Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A novel model-based heuristic for energy optimal motion planning for
  automated driving   Predictive motion planning is the key to achieve energy-efficient driving,
which is one of the main benefits of automated driving. Researchers have been
studying the planning of velocity trajectories, a simpler form of motion
planning, for over a decade now and many different methods are available.
Dynamic programming has shown to be the most common choice due to its numerical
background and ability to include nonlinear constraints and models. Although
planning of an optimal trajectory is done in a systematic way, dynamic
programming does not use any knowledge about the considered problem to guide
the exploration and therefore explores all possible trajectories.
  A* is a search algorithm which enables using knowledge about the problem to
guide the exploration to the most promising solutions first. Knowledge has to
be represented in a form of a heuristic function, which gives an optimistic
estimate of cost for transitioning to the final state, which is not a
straightforward task. This paper presents a novel heuristics incorporating air
drag and auxiliary power as well as operational costs of the vehicle, besides
kinetic and potential energy and rolling resistance known in the literature.
Furthermore, optimal cruising velocity, which depends on vehicle aerodynamic
properties and auxiliary power, is derived. Results are compared for different
variants of heuristic functions and dynamic programming as well.

14
The categories of this paper are: math-ph
8
The categories of this paper are: hep-ex
31
The categories of this paper are: ao-sci
20
The categories of this paper are: acc-phys
36
The categories of this paper are: cmp-lg
27
The categories of this paper are: comp-gas
30
The categories of this paper are: q-alg
17
The categories of this paper are: q-fin
13
The categories of this paper are: quant-ph
19
The categories of this paper are: eess
24
The categories of this paper are: dg-ga
34
The categories of this paper are: chem-ph
33
The categories of this paper are: plasm-ph
5
The categories of this paper are: gr-qc
9
The categories of this paper are: nlin
35
The categories of this paper are: mtrl-th