Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Collision-free motion planning on manifolds with boundary   This paper concerns the study of the homotopy type of the ordered
configuration space for manifolds with boundary and as an application we will
study the collision free motion planning problem on manifolds with boundary.

36
The categories of this paper are: cmp-lg
37
The categories of this paper are: supr-con
4
The categories of this paper are: cond-mat
32
The categories of this paper are: atom-ph
1
The categories of this paper are: cs
29
The categories of this paper are: funct-an
11
The categories of this paper are: hep-lat
24
The categories of this paper are: dg-ga
14
The categories of this paper are: math-ph
9
The categories of this paper are: nlin
26
The categories of this paper are: bayes-an
19
The categories of this paper are: eess
25
The categories of this paper are: patt-sol
13
The categories of this paper are: quant-ph
21
The categories of this paper are: adap-org
6
The categories of this paper are: astro-ph