Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Perception-Aware Motion Planning via Multiobjective Search on GPUs   In this paper we describe a framework towards computing well-localized,
robust motion plans through the perception-aware motion planning problem,
whereby we seek a low-cost motion plan subject to a separate constraint on
perception localization quality. To solve this problem we introduce the
Multiobjective Perception-Aware Planning (MPAP) algorithm which explores the
state space via a multiobjective search, considering both cost and a perception
heuristic. This framework can accommodate a large range of heuristics, allowing
those that capture the history dependence of localization drift and represent
complex modern perception methods. We present two such heuristics, one derived
from a simplified model of robot perception and a second learned from
ground-truth sensor error, which we show to be capable of predicting the
performance of a state-of-the-art perception system. The solution trajectory
from this heuristic-based search is then certified via Monte Carlo methods to
be well-localized and robust. The additional computational burden of
perception-aware planning is offset by GPU massive parallelization. Through
numerical experiments the algorithm is shown to find well-localized, robust
solutions in about a second. Finally, we demonstrate MPAP on a quadrotor flying
perception-aware and perception-agnostic plans using Google Tango for
localization, finding the quadrotor safely executes the perception-aware plan
every time, while crashing in over 20% of the perception-agnostic runs due to
loss of localization.

15
The categories of this paper are: nucl-ex
27
The categories of this paper are: comp-gas
19
The categories of this paper are: eess
21
The categories of this paper are: adap-org
18
The categories of this paper are: econ
23
The categories of this paper are: solv-int
34
The categories of this paper are: chem-ph
25
The categories of this paper are: patt-sol
4
The categories of this paper are: cond-mat
10
The categories of this paper are: q-bio
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The categories of this paper are: alg-geom
7
The categories of this paper are: hep-th
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The categories of this paper are: astro-ph
16
The categories of this paper are: stat
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The categories of this paper are: hep-lat
26
The categories of this paper are: bayes-an