Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: T$^{\star}$-Lite: A Fast Time-Risk Optimal Motion Planning Algorithm for
  Multi-Speed Autonomous Vehicles   In this paper, we develop a new algorithm, called T$^{\star}$-Lite, that
enables fast time-risk optimal motion planning for variable-speed autonomous
vehicles. The T$^{\star}$-Lite algorithm is a significantly faster version of
the previously developed T$^{\star}$ algorithm. T$^{\star}$-Lite uses the novel
time-risk cost function of T$^{\star}$; however, instead of a grid-based
approach, it uses an asymptotically optimal sampling-based motion planner.
Furthermore, it utilizes the recently developed Generalized Multi-speed Dubins
Motion-model (GMDM) for sample-to-sample kinodynamic motion planning. The
sample-based approach and GMDM significantly reduce the computational burden of
T$^{\star}$ while providing reasonable solution quality. The sample points are
drawn from a four-dimensional configuration space consisting of two position
coordinates plus vehicle heading and speed. Specifically, T$^{\star}$-Lite
enables the motion planner to select the vehicle speed and direction based on
its proximity to the obstacle to generate faster and safer paths. In this
paper, T$^{\star}$-Lite is developed using the RRT$^{\star}$ motion planner,
but adaptation to other motion planners is straightforward and depends on the
needs of the planner

34
The categories of this paper are: chem-ph
12
The categories of this paper are: nucl-th
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The categories of this paper are: solv-int
7
The categories of this paper are: hep-th
9
The categories of this paper are: nlin
25
The categories of this paper are: patt-sol
5
The categories of this paper are: gr-qc
18
The categories of this paper are: econ
28
The categories of this paper are: alg-geom
2
The categories of this paper are: math
22
The categories of this paper are: chao-dyn
11
The categories of this paper are: hep-lat
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The categories of this paper are: cond-mat
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The categories of this paper are: stat
8
The categories of this paper are: hep-ex
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The categories of this paper are: funct-an