Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Linear Time-Varying MPC for Nonprehensile Object Manipulation with a
  Nonholonomic Mobile Robot   This paper proposes a technique to manipulate an object with a nonholonomic
mobile robot by pushing, which is a nonprehensile manipulation motion
primitive. Such a primitive involves unilateral constraints associated with the
friction between the robot and the manipulated object. Violating this
constraint produces the slippage of the object during the manipulation,
preventing the correct achievement of the task. A linear time-varying model
predictive control is designed to include the unilateral constraint within the
control action properly. The approach is verified in a dynamic simulation
environment through a Pioneer 3-DX wheeled robot executing the pushing
manipulation of a package.

9
The categories of this paper are: nlin
0
The categories of this paper are: hep-ph
37
The categories of this paper are: supr-con
29
The categories of this paper are: funct-an
31
The categories of this paper are: ao-sci
30
The categories of this paper are: q-alg
13
The categories of this paper are: quant-ph
21
The categories of this paper are: adap-org
6
The categories of this paper are: astro-ph
23
The categories of this paper are: solv-int
18
The categories of this paper are: econ
34
The categories of this paper are: chem-ph
14
The categories of this paper are: math-ph
20
The categories of this paper are: acc-phys
12
The categories of this paper are: nucl-th
19
The categories of this paper are: eess