Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Topology-Guided Path Integral Approach for Stochastic Optimal Control in
  Cluttered Environment   This paper addresses planning and control of robot motion under uncertainty
that is formulated as a continuous-time, continuous-space stochastic optimal
control problem, by developing a topology-guided path integral control method.
The path integral control framework, which forms the backbone of the proposed
method, re-writes the Hamilton-Jacobi-Bellman equation as a statistical
inference problem; the resulting inference problem is solved by a sampling
procedure that computes the distribution of controlled trajectories around the
trajectory by the passive dynamics. For motion control of robots in a highly
cluttered environment, however, this sampling can easily be trapped in a local
minimum unless the sample size is very large, since the global optimality of
local minima depends on the degree of uncertainty. Thus, a homology-embedded
sampling-based planner that identifies many (potentially) local-minimum
trajectories in different homology classes is developed to aid the sampling
process. In combination with a receding-horizon fashion of the optimal control
the proposed method produces a dynamically feasible and collision-free motion
plans without being trapped in a local minimum. Numerical examples on a
synthetic toy problem and on quadrotor control in a complex obstacle field
demonstrate the validity of the proposed method.

19
The categories of this paper are: eess
8
The categories of this paper are: hep-ex
14
The categories of this paper are: math-ph
35
The categories of this paper are: mtrl-th
9
The categories of this paper are: nlin
24
The categories of this paper are: dg-ga
0
The categories of this paper are: hep-ph
28
The categories of this paper are: alg-geom
22
The categories of this paper are: chao-dyn
17
The categories of this paper are: q-fin
6
The categories of this paper are: astro-ph
27
The categories of this paper are: comp-gas
33
The categories of this paper are: plasm-ph
2
The categories of this paper are: math
30
The categories of this paper are: q-alg
5
The categories of this paper are: gr-qc