Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Generalized Mixed-Integer Convex Program for Multilegged Footstep
  Planning on Uneven Terrain   Robot footstep planning strategies can be divided in two main approaches:
discrete searches and continuous optimizations. While discrete searches have
been broadly applied, continuous optimizations approaches have been restricted
for humanoid platforms. This article introduces a generalized
continuous-optimization approach for multilegged footstep planning which can be
adapted to different platforms, regardless the number and geometry of legs.
This approach leverages Mixed-Integer Convex Programming to account for the
non-convex constraints that represent footstep rotation and obstacle avoidance.
The planning problem is formulated as an optimization problem which considers
robot geometry and reachability with linear constraints, and can be efficiently
solved using optimization software. To demonstrate the functionality and
adaptability of the planner, a set of tests are performed on a BH3R hexapod and
a LittleDog quadruped on scenarios which can't be easily handled with discrete
searches, such tests are solved efficiently in fractions of a second. This work
represents, to the knowledge of the authors, the first successful
implementation of a continuous optimization-based multilegged footstep planner.

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The categories of this paper are: nlin
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The categories of this paper are: hep-lat
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The categories of this paper are: nucl-th
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The categories of this paper are: comp-gas
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The categories of this paper are: physics
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The categories of this paper are: acc-phys
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The categories of this paper are: patt-sol
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The categories of this paper are: chem-ph
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The categories of this paper are: supr-con
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The categories of this paper are: atom-ph
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The categories of this paper are: bayes-an
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The categories of this paper are: q-bio
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The categories of this paper are: hep-ex
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The categories of this paper are: q-fin
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The categories of this paper are: gr-qc
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The categories of this paper are: eess