id	sid	tid	token	lemma	pos
12579s18r1k	1	1	the	the	DET
12579s18r1k	1	2	ubiquitous	ubiquitous	ADJ
12579s18r1k	1	3	development	development	NOUN
12579s18r1k	1	4	of	of	ADP
12579s18r1k	1	5	information	information	NOUN
12579s18r1k	1	6	technology	technology	NOUN
12579s18r1k	1	7	(	(	PUNCT
12579s18r1k	1	8	it	it	PRON
12579s18r1k	1	9	)	)	PUNCT
12579s18r1k	1	10	infrastructures	infrastructure	NOUN
12579s18r1k	1	11	has	have	AUX
12579s18r1k	1	12	greatly	greatly	ADV
12579s18r1k	1	13	enhanced	enhance	VERB
12579s18r1k	1	14	the	the	DET
12579s18r1k	1	15	technological	technological	ADJ
12579s18r1k	1	16	evolution	evolution	NOUN
12579s18r1k	1	17	from	from	ADP
12579s18r1k	1	18	automated	automate	VERB
12579s18r1k	1	19	to	to	ADP
12579s18r1k	1	20	autonomous	autonomous	ADJ
12579s18r1k	1	21	cyber	cyber	ADJ
12579s18r1k	1	22	-	-	PUNCT
12579s18r1k	1	23	physical	physical	ADJ
12579s18r1k	1	24	systems	system	NOUN
12579s18r1k	1	25	(	(	PUNCT
12579s18r1k	1	26	cpss	cpss	PROPN
12579s18r1k	1	27	)	)	PUNCT
12579s18r1k	1	28	,	,	PUNCT
12579s18r1k	1	29	such	such	ADJ
12579s18r1k	1	30	as	as	ADP
12579s18r1k	1	31	networked	networked	ADJ
12579s18r1k	1	32	mobile	mobile	ADJ
12579s18r1k	1	33	robots	robot	NOUN
12579s18r1k	1	34	,	,	PUNCT
12579s18r1k	1	35	autonomous	autonomous	ADJ
12579s18r1k	1	36	vehicles	vehicle	NOUN
12579s18r1k	1	37	,	,	PUNCT
12579s18r1k	1	38	intelligent	intelligent	ADJ
12579s18r1k	1	39	transportation	transportation	NOUN
12579s18r1k	1	40	systems	system	NOUN
12579s18r1k	1	41	,	,	PUNCT
12579s18r1k	1	42	flexible	flexible	ADJ
12579s18r1k	1	43	manufacturing	manufacturing	NOUN
12579s18r1k	1	44	systems	system	NOUN
12579s18r1k	1	45	and	and	CCONJ
12579s18r1k	1	46	so	so	ADV
12579s18r1k	1	47	on	on	ADV
12579s18r1k	1	48	.	.	PUNCT
12579s18r1k	2	1	increasing	increase	VERB
12579s18r1k	2	2	demands	demand	NOUN
12579s18r1k	2	3	for	for	ADP
12579s18r1k	2	4	safety	safety	NOUN
12579s18r1k	2	5	,	,	PUNCT
12579s18r1k	2	6	resilience	resilience	NOUN
12579s18r1k	2	7	,	,	PUNCT
12579s18r1k	2	8	security	security	NOUN
12579s18r1k	2	9	and	and	CCONJ
12579s18r1k	2	10	operational	operational	ADJ
12579s18r1k	2	11	efficiency	efficiency	NOUN
12579s18r1k	2	12	of	of	ADP
12579s18r1k	2	13	cpss	cpss	PROPN
12579s18r1k	2	14	have	have	AUX
12579s18r1k	2	15	motivated	motivate	VERB
12579s18r1k	2	16	us	we	PRON
12579s18r1k	2	17	to	to	PART
12579s18r1k	2	18	pursue	pursue	VERB
12579s18r1k	2	19	a	a	DET
12579s18r1k	2	20	correct	correct	ADJ
12579s18r1k	2	21	-	-	PUNCT
12579s18r1k	2	22	by	by	ADP
12579s18r1k	2	23	-	-	PUNCT
12579s18r1k	2	24	construction	construction	NOUN
12579s18r1k	2	25	design	design	NOUN
12579s18r1k	2	26	methodology	methodology	NOUN
12579s18r1k	2	27	.	.	PUNCT
12579s18r1k	3	1	this	this	DET
12579s18r1k	3	2	dissertation	dissertation	NOUN
12579s18r1k	3	3	is	be	AUX
12579s18r1k	3	4	devoted	devote	VERB
12579s18r1k	3	5	to	to	ADP
12579s18r1k	3	6	the	the	DET
12579s18r1k	3	7	study	study	NOUN
12579s18r1k	3	8	of	of	ADP
12579s18r1k	3	9	the	the	DET
12579s18r1k	3	10	resilient	resilient	ADJ
12579s18r1k	3	11	and	and	CCONJ
12579s18r1k	3	12	secure	secure	ADJ
12579s18r1k	3	13	coordination	coordination	NOUN
12579s18r1k	3	14	and	and	CCONJ
12579s18r1k	3	15	control	control	NOUN
12579s18r1k	3	16	problems	problem	NOUN
12579s18r1k	3	17	of	of	ADP
12579s18r1k	3	18	a	a	DET
12579s18r1k	3	19	class	class	NOUN
12579s18r1k	3	20	of	of	ADP
12579s18r1k	3	21	cpss	cpss	NOUN
12579s18r1k	3	22	that	that	PRON
12579s18r1k	3	23	consist	consist	VERB
12579s18r1k	3	24	of	of	ADP
12579s18r1k	3	25	multiple	multiple	ADJ
12579s18r1k	3	26	heterogeneous	heterogeneous	ADJ
12579s18r1k	3	27	subsystems	subsystem	NOUN
12579s18r1k	3	28	performing	perform	VERB
12579s18r1k	3	29	under	under	ADP
12579s18r1k	3	30	uncertain	uncertain	ADJ
12579s18r1k	3	31	environments	environment	NOUN
12579s18r1k	3	32	,	,	PUNCT
12579s18r1k	3	33	and	and	CCONJ
12579s18r1k	3	34	contributions	contribution	NOUN
12579s18r1k	3	35	are	be	AUX
12579s18r1k	3	36	made	make	VERB
12579s18r1k	3	37	to	to	ADP
12579s18r1k	3	38	both	both	CCONJ
12579s18r1k	3	39	the	the	DET
12579s18r1k	3	40	theory	theory	NOUN
12579s18r1k	3	41	and	and	CCONJ
12579s18r1k	3	42	designs	design	NOUN
12579s18r1k	3	43	of	of	ADP
12579s18r1k	3	44	provably	provably	ADV
12579s18r1k	3	45	correct	correct	ADJ
12579s18r1k	3	46	local	local	ADJ
12579s18r1k	3	47	control	control	NOUN
12579s18r1k	3	48	policies	policy	NOUN
12579s18r1k	3	49	and	and	CCONJ
12579s18r1k	3	50	coordination	coordination	NOUN
12579s18r1k	3	51	rules	rule	NOUN
12579s18r1k	3	52	to	to	PART
12579s18r1k	3	53	achieve	achieve	VERB
12579s18r1k	3	54	complex	complex	ADJ
12579s18r1k	3	55	goals.by	goals.by	NUM
12579s18r1k	3	56	characterizing	characterize	VERB
12579s18r1k	3	57	the	the	DET
12579s18r1k	3	58	cyber	cyber	ADJ
12579s18r1k	3	59	logical	logical	ADJ
12579s18r1k	3	60	behaviors	behavior	NOUN
12579s18r1k	3	61	of	of	ADP
12579s18r1k	3	62	the	the	DET
12579s18r1k	3	63	cpss	cpss	NOUN
12579s18r1k	3	64	as	as	ADP
12579s18r1k	3	65	discrete	discrete	ADJ
12579s18r1k	3	66	event	event	NOUN
12579s18r1k	3	67	systems	system	NOUN
12579s18r1k	3	68	(	(	PUNCT
12579s18r1k	3	69	dess	dess	NOUN
12579s18r1k	3	70	)	)	PUNCT
12579s18r1k	3	71	,	,	PUNCT
12579s18r1k	3	72	we	we	PRON
12579s18r1k	3	73	start	start	VERB
12579s18r1k	3	74	our	our	PRON
12579s18r1k	3	75	study	study	NOUN
12579s18r1k	3	76	with	with	ADP
12579s18r1k	3	77	the	the	DET
12579s18r1k	3	78	supervisory	supervisory	ADJ
12579s18r1k	3	79	control	control	NOUN
12579s18r1k	3	80	problems	problem	NOUN
12579s18r1k	3	81	of	of	ADP
12579s18r1k	3	82	dess	dess	NOUN
12579s18r1k	3	83	whose	whose	DET
12579s18r1k	3	84	complete	complete	ADJ
12579s18r1k	3	85	plant	plant	NOUN
12579s18r1k	3	86	models	model	NOUN
12579s18r1k	3	87	are	be	AUX
12579s18r1k	3	88	not	not	PART
12579s18r1k	3	89	necessarily	necessarily	ADV
12579s18r1k	3	90	given	give	VERB
12579s18r1k	3	91	a	a	DET
12579s18r1k	3	92	priori	priori	X
12579s18r1k	3	93	.	.	PUNCT
12579s18r1k	4	1	by	by	ADP
12579s18r1k	4	2	modifying	modify	VERB
12579s18r1k	4	3	l	l	PROPN
12579s18r1k	4	4	*	*	PROPN
12579s18r1k	4	5	learning	learn	VERB
12579s18r1k	4	6	algorithm	algorithm	NOUN
12579s18r1k	4	7	,	,	PUNCT
12579s18r1k	4	8	we	we	PRON
12579s18r1k	4	9	develop	develop	VERB
12579s18r1k	4	10	learning	learn	VERB
12579s18r1k	4	11	-	-	PUNCT
12579s18r1k	4	12	based	base	VERB
12579s18r1k	4	13	supervisor	supervisor	NOUN
12579s18r1k	4	14	synthesis	synthesis	NOUN
12579s18r1k	4	15	algorithms	algorithm	NOUN
12579s18r1k	4	16	over	over	ADP
12579s18r1k	4	17	unknown	unknown	ADJ
12579s18r1k	4	18	plant	plant	NOUN
12579s18r1k	4	19	under	under	ADP
12579s18r1k	4	20	both	both	CCONJ
12579s18r1k	4	21	complete	complete	ADJ
12579s18r1k	4	22	and	and	CCONJ
12579s18r1k	4	23	partial	partial	ADJ
12579s18r1k	4	24	observation	observation	NOUN
12579s18r1k	4	25	.	.	PUNCT
12579s18r1k	5	1	furthermore	furthermore	ADV
12579s18r1k	5	2	,	,	PUNCT
12579s18r1k	5	3	automatic	automatic	ADJ
12579s18r1k	5	4	synthesis	synthesis	NOUN
12579s18r1k	5	5	methods	method	NOUN
12579s18r1k	5	6	of	of	ADP
12579s18r1k	5	7	decentralized	decentralized	ADJ
12579s18r1k	5	8	supervisors	supervisor	NOUN
12579s18r1k	5	9	when	when	SCONJ
12579s18r1k	5	10	the	the	DET
12579s18r1k	5	11	plant	plant	NOUN
12579s18r1k	5	12	is	be	AUX
12579s18r1k	5	13	unknown	unknown	ADJ
12579s18r1k	5	14	is	be	AUX
12579s18r1k	5	15	also	also	ADV
12579s18r1k	5	16	considered	consider	VERB
12579s18r1k	5	17	,	,	PUNCT
12579s18r1k	5	18	and	and	CCONJ
12579s18r1k	5	19	a	a	DET
12579s18r1k	5	20	learning	learning	NOUN
12579s18r1k	5	21	-	-	PUNCT
12579s18r1k	5	22	based	base	VERB
12579s18r1k	5	23	algorithm	algorithm	PROPN
12579s18r1k	5	24	that	that	PRON
12579s18r1k	5	25	solves	solve	VERB
12579s18r1k	5	26	the	the	DET
12579s18r1k	5	27	decentralized	decentralized	ADJ
12579s18r1k	5	28	supervisory	supervisory	ADJ
12579s18r1k	5	29	control	control	NOUN
12579s18r1k	5	30	problem	problem	NOUN
12579s18r1k	5	31	is	be	AUX
12579s18r1k	5	32	proposed	propose	VERB
12579s18r1k	5	33	in	in	ADP
12579s18r1k	5	34	terms	term	NOUN
12579s18r1k	5	35	of	of	ADP
12579s18r1k	5	36	language	language	NOUN
12579s18r1k	5	37	controllability	controllability	NOUN
12579s18r1k	5	38	and	and	CCONJ
12579s18r1k	5	39	co	co	NOUN
12579s18r1k	5	40	-	-	ADJ
12579s18r1k	5	41	normality	normality	ADJ
12579s18r1k	5	42	.	.	PUNCT
12579s18r1k	6	1	the	the	DET
12579s18r1k	6	2	correctness	correctness	NOUN
12579s18r1k	6	3	and	and	CCONJ
12579s18r1k	6	4	finite	finite	ADJ
12579s18r1k	6	5	convergence	convergence	NOUN
12579s18r1k	6	6	of	of	ADP
12579s18r1k	6	7	the	the	DET
12579s18r1k	6	8	proposed	propose	VERB
12579s18r1k	6	9	algorithm	algorithm	NOUN
12579s18r1k	6	10	are	be	AUX
12579s18r1k	6	11	proved.we	proved.we	X
12579s18r1k	6	12	then	then	ADV
12579s18r1k	6	13	investigate	investigate	VERB
12579s18r1k	6	14	the	the	DET
12579s18r1k	6	15	formal	formal	ADJ
12579s18r1k	6	16	coordination	coordination	NOUN
12579s18r1k	6	17	and	and	CCONJ
12579s18r1k	6	18	control	control	NOUN
12579s18r1k	6	19	problem	problem	NOUN
12579s18r1k	6	20	of	of	ADP
12579s18r1k	6	21	cooperative	cooperative	ADJ
12579s18r1k	6	22	multi	multi	ADJ
12579s18r1k	6	23	-	-	ADJ
12579s18r1k	6	24	agent	agent	ADJ
12579s18r1k	6	25	systems	system	NOUN
12579s18r1k	6	26	for	for	ADP
12579s18r1k	6	27	a	a	DET
12579s18r1k	6	28	regular	regular	ADJ
12579s18r1k	6	29	language	language	NOUN
12579s18r1k	6	30	specification	specification	NOUN
12579s18r1k	6	31	.	.	PUNCT
12579s18r1k	7	1	we	we	PRON
12579s18r1k	7	2	propose	propose	VERB
12579s18r1k	7	3	an	an	DET
12579s18r1k	7	4	automatic	automatic	ADJ
12579s18r1k	7	5	synthesis	synthesis	NOUN
12579s18r1k	7	6	framework	framework	NOUN
12579s18r1k	7	7	to	to	PART
12579s18r1k	7	8	synthesize	synthesize	VERB
12579s18r1k	7	9	appropriate	appropriate	ADJ
12579s18r1k	7	10	local	local	ADJ
12579s18r1k	7	11	mission	mission	NOUN
12579s18r1k	7	12	plans	plan	NOUN
12579s18r1k	7	13	and	and	CCONJ
12579s18r1k	7	14	corresponding	correspond	VERB
12579s18r1k	7	15	motion	motion	NOUN
12579s18r1k	7	16	plans	plan	NOUN
12579s18r1k	7	17	for	for	ADP
12579s18r1k	7	18	each	each	DET
12579s18r1k	7	19	agent	agent	NOUN
12579s18r1k	7	20	by	by	ADP
12579s18r1k	7	21	integrating	integrate	VERB
12579s18r1k	7	22	supervisory	supervisory	ADJ
12579s18r1k	7	23	control	control	NOUN
12579s18r1k	7	24	theory	theory	NOUN
12579s18r1k	7	25	and	and	CCONJ
12579s18r1k	7	26	compositional	compositional	ADJ
12579s18r1k	7	27	verification	verification	NOUN
12579s18r1k	7	28	techniques	technique	NOUN
12579s18r1k	7	29	.	.	PUNCT
12579s18r1k	8	1	furthermore	furthermore	ADV
12579s18r1k	8	2	,	,	PUNCT
12579s18r1k	8	3	by	by	ADP
12579s18r1k	8	4	presenting	present	VERB
12579s18r1k	8	5	a	a	DET
12579s18r1k	8	6	modified	modify	VERB
12579s18r1k	8	7	l	l	NOUN
12579s18r1k	8	8	*	*	PROPN
12579s18r1k	8	9	learning	learn	VERB
12579s18r1k	8	10	algorithm	algorithm	NOUN
12579s18r1k	8	11	,	,	PUNCT
12579s18r1k	8	12	we	we	PRON
12579s18r1k	8	13	are	be	AUX
12579s18r1k	8	14	able	able	ADJ
12579s18r1k	8	15	to	to	PART
12579s18r1k	8	16	reconfigure	reconfigure	VERB
12579s18r1k	8	17	the	the	DET
12579s18r1k	8	18	synthesized	synthesized	ADJ
12579s18r1k	8	19	motion	motion	NOUN
12579s18r1k	8	20	plans	plan	NOUN
12579s18r1k	8	21	whenever	whenever	SCONJ
12579s18r1k	8	22	the	the	DET
12579s18r1k	8	23	real	real	ADJ
12579s18r1k	8	24	environment	environment	NOUN
12579s18r1k	8	25	is	be	AUX
12579s18r1k	8	26	different	different	ADJ
12579s18r1k	8	27	from	from	ADP
12579s18r1k	8	28	the	the	DET
12579s18r1k	8	29	idealized	idealize	VERB
12579s18r1k	8	30	prior	prior	ADJ
12579s18r1k	8	31	knowledge.next	knowledge.next	PROPN
12579s18r1k	8	32	,	,	PUNCT
12579s18r1k	8	33	the	the	DET
12579s18r1k	8	34	resilience	resilience	NOUN
12579s18r1k	8	35	of	of	ADP
12579s18r1k	8	36	the	the	DET
12579s18r1k	8	37	proposed	propose	VERB
12579s18r1k	8	38	coordination	coordination	NOUN
12579s18r1k	8	39	and	and	CCONJ
12579s18r1k	8	40	control	control	NOUN
12579s18r1k	8	41	framework	framework	NOUN
12579s18r1k	8	42	in	in	ADP
12579s18r1k	8	43	the	the	DET
12579s18r1k	8	44	presence	presence	NOUN
12579s18r1k	8	45	of	of	ADP
12579s18r1k	8	46	potential	potential	ADJ
12579s18r1k	8	47	sensor	sensor	NOUN
12579s18r1k	8	48	and/or	and/or	CCONJ
12579s18r1k	8	49	actuator	actuator	NOUN
12579s18r1k	8	50	faults	fault	NOUN
12579s18r1k	8	51	is	be	AUX
12579s18r1k	8	52	investigated	investigate	VERB
12579s18r1k	8	53	.	.	PUNCT
12579s18r1k	9	1	the	the	DET
12579s18r1k	9	2	sensor	sensor	NOUN
12579s18r1k	9	3	fault	fault	NOUN
12579s18r1k	9	4	tolerant	tolerant	ADJ
12579s18r1k	9	5	control	control	NOUN
12579s18r1k	9	6	scheme	scheme	NOUN
12579s18r1k	9	7	involves	involve	VERB
12579s18r1k	9	8	local	local	ADJ
12579s18r1k	9	9	supervisor	supervisor	NOUN
12579s18r1k	9	10	reconfiguration	reconfiguration	NOUN
12579s18r1k	9	11	upon	upon	SCONJ
12579s18r1k	9	12	the	the	DET
12579s18r1k	9	13	detection	detection	NOUN
12579s18r1k	9	14	of	of	ADP
12579s18r1k	9	15	the	the	DET
12579s18r1k	9	16	sensor	sensor	NOUN
12579s18r1k	9	17	faults	fault	NOUN
12579s18r1k	9	18	,	,	PUNCT
12579s18r1k	9	19	which	which	PRON
12579s18r1k	9	20	are	be	AUX
12579s18r1k	9	21	captured	capture	VERB
12579s18r1k	9	22	by	by	ADP
12579s18r1k	9	23	permanent	permanent	ADJ
12579s18r1k	9	24	loss	loss	NOUN
12579s18r1k	9	25	of	of	ADP
12579s18r1k	9	26	observability	observability	NOUN
12579s18r1k	9	27	of	of	ADP
12579s18r1k	9	28	certain	certain	ADJ
12579s18r1k	9	29	sensor	sensor	NOUN
12579s18r1k	9	30	reading	read	VERB
12579s18r1k	9	31	events	event	NOUN
12579s18r1k	9	32	;	;	PUNCT
12579s18r1k	9	33	while	while	SCONJ
12579s18r1k	9	34	for	for	ADP
12579s18r1k	9	35	the	the	DET
12579s18r1k	9	36	actuator	actuator	NOUN
12579s18r1k	9	37	faults	fault	NOUN
12579s18r1k	9	38	that	that	PRON
12579s18r1k	9	39	are	be	AUX
12579s18r1k	9	40	modeled	model	VERB
12579s18r1k	9	41	as	as	ADP
12579s18r1k	9	42	loss	loss	NOUN
12579s18r1k	9	43	of	of	ADP
12579s18r1k	9	44	controllability	controllability	NOUN
12579s18r1k	9	45	of	of	ADP
12579s18r1k	9	46	local	local	ADJ
12579s18r1k	9	47	events	event	NOUN
12579s18r1k	9	48	,	,	PUNCT
12579s18r1k	9	49	a	a	DET
12579s18r1k	9	50	controller	controller	NOUN
12579s18r1k	9	51	switching	switch	VERB
12579s18r1k	9	52	mechanism	mechanism	NOUN
12579s18r1k	9	53	is	be	AUX
12579s18r1k	9	54	developed	develop	VERB
12579s18r1k	9	55	for	for	ADP
12579s18r1k	9	56	each	each	DET
12579s18r1k	9	57	agent	agent	NOUN
12579s18r1k	9	58	after	after	ADP
12579s18r1k	9	59	the	the	DET
12579s18r1k	9	60	detection	detection	NOUN
12579s18r1k	9	61	of	of	ADP
12579s18r1k	9	62	the	the	DET
12579s18r1k	9	63	faults	fault	NOUN
12579s18r1k	9	64	.	.	PUNCT
12579s18r1k	10	1	an	an	DET
12579s18r1k	10	2	assume	assume	NOUN
12579s18r1k	10	3	-	-	PUNCT
12579s18r1k	10	4	guarantee	guarantee	NOUN
12579s18r1k	10	5	post	post	ADJ
12579s18r1k	10	6	-	-	ADJ
12579s18r1k	10	7	fault	fault	ADJ
12579s18r1k	10	8	coordination	coordination	NOUN
12579s18r1k	10	9	among	among	ADP
12579s18r1k	10	10	different	different	ADJ
12579s18r1k	10	11	subsystems	subsystem	NOUN
12579s18r1k	10	12	is	be	AUX
12579s18r1k	10	13	applied	apply	VERB
12579s18r1k	10	14	so	so	SCONJ
12579s18r1k	10	15	that	that	PRON
12579s18r1k	10	16	fault	fault	NOUN
12579s18r1k	10	17	tolerance	tolerance	NOUN
12579s18r1k	10	18	can	can	AUX
12579s18r1k	10	19	be	be	AUX
12579s18r1k	10	20	achieved.apart	achieved.apart	ADV
12579s18r1k	10	21	from	from	ADP
12579s18r1k	10	22	the	the	DET
12579s18r1k	10	23	high	high	ADJ
12579s18r1k	10	24	-	-	PUNCT
12579s18r1k	10	25	level	level	NOUN
12579s18r1k	10	26	performances	performance	NOUN
12579s18r1k	10	27	,	,	PUNCT
12579s18r1k	10	28	we	we	PRON
12579s18r1k	10	29	take	take	VERB
12579s18r1k	10	30	the	the	DET
12579s18r1k	10	31	dynamics	dynamic	NOUN
12579s18r1k	10	32	of	of	ADP
12579s18r1k	10	33	the	the	DET
12579s18r1k	10	34	robots	robot	NOUN
12579s18r1k	10	35	into	into	ADP
12579s18r1k	10	36	consideration	consideration	NOUN
12579s18r1k	10	37	and	and	CCONJ
12579s18r1k	10	38	study	study	VERB
12579s18r1k	10	39	the	the	DET
12579s18r1k	10	40	path	path	NOUN
12579s18r1k	10	41	planning	planning	NOUN
12579s18r1k	10	42	problem	problem	NOUN
12579s18r1k	10	43	with	with	ADP
12579s18r1k	10	44	application	application	NOUN
12579s18r1k	10	45	to	to	ADP
12579s18r1k	10	46	robotic	robotic	ADJ
12579s18r1k	10	47	systems	system	NOUN
12579s18r1k	10	48	.	.	PUNCT
12579s18r1k	11	1	based	base	VERB
12579s18r1k	11	2	on	on	ADP
12579s18r1k	11	3	the	the	DET
12579s18r1k	11	4	mu	mu	NOUN
12579s18r1k	11	5	-	-	PUNCT
12579s18r1k	11	6	tangency	tangency	NOUN
12579s18r1k	11	7	conditions	condition	NOUN
12579s18r1k	11	8	,	,	PUNCT
12579s18r1k	11	9	a	a	DET
12579s18r1k	11	10	computationally	computationally	ADV
12579s18r1k	11	11	efficient	efficient	ADJ
12579s18r1k	11	12	path	path	NOUN
12579s18r1k	11	13	planning	planning	NOUN
12579s18r1k	11	14	approach	approach	NOUN
12579s18r1k	11	15	is	be	AUX
12579s18r1k	11	16	presented	present	VERB
12579s18r1k	11	17	to	to	PART
12579s18r1k	11	18	derive	derive	VERB
12579s18r1k	11	19	the	the	DET
12579s18r1k	11	20	existence	existence	NOUN
12579s18r1k	11	21	conditions	condition	NOUN
12579s18r1k	11	22	and	and	CCONJ
12579s18r1k	11	23	computationally	computationally	ADV
12579s18r1k	11	24	efficient	efficient	ADJ
12579s18r1k	11	25	construction	construction	NOUN
12579s18r1k	11	26	for	for	ADP
12579s18r1k	11	27	a	a	DET
12579s18r1k	11	28	class	class	NOUN
12579s18r1k	11	29	of	of	ADP
12579s18r1k	11	30	sub	sub	ADJ
12579s18r1k	11	31	-	-	ADJ
12579s18r1k	11	32	optimal	optimal	ADJ
12579s18r1k	11	33	continuous	continuous	ADJ
12579s18r1k	11	34	-	-	PUNCT
12579s18r1k	11	35	curvature	curvature	NOUN
12579s18r1k	11	36	paths	path	NOUN
12579s18r1k	11	37	for	for	ADP
12579s18r1k	11	38	nonholonomic	nonholonomic	ADJ
12579s18r1k	11	39	mobile	mobile	ADJ
12579s18r1k	11	40	robots	robot	NOUN
12579s18r1k	11	41	.	.	PUNCT
12579s18r1k	12	1	the	the	DET
12579s18r1k	12	2	proposed	propose	VERB
12579s18r1k	12	3	approach	approach	NOUN
12579s18r1k	12	4	not	not	PART
12579s18r1k	12	5	only	only	ADV
12579s18r1k	12	6	allows	allow	VERB
12579s18r1k	12	7	fast	fast	ADJ
12579s18r1k	12	8	determination	determination	NOUN
12579s18r1k	12	9	of	of	ADP
12579s18r1k	12	10	the	the	DET
12579s18r1k	12	11	existence	existence	NOUN
12579s18r1k	12	12	of	of	ADP
12579s18r1k	12	13	a	a	DET
12579s18r1k	12	14	continuous	continuous	ADJ
12579s18r1k	12	15	curvature	curvature	NOUN
12579s18r1k	12	16	path	path	NOUN
12579s18r1k	12	17	,	,	PUNCT
12579s18r1k	12	18	but	but	CCONJ
12579s18r1k	12	19	also	also	ADV
12579s18r1k	12	20	guarantees	guarantee	VERB
12579s18r1k	12	21	to	to	PART
12579s18r1k	12	22	construct	construct	VERB
12579s18r1k	12	23	the	the	DET
12579s18r1k	12	24	desired	desire	VERB
12579s18r1k	12	25	continuous	continuous	ADJ
12579s18r1k	12	26	curvature	curvature	NOUN
12579s18r1k	12	27	path.finally	path.finally	ADV
12579s18r1k	12	28	,	,	PUNCT
12579s18r1k	12	29	we	we	PRON
12579s18r1k	12	30	also	also	ADV
12579s18r1k	12	31	study	study	VERB
12579s18r1k	12	32	a	a	DET
12579s18r1k	12	33	confidentiality	confidentiality	NOUN
12579s18r1k	12	34	notion	notion	NOUN
12579s18r1k	12	35	named	name	VERB
12579s18r1k	12	36	opacity	opacity	NOUN
12579s18r1k	12	37	that	that	PRON
12579s18r1k	12	38	characterizes	characterize	VERB
12579s18r1k	12	39	the	the	DET
12579s18r1k	12	40	information	information	NOUN
12579s18r1k	12	41	-	-	PUNCT
12579s18r1k	12	42	flow	flow	NOUN
12579s18r1k	12	43	between	between	ADP
12579s18r1k	12	44	the	the	DET
12579s18r1k	12	45	cyber	cyber	NOUN
12579s18r1k	12	46	and	and	CCONJ
12579s18r1k	12	47	the	the	DET
12579s18r1k	12	48	physical	physical	ADJ
12579s18r1k	12	49	parts	part	NOUN
12579s18r1k	12	50	of	of	ADP
12579s18r1k	12	51	an	an	DET
12579s18r1k	12	52	autonomous	autonomous	ADJ
12579s18r1k	12	53	cyber	cyber	ADJ
12579s18r1k	12	54	-	-	PUNCT
12579s18r1k	12	55	physical	physical	ADJ
12579s18r1k	12	56	system	system	NOUN
12579s18r1k	12	57	within	within	ADP
12579s18r1k	12	58	the	the	DET
12579s18r1k	12	59	des	des	ADJ
12579s18r1k	12	60	formalism	formalism	NOUN
12579s18r1k	12	61	.	.	PUNCT
12579s18r1k	13	1	more	more	ADV
12579s18r1k	13	2	specifically	specifically	ADV
12579s18r1k	13	3	,	,	PUNCT
12579s18r1k	13	4	an	an	DET
12579s18r1k	13	5	enforcement	enforcement	NOUN
12579s18r1k	13	6	mechanism	mechanism	NOUN
12579s18r1k	13	7	based	base	VERB
12579s18r1k	13	8	on	on	ADP
12579s18r1k	13	9	the	the	DET
12579s18r1k	13	10	implementation	implementation	NOUN
12579s18r1k	13	11	of	of	ADP
12579s18r1k	13	12	insertion	insertion	NOUN
12579s18r1k	13	13	functions	function	NOUN
12579s18r1k	13	14	is	be	AUX
12579s18r1k	13	15	developed	develop	VERB
12579s18r1k	13	16	to	to	PART
12579s18r1k	13	17	assure	assure	VERB
12579s18r1k	13	18	decentralized	decentralized	ADJ
12579s18r1k	13	19	and	and	CCONJ
12579s18r1k	13	20	joint	joint	ADJ
12579s18r1k	13	21	opacity	opacity	NOUN
12579s18r1k	13	22	properties	property	NOUN
12579s18r1k	13	23	if	if	SCONJ
12579s18r1k	13	24	the	the	DET
12579s18r1k	13	25	system	system	NOUN
12579s18r1k	13	26	can	can	AUX
12579s18r1k	13	27	be	be	AUX
12579s18r1k	13	28	observed	observe	VERB
12579s18r1k	13	29	by	by	ADP
12579s18r1k	13	30	multiple	multiple	ADJ
12579s18r1k	13	31	intruders	intruder	NOUN
12579s18r1k	13	32	either	either	CCONJ
12579s18r1k	13	33	with	with	ADP
12579s18r1k	13	34	or	or	CCONJ
12579s18r1k	13	35	without	without	ADP
12579s18r1k	13	36	coordination.the	coordination.the	DET
12579s18r1k	13	37	results	result	NOUN
12579s18r1k	13	38	on	on	ADP
12579s18r1k	13	39	simulations	simulation	NOUN
12579s18r1k	13	40	on	on	ADP
12579s18r1k	13	41	some	some	DET
12579s18r1k	13	42	illustrative	illustrative	ADJ
12579s18r1k	13	43	examples	example	NOUN
12579s18r1k	13	44	are	be	AUX
12579s18r1k	13	45	given	give	VERB
12579s18r1k	13	46	to	to	PART
12579s18r1k	13	47	show	show	VERB
12579s18r1k	13	48	that	that	SCONJ
12579s18r1k	13	49	the	the	DET
12579s18r1k	13	50	theory	theory	NOUN
12579s18r1k	13	51	established	establish	VERB
12579s18r1k	13	52	is	be	AUX
12579s18r1k	13	53	correct	correct	ADJ
12579s18r1k	13	54	and	and	CCONJ
12579s18r1k	13	55	the	the	DET
12579s18r1k	13	56	proposed	propose	VERB
12579s18r1k	13	57	algorithms	algorithm	NOUN
12579s18r1k	13	58	are	be	AUX
12579s18r1k	13	59	efficient	efficient	ADJ
12579s18r1k	13	60	.	.	PUNCT