Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Multiscale Abstraction, Planning and Control using Diffusion Wavelets
  for Stochastic Optimal Control Problems   This work presents a multiscale framework to solve a class of stochastic
optimal control problems in the context of robot motion planning and control in
a complex environment. In order to handle complications resulting from a large
decision space and complex environmental geometry, two key concepts are
adopted: (a) a diffusion wavelet representation of the Markov chain for
hierarchical abstraction of the state space; and (b) a desirability
function-based representation of the Markov decision process (MDP) to
efficiently calculate the optimal policy. In the proposed framework, a global
plan that compressively takes into account the long time/length-scale state
transition is first obtained by approximately solving an MDP whose desirability
function is represented by coarse scale bases in the hierarchical abstraction.
Then, a detailed local plan is computed by solving an MDP that considers
wavelet bases associated with a focused region of the state space, guided by
the global plan. The resulting multiscale plan is utilized to finally compute a
continuous-time optimal control policy within a receding horizon
implementation. Two numerical examples are presented to demonstrate the
applicability and validity of the proposed approach.

21
The categories of this paper are: adap-org
15
The categories of this paper are: nucl-ex
16
The categories of this paper are: stat
23
The categories of this paper are: solv-int
30
The categories of this paper are: q-alg
37
The categories of this paper are: supr-con
28
The categories of this paper are: alg-geom
17
The categories of this paper are: q-fin
5
The categories of this paper are: gr-qc
19
The categories of this paper are: eess
3
The categories of this paper are: physics
29
The categories of this paper are: funct-an
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The categories of this paper are: ao-sci
11
The categories of this paper are: hep-lat
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The categories of this paper are: quant-ph
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The categories of this paper are: nucl-th