Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: GenNav: A Generic Indoor Navigation System for any Mobile Robot   The navigation system is at the heart of any mobile robot it comprises of
SLAM and path planning units, which is utilized by the robot to generate a map
of the environment, localize itself within it and determine an optimal a path
to the destination. This paper describes the conceptualization, development,
simulation and hardware implementation of GenNav a generic indoor navigation
system for any mobile aerial or ground robot. The generalization is brought
about by modularizing and creating independence between the software
computation and hardware actuation units by providing an alternate source of
odometry from the LiDAR eliminating the requirement for dedicated odometry
sensors. The odometry feedback from the LiDAR can be used by the navigation
computation unit and the system can be generalized to a wide variety of robots,
with different type and orientation of actuators

22
The categories of this paper are: chao-dyn
5
The categories of this paper are: gr-qc
24
The categories of this paper are: dg-ga
16
The categories of this paper are: stat
15
The categories of this paper are: nucl-ex
0
The categories of this paper are: hep-ph
18
The categories of this paper are: econ
3
The categories of this paper are: physics
34
The categories of this paper are: chem-ph
30
The categories of this paper are: q-alg
26
The categories of this paper are: bayes-an
35
The categories of this paper are: mtrl-th
25
The categories of this paper are: patt-sol
6
The categories of this paper are: astro-ph
13
The categories of this paper are: quant-ph
12
The categories of this paper are: nucl-th