Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Obstacle avoidance via B-spline parameterizations of flat trajectories   This paper considers the collision avoidance problem in a multi-agent
multi-obstacle framework. The originality in solving this intensively studied
problem resides in the proposed geometrical view combined with differential
flatness for trajectory generation and B-splines for the flat output
parametrization. Using some important properties of these theoretical tools we
show that the constraints can be validated at all times. Exact and sub-optimal
constructions of the collision avoidance optimization problem are provided. The
results are validated through extensive simulations over standard autonomous
aerial vehicle dynamics.

13
The categories of this paper are: quant-ph
20
The categories of this paper are: acc-phys
0
The categories of this paper are: hep-ph
25
The categories of this paper are: patt-sol
19
The categories of this paper are: eess
34
The categories of this paper are: chem-ph
21
The categories of this paper are: adap-org
22
The categories of this paper are: chao-dyn
3
The categories of this paper are: physics
30
The categories of this paper are: q-alg
5
The categories of this paper are: gr-qc
12
The categories of this paper are: nucl-th
37
The categories of this paper are: supr-con
31
The categories of this paper are: ao-sci
24
The categories of this paper are: dg-ga
7
The categories of this paper are: hep-th