id	sid	tid	token	lemma	pos
2j62s46717z	1	1	the	the	DET
2j62s46717z	1	2	multi	multi	ADJ
2j62s46717z	1	3	-	-	ADJ
2j62s46717z	1	4	agent	agent	ADJ
2j62s46717z	1	5	system	system	NOUN
2j62s46717z	1	6	of	of	ADP
2j62s46717z	1	7	interest	interest	NOUN
2j62s46717z	1	8	is	be	AUX
2j62s46717z	1	9	a	a	DET
2j62s46717z	1	10	planar	planar	ADJ
2j62s46717z	1	11	formation	formation	NOUN
2j62s46717z	1	12	control	control	NOUN
2j62s46717z	1	13	problem	problem	NOUN
2j62s46717z	1	14	,	,	PUNCT
2j62s46717z	1	15	where	where	SCONJ
2j62s46717z	1	16	each	each	DET
2j62s46717z	1	17	agent	agent	NOUN
2j62s46717z	1	18	references	reference	VERB
2j62s46717z	1	19	a	a	DET
2j62s46717z	1	20	pre	pre	ADJ
2j62s46717z	1	21	-	-	ADJ
2j62s46717z	1	22	specified	specified	ADJ
2j62s46717z	1	23	number	number	NOUN
2j62s46717z	1	24	of	of	ADP
2j62s46717z	1	25	agents	agent	NOUN
2j62s46717z	1	26	.	.	PUNCT
2j62s46717z	2	1	since	since	SCONJ
2j62s46717z	2	2	the	the	DET
2j62s46717z	2	3	formation	formation	NOUN
2j62s46717z	2	4	control	control	NOUN
2j62s46717z	2	5	law	law	NOUN
2j62s46717z	2	6	does	do	AUX
2j62s46717z	2	7	not	not	PART
2j62s46717z	2	8	specify	specify	VERB
2j62s46717z	2	9	the	the	DET
2j62s46717z	2	10	location	location	NOUN
2j62s46717z	2	11	and	and	CCONJ
2j62s46717z	2	12	orientation	orientation	NOUN
2j62s46717z	2	13	of	of	ADP
2j62s46717z	2	14	the	the	DET
2j62s46717z	2	15	formation	formation	NOUN
2j62s46717z	2	16	in	in	ADP
2j62s46717z	2	17	planar	planar	ADJ
2j62s46717z	2	18	space	space	NOUN
2j62s46717z	2	19	,	,	PUNCT
2j62s46717z	2	20	continuous	continuous	ADJ
2j62s46717z	2	21	symmetries	symmetry	NOUN
2j62s46717z	2	22	arise	arise	VERB
2j62s46717z	2	23	.	.	PUNCT
2j62s46717z	3	1	through	through	ADP
2j62s46717z	3	2	a	a	DET
2j62s46717z	3	3	previously	previously	ADV
2j62s46717z	3	4	established	establish	VERB
2j62s46717z	3	5	methodology	methodology	NOUN
2j62s46717z	3	6	,	,	PUNCT
2j62s46717z	3	7	it	it	PRON
2j62s46717z	3	8	is	be	AUX
2j62s46717z	3	9	possible	possible	ADJ
2j62s46717z	3	10	to	to	PART
2j62s46717z	3	11	calculate	calculate	VERB
2j62s46717z	3	12	the	the	DET
2j62s46717z	3	13	continuous	continuous	ADJ
2j62s46717z	3	14	symmetries	symmetry	NOUN
2j62s46717z	3	15	for	for	ADP
2j62s46717z	3	16	a	a	DET
2j62s46717z	3	17	system	system	NOUN
2j62s46717z	3	18	of	of	ADP
2j62s46717z	3	19	second	second	ADJ
2j62s46717z	3	20	order	order	NOUN
2j62s46717z	3	21	differential	differential	ADJ
2j62s46717z	3	22	equations	equation	NOUN
2j62s46717z	3	23	.	.	PUNCT
2j62s46717z	4	1	the	the	DET
2j62s46717z	4	2	symmetries	symmetry	NOUN
2j62s46717z	4	3	were	be	AUX
2j62s46717z	4	4	found	find	VERB
2j62s46717z	4	5	for	for	ADP
2j62s46717z	4	6	a	a	DET
2j62s46717z	4	7	specific	specific	ADJ
2j62s46717z	4	8	neighbor	neighbor	NOUN
2j62s46717z	4	9	graph	graph	NOUN
2j62s46717z	4	10	and	and	CCONJ
2j62s46717z	4	11	were	be	AUX
2j62s46717z	4	12	extended	extend	VERB
2j62s46717z	4	13	to	to	ADP
2j62s46717z	4	14	the	the	DET
2j62s46717z	4	15	general	general	ADJ
2j62s46717z	4	16	case	case	NOUN
2j62s46717z	4	17	.	.	PUNCT
2j62s46717z	5	1	the	the	DET
2j62s46717z	5	2	symmetries	symmetry	NOUN
2j62s46717z	5	3	associated	associate	VERB
2j62s46717z	5	4	with	with	ADP
2j62s46717z	5	5	planar	planar	ADJ
2j62s46717z	5	6	motion	motion	NOUN
2j62s46717z	5	7	were	be	AUX
2j62s46717z	5	8	used	use	VERB
2j62s46717z	5	9	to	to	PART
2j62s46717z	5	10	define	define	VERB
2j62s46717z	5	11	coordinate	coordinate	NOUN
2j62s46717z	5	12	transformations	transformation	NOUN
2j62s46717z	5	13	that	that	PRON
2j62s46717z	5	14	reduced	reduce	VERB
2j62s46717z	5	15	the	the	DET
2j62s46717z	5	16	system	system	NOUN
2j62s46717z	5	17	of	of	ADP
2j62s46717z	5	18	interest	interest	NOUN
2j62s46717z	5	19	to	to	ADP
2j62s46717z	5	20	one	one	NUM
2j62s46717z	5	21	in	in	ADP
2j62s46717z	5	22	which	which	PRON
2j62s46717z	5	23	the	the	DET
2j62s46717z	5	24	origin	origin	NOUN
2j62s46717z	5	25	is	be	AUX
2j62s46717z	5	26	the	the	DET
2j62s46717z	5	27	set	set	NOUN
2j62s46717z	5	28	of	of	ADP
2j62s46717z	5	29	all	all	DET
2j62s46717z	5	30	possible	possible	ADJ
2j62s46717z	5	31	formations	formation	NOUN
2j62s46717z	5	32	.	.	PUNCT
2j62s46717z	6	1	it	it	PRON
2j62s46717z	6	2	is	be	AUX
2j62s46717z	6	3	now	now	ADV
2j62s46717z	6	4	possible	possible	ADJ
2j62s46717z	6	5	to	to	PART
2j62s46717z	6	6	perform	perform	VERB
2j62s46717z	6	7	stability	stability	NOUN
2j62s46717z	6	8	analysis	analysis	NOUN
2j62s46717z	6	9	of	of	ADP
2j62s46717z	6	10	the	the	DET
2j62s46717z	6	11	formation	formation	NOUN
2j62s46717z	6	12	by	by	ADP
2j62s46717z	6	13	studying	study	VERB
2j62s46717z	6	14	the	the	DET
2j62s46717z	6	15	stability	stability	NOUN
2j62s46717z	6	16	properties	property	NOUN
2j62s46717z	6	17	of	of	ADP
2j62s46717z	6	18	the	the	DET
2j62s46717z	6	19	origin	origin	NOUN
2j62s46717z	6	20	of	of	ADP
2j62s46717z	6	21	the	the	DET
2j62s46717z	6	22	reduced	reduce	VERB
2j62s46717z	6	23	system	system	NOUN
2j62s46717z	6	24	.	.	PUNCT
2j62s46717z	7	1	this	this	PRON
2j62s46717z	7	2	will	will	AUX
2j62s46717z	7	3	be	be	AUX
2j62s46717z	7	4	beneficial	beneficial	ADJ
2j62s46717z	7	5	for	for	ADP
2j62s46717z	7	6	showing	show	VERB
2j62s46717z	7	7	extended	extended	ADJ
2j62s46717z	7	8	stability	stability	NOUN
2j62s46717z	7	9	properties	property	NOUN
2j62s46717z	7	10	,	,	PUNCT
2j62s46717z	7	11	like	like	ADP
2j62s46717z	7	12	boundedness	boundedness	NOUN
2j62s46717z	7	13	.	.	PUNCT