Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Reachable Sets for Safe, Real-Time Manipulator Trajectory Design   For robotic arms to operate in arbitrary environments, especially near
people, it is critical to certify the safety of their motion planning
algorithms. However, there is often a trade-off between safety and real-time
performance; one can either carefully design safe plans, or rapidly generate
potentially-unsafe plans. This work presents a receding-horizon, real-time
trajectory planner with safety guarantees, called ARMTD (Autonomous
Reachability-based Manipulator Trajectory Design). The method first computes
(offline) a reachable set of parameterized trajectories for each joint of an
arm. Each trajectory includes a fail-safe maneuver (braking to a stop). At
runtime, in each receding-horizon planning iteration, ARMTD constructs a
parameterized reachable set of the full arm in workspace and intersects it with
obstacles to generate sub-differentiable, provably-conservative
collision-avoidance constraints on the trajectory parameters. ARMTD then
performs trajectory optimization over the parameters, subject to these
constraints. On a 6 degree-of-freedom arm, ARMTD outperforms CHOMP in
simulation, never crashes, and completes a variety of real-time planning tasks
on hardware.

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The categories of this paper are: chao-dyn
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The categories of this paper are: patt-sol
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The categories of this paper are: chem-ph
30
The categories of this paper are: q-alg
3
The categories of this paper are: physics
5
The categories of this paper are: gr-qc
29
The categories of this paper are: funct-an
27
The categories of this paper are: comp-gas
15
The categories of this paper are: nucl-ex
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The categories of this paper are: adap-org
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The categories of this paper are: solv-int
9
The categories of this paper are: nlin
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The categories of this paper are: hep-lat
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The categories of this paper are: nucl-th
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The categories of this paper are: hep-ex
2
The categories of this paper are: math