Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Local NMPC on Global Optimised Path for Autonomous Racing   The paper presents a strategy for the control of anautonomous racing car on a
pre-mapped track. Using a dynamic model of the vehicle, the optimal racing line
is computed, taking track boundaries into account. With the optimal racing line
as areference, a local nonlinear model predictive controller (NMPC) is
proposed, which takes into account multiple local objectives like making more
progress along the race line, avoiding collision with opponent vehicles, and
use of drafting to achieve more progress.

10
The categories of this paper are: q-bio
26
The categories of this paper are: bayes-an
13
The categories of this paper are: quant-ph
11
The categories of this paper are: hep-lat
33
The categories of this paper are: plasm-ph
7
The categories of this paper are: hep-th
17
The categories of this paper are: q-fin
4
The categories of this paper are: cond-mat
35
The categories of this paper are: mtrl-th
2
The categories of this paper are: math
0
The categories of this paper are: hep-ph
16
The categories of this paper are: stat
27
The categories of this paper are: comp-gas
34
The categories of this paper are: chem-ph
24
The categories of this paper are: dg-ga
23
The categories of this paper are: solv-int