Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Time Variable Minimum Torque Trajectory Optimization for Autonomous
  Excavator   In this paper, we present a minimal torque and time variable trajectory
optimization method for autonomous excavator considering the soil-tool
interaction. The method formulates the excavation motion generation as a
trajectory optimization problem and takes into account geometric, kinematic and
dynamics constraints. To generate time-efficient trajectory and improve the
overall optimization efficiency, we propose a time variable trajectory
optimization mechanism so that the time intervals between the keypoints along
the trajectory subject to the optimization. As a result, the method uses few
keypoints and reduces the total number of optimization variables. We further
introduce a soil-tool interaction force model, which considers the geometric
shape of the bucket and the physical properties of the soil. The experimental
result on a high fidelity dynamic simulator shows our method can generate
feasible trajectories, which satisfy excavation task constraints and are
adaptive to different soil conditions.

24
The categories of this paper are: dg-ga
23
The categories of this paper are: solv-int
27
The categories of this paper are: comp-gas
17
The categories of this paper are: q-fin
36
The categories of this paper are: cmp-lg
30
The categories of this paper are: q-alg
34
The categories of this paper are: chem-ph
9
The categories of this paper are: nlin
0
The categories of this paper are: hep-ph
14
The categories of this paper are: math-ph
26
The categories of this paper are: bayes-an
28
The categories of this paper are: alg-geom
4
The categories of this paper are: cond-mat
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