Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: The Convex Feasible Set Algorithm for Real Time Optimization in Motion
  Planning   With the development of robotics, there are growing needs for real time
motion planning. However, due to obstacles in the environment, the planning
problem is highly non-convex, which makes it difficult to achieve real time
computation using existing non-convex optimization algorithms. This paper
introduces the convex feasible set algorithm (CFS) which is a fast algorithm
for non-convex optimization problems that have convex costs and non-convex
constraints. The idea is to find a convex feasible set for the original problem
and iteratively solve a sequence of subproblems using the convex constraints.
The feasibility and the convergence of the proposed algorithm are proved in the
paper. The application of this method on motion planning for mobile robots is
discussed. The simulations demonstrate the effectiveness of the proposed
algorithm.

23
The categories of this paper are: solv-int
13
The categories of this paper are: quant-ph
30
The categories of this paper are: q-alg
7
The categories of this paper are: hep-th
16
The categories of this paper are: stat
19
The categories of this paper are: eess
22
The categories of this paper are: chao-dyn
35
The categories of this paper are: mtrl-th
37
The categories of this paper are: supr-con
26
The categories of this paper are: bayes-an
29
The categories of this paper are: funct-an
9
The categories of this paper are: nlin
28
The categories of this paper are: alg-geom
25
The categories of this paper are: patt-sol
11
The categories of this paper are: hep-lat
10
The categories of this paper are: q-bio