Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Scratchy: A Lightweight Modular Autonomous Robot for Robotic
  Competitions   We present Scratchy---a modular, lightweight robot built for low budget
competition attendances. Its base is mainly built with standard 4040 aluminium
profiles and the robot is driven by four mecanum wheels on brushless DC motors.
In combination with a laser range finder we use estimated odometry -- which is
calculated by encoders -- for creating maps using a particle filter. A RGB-D
camera is utilized for object detection and pose estimation. Additionally,
there is the option to use a 6-DOF arm to grip objects from an estimated pose
or generally for manipulation tasks. The robot can be assembled in less than
one hour and fits into two pieces of hand luggage or one bigger suitcase.
Therefore, it provides a huge advantage for student teams that participate in
robot competitions like the European Robotics League or RoboCup. Thus, this
keeps the funding required for participation, which is often a big hurdle for
student teams to overcome, low. The software and additional hardware
descriptions are available under: https://github.com/homer-robotics/scratchy.

34
The categories of this paper are: chem-ph
13
The categories of this paper are: quant-ph
8
The categories of this paper are: hep-ex
25
The categories of this paper are: patt-sol
12
The categories of this paper are: nucl-th
36
The categories of this paper are: cmp-lg
5
The categories of this paper are: gr-qc
21
The categories of this paper are: adap-org
2
The categories of this paper are: math
0
The categories of this paper are: hep-ph
32
The categories of this paper are: atom-ph
6
The categories of this paper are: astro-ph
11
The categories of this paper are: hep-lat
17
The categories of this paper are: q-fin
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The categories of this paper are: supr-con
35
The categories of this paper are: mtrl-th