Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Adaptive Robot Navigation with Collision Avoidance subject to 2nd-order
  Uncertain Dynamics   This paper considers the problem of robot motion planning in a workspace with
obstacles for systems with uncertain 2nd-order dynamics. In particular, we
combine closed form potential-based feedback controllers with adaptive control
techniques to guarantee the collision-free robot navigation to a predefined
goal while compensating for the dynamic model uncertainties. We base our
findings on sphere world-based configuration spaces, but extend our results to
arbitrary star-shaped environments by using previous results on configuration
space transformations. Moreover, we propose an algorithm for extending the
control scheme to decentralized multi-robot systems. Finally, extensive
simulation results verify the theoretical findings.

13
The categories of this paper are: quant-ph
4
The categories of this paper are: cond-mat
11
The categories of this paper are: hep-lat
23
The categories of this paper are: solv-int
37
The categories of this paper are: supr-con
21
The categories of this paper are: adap-org
28
The categories of this paper are: alg-geom
31
The categories of this paper are: ao-sci
17
The categories of this paper are: q-fin
34
The categories of this paper are: chem-ph
20
The categories of this paper are: acc-phys
25
The categories of this paper are: patt-sol
29
The categories of this paper are: funct-an
30
The categories of this paper are: q-alg
32
The categories of this paper are: atom-ph
8
The categories of this paper are: hep-ex