Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Soft Subdivision Motion Planning for Complex Planar Robots   The design and implementation of theoretically-sound robot motion planning
algorithms is challenging. Within the framework of resolution-exact algorithms,
it is possible to exploit soft predicates for collision detection. The design
of soft predicates is a balancing act between easily implementable predicates
and their accuracy/effectivity.
  In this paper, we focus on the class of planar polygonal rigid robots with
arbitrarily complex geometry. We exploit the remarkable decomposability
property of soft collision-detection predicates of such robots. We introduce a
general technique to produce such a decomposition. If the robot is an m-gon,
the complexity of this approach scales linearly in m. This contrasts with the
O(m^3) complexity known for exact planners. It follows that we can now
routinely produce soft predicates for any rigid polygonal robot. This results
in resolution-exact planners for such robots within the general Soft
Subdivision Search (SSS) framework. This is a significant advancement in the
theory of sound and complete planners for planar robots.
  We implemented such decomposed predicates in our open-source Core Library.
The experiments show that our algorithms are effective, perform in real time on
non-trivial environments, and can outperform many sampling-based methods.

25
The categories of this paper are: patt-sol
10
The categories of this paper are: q-bio
33
The categories of this paper are: plasm-ph
37
The categories of this paper are: supr-con
0
The categories of this paper are: hep-ph
29
The categories of this paper are: funct-an
28
The categories of this paper are: alg-geom
27
The categories of this paper are: comp-gas
2
The categories of this paper are: math
9
The categories of this paper are: nlin
31
The categories of this paper are: ao-sci
17
The categories of this paper are: q-fin
30
The categories of this paper are: q-alg
6
The categories of this paper are: astro-ph
5
The categories of this paper are: gr-qc
12
The categories of this paper are: nucl-th