Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Online Robust MPC based Emergency Maneuvering System for Autonomous
  Vehicles   Nonlinear Robust Model Predictive Control (RMPC) provides a very promising
solution to the problem of automatic emergency maneuvering, which is capable of
handling multiple possibly conflicting objectives of robustness and
performance. Even though RMPC gives a suboptimal solution, the key challenge in
real-time implementation is that it is computationally very demanding. In this
paper a real-time capable robust tube MPC based framework for steering control
during emergency obstacle avoidance maneuver is presented. The novelty of this
framework lies in the robust integration of path planning and path following
tasks of autonomous vehicles. A simulation study showcases the robust
performance improvements due to the proposed strategy over a non-robust MPC in
different extreme maneuvering scenarios.

34
The categories of this paper are: chem-ph
29
The categories of this paper are: funct-an
17
The categories of this paper are: q-fin
24
The categories of this paper are: dg-ga
36
The categories of this paper are: cmp-lg
21
The categories of this paper are: adap-org
9
The categories of this paper are: nlin
15
The categories of this paper are: nucl-ex
7
The categories of this paper are: hep-th
4
The categories of this paper are: cond-mat
6
The categories of this paper are: astro-ph
32
The categories of this paper are: atom-ph
27
The categories of this paper are: comp-gas
33
The categories of this paper are: plasm-ph
31
The categories of this paper are: ao-sci
5
The categories of this paper are: gr-qc