Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of
  Sequential Manipulation   Task and Motion Planning has made great progress in solving hard sequential
manipulation problems. However, a gap between such planning formulations and
control methods for reactive execution remains. In this paper we propose a
model predictive control approach dedicated to robustly execute a single
sequence of constraints, which corresponds to a discrete decision sequence of a
TAMP plan. We decompose the overall control problem into three sub-problems
(solving for sequential waypoints, their timing, and a short receding horizon
path) that each is a non-linear program solved online in each MPC cycle. The
resulting control strategy can account for long-term interdependencies of
constraints and reactively plan for a timing-optimal transition through all
constraints. We additionally propose phase backtracking when running
constraints are missed, leading to a fluent re-initiation behavior that is
robust to perturbations and interferences by an experimenter.

8
The categories of this paper are: hep-ex
12
The categories of this paper are: nucl-th
18
The categories of this paper are: econ
37
The categories of this paper are: supr-con
24
The categories of this paper are: dg-ga
13
The categories of this paper are: quant-ph
22
The categories of this paper are: chao-dyn
35
The categories of this paper are: mtrl-th
11
The categories of this paper are: hep-lat
20
The categories of this paper are: acc-phys
32
The categories of this paper are: atom-ph
27
The categories of this paper are: comp-gas
15
The categories of this paper are: nucl-ex
23
The categories of this paper are: solv-int
7
The categories of this paper are: hep-th
28
The categories of this paper are: alg-geom