Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Optimal cooperative motion planning for vehicles at intersections   We consider the problem of cooperative intersection management. It arises in
automated transportation systems for people or goods but also in multi-robots
environment. Therefore many solutions have been proposed to avoid collisions.
The main problem is to determine collision-free but also deadlock-free and
optimal algorithms. Even with a simple definition of optimality, finding a
global optimum is a problem of high complexity, especially for open systems
involving a large and varying number of vehicles. This paper advocates the use
of a mathematical framework based on a decomposition of the problem into a
continuous optimization part and a scheduling problem. The paper emphasizes
connections between the usual notion of vehicle priority and an abstract
formulation of the scheduling problem in the coordination space. A constructive
locally optimal algorithm is proposed. More generally, this work opens up for
new computationally efficient cooperative motion planning algorithms.

2
The categories of this paper are: math
27
The categories of this paper are: comp-gas
12
The categories of this paper are: nucl-th
19
The categories of this paper are: eess
31
The categories of this paper are: ao-sci
25
The categories of this paper are: patt-sol
14
The categories of this paper are: math-ph
16
The categories of this paper are: stat
24
The categories of this paper are: dg-ga
13
The categories of this paper are: quant-ph
17
The categories of this paper are: q-fin
37
The categories of this paper are: supr-con
21
The categories of this paper are: adap-org
36
The categories of this paper are: cmp-lg
34
The categories of this paper are: chem-ph
23
The categories of this paper are: solv-int