Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Toward Efficient Task Assignment and Motion Planning for Large Scale
  Underwater Mission   An Autonomous Underwater Vehicle (AUV) needs to acquire a certain degree of
autonomy for any particular underwater mission to fulfill the mission
objectives successfully and ensure its safety in all stages of the mission in a
large scale operating filed. In this paper, a novel combinatorial
conflict-free-task assignment strategy consisting an interactive engagement of
a local path planner and an adaptive global route planner, is introduced. The
method is established upon the heuristic search potency of the Particle Swarm
Optimisation (PSO) algorithm to address the discrete nature of routing-task
assignment approach and the complexity of NP-hard path planning problem. The
proposed hybrid method is highly efficient for having a reactive guidance
framework that guarantees successful completion of missions specifically in
cluttered environments. To examine the performance of the method in a context
of mission productivity, mission time management and vehicle safety, a series
of simulation studies are undertaken. The results of simulations declare that
the proposed method is reliable and robust, particularly in dealing with
uncertainties, and it can significantly enhance the level of vehicle's autonomy
by relying on its reactive nature and capability of providing fast feasible
solutions.

27
The categories of this paper are: comp-gas
24
The categories of this paper are: dg-ga
31
The categories of this paper are: ao-sci
11
The categories of this paper are: hep-lat
7
The categories of this paper are: hep-th
32
The categories of this paper are: atom-ph
25
The categories of this paper are: patt-sol
30
The categories of this paper are: q-alg
28
The categories of this paper are: alg-geom
19
The categories of this paper are: eess
6
The categories of this paper are: astro-ph
8
The categories of this paper are: hep-ex
29
The categories of this paper are: funct-an
18
The categories of this paper are: econ
16
The categories of this paper are: stat
23
The categories of this paper are: solv-int