Instruct: Identify the main and secondary category of Arxiv papers based on the titles
Query: A solution of the minimum-time velocity planning problem based on
  lattice theory
15
The categories of this paper are: nucl-ex
25
The categories of this paper are: patt-sol
22
The categories of this paper are: chao-dyn
36
The categories of this paper are: cmp-lg
8
The categories of this paper are: hep-ex
7
The categories of this paper are: hep-th
21
The categories of this paper are: adap-org
6
The categories of this paper are: astro-ph
24
The categories of this paper are: dg-ga
5
The categories of this paper are: gr-qc
17
The categories of this paper are: q-fin
19
The categories of this paper are: eess
9
The categories of this paper are: nlin
10
The categories of this paper are: q-bio
28
The categories of this paper are: alg-geom
14
The categories of this paper are: math-ph