Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: RADMPC: A Fast Decentralized Approach for Chance-Constrained
  Multi-Vehicle Path-Planning   Robust multi-vehicle path-planning is important for ensuring the safety of
multi-vehicle systems in applications like transportation, search and rescue,
and robotic exploration. Chance-constrained methods like Iterative Risk
Allocation (IRA)\cite{IRA} have been developed for situations where
environmental disturbances are unbounded. However, chance-constrained methods
for the multi-vehicle case generally use centralized strategies where the
vehicle set is planned with couplings between all vehicle pairs. This approach
is intractable as fleet size increases because computation time is exponential
with respect to the number of vehicles being planned over due to a polynomial
increase in coupling constraints between vehicle pairs. We present a faster
approach for chance-constrained multi-vehicle path-planning that relies upon a
decentralized path-planning method called Risk-Aware Decentralized Model
Predictive Control (RADMPC) to rapidly approximate a centralized IRA approach.
The RADMPC approximation is evaluated for vehicle interactions to determine the
vehicle sets that should be planned in a coupled manner. Applying IRA to the
smaller vehicle sets determined from the RADMPC approximation rapidly plans
safe paths for the entire fleet. A Monte Carlo simulation analysis demonstrates
the correctness of our approach and a significant improvement in computation
time compared to a centralized IRA approach.

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The categories of this paper are: math-ph
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The categories of this paper are: q-fin
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The categories of this paper are: dg-ga
2
The categories of this paper are: math
28
The categories of this paper are: alg-geom
4
The categories of this paper are: cond-mat
15
The categories of this paper are: nucl-ex
6
The categories of this paper are: astro-ph
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The categories of this paper are: solv-int
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The categories of this paper are: bayes-an
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The categories of this paper are: supr-con
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The categories of this paper are: chao-dyn
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The categories of this paper are: stat
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The categories of this paper are: q-alg
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The categories of this paper are: cmp-lg
20
The categories of this paper are: acc-phys