Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: An Extended Treatment of Uncertainty Constrained robotic Exploration: An
  Integrated Exploration Planner   Efficient robotic exploration of unknown, sensor limited,
global-information-deficient environments poses unique challenges to path
planning algorithms. In these difficult environments, no deterministic
guarantees on path completion and mission success can be made in general.
Integrated Exploration (IE), which strives to combine localization and
exploration, must be solved in order to create an autonomous robotic system
capable of long term operation in new and challenging environments. This paper
formulates a probabilistic framework which allows the creation of exploration
algorithms providing probabilistic guarantees of success. A novel connection is
made between the Hamiltonian Path Problem and exploration. The Guaranteed
Probabilistic Information Explorer (G-PIE) is developed for the IE problem,
providing a probabilistic guarantee on path completion, and asymptotic
optimality of exploration. A receding horizon formulation, dubbed RH-PIE, is
presented which addresses the exponential complexity present in G-PIE. Finally,
RH-PIE planner is verified via autonomous, hardware-in-the-loop experiments.

26
The categories of this paper are: bayes-an
10
The categories of this paper are: q-bio
23
The categories of this paper are: solv-int
2
The categories of this paper are: math
3
The categories of this paper are: physics
36
The categories of this paper are: cmp-lg
12
The categories of this paper are: nucl-th
30
The categories of this paper are: q-alg
37
The categories of this paper are: supr-con
9
The categories of this paper are: nlin
29
The categories of this paper are: funct-an
13
The categories of this paper are: quant-ph
24
The categories of this paper are: dg-ga
31
The categories of this paper are: ao-sci
11
The categories of this paper are: hep-lat
33
The categories of this paper are: plasm-ph