Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Hierarchically Consistent Motion Primitives for Quadrotor Coordination   We present a hierarchical framework for motion planning of a large collection
of agents. The proposed framework starts from low level motion primitives over
a gridded workspace and provides a set of rules for constructing higher level
motion primitives. Our hierarchical approach is highly scalable and robust
making it an ideal tool for planning for multi-agent systems. Results are
demonstrated experimentally on a collection of quadrotors that must navigate a
cluttered environment while maintaining a formation.

8
The categories of this paper are: hep-ex
2
The categories of this paper are: math
31
The categories of this paper are: ao-sci
12
The categories of this paper are: nucl-th
20
The categories of this paper are: acc-phys
7
The categories of this paper are: hep-th
22
The categories of this paper are: chao-dyn
16
The categories of this paper are: stat
33
The categories of this paper are: plasm-ph
14
The categories of this paper are: math-ph
18
The categories of this paper are: econ
32
The categories of this paper are: atom-ph
35
The categories of this paper are: mtrl-th
37
The categories of this paper are: supr-con
6
The categories of this paper are: astro-ph
17
The categories of this paper are: q-fin