Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Optimal control for a robotic exploration, pick-up and delivery problem   This paper addresses an optimal control problem for a robot that has to find
and collect a finite number of objects and move them to a depot in minimum
time. The robot has fourth-order dynamics that change instantaneously at any
pick-up or drop-off of an object. The objects are modeled by point masses with
a-priori unknown locations in a bounded two-dimensional space that may contain
unknown obstacles. For this hybrid system, an Optimal Control Problem (OCP) is
approximately solved by a receding horizon scheme, where the derived lower
bound for the cost-to-go is evaluated for the worst and for a probabilistic
case, assuming a uniform distribution of the objects. First, a time-driven
approximate solution based on time and position space discretization and mixed
integer programming is presented. Due to the high computational cost of this
solution, an alternative event-driven approximate approach based on a suitable
motion parameterization and gradient-based optimization is proposed. The
solutions are compared in a numerical example, suggesting that the latter
approach offers a significant computational advantage while yielding similar
qualitative results compared to the former. The methods are particularly
relevant for various robotic applications like automated cleaning, search and
rescue, harvesting or manufacturing.

25
The categories of this paper are: patt-sol
15
The categories of this paper are: nucl-ex
8
The categories of this paper are: hep-ex
28
The categories of this paper are: alg-geom
27
The categories of this paper are: comp-gas
29
The categories of this paper are: funct-an
26
The categories of this paper are: bayes-an
3
The categories of this paper are: physics
19
The categories of this paper are: eess
10
The categories of this paper are: q-bio
33
The categories of this paper are: plasm-ph
5
The categories of this paper are: gr-qc
16
The categories of this paper are: stat
37
The categories of this paper are: supr-con
20
The categories of this paper are: acc-phys
13
The categories of this paper are: quant-ph