Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Minimum-Violation Planning for Autonomous Systems: Theoretical and
  Practical Considerations   This paper considers the problem of computing an optimal trajectory for an
autonomous system that is subject to a set of potentially conflicting rules.
First, we introduce the concept of prioritized safety specifications, where
each rule is expressed as a temporal logic formula with its associated weight
and priority. The optimality is defined based on the violation of such
prioritized safety specifications. We then introduce a class of temporal logic
formulas called $\textrm{si-FLTL}_{\mathsf{G_X}}$ and develop an efficient,
incremental sampling-based approach to solve this minimum-violation planning
problem with guarantees on asymptotic optimality. We illustrate the application
of the proposed approach in autonomous vehicles, showing that
$\textrm{si-FLTL}_{\mathsf{G_X}}$ formulas are sufficiently expressive to
describe many traffic rules. Finally, we discuss practical considerations and
present simulation results for a vehicle overtaking scenario.

29
The categories of this paper are: funct-an
9
The categories of this paper are: nlin
33
The categories of this paper are: plasm-ph
15
The categories of this paper are: nucl-ex
20
The categories of this paper are: acc-phys
24
The categories of this paper are: dg-ga
18
The categories of this paper are: econ
4
The categories of this paper are: cond-mat
12
The categories of this paper are: nucl-th
22
The categories of this paper are: chao-dyn
17
The categories of this paper are: q-fin
14
The categories of this paper are: math-ph
28
The categories of this paper are: alg-geom
2
The categories of this paper are: math
34
The categories of this paper are: chem-ph
37
The categories of this paper are: supr-con