2	(	(	PUNCT
iajs-1018	94	3	yg	yg	PROPN
iajs-1018	94	4	–	–	PUNCT
iajs-1018	94	5	yj1	yj1	NOUN
iajs-1018	94	6	)	)	PUNCT
iajs-1018	94	7	2	2	NUM
iajs-1018	94	8	)	)	PUNCT
iajs-1018	95	1	where	where	SCONJ
iajs-1018	95	2	:	:	PUNCT
iajs-1018	95	3	(	(	PUNCT
iajs-1018	95	4	xi	xi	X
iajs-1018	95	5	,	,	PUNCT
iajs-1018	95	6	yi	yi	PROPN
iajs-1018	95	7	)	)	PUNCT
iajs-1018	95	8	is	be	AUX
iajs-1018	95	9	the	the	DET
iajs-1018	95	10	coordinate	coordinate	NOUN
iajs-1018	95	11	of	of	ADP
iajs-1018	95	12	the	the	DET
iajs-1018	95	13	starting	starting	NOUN
iajs-1018	95	14	point	point	NOUN
iajs-1018	95	15	,	,	PUNCT
iajs-1018	95	16	(	(	PUNCT
iajs-1018	95	17	xj1,yj1	xj1,yj1	NOUN
iajs-1018	95	18	)	)	PUNCT
iajs-1018	95	19	is	be	AUX
iajs-1018	95	20	the	the	DET
iajs-1018	95	21	coordinate	coordinate	NOUN
iajs-1018	95	22	of	of	ADP
iajs-1018	95	23	the	the	DET
iajs-1018	95	24	current	current	ADJ
iajs-1018	95	25	point	point	NOUN
iajs-1018	95	26	,	,	PUNCT
iajs-1018	95	27	and	and	CCONJ
iajs-1018	95	28	(	(	PUNCT
iajs-1018	95	29	xg	xg	PROPN
iajs-1018	95	30	,	,	PUNCT
iajs-1018	95	31	yg	yg	PROPN
iajs-1018	95	32	)	)	PUNCT
iajs-1018	95	33	is	be	AUX
iajs-1018	95	34	the	the	DET
iajs-1018	95	35	coordinate	coordinate	NOUN
iajs-1018	95	36	of	of	ADP
iajs-1018	95	37	the	the	DET
iajs-1018	95	38	goal	goal	NOUN
iajs-1018	95	39	point	point	NOUN
iajs-1018	95	40	.	.	PUNCT
iajs-1018	96	1	evaluation	evaluation	NOUN
iajs-1018	96	2	of	of	ADP
iajs-1018	96	3	best	good	ADJ
iajs-1018	96	4	fit	fit	ADJ
iajs-1018	96	5	chromosome	chromosome	NOUN
iajs-1018	96	6	after	after	ADP
iajs-1018	96	7	finding	find	VERB
iajs-1018	96	8	the	the	DET
iajs-1018	96	9	fitness	fitness	NOUN
iajs-1018	96	10	value	value	NOUN
iajs-1018	96	11	of	of	ADP
iajs-1018	96	12	the	the	DET
iajs-1018	96	13	chromosomes	chromosome	NOUN
iajs-1018	96	14	,	,	PUNCT
iajs-1018	96	15	we	we	PRON
iajs-1018	96	16	will	will	AUX
iajs-1018	96	17	evaluate	evaluate	VERB
iajs-1018	96	18	the	the	DET
iajs-1018	96	19	best	good	ADJ
iajs-1018	96	20	chromosome	chromosome	NOUN
iajs-1018	96	21	,	,	PUNCT
iajs-1018	96	22	i.e.	i.e.	X
iajs-1018	96	23	;	;	PUNCT
iajs-1018	96	24	for	for	ADP
iajs-1018	96	25	which	which	PRON
iajs-1018	96	26	the	the	DET
iajs-1018	96	27	fitness	fitness	NOUN
iajs-1018	96	28	is	be	AUX
iajs-1018	96	29	the	the	DET
iajs-1018	96	30	best	good	ADJ
iajs-1018	96	31	.	.	PUNCT
iajs-1018	97	1	in	in	ADP
iajs-1018	97	2	this	this	DET
iajs-1018	97	3	case	case	NOUN
iajs-1018	97	4	,	,	PUNCT
iajs-1018	97	5	the	the	DET
iajs-1018	97	6	best	good	ADJ
iajs-1018	97	7	fit	fit	ADJ
iajs-1018	97	8	chromosome	chromosome	NOUN
iajs-1018	97	9	represents	represent	VERB
iajs-1018	97	10	the	the	DET
iajs-1018	97	11	predicted	predict	VERB
iajs-1018	97	12	shortest	short	ADJ
iajs-1018	97	13	trajectory	trajectory	NOUN
iajs-1018	97	14	from	from	ADP
iajs-1018	97	15	the	the	DET
iajs-1018	97	16	starting	starting	NOUN
iajs-1018	97	17	point	point	NOUN
iajs-1018	97	18	to	to	ADP
iajs-1018	97	19	the	the	DET
iajs-1018	97	20	goal	goal	NOUN
iajs-1018	97	21	.	.	PUNCT
iajs-1018	98	1	in	in	ADP
iajs-1018	98	2	the	the	DET
iajs-1018	98	3	first	first	ADJ
iajs-1018	98	4	generation	generation	NOUN
iajs-1018	98	5	itself	itself	PRON
iajs-1018	98	6	,	,	PUNCT
iajs-1018	98	7	we	we	PRON
iajs-1018	98	8	are	be	AUX
iajs-1018	98	9	getting	get	VERB
iajs-1018	98	10	a	a	DET
iajs-1018	98	11	near	near	ADV
iajs-1018	98	12	-	-	PUNCT
iajs-1018	98	13	optimal	optimal	ADJ
iajs-1018	98	14	intermediate	intermediate	ADJ
iajs-1018	98	15	point	point	NOUN
iajs-1018	98	16	to	to	PART
iajs-1018	98	17	move	move	VERB
iajs-1018	98	18	that	that	PRON
iajs-1018	98	19	third	third	ADJ
iajs-1018	98	20	and	and	CCONJ
iajs-1018	98	21	fourth	fourth	ADJ
iajs-1018	98	22	integer	integer	NOUN
iajs-1018	98	23	field	field	NOUN
iajs-1018	98	24	of	of	ADP
iajs-1018	98	25	the	the	DET
iajs-1018	98	26	best	good	ADJ
iajs-1018	98	27	fit	fit	ADJ
iajs-1018	98	28	chromosome	chromosome	NOUN
iajs-1018	98	29	that	that	PRON
iajs-1018	98	30	will	will	AUX
iajs-1018	98	31	become	become	VERB
iajs-1018	98	32	the	the	DET
iajs-1018	98	33	next	next	ADJ
iajs-1018	98	34	intermediate	intermediate	ADJ
iajs-1018	98	35	point	point	NOUN
iajs-1018	98	36	to	to	PART
iajs-1018	98	37	move	move	VERB
iajs-1018	98	38	.	.	PUNCT
iajs-1018	99	1	then	then	ADV
iajs-1018	99	2	,	,	PUNCT
iajs-1018	99	3	we	we	PRON
iajs-1018	99	4	update	update	VERB
iajs-1018	99	5	the	the	DET
iajs-1018	99	6	starting	starting	NOUN
iajs-1018	99	7	point	point	NOUN
iajs-1018	99	8	with	with	ADP
iajs-1018	99	9	this	this	DET
iajs-1018	99	10	better	well	ADJ
iajs-1018	99	11	point	point	NOUN
iajs-1018	99	12	.	.	PUNCT
iajs-1018	100	1	termination	termination	NOUN
iajs-1018	100	2	criteria	criterion	NOUN
iajs-1018	100	3	the	the	DET
iajs-1018	100	4	whole	whole	ADJ
iajs-1018	100	5	process	process	NOUN
iajs-1018	100	6	of	of	ADP
iajs-1018	100	7	the	the	DET
iajs-1018	100	8	genetic	genetic	ADJ
iajs-1018	100	9	algorithm	algorithm	NOUN
iajs-1018	100	10	,	,	PUNCT
iajs-1018	100	11	from	from	ADP
iajs-1018	100	12	setting	set	VERB
iajs-1018	100	13	up	up	ADP
iajs-1018	100	14	the	the	DET
iajs-1018	100	15	initial	initial	ADJ
iajs-1018	100	16	population	population	NOUN
iajs-1018	100	17	,	,	PUNCT
iajs-1018	100	18	is	be	AUX
iajs-1018	100	19	repeated	repeat	VERB
iajs-1018	100	20	until	until	SCONJ
iajs-1018	100	21	the	the	DET
iajs-1018	100	22	best	good	ADJ
iajs-1018	100	23	fit	fit	ADJ
iajs-1018	100	24	chromosome	chromosome	NOUN
iajs-1018	100	25	will	will	AUX
iajs-1018	100	26	have	have	VERB
iajs-1018	100	27	its	its	PRON
iajs-1018	100	28	third	third	ADJ
iajs-1018	100	29	and	and	CCONJ
iajs-1018	100	30	fourth	fourth	ADJ
iajs-1018	100	31	field	field	NOUN
iajs-1018	100	32	equal	equal	ADJ
iajs-1018	100	33	to	to	ADP
iajs-1018	100	34	the	the	DET
iajs-1018	100	35	xand	xand	PROPN
iajs-1018	100	36	y	y	PROPN
iajs-1018	100	37	-	-	PUNCT
iajs-1018	100	38	coordinates	coordinate	NOUN
iajs-1018	100	39	of	of	ADP
iajs-1018	100	40	the	the	DET
iajs-1018	100	41	goal	goal	NOUN
iajs-1018	100	42	location	location	NOUN
iajs-1018	100	43	.	.	PUNCT
iajs-1018	101	1	the	the	DET
iajs-1018	101	2	algorithm	algorithm	NOUN
iajs-1018	101	3	is	be	AUX
iajs-1018	101	4	formally	formally	ADV
iajs-1018	101	5	presented	present	VERB
iajs-1018	101	6	below	below	ADV
iajs-1018	101	7	.	.	PUNCT
iajs-1018	102	1	the	the	DET
iajs-1018	102	2	algorithm	algorithm	NOUN
iajs-1018	102	3	{	{	PUNCT
iajs-1018	102	4	(	(	PUNCT
iajs-1018	102	5	xi	xi	ADP
iajs-1018	102	6	,	,	PUNCT
iajs-1018	102	7	yi)=starting	yi)=starting	NOUN
iajs-1018	102	8	point	point	NOUN
iajs-1018	102	9	;	;	PUNCT
iajs-1018	102	10	(	(	PUNCT
iajs-1018	102	11	xg	xg	NOUN
iajs-1018	102	12	,	,	PUNCT
iajs-1018	102	13	yg)=goal	yg)=goal	PROPN
iajs-1018	102	14	point	point	NOUN
iajs-1018	102	15	}	}	PUNCT
iajs-1018	102	16	add	add	ADJ
iajs-1018	102	17	-	-	PUNCT
iajs-1018	102	18	trajectorylist	trajectorylist	NOUN
iajs-1018	102	19	(	(	PUNCT
iajs-1018	102	20	xi	xi	PROPN
iajs-1018	102	21	,	,	PUNCT
iajs-1018	102	22	yi	yi	NOUN
iajs-1018	102	23	)	)	PUNCT
iajs-1018	102	24	repeat	repeat	NOUN
iajs-1018	102	25	i	i	NOUN
iajs-1018	102	26	)	)	PUNCT
iajs-1018	102	27	intialization	intialization	NOUN
iajs-1018	102	28	get	get	VERB
iajs-1018	102	29	sensor	sensor	NOUN
iajs-1018	102	30	information	information	NOUN
iajs-1018	102	31	in	in	ADP
iajs-1018	102	32	all	all	DET
iajs-1018	102	33	possible	possible	ADJ
iajs-1018	102	34	directions	direction	NOUN
iajs-1018	102	35	(	(	PUNCT
iajs-1018	102	36	xj1,yj1	xj1,yj1	PROPN
iajs-1018	102	37	)	)	PUNCT
iajs-1018	102	38	,	,	PUNCT
iajs-1018	102	39	(	(	PUNCT
iajs-1018	102	40	xj2,yj2	xj2,yj2	PROPN
iajs-1018	102	41	)	)	PUNCT
iajs-1018	102	42	,	,	PUNCT
iajs-1018	102	43	…	…	PUNCT
iajs-1018	102	44	,	,	PUNCT
iajs-1018	102	45	(	(	PUNCT
iajs-1018	102	46	xjn	xjn	PROPN
iajs-1018	102	47	,	,	PUNCT
iajs-1018	102	48	yjn	yjn	NOUN
iajs-1018	102	49	)	)	PUNCT
iajs-1018	102	50	form	form	NOUN
iajs-1018	102	51	chromosomes	chromosome	NOUN
iajs-1018	102	52	like	like	ADP
iajs-1018	102	53	(	(	PUNCT
iajs-1018	102	54	xi	xi	PROPN
iajs-1018	102	55	,	,	PUNCT
iajs-1018	102	56	yi	yi	PROPN
iajs-1018	102	57	,	,	PUNCT
iajs-1018	102	58	xj	xj	PROPN
iajs-1018	102	59	,	,	PUNCT
iajs-1018	102	60	yj	yj	PROPN
iajs-1018	102	61	)	)	PUNCT
iajs-1018	102	62	ii	ii	PROPN
iajs-1018	102	63	)	)	PUNCT
iajs-1018	102	64	crossover	crossover	ADP
iajs-1018	102	65	select	select	ADJ
iajs-1018	102	66	crossover	crossover	NOUN
iajs-1018	102	67	point	point	NOUN
iajs-1018	102	68	on	on	ADP
iajs-1018	102	69	the	the	DET
iajs-1018	102	70	third	third	NOUN
iajs-1018	102	71	and	and	CCONJ
iajs-1018	102	72	the	the	DET
iajs-1018	102	73	fourth	fourth	ADJ
iajs-1018	102	74	fields	field	NOUN
iajs-1018	102	75	of	of	ADP
iajs-1018	102	76	the	the	DET
iajs-1018	102	77	chromosome	chromosome	NOUN
iajs-1018	102	78	.	.	PUNCT
iajs-1018	103	1	allow	allow	VERB
iajs-1018	103	2	crossover	crossover	NOUN
iajs-1018	103	3	between	between	ADP
iajs-1018	103	4	all	all	DET
iajs-1018	103	5	chromosomes	chromosome	NOUN
iajs-1018	103	6	and	and	CCONJ
iajs-1018	103	7	get	get	VERB
iajs-1018	103	8	new	new	ADJ
iajs-1018	103	9	population	population	NOUN
iajs-1018	103	10	as	as	ADP
iajs-1018	103	11	(	(	PUNCT
iajs-1018	103	12	xi	xi	PROPN
iajs-1018	103	13	,	,	PUNCT
iajs-1018	103	14	yi	yi	PROPN
iajs-1018	103	15	,	,	PUNCT
iajs-1018	103	16	xj1,yj1	xj1,yj1	PROPN
iajs-1018	103	17	)	)	PUNCT
iajs-1018	103	18	,	,	PUNCT
iajs-1018	103	19	(	(	PUNCT
iajs-1018	103	20	xi	xi	PROPN
iajs-1018	103	21	,	,	PUNCT
iajs-1018	103	22	yi	yi	PROPN
iajs-1018	103	23	,	,	PUNCT
iajs-1018	103	24	xj2,yj2	xj2,yj2	PROPN
iajs-1018	103	25	)	)	PUNCT
iajs-1018	103	26	,	,	PUNCT
iajs-1018	103	27	(	(	PUNCT
iajs-1018	103	28	xi	xi	PROPN
iajs-1018	103	29	,	,	PUNCT
iajs-1018	103	30	yi	yi	PROPN
iajs-1018	103	31	,	,	PUNCT
iajs-1018	103	32	xj1	xj1	PROPN
iajs-1018	104	1	i	i	PRON
iajs-1018	104	2	,	,	PUNCT
iajs-1018	104	3	yj1	yj1	PROPN
iajs-1018	104	4	i	i	NOUN
iajs-1018	104	5	)	)	PUNCT
iajs-1018	104	6	,	,	PUNCT
iajs-1018	104	7	(	(	PUNCT
iajs-1018	104	8	xi	xi	PROPN
iajs-1018	104	9	,	,	PUNCT
iajs-1018	104	10	yi	yi	PROPN
iajs-1018	104	11	,	,	PUNCT
iajs-1018	104	12	xj2	xj2	PROPN
iajs-1018	104	13	ii	ii	PROPN
iajs-1018	104	14	,	,	PUNCT
iajs-1018	104	15	y	y	PROPN
iajs-1018	104	16	j2	j2	PROPN
iajs-1018	104	17	ii	ii	PROPN
iajs-1018	104	18	)	)	PUNCT
iajs-1018	104	19	.	.	PUNCT
iajs-1018	105	1	ihjpas	ihjpa	VERB
iajs-1018	105	2	ibn	ibn	PROPN
iajs-1018	105	3	alhaitham	alhaitham	PROPN
iajs-1018	105	4	j.	j.	PROPN
iajs-1018	105	5	for	for	ADP
iajs-1018	105	6	pure	pure	ADJ
iajs-1018	105	7	&	&	CCONJ
iajs-1018	105	8	appl	appl	PROPN
iajs-1018	105	9	.	.	PUNCT
iajs-1018	106	1	sci	sci	PROPN
iajs-1018	106	2	.	.	PUNCT
iajs-1018	107	1	vol.23	vol.23	PROPN
iajs-1018	107	2	(	(	PUNCT
iajs-1018	107	3	2	2	NUM
iajs-1018	107	4	)	)	PUNCT
iajs-1018	107	5	2010	2010	NUM
iajs-1018	107	6	iii	iii	NOUN
iajs-1018	107	7	)	)	PUNCT
iajs-1018	107	8	mutation	mutation	NOUN
iajs-1018	107	9	select	select	VERB
iajs-1018	107	10	a	a	DET
iajs-1018	107	11	mutation	mutation	NOUN
iajs-1018	107	12	point	point	NOUN
iajs-1018	107	13	in	in	ADP
iajs-1018	107	14	bit	bit	NOUN
iajs-1018	107	15	stream	stream	NOUN
iajs-1018	107	16	randomly	randomly	ADV
iajs-1018	107	17	and	and	CCONJ
iajs-1018	107	18	complement	complement	VERB
iajs-1018	107	19	that	that	DET
iajs-1018	107	20	bit	bit	NOUN
iajs-1018	107	21	position	position	NOUN
iajs-1018	107	22	for	for	ADP
iajs-1018	107	23	every	every	DET
iajs-1018	107	24	chromosome	chromosome	NOUN
iajs-1018	107	25	.	.	PUNCT
iajs-1018	108	1	iv	iv	X
iajs-1018	108	2	)	)	PUNCT
iajs-1018	108	3	selection	selection	NOUN
iajs-1018	108	4	discard	discard	VERB
iajs-1018	108	5	all	all	DET
iajs-1018	108	6	chromosomes	chromosome	NOUN
iajs-1018	108	7	(	(	PUNCT
iajs-1018	108	8	xi	xi	PROPN
iajs-1018	108	9	,	,	PUNCT
iajs-1018	108	10	yi	yi	PROPN
iajs-1018	108	11	,	,	PUNCT
iajs-1018	108	12	xj	xj	PROPN
iajs-1018	108	13	,	,	PUNCT
iajs-1018	108	14	yj	yj	PROPN
iajs-1018	108	15	)	)	PUNCT
iajs-1018	108	16	from	from	ADP
iajs-1018	108	17	population	population	NOUN
iajs-1018	108	18	whose	whose	DET
iajs-1018	108	19	line	line	NOUN
iajs-1018	108	20	segment	segment	NOUN
iajs-1018	108	21	on	on	ADP
iajs-1018	108	22	obstacle	obstacle	NOUN
iajs-1018	108	23	region	region	NOUN
iajs-1018	108	24	.	.	PUNCT
iajs-1018	109	1	for	for	ADP
iajs-1018	109	2	all	all	DET
iajs-1018	109	3	chromosomes	chromosome	NOUN
iajs-1018	109	4	in	in	ADP
iajs-1018	109	5	population	population	NOUN
iajs-1018	109	6	:	:	PUNCT
iajs-1018	109	7	find	find	VERB
iajs-1018	109	8	fitness	fitness	NOUN
iajs-1018	109	9	using	use	VERB
iajs-1018	109	10	fitness(xi	fitness(xi	PROPN
iajs-1018	109	11	,	,	PUNCT
iajs-1018	109	12	yi	yi	PROPN
iajs-1018	109	13	,	,	PUNCT
iajs-1018	109	14	xj	xj	PROPN
iajs-1018	109	15	,	,	PUNCT
iajs-1018	109	16	yj	yj	PROPN
iajs-1018	109	17	)	)	PUNCT
iajs-1018	109	18	=	=	SYM
iajs-1018	109	19	1/	1/	NUM
iajs-1018	109	20	(	(	PUNCT
iajs-1018	109	21	(	(	PUNCT
iajs-1018	109	22	xj	xj	PROPN
iajs-1018	109	23	xi	xi	PROPN
iajs-1018	109	24	)	)	PUNCT
iajs-1018	109	25	2	2	NUM
iajs-1018	110	1	+	+	CCONJ
iajs-1018	110	2	(	(	PUNCT
iajs-1018	110	3	y	y	PROPN
iajs-1018	110	4	j	j	PROPN
iajs-1018	110	5	yi	yi	PROPN
iajs-1018	110	6	)	)	PUNCT
iajs-1018	110	7	2	2	NUM
iajs-1018	111	1	+	+	CCONJ
iajs-1018	111	2	(	(	PUNCT
iajs-1018	111	3	xg	xg	PROPN
iajs-1018	111	4	–	–	PUNCT
iajs-1018	111	5	xj	xj	PROPN
iajs-1018	111	6	)	)	PUNCT
iajs-1018	111	7	2	2	NUM
iajs-1018	112	1	+	+	CCONJ
iajs-1018	112	2	(	(	PUNCT
iajs-1018	112	3	yg	yg	PROPN
iajs-1018	112	4	–	–	PUNCT
iajs-1018	112	5	yj	yj	PROPN
iajs-1018	112	6	)	)	PUNCT
iajs-1018	112	7	2	2	NUM
iajs-1018	112	8	)	)	PUNCT
iajs-1018	112	9	;	;	PUNCT
iajs-1018	112	10	identify	identify	VERB
iajs-1018	112	11	the	the	DET
iajs-1018	112	12	best	good	ADJ
iajs-1018	112	13	fit	fit	ADJ
iajs-1018	112	14	chromosome	chromosome	NOUN
iajs-1018	112	15	(	(	PUNCT
iajs-1018	112	16	xi	xi	PROPN
iajs-1018	112	17	,	,	PUNCT
iajs-1018	112	18	yi	yi	PROPN
iajs-1018	112	19	,	,	PUNCT
iajs-1018	112	20	xbf	xbf	NOUN
iajs-1018	112	21	,	,	PUNCT
iajs-1018	112	22	ybf	ybf	PROPN
iajs-1018	112	23	)	)	PUNCT
iajs-1018	112	24	;	;	PUNCT
iajs-1018	112	25	add	add	VERB
iajs-1018	112	26	-	-	PUNCT
iajs-1018	112	27	trajectorylist	trajectorylist	NOUN
iajs-1018	112	28	(	(	PUNCT
iajs-1018	112	29	xbf	xbf	NOUN
iajs-1018	112	30	,	,	PUNCT
iajs-1018	112	31	ybf	ybf	PROPN
iajs-1018	112	32	)	)	PUNCT
iajs-1018	112	33	xi	xi	X
iajs-1018	113	1	=	=	PROPN
iajs-1018	113	2	xbf	xbf	NOUN
iajs-1018	113	3	;	;	PUNCT
iajs-1018	113	4	yi	yi	NOUN
iajs-1018	113	5	=	=	PUNCT
iajs-1018	113	6	ybf	ybf	NOUN
iajs-1018	113	7	;	;	PUNCT
iajs-1018	113	8	end	end	VERB
iajs-1018	113	9	for	for	ADP
iajs-1018	113	10	,	,	PUNCT
iajs-1018	113	11	until	until	ADP
iajs-1018	113	12	(	(	PUNCT
iajs-1018	113	13	xi	xi	PROPN
iajs-1018	113	14	=	=	PROPN
iajs-1018	113	15	xg	xg	PROPN
iajs-1018	113	16	)	)	PUNCT
iajs-1018	113	17	)	)	PUNCT
iajs-1018	113	18	and	and	CCONJ
iajs-1018	113	19	(	(	PUNCT
iajs-1018	113	20	yi	yi	NOUN
iajs-1018	113	21	=	=	SYM
iajs-1018	113	22	yg	yg	PROPN
iajs-1018	113	23	)	)	PUNCT
iajs-1018	113	24	;	;	PUNCT
iajs-1018	113	25	end	end	NOUN
iajs-1018	113	26	.	.	PUNCT
iajs-1018	114	1	experimental	experimental	ADJ
iajs-1018	114	2	results	result	NOUN
iajs-1018	114	3	the	the	DET
iajs-1018	114	4	system	system	NOUN
iajs-1018	114	5	was	be	AUX
iajs-1018	114	6	run	run	VERB
iajs-1018	114	7	on	on	ADP
iajs-1018	114	8	many	many	ADJ
iajs-1018	114	9	different	different	ADJ
iajs-1018	114	10	cases	case	NOUN
iajs-1018	114	11	.	.	PUNCT
iajs-1018	115	1	these	these	DET
iajs-1018	115	2	cases	case	NOUN
iajs-1018	115	3	are	be	AUX
iajs-1018	115	4	taken	take	VERB
iajs-1018	115	5	from	from	ADP
iajs-1018	115	6	different	different	ADJ
iajs-1018	115	7	perspectives	perspective	NOUN
iajs-1018	115	8	:	:	PUNCT
iajs-1018	115	9	number	number	NOUN
iajs-1018	115	10	and	and	CCONJ
iajs-1018	115	11	distribution	distribution	NOUN
iajs-1018	115	12	of	of	ADP
iajs-1018	115	13	obstacles	obstacle	NOUN
iajs-1018	115	14	,	,	PUNCT
iajs-1018	115	15	size	size	NOUN
iajs-1018	115	16	of	of	ADP
iajs-1018	115	17	obstacles	obstacle	NOUN
iajs-1018	115	18	,	,	PUNCT
iajs-1018	115	19	the	the	DET
iajs-1018	115	20	value	value	NOUN
iajs-1018	115	21	of	of	ADP
iajs-1018	115	22	robot	robot	NOUN
iajs-1018	115	23	sensing	sense	VERB
iajs-1018	115	24	range	range	NOUN
iajs-1018	115	25	,	,	PUNCT
iajs-1018	115	26	number	number	NOUN
iajs-1018	115	27	of	of	ADP
iajs-1018	115	28	experiments	experiment	NOUN
iajs-1018	115	29	per	per	ADP
iajs-1018	115	30	a	a	DET
iajs-1018	115	31	workspace	workspace	NOUN
iajs-1018	115	32	,	,	PUNCT
iajs-1018	115	33	and	and	CCONJ
iajs-1018	115	34	robot	robot	NOUN
iajs-1018	115	35	size	size	NOUN
iajs-1018	115	36	.	.	PUNCT
iajs-1018	116	1	as	as	ADP
iajs-1018	116	2	samples	sample	NOUN
iajs-1018	116	3	,	,	PUNCT
iajs-1018	116	4	the	the	DET
iajs-1018	116	5	figures	figure	NOUN
iajs-1018	116	6	-represented	-represente	VERB
iajs-1018	116	7	by	by	ADP
iajs-1018	116	8	case1	case1	PROPN
iajs-1018	116	9	,	,	PUNCT
iajs-1018	116	10	case2	case2	PROPN
iajs-1018	116	11	,	,	PUNCT
iajs-1018	116	12	and	and	CCONJ
iajs-1018	116	13	case3show	case3show	VERB
iajs-1018	116	14	some	some	PRON
iajs-1018	116	15	of	of	ADP
iajs-1018	116	16	the	the	DET
iajs-1018	116	17	cases	case	NOUN
iajs-1018	116	18	of	of	ADP
iajs-1018	116	19	these	these	DET
iajs-1018	116	20	experiments	experiment	NOUN
iajs-1018	116	21	.	.	PUNCT
iajs-1018	117	1	each	each	DET
iajs-1018	117	2	figure	figure	NOUN
iajs-1018	117	3	of	of	ADP
iajs-1018	117	4	each	each	DET
iajs-1018	117	5	case	case	NOUN
iajs-1018	117	6	shows	show	VERB
iajs-1018	117	7	the	the	DET
iajs-1018	117	8	robot	robot	NOUN
iajs-1018	117	9	location	location	NOUN
iajs-1018	117	10	after	after	ADP
iajs-1018	117	11	some	some	DET
iajs-1018	117	12	generations	generation	NOUN
iajs-1018	117	13	while	while	SCONJ
iajs-1018	117	14	some	some	DET
iajs-1018	117	15	obstacles	obstacle	NOUN
iajs-1018	117	16	move	move	VERB
iajs-1018	117	17	randomly	randomly	ADV
iajs-1018	117	18	within	within	ADP
iajs-1018	117	19	the	the	DET
iajs-1018	117	20	environment	environment	NOUN
iajs-1018	117	21	(	(	PUNCT
iajs-1018	117	22	i.e.	i.e.	X
iajs-1018	117	23	,	,	PUNCT
iajs-1018	117	24	in	in	ADP
iajs-1018	117	25	each	each	DET
iajs-1018	117	26	case	case	NOUN
iajs-1018	117	27	,	,	PUNCT
iajs-1018	117	28	the	the	DET
iajs-1018	117	29	distribution	distribution	NOUN
iajs-1018	117	30	of	of	ADP
iajs-1018	117	31	obstacles	obstacle	NOUN
iajs-1018	117	32	will	will	AUX
iajs-1018	117	33	be	be	AUX
iajs-1018	117	34	changed	change	VERB
iajs-1018	117	35	form	form	NOUN
iajs-1018	117	36	figure	figure	NOUN
iajs-1018	117	37	to	to	ADP
iajs-1018	117	38	another	another	PRON
iajs-1018	117	39	because	because	SCONJ
iajs-1018	117	40	of	of	ADP
iajs-1018	117	41	the	the	DET
iajs-1018	117	42	movement	movement	NOUN
iajs-1018	117	43	of	of	ADP
iajs-1018	117	44	some	some	DET
iajs-1018	117	45	obstacles	obstacle	NOUN
iajs-1018	117	46	)	)	PUNCT
iajs-1018	117	47	.	.	PUNCT
iajs-1018	118	1	in	in	ADP
iajs-1018	118	2	each	each	DET
iajs-1018	118	3	case	case	NOUN
iajs-1018	118	4	,	,	PUNCT
iajs-1018	118	5	the	the	DET
iajs-1018	118	6	values	value	NOUN
iajs-1018	118	7	of	of	ADP
iajs-1018	118	8	robot	robot	NOUN
iajs-1018	118	9	size	size	NOUN
iajs-1018	118	10	(	(	PUNCT
iajs-1018	118	11	rsize	rsize	NOUN
iajs-1018	118	12	)	)	PUNCT
iajs-1018	118	13	in	in	ADP
iajs-1018	118	14	square	square	ADJ
iajs-1018	118	15	grid	grid	NOUN
iajs-1018	118	16	unit	unit	NOUN
iajs-1018	118	17	,	,	PUNCT
iajs-1018	118	18	robot	robot	NOUN
iajs-1018	118	19	sensing	sense	VERB
iajs-1018	118	20	range	range	NOUN
iajs-1018	118	21	(	(	PUNCT
iajs-1018	118	22	sr	sr	PROPN
iajs-1018	118	23	)	)	PUNCT
iajs-1018	118	24	in	in	ADP
iajs-1018	118	25	grid	grid	NOUN
iajs-1018	118	26	unit	unit	NOUN
iajs-1018	118	27	,	,	PUNCT
iajs-1018	118	28	and	and	CCONJ
iajs-1018	118	29	maximum	maximum	ADJ
iajs-1018	118	30	number	number	NOUN
iajs-1018	118	31	of	of	ADP
iajs-1018	118	32	generations	generation	NOUN
iajs-1018	118	33	at	at	ADP
iajs-1018	118	34	which	which	PRON
iajs-1018	118	35	the	the	DET
iajs-1018	118	36	robot	robot	NOUN
iajs-1018	118	37	reaches	reach	VERB
iajs-1018	118	38	to	to	ADP
iajs-1018	118	39	the	the	DET
iajs-1018	118	40	goal	goal	NOUN
iajs-1018	118	41	(	(	PUNCT
iajs-1018	118	42	maxgen	maxgen	PROPN
iajs-1018	118	43	)	)	PUNCT
iajs-1018	118	44	are	be	AUX
iajs-1018	118	45	given	give	VERB
iajs-1018	118	46	.	.	PUNCT
iajs-1018	119	1	the	the	DET
iajs-1018	119	2	symbols	symbol	NOUN
iajs-1018	119	3	"	"	PUNCT
iajs-1018	119	4	s	s	PROPN
iajs-1018	119	5	"	"	PUNCT
iajs-1018	119	6	,	,	PUNCT
iajs-1018	119	7	"	"	PUNCT
iajs-1018	119	8	g	g	NOUN
iajs-1018	119	9	"	"	PUNCT
iajs-1018	119	10	,	,	PUNCT
iajs-1018	119	11	and	and	CCONJ
iajs-1018	119	12	"	"	PUNCT
iajs-1018	119	13	r	r	NOUN
iajs-1018	119	14	"	"	PUNCT
iajs-1018	119	15	refer	refer	NOUN
iajs-1018	119	16	to	to	PART
iajs-1018	119	17	start	start	VERB
iajs-1018	119	18	position	position	NOUN
iajs-1018	119	19	,	,	PUNCT
iajs-1018	119	20	goal	goal	NOUN
iajs-1018	119	21	position	position	NOUN
iajs-1018	119	22	,	,	PUNCT
iajs-1018	119	23	and	and	CCONJ
iajs-1018	119	24	the	the	DET
iajs-1018	119	25	location	location	NOUN
iajs-1018	119	26	of	of	ADP
iajs-1018	119	27	robot	robot	NOUN
iajs-1018	119	28	after	after	ADP
iajs-1018	119	29	some	some	DET
iajs-1018	119	30	generations	generation	NOUN
iajs-1018	119	31	respectively	respectively	ADV
iajs-1018	119	32	.	.	PUNCT
iajs-1018	120	1	conclusions	conclusion	NOUN
iajs-1018	120	2	from	from	ADP
iajs-1018	120	3	the	the	DET
iajs-1018	120	4	previous	previous	ADJ
iajs-1018	120	5	results	result	NOUN
iajs-1018	120	6	,	,	PUNCT
iajs-1018	120	7	we	we	PRON
iajs-1018	120	8	can	can	AUX
iajs-1018	120	9	conclude	conclude	VERB
iajs-1018	120	10	the	the	DET
iajs-1018	120	11	following	following	NOUN
iajs-1018	120	12	:	:	PUNCT
iajs-1018	120	13	1the	1the	NUM
iajs-1018	120	14	system	system	NOUN
iajs-1018	120	15	operates	operate	VERB
iajs-1018	120	16	on	on	ADP
iajs-1018	120	17	entire	entire	ADJ
iajs-1018	120	18	free	free	ADJ
iajs-1018	120	19	space	space	NOUN
iajs-1018	120	20	and	and	CCONJ
iajs-1018	120	21	does	do	AUX
iajs-1018	120	22	not	not	PART
iajs-1018	120	23	make	make	VERB
iajs-1018	120	24	any	any	DET
iajs-1018	120	25	prior	prior	ADJ
iajs-1018	120	26	assumptions	assumption	NOUN
iajs-1018	120	27	about	about	ADP
iajs-1018	120	28	feasible	feasible	ADJ
iajs-1018	120	29	knot	knot	NOUN
iajs-1018	120	30	point	point	NOUN
iajs-1018	120	31	of	of	ADP
iajs-1018	120	32	the	the	DET
iajs-1018	120	33	trajectory	trajectory	NOUN
iajs-1018	120	34	.	.	PUNCT
iajs-1018	121	1	2the	2the	DET
iajs-1018	121	2	system	system	NOUN
iajs-1018	121	3	can	can	AUX
iajs-1018	121	4	deal	deal	VERB
iajs-1018	121	5	with	with	ADP
iajs-1018	121	6	any	any	DET
iajs-1018	121	7	moving	move	VERB
iajs-1018	121	8	obstacles	obstacle	NOUN
iajs-1018	121	9	while	while	SCONJ
iajs-1018	121	10	avoiding	avoid	VERB
iajs-1018	121	11	collisions	collision	NOUN
iajs-1018	121	12	with	with	ADP
iajs-1018	121	13	the	the	DET
iajs-1018	121	14	robot	robot	NOUN
iajs-1018	121	15	.	.	PUNCT
iajs-1018	122	1	3at	3at	ADJ
iajs-1018	123	1	each	each	DET
iajs-1018	123	2	generation	generation	NOUN
iajs-1018	123	3	,	,	PUNCT
iajs-1018	123	4	the	the	DET
iajs-1018	123	5	robot	robot	NOUN
iajs-1018	123	6	moves	move	VERB
iajs-1018	123	7	to	to	ADP
iajs-1018	123	8	a	a	DET
iajs-1018	123	9	new	new	ADJ
iajs-1018	123	10	position	position	NOUN
iajs-1018	123	11	toward	toward	ADP
iajs-1018	123	12	the	the	DET
iajs-1018	123	13	goal	goal	NOUN
iajs-1018	123	14	.	.	PUNCT
iajs-1018	124	1	4as	4as	ADJ
iajs-1018	124	2	the	the	DET
iajs-1018	124	3	robot	robot	NOUN
iajs-1018	124	4	ability	ability	NOUN
iajs-1018	124	5	of	of	ADP
iajs-1018	124	6	sensing	sense	VERB
iajs-1018	124	7	the	the	DET
iajs-1018	124	8	environment	environment	NOUN
iajs-1018	124	9	(	(	PUNCT
iajs-1018	124	10	sensing	sense	VERB
iajs-1018	124	11	range	range	NOUN
iajs-1018	124	12	)	)	PUNCT
iajs-1018	124	13	becomes	become	VERB
iajs-1018	124	14	bigger	big	ADJ
iajs-1018	124	15	,	,	PUNCT
iajs-1018	124	16	the	the	DET
iajs-1018	124	17	trajectory	trajectory	NOUN
iajs-1018	124	18	points	point	NOUN
iajs-1018	124	19	become	become	VERB
iajs-1018	124	20	less	less	ADV
iajs-1018	124	21	and	and	CCONJ
iajs-1018	124	22	consequently	consequently	ADV
iajs-1018	124	23	the	the	DET
iajs-1018	124	24	time	time	NOUN
iajs-1018	124	25	of	of	ADP
iajs-1018	124	26	reaching	reach	VERB
iajs-1018	124	27	the	the	DET
iajs-1018	124	28	goal	goal	NOUN
iajs-1018	124	29	becomes	become	VERB
iajs-1018	124	30	less	less	ADJ
iajs-1018	124	31	and	and	CCONJ
iajs-1018	124	32	vice	vice	ADV
iajs-1018	124	33	versa	versa	ADV
iajs-1018	124	34	.	.	PUNCT
iajs-1018	125	1	5at	5at	ADJ
iajs-1018	125	2	each	each	DET
iajs-1018	125	3	iteration	iteration	NOUN
iajs-1018	125	4	,	,	PUNCT
iajs-1018	125	5	the	the	DET
iajs-1018	125	6	planner	planner	NOUN
iajs-1018	125	7	produces	produce	VERB
iajs-1018	125	8	a	a	DET
iajs-1018	125	9	trajectory	trajectory	NOUN
iajs-1018	125	10	which	which	PRON
iajs-1018	125	11	is	be	AUX
iajs-1018	125	12	based	base	VERB
iajs-1018	125	13	on	on	ADP
iajs-1018	125	14	the	the	DET
iajs-1018	125	15	obstacle	obstacle	NOUN
iajs-1018	125	16	most	most	ADV
iajs-1018	125	17	recently	recently	ADV
iajs-1018	125	18	sensed	sense	VERB
iajs-1018	125	19	positions	position	NOUN
iajs-1018	125	20	and	and	CCONJ
iajs-1018	125	21	assumes	assume	VERB
iajs-1018	125	22	that	that	SCONJ
iajs-1018	125	23	the	the	DET
iajs-1018	125	24	obstacles	obstacle	NOUN
iajs-1018	125	25	are	be	AUX
iajs-1018	125	26	now	now	ADV
iajs-1018	125	27	fixed	fix	VERB
iajs-1018	125	28	.	.	PUNCT
iajs-1018	126	1	6the	6the	DET
iajs-1018	126	2	system	system	NOUN
iajs-1018	126	3	does	do	AUX
iajs-1018	126	4	not	not	PART
iajs-1018	126	5	give	give	VERB
iajs-1018	126	6	an	an	DET
iajs-1018	126	7	acceptable	acceptable	ADJ
iajs-1018	126	8	trajectory	trajectory	NOUN
iajs-1018	126	9	if	if	SCONJ
iajs-1018	126	10	the	the	DET
iajs-1018	126	11	robot	robot	NOUN
iajs-1018	126	12	's	's	PART
iajs-1018	126	13	environment	environment	NOUN
iajs-1018	126	14	contains	contain	VERB
iajs-1018	126	15	a	a	DET
iajs-1018	126	16	very	very	ADV
iajs-1018	126	17	large	large	ADJ
iajs-1018	126	18	number	number	NOUN
iajs-1018	126	19	of	of	ADP
iajs-1018	126	20	obstacles	obstacle	NOUN
iajs-1018	126	21	and	and	CCONJ
iajs-1018	126	22	there	there	PRON
iajs-1018	126	23	is	be	VERB
iajs-1018	126	24	no	no	DET
iajs-1018	126	25	sufficient	sufficient	ADJ
iajs-1018	126	26	space	space	NOUN
iajs-1018	126	27	to	to	PART
iajs-1018	126	28	move	move	VERB
iajs-1018	126	29	the	the	DET
iajs-1018	126	30	robot	robot	NOUN
iajs-1018	126	31	through	through	ADP
iajs-1018	126	32	it	it	PRON
iajs-1018	126	33	.	.	PUNCT
iajs-1018	127	1	references	reference	NOUN
iajs-1018	127	2	1.lugar	1.lugar	NUM
iajs-1018	127	3	,	,	PUNCT
iajs-1018	127	4	g.	g.	PROPN
iajs-1018	127	5	f.	f.	PROPN
iajs-1018	127	6	and	and	CCONJ
iajs-1018	127	7	stubblefield	stubblefield	PROPN
iajs-1018	127	8	,	,	PUNCT
iajs-1018	127	9	w.	w.	PROPN
iajs-1018	127	10	a.	a.	PROPN
iajs-1018	127	11	(	(	PUNCT
iajs-1018	127	12	1989	1989	NUM
iajs-1018	127	13	)	)	PUNCT
iajs-1018	127	14	,	,	PUNCT
iajs-1018	127	15	artificial	artificial	ADJ
iajs-1018	127	16	intelligence	intelligence	NOUN
iajs-1018	127	17	and	and	CCONJ
iajs-1018	127	18	the	the	DET
iajs-1018	127	19	design	design	NOUN
iajs-1018	127	20	of	of	ADP
iajs-1018	127	21	expert	expert	NOUN
iajs-1018	127	22	systems	system	NOUN
iajs-1018	127	23	.	.	PUNCT
iajs-1018	128	1	redwood	redwood	NOUN
iajs-1018	128	2	city	city	PROPN
iajs-1018	128	3	,	,	PUNCT
iajs-1018	128	4	ca	ca	PROPN
iajs-1018	128	5	:	:	PUNCT
iajs-1018	128	6	benjamin	benjamin	PROPN
iajs-1018	128	7	/cummings	/cummings	PROPN
iajs-1018	128	8	.	.	PUNCT
iajs-1018	129	1	2.lavalle	2.lavalle	NUM
iajs-1018	129	2	,	,	PUNCT
iajs-1018	129	3	s.m	s.m	PROPN
iajs-1018	129	4	.	.	PROPN
iajs-1018	129	5	(	(	PUNCT
iajs-1018	129	6	2003	2003	NUM
iajs-1018	129	7	):	):	PUNCT
iajs-1018	129	8	planning	planning	NOUN
iajs-1018	129	9	algorithm	algorithm	NOUN
iajs-1018	129	10	.	.	PUNCT
iajs-1018	130	1	university	university	NOUN
iajs-1018	130	2	of	of	ADP
iajs-1018	130	3	illinois	illinois	PROPN
iajs-1018	130	4	.	.	PUNCT
iajs-1018	130	5	ihjpas	ihjpas	PROPN
iajs-1018	130	6	ibn	ibn	PROPN
iajs-1018	130	7	alhaitham	alhaitham	PROPN
iajs-1018	130	8	j.	j.	PROPN
iajs-1018	130	9	for	for	ADP
iajs-1018	130	10	pure	pure	ADJ
iajs-1018	130	11	&	&	CCONJ
iajs-1018	130	12	appl	appl	PROPN
iajs-1018	130	13	.	.	PUNCT
iajs-1018	131	1	sci	sci	PROPN
iajs-1018	131	2	.	.	PUNCT
iajs-1018	132	1	vol.23	vol.23	PROPN
iajs-1018	132	2	(	(	PUNCT
iajs-1018	132	3	2	2	NUM
iajs-1018	132	4	)	)	PUNCT
iajs-1018	132	5	2010	2010	NUM
iajs-1018	132	6	3.farritor	3.farritor	NUM
iajs-1018	132	7	,	,	PUNCT
iajs-1018	132	8	s.	s.	PROPN
iajs-1018	132	9	and	and	CCONJ
iajs-1018	132	10	dubowsky	dubowsky	PROPN
iajs-1018	132	11	,	,	PUNCT
iajs-1018	132	12	s.	s.	PROPN
iajs-1018	132	13	(	(	PUNCT
iajs-1018	132	14	2002	2002	NUM
iajs-1018	132	15	)	)	PUNCT
iajs-1018	132	16	,	,	PUNCT
iajs-1018	132	17	a	a	DET
iajs-1018	132	18	genetic	genetic	ADJ
iajs-1018	132	19	planning	planning	NOUN
iajs-1018	132	20	method	method	NOUN
iajs-1018	132	21	and	and	CCONJ
iajs-1018	132	22	its	its	PRON
iajs-1018	132	23	application	application	NOUN
iajs-1018	132	24	to	to	ADP
iajs-1018	132	25	planetary	planetary	ADJ
iajs-1018	132	26	exploration	exploration	NOUN
iajs-1018	132	27	.	.	PUNCT
iajs-1018	133	1	cambridge	cambridge	PROPN
iajs-1018	133	2	,	,	PUNCT
iajs-1018	133	3	ma	ma	PROPN
iajs-1018	133	4	02139	02139	NUM
iajs-1018	133	5	u.s.a	u.s.a	PROPN
iajs-1018	133	6	.	.	PUNCT
iajs-1018	134	1	4.rich	4.rich	NUM
iajs-1018	134	2	,	,	PUNCT
iajs-1018	134	3	e.	e.	PROPN
iajs-1018	134	4	and	and	CCONJ
iajs-1018	134	5	knight	knight	PROPN
iajs-1018	134	6	,	,	PUNCT
iajs-1018	134	7	k.(1991	k.(1991	PROPN
iajs-1018	134	8	):	):	PUNCT
iajs-1018	134	9	artificial	artificial	ADJ
iajs-1018	134	10	intelligence	intelligence	NOUN
iajs-1018	134	11	,	,	PUNCT
iajs-1018	134	12	mc	mc	PROPN
iajs-1018	134	13	-	-	PUNCT
iajs-1018	134	14	graw	graw	PROPN
iajs-1018	134	15	hill	hill	PROPN
iajs-1018	134	16	,	,	PUNCT
iajs-1018	134	17	inc	inc	PROPN
iajs-1018	134	18	.	.	PROPN
iajs-1018	134	19	5.michalewicz	5.michalewicz	NUM
iajs-1018	134	20	,	,	PUNCT
iajs-1018	134	21	z.(1999	z.(1999	PROPN
iajs-1018	134	22	)	)	PUNCT
iajs-1018	134	23	,	,	PUNCT
iajs-1018	134	24	genetic	genetic	ADJ
iajs-1018	134	25	algorithms	algorithm	NOUN
iajs-1018	134	26	+	+	CCONJ
iajs-1018	134	27	data	datum	NOUN
iajs-1018	134	28	structures	structure	NOUN
iajs-1018	134	29	=	=	SYM
iajs-1018	134	30	evolution	evolution	NOUN
iajs-1018	134	31	programs	program	NOUN
iajs-1018	134	32	.	.	PUNCT
iajs-1018	135	1	new	new	PROPN
iajs-1018	135	2	york	york	PROPN
iajs-1018	135	3	:	:	PUNCT
iajs-1018	135	4	springer	springer	NOUN
iajs-1018	135	5	verlag	verlag	PROPN
iajs-1018	135	6	.	.	PUNCT
iajs-1018	136	1	6.podsedkowski	6.podsedkowski	NUM
iajs-1018	136	2	,	,	PUNCT
iajs-1018	136	3	l.(1999	l.(1999	NOUN
iajs-1018	136	4	)	)	PUNCT
iajs-1018	136	5	,	,	PUNCT
iajs-1018	136	6	very	very	ADV
iajs-1018	136	7	well	well	ADV
iajs-1018	136	8	inform	inform	VERB
iajs-1018	136	9	ed	ed	NOUN
iajs-1018	136	10	a*searching	a*searching	NOUN
iajs-1018	136	11	algorithm	algorithm	NOUN
iajs-1018	136	12	and	and	CCONJ
iajs-1018	136	13	its	its	PRON
iajs-1018	136	14	application	application	NOUN
iajs-1018	136	15	for	for	ADP
iajs-1018	136	16	nonholonom	nonholonom	PROPN
iajs-1018	136	17	ic	ic	PROPN
iajs-1018	136	18	mobile	mobile	PROPN
iajs-1018	136	19	robot	robot	NOUN
iajs-1018	136	20	motion	motion	NOUN
iajs-1018	136	21	planning	planning	NOUN
iajs-1018	136	22	.	.	PUNCT
iajs-1018	137	1	international	international	ADJ
iajs-1018	137	2	journal	journal	PROPN
iajs-1018	137	3	of	of	ADP
iajs-1018	137	4	science	science	PROPN
iajs-1018	137	5	&	&	CCONJ
iajs-1018	137	6	technology	technology	PROPN
iajs-1018	137	7	(	(	PUNCT
iajs-1018	137	8	1999	1999	NUM
iajs-1018	137	9	)	)	PUNCT
iajs-1018	137	10	,	,	PUNCT
iajs-1018	137	11	10(2	10(2	NUM
iajs-1018	137	12	)	)	PUNCT
iajs-1018	137	13	&	&	CCONJ
iajs-1018	137	14	11(1,2	11(1,2	NUM
iajs-1018	137	15	)	)	PUNCT
iajs-1018	137	16	,	,	PUNCT
iajs-1018	137	17	3343	3343	NUM
iajs-1018	137	18	.	.	PUNCT
iajs-1018	138	1	7.mchenry	7.mchenry	NUM
iajs-1018	138	2	,	,	PUNCT
iajs-1018	138	3	m.	m.	NOUN
iajs-1018	138	4	c.(1998	c.(1998	PROPN
iajs-1018	138	5	)	)	PUNCT
iajs-1018	138	6	,	,	PUNCT
iajs-1018	138	7	slice	slice	NOUN
iajs-1018	138	8	–	–	PUNCT
iajs-1018	138	9	based	base	VERB
iajs-1018	138	10	path	path	NOUN
iajs-1018	138	11	planning	planning	NOUN
iajs-1018	138	12	,	,	PUNCT
iajs-1018	138	13	ph.d	ph.d	PROPN
iajs-1018	138	14	.	.	PUNCT
iajs-1018	139	1	dissertation	dissertation	NOUN
iajs-1018	139	2	,	,	PUNCT
iajs-1018	139	3	faculty	faculty	NOUN
iajs-1018	139	4	of	of	ADP
iajs-1018	139	5	the	the	DET
iajs-1018	139	6	graduate	graduate	NOUN
iajs-1018	139	7	school	school	NOUN
iajs-1018	139	8	,	,	PUNCT
iajs-1018	139	9	university	university	NOUN
iajs-1018	139	10	of	of	ADP
iajs-1018	139	11	southern	southern	PROPN
iajs-1018	139	12	california	california	PROPN
iajs-1018	139	13	.	.	PUNCT
iajs-1018	140	1	8.kortenkamp	8.kortenkamp	NUM
iajs-1018	140	2	,	,	PUNCT
iajs-1018	140	3	d.	d.	PROPN
iajs-1018	140	4	;	;	PUNCT
iajs-1018	140	5	bonasso	bonasso	PROPN
iajs-1018	140	6	r.	r.	PROPN
iajs-1018	140	7	p.	p.	PROPN
iajs-1018	140	8	,	,	PUNCT
iajs-1018	140	9	and	and	CCONJ
iajs-1018	140	10	murphy	murphy	PROPN
iajs-1018	140	11	,	,	PUNCT
iajs-1018	140	12	r.(1997	r.(1997	NOUN
iajs-1018	140	13	)	)	PUNCT
iajs-1018	140	14	,	,	PUNCT
iajs-1018	140	15	artificial	artificial	ADJ
iajs-1018	140	16	intelligence	intelligence	NOUN
iajs-1018	140	17	and	and	CCONJ
iajs-1018	140	18	mobile	mobile	NOUN
iajs-1018	140	19	robot	robot	NOUN
iajs-1018	140	20	:	:	PUNCT
iajs-1018	140	21	case	case	NOUN
iajs-1018	140	22	studies	study	NOUN
iajs-1018	140	23	of	of	ADP
iajs-1018	140	24	successful	successful	ADJ
iajs-1018	140	25	robot	robot	NOUN
iajs-1018	140	26	systems	system	NOUN
iajs-1018	140	27	.	.	PUNCT
iajs-1018	141	1	9	9	X
iajs-1018	141	2	.	.	X
iajs-1018	141	3	lazea	lazea	PROPN
iajs-1018	141	4	,	,	PUNCT
iajs-1018	141	5	gh	gh	PROPN
iajs-1018	141	6	.	.	PROPN
iajs-1018	141	7	and	and	CCONJ
iajs-1018	141	8	lupu	lupu	PROPN
iajs-1018	141	9	,	,	PUNCT
iajs-1018	141	10	as	as	ADP
iajs-1018	141	11	.	.	PROPN
iajs-1018	141	12	e.	e.	PROPN
iajs-1018	141	13	(	(	PUNCT
iajs-1018	141	14	1996	1996	NUM
iajs-1018	141	15	)	)	PUNCT
iajs-1018	141	16	,	,	PUNCT
iajs-1018	141	17	aspects	aspect	NOUN
iajs-1018	141	18	on	on	ADP
iajs-1018	141	19	path	path	NOUN
iajs-1018	141	20	p	p	NOUN
iajs-1018	141	21	lanning	lanning	NOUN
iajs-1018	141	22	for	for	ADP
iajs-1018	141	23	mobile	mobile	NOUN
iajs-1018	141	24	robots	robot	NOUN
iajs-1018	141	25	.	.	PUNCT
iajs-1018	142	1	10.goldberg	10.goldberg	NUM
iajs-1018	142	2	,	,	PUNCT
iajs-1018	142	3	d.	d.	PROPN
iajs-1018	142	4	e.	e.	PROPN
iajs-1018	142	5	(	(	PUNCT
iajs-1018	142	6	1994	1994	NUM
iajs-1018	142	7	)	)	PUNCT
iajs-1018	142	8	,	,	PUNCT
iajs-1018	142	9	“	"	PUNCT
iajs-1018	142	10	genetic	genetic	ADJ
iajs-1018	142	11	and	and	CCONJ
iajs-1018	142	12	evolutionary	evolutionary	ADJ
iajs-1018	142	13	algorithms	algorithm	NOUN
iajs-1018	142	14	come	come	VERB
iajs-1018	142	15	of	of	ADP
iajs-1018	142	16	age	age	NOUN
iajs-1018	142	17	”	"	PUNCT
iajs-1018	142	18	,	,	PUNCT
iajs-1018	142	19	communication	communication	NOUN
iajs-1018	142	20	of	of	ADP
iajs-1018	142	21	the	the	DET
iajs-1018	142	22	acm	acm	PROPN
iajs-1018	142	23	,	,	PUNCT
iajs-1018	142	24	37(3	37(3	NUM
iajs-1018	142	25	):	):	PUNCT
iajs-1018	142	26	113	113	NUM
iajs-1018	142	27	-	-	SYM
iajs-1018	142	28	119	119	NUM
iajs-1018	142	29	,	,	PUNCT
iajs-1018	142	30	march	march	PROPN
iajs-1018	142	31	.	.	PUNCT
iajs-1018	143	1	11.wang	11.wang	NUM
iajs-1018	143	2	,	,	PUNCT
iajs-1018	143	3	l.	l.	PROPN
iajs-1018	143	4	;	;	PUNCT
iajs-1018	143	5	siegel	siegel	PROPN
iajs-1018	143	6	,	,	PUNCT
iajs-1018	143	7	h.	h.	PROPN
iajs-1018	143	8	j.	j.	PROPN
iajs-1018	143	9	;	;	PUNCT
iajs-1018	143	10	roychowdhury	roychowdhury	PROPN
iajs-1018	143	11	,	,	PUNCT
iajs-1018	143	12	v.	v.	PROPN
iajs-1018	143	13	p.	p.	NOUN
iajs-1018	143	14	,	,	PUNCT
iajs-1018	143	15	and	and	CCONJ
iajs-1018	143	16	maciejewski	maciejewski	ADJ
iajs-1018	143	17	,	,	PUNCT
iajs-1018	143	18	a.	a.	NOUN
iajs-1018	143	19	a.	a.	NOUN
iajs-1018	143	20	(	(	PUNCT
iajs-1018	143	21	1997	1997	NUM
iajs-1018	143	22	)	)	PUNCT
iajs-1018	143	23	,	,	PUNCT
iajs-1018	143	24	“	"	PUNCT
iajs-1018	143	25	task	task	NOUN
iajs-1018	143	26	matching	matching	NOUN
iajs-1018	143	27	and	and	CCONJ
iajs-1018	143	28	scheduling	scheduling	NOUN
iajs-1018	143	29	in	in	ADP
iajs-1018	143	30	heterogeneous	heterogeneous	ADJ
iajs-1018	143	31	computing	computing	NOUN
iajs-1018	143	32	environments	environment	NOUN
iajs-1018	143	33	using	use	VERB
iajs-1018	143	34	a	a	DET
iajs-1018	143	35	geneticalgorithm	geneticalgorithm	NOUN
iajs-1018	143	36	-	-	PUNCT
iajs-1018	143	37	based	base	VERB
iajs-1018	143	38	approach	approach	NOUN
iajs-1018	143	39	,	,	PUNCT
iajs-1018	143	40	”	"	PUNCT
iajs-1018	143	41	journal	journal	NOUN
iajs-1018	143	42	of	of	ADP
iajs-1018	143	43	parallel	parallel	ADJ
iajs-1018	143	44	and	and	CCONJ
iajs-1018	143	45	distributed	distributed	ADJ
iajs-1018	143	46	computing	computing	NOUN
iajs-1018	143	47	,	,	PUNCT
iajs-1018	143	48	special	special	ADJ
iajs-1018	143	49	issue	issue	NOUN
iajs-1018	143	50	on	on	ADP
iajs-1018	143	51	parallel	parallel	ADJ
iajs-1018	143	52	evolutionary	evolutionary	ADJ
iajs-1018	143	53	computing	computing	NOUN
iajs-1018	143	54	,	,	PUNCT
iajs-1018	143	55	47	47	NUM
iajs-1018	143	56	(	(	PUNCT
iajs-1018	143	57	1	1	NUM
iajs-1018	143	58	):	):	PUNCT
iajs-1018	143	59	8	8	NUM
iajs-1018	143	60	-	-	SYM
iajs-1018	143	61	22	22	NUM
iajs-1018	143	62	,	,	PUNCT
iajs-1018	143	63	nov	nov	PROPN
iajs-1018	143	64	.	.	PROPN
iajs-1018	143	65	25	25	NUM
iajs-1018	143	66	,	,	PUNCT
iajs-1018	143	67	12.konar	12.konar	NUM
iajs-1018	143	68	a.	a.	NOUN
iajs-1018	143	69	(	(	PUNCT
iajs-1018	143	70	2000	2000	NUM
iajs-1018	143	71	)	)	PUNCT
iajs-1018	143	72	,	,	PUNCT
iajs-1018	143	73	artificial	artificial	ADJ
iajs-1018	143	74	intelligence	intelligence	NOUN
iajs-1018	143	75	and	and	CCONJ
iajs-1018	143	76	soft	soft	ADJ
iajs-1018	143	77	computing	computing	NOUN
iajs-1018	143	78	:	:	PUNCT
iajs-1018	143	79	behavioral	behavioral	ADJ
iajs-1018	143	80	and	and	CCONJ
iajs-1018	143	81	cognitive	cognitive	ADJ
iajs-1018	143	82	modeling	modeling	NOUN
iajs-1018	143	83	of	of	ADP
iajs-1018	143	84	the	the	DET
iajs-1018	143	85	human	human	ADJ
iajs-1018	143	86	brain	brain	NOUN
iajs-1018	143	87	.	.	PUNCT
iajs-1018	144	1	13.salmon	13.salmon	NUM
iajs-1018	144	2	,	,	PUNCT
iajs-1018	144	3	r.	r.	PROPN
iajs-1018	144	4	and	and	CCONJ
iajs-1018	144	5	slater	slater	NOUN
iajs-1018	144	6	,	,	PUNCT
iajs-1018	144	7	m.	m.	NOUN
iajs-1018	144	8	(	(	PUNCT
iajs-1018	144	9	1987	1987	NUM
iajs-1018	144	10	)	)	PUNCT
iajs-1018	144	11	,	,	PUNCT
iajs-1018	144	12	computer	computer	NOUN
iajs-1018	144	13	graphics	graphic	NOUN
iajs-1018	144	14	:	:	PUNCT
iajs-1018	144	15	systems	system	NOUN
iajs-1018	144	16	&	&	CCONJ
iajs-1018	144	17	concepts	concept	NOUN
iajs-1018	144	18	.	.	PUNCT
iajs-1018	145	1	reading	reading	NOUN
iajs-1018	145	2	,	,	PUNCT
iajs-1018	145	3	ma	ma	PROPN
iajs-1018	145	4	:	:	PUNCT
iajs-1018	145	5	addison	addison	PROPN
iajs-1018	145	6	-	-	PUNCT
iajs-1018	145	7	wesely	wesely	ADV
iajs-1018	145	8	.	.	PUNCT
iajs-1018	146	1	ihjpas	ihjpa	VERB
iajs-1018	146	2	ibn	ibn	PROPN
iajs-1018	146	3	alhaitham	alhaitham	PROPN
iajs-1018	146	4	j.	j.	PROPN
iajs-1018	146	5	for	for	ADP
iajs-1018	146	6	pure	pure	ADJ
iajs-1018	146	7	&	&	CCONJ
iajs-1018	146	8	appl	appl	PROPN
iajs-1018	146	9	.	.	PUNCT
iajs-1018	147	1	sci	sci	PROPN
iajs-1018	147	2	.	.	PUNCT
iajs-1018	148	1	vol.23	vol.23	PROPN
iajs-1018	148	2	(	(	PUNCT
iajs-1018	148	3	2	2	NUM
iajs-1018	148	4	)	)	PUNCT
iajs-1018	148	5	2010	2010	NUM
iajs-1018	148	6	figures	figure	NOUN
iajs-1018	148	7	:	:	PUNCT
iajs-1018	148	8	case	case	NOUN
iajs-1018	148	9	1	1	NUM
iajs-1018	148	10	rsize	rsize	NOUN
iajs-1018	148	11	=	=	SYM
iajs-1018	148	12	9	9	NUM
iajs-1018	148	13	sr=	sr=	NOUN
iajs-1018	148	14	15	15	NUM
iajs-1018	148	15	maxgen	maxgen	NOUN
iajs-1018	148	16	=	=	SYM
iajs-1018	148	17	43	43	NUM
iajs-1018	148	18	(	(	PUNCT
iajs-1018	148	19	a	a	NOUN
iajs-1018	148	20	)	)	PUNCT
iajs-1018	148	21	(	(	PUNCT
iajs-1018	148	22	b	b	X
iajs-1018	148	23	)	)	PUNCT
iajs-1018	148	24	(	(	PUNCT
iajs-1018	148	25	c	c	X
iajs-1018	148	26	)	)	PUNCT
iajs-1018	148	27	(	(	PUNCT
iajs-1018	148	28	d	d	X
iajs-1018	148	29	)	)	PUNCT
iajs-1018	148	30	ihjpas	ihjpa	VERB
iajs-1018	148	31	ibn	ibn	PROPN
iajs-1018	148	32	alhaitham	alhaitham	PROPN
iajs-1018	148	33	j.	j.	PROPN
iajs-1018	148	34	for	for	ADP
iajs-1018	148	35	pure	pure	ADJ
iajs-1018	148	36	&	&	CCONJ
iajs-1018	148	37	appl	appl	PROPN
iajs-1018	148	38	.	.	PUNCT
iajs-1018	149	1	sci	sci	PROPN
iajs-1018	149	2	.	.	PUNCT
iajs-1018	150	1	vol.23	vol.23	PROPN
iajs-1018	150	2	(	(	PUNCT
iajs-1018	150	3	2	2	NUM
iajs-1018	150	4	)	)	PUNCT
iajs-1018	150	5	2010	2010	NUM
iajs-1018	150	6	case	case	NOUN
iajs-1018	150	7	2	2	NUM
iajs-1018	150	8	(	(	PUNCT
iajs-1018	150	9	a	a	NOUN
iajs-1018	150	10	)	)	PUNCT
iajs-1018	150	11	(	(	PUNCT
iajs-1018	150	12	b	b	X
iajs-1018	150	13	)	)	PUNCT
iajs-1018	150	14	rsize	rsize	NOUN
iajs-1018	150	15	=	=	SYM
iajs-1018	150	16	20	20	NUM
iajs-1018	150	17	sr=	sr=	NOUN
iajs-1018	150	18	6	6	NUM
iajs-1018	150	19	maxgen	maxgen	NOUN
iajs-1018	150	20	=	=	SYM
iajs-1018	150	21	80	80	NUM
iajs-1018	150	22	ihjpas	ihjpas	NOUN
iajs-1018	150	23	2010	2010	NUM
iajs-1018	150	24	)	)	PUNCT
iajs-1018	150	25	2	2	NUM
iajs-1018	150	26	(	(	PUNCT
iajs-1018	150	27	32المجلد	32المجلد	NUM
iajs-1018	150	28	مجلة	مجلة	VERB
iajs-1018	150	29	ابن	ابن	PROPN
iajs-1018	150	30	الهیثم	الهیثم	PROPN
iajs-1018	150	31	للعلوم	للعلوم	PROPN
iajs-1018	150	32	الصرفة	الصرفة	PROPN
iajs-1018	150	33	والتطبیقیة	والتطبیقیة	PROPN
iajs-1018	150	34	مشكلة	مشكلة	VERB
iajs-1018	150	35	التجول	التجول	ADJ
iajs-1018	150	36	المباشر	المباشر	PROPN
iajs-1018	150	37	لإلنسان	لإلنسان	NOUN
iajs-1018	150	38	اآللي	اآللي	NOUN
iajs-1018	150	39	باستخدام	باستخدام	NOUN
iajs-1018	150	40	الخوارزمیة	الخوارزمیة	PROPN
iajs-1018	150	41	الجینیة	الجینیة	PROPN
iajs-1018	150	42	واثق	واثق	PROPN
iajs-1018	150	43	نجاح	نجاح	PROPN
iajs-1018	150	44	عبداهللا	عبداهللا	NOUN
iajs-1018	150	45	إبن	إبن	VERB
iajs-1018	150	46	الهیثم	الهیثم	PROPN
iajs-1018	150	47	،	،	PROPN
iajs-1018	150	48	جامعة	جامعة	PROPN
iajs-1018	150	49	بغداد	بغداد	PROPN
iajs-1018	150	50	–	–	PUNCT
iajs-1018	150	51	كلیة	كلیة	PROPN
iajs-1018	150	52	التربیة	التربیة	NOUN
iajs-1018	150	53	قسم	قسم	PROPN
iajs-1018	150	54	علوم	علوم	PROPN
iajs-1018	150	55	الحاسبات	الحاسبات	PROPN
iajs-1018	150	56	،	،	PROPN
iajs-1018	150	57	الخالصة	الخالصة	PROPN
iajs-1018	150	58	التجـول	التجـول	NOUN
iajs-1018	150	59	مشـكلة	مشـكلة	VERB
iajs-1018	150	60	مهمـة	مهمـة	NOUN
iajs-1018	151	1	وصـعبة	وصـعبة	PROPN
iajs-1018	151	2	فـي	فـي	VERB
iajs-1018	152	1	إّن	إّن	NOUN
iajs-1018	152	2	مشـكلة	مشـكلة	VERB
iajs-1018	152	3	،	،	NOUN
iajs-1018	152	4	تتوقع	تتوقع	NOUN
iajs-1018	152	5	أنظمة	أنظمة	PROPN
iajs-1018	152	6	التصنیع	التصنیع	PROPN
iajs-1018	152	7	المستقبلیة	المستقبلیة	VERB
iajs-1018	152	8	إستخدام	إستخدام	PROPN
iajs-1018	152	9	العربات	العربات	PROPN
iajs-1018	152	10	الذكیة	الذكیة	PROPN
iajs-1018	152	11	للتحسین	للتحسین	PROPN
iajs-1018	152	12	والتجـول	والتجـول	PROPN
iajs-1018	152	13	إلـى	إلـى	PROPN
iajs-1018	152	14	الموقـع	الموقـع	X
iajs-1018	152	15	اآلخـر	اآلخـر	PROPN
iajs-1018	152	16	"	"	PUNCT
iajs-1018	152	17	ااألنسان	ااألنسان	PROPN
iajs-1018	152	18	اآللي	اآللي	PROPN
iajs-1018	152	19	یجد	یجد	PROPN
iajs-1018	153	1	نفسه	نفسه	ADJ
iajs-1018	153	2	فـي	فـي	NOUN
iajs-1018	153	3	أغلـب	أغلـب	PROPN
iajs-1018	153	4	األحیـان	األحیـان	PROPN
iajs-1018	153	5	فـي	فـي	PROPN
iajs-1018	153	6	حالـة	حالـة	PROPN
iajs-1018	153	7	یجـب	یجـب	NOUN
iajs-1018	153	8	أن	أن	ADP
iajs-1018	153	9	یجـد	یجـد	ADV
iajs-1018	153	10	فیهـا	فیهـا	PROPN
iajs-1018	153	11	مسـار	مسـار	NOUN
iajs-1018	153	12	.	.	PUNCT
iajs-1018	154	1	حقل	حقل	VERB
iajs-1018	154	2	علم	علم	NOUN
iajs-1018	154	3	اإلنسان	اإلنسان	NOUN
iajs-1018	154	4	اآللي	اآللي	NOUN
iajs-1018	154	5	المباشـر	المباشـر	NOUN
iajs-1018	154	6	هـو	هـو	PROPN
iajs-1018	154	7	جـولالت	جـولالت	ADJ
iajs-1018	154	8	.في	.في	PUNCT
iajs-1018	155	1	بیئته	بیئته	PROPN
iajs-1018	155	2	،	،	X
iajs-1018	155	3	تلـك	تلـك	PROPN
iajs-1018	155	4	الحالـة	الحالـة	VERB
iajs-1018	155	5	تكـون	تكـون	PROPN
iajs-1018	155	6	خاضـعة	خاضـعة	PROPN
iajs-1018	155	7	لقیـود	لقیـود	PROPN
iajs-1018	155	8	تتمثـل	تتمثـل	PROPN
iajs-1018	155	9	بـالحواجز	بـالحواجز	PROPN
iajs-1018	155	10	داخـل	داخـل	PROPN
iajs-1018	155	11	البیئـة	البیئـة	PROPN
iajs-1018	155	12	وقابلیـات	وقابلیـات	PROPN
iajs-1018	155	13	اإلنسـان	اإلنسـان	PROPN
iajs-1018	155	14	اآللـي	اآللـي	PROPN
iajs-1018	155	15	نفسـه	نفسـه	PROPN
iajs-1018	155	16	.هنفس	.هنفس	PUNCT
iajs-1018	155	17	الخوارزمیات	الخوارزمیات	VERB
iajs-1018	155	18	التي	التي	PROPN
iajs-1018	155	19	تخّطط	تخّطط	VERB
iajs-1018	156	1	المسار	المسار	NOUN
iajs-1018	157	1	وتنّفذه	وتنّفذه	PROPN
iajs-1018	157	2	في	في	PRON
iajs-1018	157	3	الوقت	الوقت	PROPN
iajs-1018	157	4	مجموعة	مجموعة	PROPN
iajs-1018	157	5	ـة	ـة	PROPN
iajs-1018	157	6	ة	ة	PROPN
iajs-1018	157	7	دینامیكیـ	دینامیكیـ	PROPN
iajs-1018	157	8	وهـي	وهـي	PROPN
iajs-1018	157	9	البیئـة	البیئـة	PROPN
iajs-1018	157	10	التــي	التــي	PROPN
iajs-1018	157	11	-النظـام	-النظـام	PROPN
iajs-1018	157	12	المقتـرح	المقتـرح	VERB
iajs-1018	157	13	فــي	فــي	PRON
iajs-1018	157	14	هـذا	هـذا	NOUN
iajs-1018	157	15	البحـث	البحـث	VERB
iajs-1018	157	16	یحــاول	یحــاول	VERB
iajs-1018	157	17	ایجـاد	ایجـاد	NOUN
iajs-1018	157	18	مسـار	مسـار	NOUN
iajs-1018	157	19	للروبــوت	للروبــوت	NOUN
iajs-1018	157	20	خـالي	خـالي	NOUN
iajs-1018	158	1	مـن	مـن	PROPN
iajs-1018	158	2	التصــادم	التصــادم	PROPN
iajs-1018	158	3	فـي	فـي	PROPN
iajs-1018	158	4	بیئـ	بیئـ	ADJ
iajs-1018	158	5	الوقـت	الوقـت	PROPN
iajs-1018	158	6	الحقیقـي	الحقیقـي	PROPN
iajs-1018	158	7	یمكن	یمكن	PROPN
iajs-1018	159	1	ان	ان	ADP
iajs-1018	159	2	تتحرك	تتحرك	PROPN
iajs-1018	159	3	الحواجز	الحواجز	PROPN
iajs-1018	159	4	فیها	فیها	PROPN
iajs-1018	159	5	بینما	بینما	VERB
iajs-1018	159	6	یواصل	یواصل	NOUN
iajs-1018	159	7	الروبوت	الروبوت	PROPN
iajs-1018	159	8	حركته	حركته	PROPN
iajs-1018	159	9	بأتجاه	بأتجاه	PROPN
iajs-1018	159	10	الهـدف	الهـدف	PROPN
iajs-1018	159	11	،	،	PROPN
iajs-1018	159	12	لـذا	لـذا	PROPN
iajs-1018	159	13	فـالروبوت	فـالروبوت	PROPN
iajs-1018	159	14	یجـب	یجـب	PROPN
iajs-1018	159	15	أن	أن	PRON
iajs-1018	159	16	یعمـل	یعمـل	VERB
iajs-1018	160	1	فـي	فـي	NOUN
iajs-1018	160	2	.بحیث	.بحیث	PUNCT
iajs-1018	160	3	یكون	یكون	PROPN
iajs-1018	160	4	النظام	النظام	PROPN
iajs-1018	160	5	قادرا	قادرا	PROPN
iajs-1018	161	1	على	على	PROPN
iajs-1018	161	2	التعامل	التعامل	NOUN
iajs-1018	161	3	مع	مع	ADP
iajs-1018	161	4	حركة	حركة	NOUN
iajs-1018	161	5	الحواجز	الحواجز	PROPN
iajs-1018	161	6	غیر	غیر	PROPN
iajs-1018	161	7	المعروفة	المعروفة	PROPN
iajs-1018	161	8	مسبقا	مسبقا	ADJ
iajs-1018	161	9	بكلفــة	بكلفــة	NOUN
iajs-1018	161	10	)	)	PUNCT
iajs-1018	161	11	التجــول	التجــول	PROPN
iajs-1018	161	12	المباشـر(أسـتخدمت	المباشـر(أسـتخدمت	PROPN
iajs-1018	161	13	لحــل	لحــل	NOUN
iajs-1018	161	14	مشـكلة	مشـكلة	VERB
iajs-1018	161	15	-التـي	-التـي	PROPN
iajs-1018	161	16	أثبتــت	أثبتــت	NOUN
iajs-1018	161	17	نجاحهـا	نجاحهـا	VERB
iajs-1018	161	18	فــي	فــي	ADJ
iajs-1018	161	19	كثیـر	كثیـر	NOUN
iajs-1018	161	20	مــن	مــن	VERB
iajs-1018	161	21	مشـاكل	مشـاكل	PROPN
iajs-1018	161	22	البحــث	البحــث	PROPN
iajs-1018	161	23	-الخوارزمیـة	-الخوارزمیـة	PROPN
iajs-1018	161	24	الجینیــة	الجینیــة	PROPN
iajs-1018	161	25	.طریقة	.طریقة	PROPN
iajs-1018	161	26	بحث	بحث	PROPN
iajs-1018	161	27	عن	عن	PROPN
iajs-1018	161	28	أفضل	أفضل	PROPN
iajs-1018	161	29	مسارأستخدم	مسارأستخدم	PROPN
iajs-1018	161	30	نظام	نظام	PROPN
iajs-1018	161	31	الخوارزمیة	الخوارزمیة	PROPN
iajs-1018	161	32	الجینیة	الجینیة	PROPN
iajs-1018	161	33	.	.	PUNCT
iajs-1018	162	1	حساب	حساب	PROPN
iajs-1018	162	2	قلیلة	قلیلة	PROPN
iajs-1018	162	3	ihjpas	ihjpa	VERB
iajs-1018	162	4	case	case	NOUN
iajs-1018	162	5	3	3	NUM
iajs-1018	162	6	rsize	rsize	NOUN
iajs-1018	162	7	=	=	SYM
iajs-1018	162	8	20	20	NUM
iajs-1018	162	9	sr=	sr=	NOUN
iajs-1018	162	10	6	6	NUM
iajs-1018	162	11	maxgen	maxgen	NOUN
iajs-1018	162	12	=	=	SYM
iajs-1018	162	13	80	80	NUM
iajs-1018	163	1	(	(	PUNCT
iajs-1018	163	2	c	c	NOUN
iajs-1018	163	3	)	)	PUNCT
iajs-1018	163	4	(	(	PUNCT
iajs-1018	163	5	d	d	X
iajs-1018	163	6	)	)	PUNCT
iajs-1018	163	7	(	(	PUNCT
iajs-1018	163	8	a	a	X
iajs-1018	163	9	)	)	PUNCT
iajs-1018	163	10	(	(	PUNCT
iajs-1018	163	11	b	b	X
iajs-1018	163	12	)	)	PUNCT
iajs-1018	163	13	ihjpas	ihjpa	VERB