Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Fast Local Planning and Mapping in Unknown Off-Road Terrain   In this paper, we present a fast, on-line mapping and planning solution for
operation in unknown, off-road, environments. We combine obstacle detection
along with a terrain gradient map to make simple and adaptable cost map. This
map can be created and updated at 10 Hz. An A* planner finds optimal paths over
the map. Finally, we take multiple samples over the control input space and do
a kinematic forward simulation to generated feasible trajectories. Then the
most optimal trajectory, as determined by the cost map and proximity to A*
path, is chosen and sent to the controller. Our method allows real time
operation at rates of 30 Hz. We demonstrate the efficiency of our method in
various off-road terrain at high speed.

19
The categories of this paper are: eess
15
The categories of this paper are: nucl-ex
37
The categories of this paper are: supr-con
13
The categories of this paper are: quant-ph
17
The categories of this paper are: q-fin
2
The categories of this paper are: math
29
The categories of this paper are: funct-an
25
The categories of this paper are: patt-sol
5
The categories of this paper are: gr-qc
4
The categories of this paper are: cond-mat
23
The categories of this paper are: solv-int
3
The categories of this paper are: physics
14
The categories of this paper are: math-ph
21
The categories of this paper are: adap-org
6
The categories of this paper are: astro-ph
27
The categories of this paper are: comp-gas