Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Hierarchical Collision Avoidance Architecture for Multiple Fixed-Wing
  UAVs in an Integrated Airspace   This paper studies the collision avoidance problem for autonomous multiple
fixedwing UAVs in the complex integrated airspace. By studying and combining
the online path planning method, the distributed model predictive control
algorithm, and the geometric reactive control approach, a three-layered
collision avoidance system integrating conflict detection and resolution
procedures is developed for multiple fixed-wing UAVs modeled by unicycle
kinematics subject to input constraints. The effectiveness of the proposed
methodology is evaluated and validated via test results of comparative
simulations under both deterministic and probabilistic sensing conditions.

26
The categories of this paper are: bayes-an
32
The categories of this paper are: atom-ph
16
The categories of this paper are: stat
7
The categories of this paper are: hep-th
2
The categories of this paper are: math
14
The categories of this paper are: math-ph
15
The categories of this paper are: nucl-ex
19
The categories of this paper are: eess
33
The categories of this paper are: plasm-ph
27
The categories of this paper are: comp-gas
4
The categories of this paper are: cond-mat
8
The categories of this paper are: hep-ex
18
The categories of this paper are: econ
37
The categories of this paper are: supr-con
31
The categories of this paper are: ao-sci
20
The categories of this paper are: acc-phys