id	sid	tid	token	lemma	pos
sf268338x32	1	1	in	in	ADP
sf268338x32	1	2	this	this	DET
sf268338x32	1	3	thesis	thesis	NOUN
sf268338x32	1	4	,	,	PUNCT
sf268338x32	1	5	we	we	PRON
sf268338x32	1	6	consider	consider	VERB
sf268338x32	1	7	the	the	DET
sf268338x32	1	8	motion	motion	NOUN
sf268338x32	1	9	planning	planning	NOUN
sf268338x32	1	10	problem	problem	NOUN
sf268338x32	1	11	for	for	ADP
sf268338x32	1	12	a	a	DET
sf268338x32	1	13	symmetric	symmetric	ADJ
sf268338x32	1	14	distributed	distribute	VERB
sf268338x32	1	15	system	system	NOUN
sf268338x32	1	16	which	which	PRON
sf268338x32	1	17	consists	consist	VERB
sf268338x32	1	18	of	of	ADP
sf268338x32	1	19	a	a	DET
sf268338x32	1	20	group	group	NOUN
sf268338x32	1	21	of	of	ADP
sf268338x32	1	22	autonomous	autonomous	ADJ
sf268338x32	1	23	mobile	mobile	ADJ
sf268338x32	1	24	robots	robot	NOUN
sf268338x32	1	25	operating	operate	VERB
sf268338x32	1	26	in	in	ADP
sf268338x32	1	27	a	a	DET
sf268338x32	1	28	two	two	NUM
sf268338x32	1	29	-	-	PUNCT
sf268338x32	1	30	dimensional	dimensional	ADJ
sf268338x32	1	31	obstacle	obstacle	NOUN
sf268338x32	1	32	-	-	PUNCT
sf268338x32	1	33	free	free	ADJ
sf268338x32	1	34	environment	environment	NOUN
sf268338x32	1	35	.	.	PUNCT
sf268338x32	2	1	each	each	DET
sf268338x32	2	2	robot	robot	NOUN
sf268338x32	2	3	has	have	VERB
sf268338x32	2	4	a	a	DET
sf268338x32	2	5	predefined	predefine	VERB
sf268338x32	2	6	initial	initial	ADJ
sf268338x32	2	7	state	state	NOUN
sf268338x32	2	8	and	and	CCONJ
sf268338x32	2	9	final	final	ADJ
sf268338x32	2	10	state	state	NOUN
sf268338x32	2	11	and	and	CCONJ
sf268338x32	2	12	the	the	DET
sf268338x32	2	13	problem	problem	NOUN
sf268338x32	2	14	is	be	AUX
sf268338x32	2	15	to	to	PART
sf268338x32	2	16	find	find	VERB
sf268338x32	2	17	the	the	DET
sf268338x32	2	18	optimal	optimal	ADJ
sf268338x32	2	19	path	path	NOUN
sf268338x32	2	20	between	between	ADP
sf268338x32	2	21	two	two	NUM
sf268338x32	2	22	states	state	NOUN
sf268338x32	2	23	for	for	ADP
sf268338x32	2	24	every	every	DET
sf268338x32	2	25	robot	robot	NOUN
sf268338x32	2	26	.	.	PUNCT
sf268338x32	3	1	the	the	DET
sf268338x32	3	2	path	path	NOUN
sf268338x32	3	3	is	be	AUX
sf268338x32	3	4	optimized	optimize	VERB
sf268338x32	3	5	with	with	ADP
sf268338x32	3	6	respect	respect	NOUN
sf268338x32	3	7	to	to	ADP
sf268338x32	3	8	the	the	DET
sf268338x32	3	9	control	control	NOUN
sf268338x32	3	10	effort	effort	NOUN
sf268338x32	3	11	and	and	CCONJ
sf268338x32	3	12	the	the	DET
sf268338x32	3	13	deviation	deviation	NOUN
sf268338x32	3	14	from	from	ADP
sf268338x32	3	15	a	a	DET
sf268338x32	3	16	desired	desire	VERB
sf268338x32	3	17	formation	formation	NOUN
sf268338x32	3	18	.	.	PUNCT
sf268338x32	4	1	due	due	ADP
sf268338x32	4	2	to	to	ADP
sf268338x32	4	3	scaling	scale	VERB
sf268338x32	4	4	issues	issue	NOUN
sf268338x32	4	5	,	,	PUNCT
sf268338x32	4	6	it	it	PRON
sf268338x32	4	7	becomes	become	VERB
sf268338x32	4	8	more	more	ADV
sf268338x32	4	9	and	and	CCONJ
sf268338x32	4	10	more	more	ADV
sf268338x32	4	11	difficult	difficult	ADJ
sf268338x32	4	12	and	and	CCONJ
sf268338x32	4	13	sometimes	sometimes	ADV
sf268338x32	4	14	infeasible	infeasible	ADJ
sf268338x32	4	15	to	to	PART
sf268338x32	4	16	numerically	numerically	ADV
sf268338x32	4	17	find	find	VERB
sf268338x32	4	18	solutions	solution	NOUN
sf268338x32	4	19	to	to	ADP
sf268338x32	4	20	the	the	DET
sf268338x32	4	21	problem	problem	NOUN
sf268338x32	4	22	as	as	ADP
sf268338x32	4	23	the	the	DET
sf268338x32	4	24	number	number	NOUN
sf268338x32	4	25	of	of	ADP
sf268338x32	4	26	robots	robot	NOUN
sf268338x32	4	27	increases	increase	NOUN
sf268338x32	4	28	.	.	PUNCT
sf268338x32	5	1	one	one	NUM
sf268338x32	5	2	goal	goal	NOUN
sf268338x32	5	3	of	of	ADP
sf268338x32	5	4	this	this	DET
sf268338x32	5	5	thesis	thesis	NOUN
sf268338x32	5	6	is	be	AUX
sf268338x32	5	7	to	to	PART
sf268338x32	5	8	exploit	exploit	VERB
sf268338x32	5	9	symmetries	symmetry	NOUN
sf268338x32	5	10	in	in	ADP
sf268338x32	5	11	distributed	distribute	VERB
sf268338x32	5	12	control	control	NOUN
sf268338x32	5	13	systems	system	NOUN
sf268338x32	5	14	to	to	PART
sf268338x32	5	15	reduce	reduce	VERB
sf268338x32	5	16	the	the	DET
sf268338x32	5	17	computational	computational	ADJ
sf268338x32	5	18	effort	effort	NOUN
sf268338x32	5	19	to	to	PART
sf268338x32	5	20	determine	determine	VERB
sf268338x32	5	21	solutions	solution	NOUN
sf268338x32	5	22	for	for	ADP
sf268338x32	5	23	optimal	optimal	ADJ
sf268338x32	5	24	control	control	NOUN
sf268338x32	5	25	of	of	ADP
sf268338x32	5	26	such	such	ADJ
sf268338x32	5	27	systems	system	NOUN
sf268338x32	5	28	.	.	PUNCT
sf268338x32	6	1	one	one	NUM
sf268338x32	6	2	way	way	NOUN
sf268338x32	6	3	to	to	PART
sf268338x32	6	4	characterize	characterize	VERB
sf268338x32	6	5	a	a	DET
sf268338x32	6	6	distributed	distribute	VERB
sf268338x32	6	7	system	system	NOUN
sf268338x32	6	8	is	be	AUX
sf268338x32	6	9	that	that	SCONJ
sf268338x32	6	10	it	it	PRON
sf268338x32	6	11	is	be	AUX
sf268338x32	6	12	a	a	DET
sf268338x32	6	13	control	control	NOUN
sf268338x32	6	14	system	system	NOUN
sf268338x32	6	15	in	in	ADP
sf268338x32	6	16	which	which	PRON
sf268338x32	6	17	the	the	DET
sf268338x32	6	18	state	state	NOUN
sf268338x32	6	19	space	space	NOUN
sf268338x32	6	20	is	be	AUX
sf268338x32	6	21	naturally	naturally	ADV
sf268338x32	6	22	decomposed	decompose	VERB
sf268338x32	6	23	into	into	ADP
sf268338x32	6	24	multiple	multiple	ADJ
sf268338x32	6	25	subsystems	subsystem	NOUN
sf268338x32	6	26	,	,	PUNCT
sf268338x32	6	27	each	each	PRON
sf268338x32	6	28	of	of	ADP
sf268338x32	6	29	which	which	PRON
sf268338x32	6	30	typically	typically	ADV
sf268338x32	6	31	only	only	ADV
sf268338x32	6	32	interacts	interact	VERB
sf268338x32	6	33	with	with	ADP
sf268338x32	6	34	a	a	DET
sf268338x32	6	35	limited	limited	ADJ
sf268338x32	6	36	subset	subset	NOUN
sf268338x32	6	37	of	of	ADP
sf268338x32	6	38	the	the	DET
sf268338x32	6	39	other	other	ADJ
sf268338x32	6	40	subsystems	subsystem	NOUN
sf268338x32	6	41	.	.	PUNCT
sf268338x32	7	1	a	a	DET
sf268338x32	7	2	symmetric	symmetric	ADJ
sf268338x32	7	3	distributed	distribute	VERB
sf268338x32	7	4	system	system	NOUN
sf268338x32	7	5	can	can	AUX
sf268338x32	7	6	be	be	AUX
sf268338x32	7	7	defined	define	VERB
sf268338x32	7	8	when	when	SCONJ
sf268338x32	7	9	the	the	DET
sf268338x32	7	10	subsystems	subsystem	NOUN
sf268338x32	7	11	are	be	AUX
sf268338x32	7	12	diffeomorphically	diffeomorphically	ADV
sf268338x32	7	13	related	relate	VERB
sf268338x32	7	14	.	.	PUNCT
sf268338x32	8	1	the	the	DET
sf268338x32	8	2	optimal	optimal	ADJ
sf268338x32	8	3	control	control	NOUN
sf268338x32	8	4	problem	problem	NOUN
sf268338x32	8	5	for	for	ADP
sf268338x32	8	6	distributed	distribute	VERB
sf268338x32	8	7	systems	system	NOUN
sf268338x32	8	8	may	may	AUX
sf268338x32	8	9	not	not	PART
sf268338x32	8	10	scale	scale	VERB
sf268338x32	8	11	well	well	ADV
sf268338x32	8	12	with	with	ADP
sf268338x32	8	13	the	the	DET
sf268338x32	8	14	size	size	NOUN
sf268338x32	8	15	of	of	ADP
sf268338x32	8	16	the	the	DET
sf268338x32	8	17	overall	overall	ADJ
sf268338x32	8	18	system	system	NOUN
sf268338x32	8	19	;	;	PUNCT
sf268338x32	8	20	hence	hence	ADV
sf268338x32	8	21	,	,	PUNCT
sf268338x32	8	22	our	our	PRON
sf268338x32	8	23	efforts	effort	NOUN
sf268338x32	8	24	are	be	AUX
sf268338x32	8	25	directed	direct	VERB
sf268338x32	8	26	toward	toward	ADP
sf268338x32	8	27	exactly	exactly	ADV
sf268338x32	8	28	solving	solve	VERB
sf268338x32	8	29	the	the	DET
sf268338x32	8	30	optimization	optimization	NOUN
sf268338x32	8	31	problem	problem	NOUN
sf268338x32	8	32	for	for	ADP
sf268338x32	8	33	large	large	ADJ
sf268338x32	8	34	scale	scale	NOUN
sf268338x32	8	35	systems	system	NOUN
sf268338x32	8	36	by	by	ADP
sf268338x32	8	37	working	work	VERB
sf268338x32	8	38	with	with	ADP
sf268338x32	8	39	a	a	DET
sf268338x32	8	40	reduced	reduce	VERB
sf268338x32	8	41	order	order	NOUN
sf268338x32	8	42	model	model	NOUN
sf268338x32	8	43	that	that	PRON
sf268338x32	8	44	is	be	AUX
sf268338x32	8	45	determined	determine	VERB
sf268338x32	8	46	by	by	ADP
sf268338x32	8	47	considering	consider	VERB
sf268338x32	8	48	invariance	invariance	NOUN
sf268338x32	8	49	properties	property	NOUN
sf268338x32	8	50	with	with	ADP
sf268338x32	8	51	respect	respect	NOUN
sf268338x32	8	52	to	to	ADP
sf268338x32	8	53	certain	certain	ADJ
sf268338x32	8	54	group	group	NOUN
sf268338x32	8	55	actions	action	NOUN
sf268338x32	8	56	of	of	ADP
sf268338x32	8	57	the	the	DET
sf268338x32	8	58	governing	govern	VERB
sf268338x32	8	59	equations	equation	NOUN
sf268338x32	8	60	of	of	ADP
sf268338x32	8	61	the	the	DET
sf268338x32	8	62	overall	overall	ADJ
sf268338x32	8	63	system	system	NOUN
sf268338x32	8	64	.	.	PUNCT
sf268338x32	9	1	this	this	DET
sf268338x32	9	2	thesis	thesis	NOUN
sf268338x32	9	3	also	also	ADV
sf268338x32	9	4	studies	study	VERB
sf268338x32	9	5	bifurcations	bifurcation	NOUN
sf268338x32	9	6	and	and	CCONJ
sf268338x32	9	7	multiple	multiple	ADJ
sf268338x32	9	8	solutions	solution	NOUN
sf268338x32	9	9	of	of	ADP
sf268338x32	9	10	the	the	DET
sf268338x32	9	11	optimal	optimal	ADJ
sf268338x32	9	12	control	control	NOUN
sf268338x32	9	13	problem	problem	NOUN
sf268338x32	9	14	for	for	ADP
sf268338x32	9	15	mobile	mobile	ADJ
sf268338x32	9	16	robotic	robotic	ADJ
sf268338x32	9	17	systems	system	NOUN
sf268338x32	9	18	.	.	PUNCT
sf268338x32	10	1	while	while	SCONJ
sf268338x32	10	2	the	the	DET
sf268338x32	10	3	existence	existence	NOUN
sf268338x32	10	4	of	of	ADP
sf268338x32	10	5	multiple	multiple	ADJ
sf268338x32	10	6	local	local	ADJ
sf268338x32	10	7	solutions	solution	NOUN
sf268338x32	10	8	to	to	ADP
sf268338x32	10	9	a	a	DET
sf268338x32	10	10	nonlinear	nonlinear	ADJ
sf268338x32	10	11	optimization	optimization	NOUN
sf268338x32	10	12	problem	problem	NOUN
sf268338x32	10	13	is	be	AUX
sf268338x32	10	14	not	not	PART
sf268338x32	10	15	unexpected	unexpected	ADJ
sf268338x32	10	16	,	,	PUNCT
sf268338x32	10	17	the	the	DET
sf268338x32	10	18	nature	nature	NOUN
sf268338x32	10	19	of	of	ADP
sf268338x32	10	20	the	the	DET
sf268338x32	10	21	solutions	solution	NOUN
sf268338x32	10	22	are	be	AUX
sf268338x32	10	23	such	such	ADJ
sf268338x32	10	24	that	that	SCONJ
sf268338x32	10	25	a	a	DET
sf268338x32	10	26	relatively	relatively	ADV
sf268338x32	10	27	rich	rich	ADJ
sf268338x32	10	28	and	and	CCONJ
sf268338x32	10	29	interesting	interesting	ADJ
sf268338x32	10	30	structure	structure	NOUN
sf268338x32	10	31	is	be	AUX
sf268338x32	10	32	present	present	ADJ
sf268338x32	10	33	,	,	PUNCT
sf268338x32	10	34	which	which	PRON
sf268338x32	10	35	potentially	potentially	ADV
sf268338x32	10	36	could	could	AUX
sf268338x32	10	37	be	be	AUX
sf268338x32	10	38	exploited	exploit	VERB
sf268338x32	10	39	for	for	ADP
sf268338x32	10	40	controls	control	NOUN
sf268338x32	10	41	purposes	purpose	NOUN
sf268338x32	10	42	.	.	PUNCT
sf268338x32	11	1	the	the	DET
sf268338x32	11	2	bifurcation	bifurcation	NOUN
sf268338x32	11	3	parameter	parameter	NOUN
sf268338x32	11	4	is	be	AUX
sf268338x32	11	5	the	the	DET
sf268338x32	11	6	relative	relative	ADJ
sf268338x32	11	7	weight	weight	NOUN
sf268338x32	11	8	given	give	VERB
sf268338x32	11	9	to	to	ADP
sf268338x32	11	10	penalizing	penalize	VERB
sf268338x32	11	11	the	the	DET
sf268338x32	11	12	deviation	deviation	NOUN
sf268338x32	11	13	from	from	ADP
sf268338x32	11	14	the	the	DET
sf268338x32	11	15	desired	desire	VERB
sf268338x32	11	16	formation	formation	NOUN
sf268338x32	11	17	versus	versus	ADP
sf268338x32	11	18	control	control	NOUN
sf268338x32	11	19	effort	effort	NOUN
sf268338x32	11	20	.	.	PUNCT
sf268338x32	12	1	numerically	numerically	ADV
sf268338x32	12	2	it	it	PRON
sf268338x32	12	3	is	be	AUX
sf268338x32	12	4	shown	show	VERB
sf268338x32	12	5	that	that	SCONJ
sf268338x32	12	6	as	as	SCONJ
sf268338x32	12	7	this	this	DET
sf268338x32	12	8	number	number	NOUN
sf268338x32	12	9	varies	vary	VERB
sf268338x32	12	10	,	,	PUNCT
sf268338x32	12	11	bifurcations	bifurcation	NOUN
sf268338x32	12	12	of	of	ADP
sf268338x32	12	13	solutions	solution	NOUN
sf268338x32	12	14	are	be	AUX
sf268338x32	12	15	obtained	obtain	VERB
sf268338x32	12	16	.	.	PUNCT
sf268338x32	13	1	theoretic	theoretic	ADJ
sf268338x32	13	2	results	result	NOUN
sf268338x32	13	3	of	of	ADP
sf268338x32	13	4	this	this	DET
sf268338x32	13	5	paper	paper	NOUN
sf268338x32	13	6	relate	relate	VERB
sf268338x32	13	7	to	to	ADP
sf268338x32	13	8	the	the	DET
sf268338x32	13	9	symmetric	symmetric	ADJ
sf268338x32	13	10	properties	property	NOUN
sf268338x32	13	11	of	of	ADP
sf268338x32	13	12	these	these	DET
sf268338x32	13	13	bifurcations	bifurcation	NOUN
sf268338x32	13	14	and	and	CCONJ
sf268338x32	13	15	the	the	DET
sf268338x32	13	16	number	number	NOUN
sf268338x32	13	17	and	and	CCONJ
sf268338x32	13	18	existence	existence	NOUN
sf268338x32	13	19	of	of	ADP
sf268338x32	13	20	multiple	multiple	ADJ
sf268338x32	13	21	solutions	solution	NOUN
sf268338x32	13	22	for	for	ADP
sf268338x32	13	23	large	large	ADJ
sf268338x32	13	24	and	and	CCONJ
sf268338x32	13	25	small	small	ADJ
sf268338x32	13	26	values	value	NOUN
sf268338x32	13	27	of	of	ADP
sf268338x32	13	28	the	the	DET
sf268338x32	13	29	bifurcation	bifurcation	NOUN
sf268338x32	13	30	parameter	parameter	NOUN
sf268338x32	13	31	.	.	PUNCT
sf268338x32	14	1	understanding	understand	VERB
sf268338x32	14	2	the	the	DET
sf268338x32	14	3	existence	existence	NOUN
sf268338x32	14	4	and	and	CCONJ
sf268338x32	14	5	nature	nature	NOUN
sf268338x32	14	6	of	of	ADP
sf268338x32	14	7	multiple	multiple	ADJ
sf268338x32	14	8	solutions	solution	NOUN
sf268338x32	14	9	for	for	ADP
sf268338x32	14	10	optimization	optimization	NOUN
sf268338x32	14	11	problems	problem	NOUN
sf268338x32	14	12	of	of	ADP
sf268338x32	14	13	this	this	DET
sf268338x32	14	14	type	type	NOUN
sf268338x32	14	15	is	be	AUX
sf268338x32	14	16	also	also	ADV
sf268338x32	14	17	of	of	ADP
sf268338x32	14	18	practical	practical	ADJ
sf268338x32	14	19	importance	importance	NOUN
sf268338x32	14	20	due	due	ADP
sf268338x32	14	21	to	to	ADP
sf268338x32	14	22	the	the	DET
sf268338x32	14	23	ubiquity	ubiquity	NOUN
sf268338x32	14	24	of	of	ADP
sf268338x32	14	25	gradient	gradient	NOUN
sf268338x32	14	26	-	-	PUNCT
sf268338x32	14	27	based	base	VERB
sf268338x32	14	28	optimization	optimization	NOUN
sf268338x32	14	29	methods	method	NOUN
sf268338x32	14	30	where	where	SCONJ
sf268338x32	14	31	the	the	DET
sf268338x32	14	32	search	search	NOUN
sf268338x32	14	33	method	method	NOUN
sf268338x32	14	34	will	will	AUX
sf268338x32	14	35	typically	typically	ADV
sf268338x32	14	36	converge	converge	VERB
sf268338x32	14	37	to	to	ADP
sf268338x32	14	38	the	the	DET
sf268338x32	14	39	nearest	near	ADJ
sf268338x32	14	40	local	local	ADJ
sf268338x32	14	41	optimum	optimum	NOUN
sf268338x32	14	42	.	.	PUNCT