human: Given a hyperedge-centered hypergraph: <hypergraph>, where the center hyperedge is induced by one source paper and its member nodes are the cited papers.

Details of the hypergraph:
Center hyperedge (induced by source paper "a mathematical framework for imu error propagation with applications to preintegration"):
  Abstract: To fuse information from inertial measurement units (IMU) with other sensors one needs an accurate model for IMU error propagation in terms of position, velocity and orientation, a triplet we call extended pose. In this paper we leverage a nontrivial result, namely log-linearity of inertial navigation equations based on the recently introduced Lie group SE 2 (3), to transpose the recent methodology of Barfoot and Furgale for associating uncertainty with poses (position, orientation) of SE(3) when using noisy wheel speeds, to the case of extended poses (position, velocity, orientation) of SE 2 (3) when using noisy IMUs. Besides, our approach to extended poses combined with log-linearity property allows revisiting the theory of preintegration on manifolds and reaching a further theoretic level in this field. We show exact preinte-gration formulas that account for rotating earth, that is, centrifugal force and Coriolis effect, may be derived as a byproduct.

Includes members:
  Member "closed form preintegration methods for graph based visual inertial navigation":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "visual inertial navigation a concise review")
  Member "contact aided invariant extended kalman filtering for legged robot state estimation":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "a code for unscented kalman filtering on manifolds ukf m")
  Member "an invariant linear quadratic gaussian controller for a simplified car":
    also connected through other hyperedges:
      - Hyperedge HE-3 (induced by source paper "invariant smoothing on lie groups")
  Member "the invariant extended kalman filter as a stable observer":
    also connected through other hyperedges:
      - Hyperedge HE-4 (induced by source paper "a code for unscented kalman filtering on manifolds ukf m")
  Member "intrinsic filtering on lie groups with applications to attitude estimation":
    also connected through other hyperedges:
      - Hyperedge HE-5 (induced by source paper "a code for unscented kalman filtering on manifolds ukf m")
  Member "integrating generic sensor fusion algorithms with sound state representations through encapsulation of manifolds":
    also connected through other hyperedges:
      - Hyperedge HE-6 (induced by source paper "a code for unscented kalman filtering on manifolds ukf m")

Question: Please tell me which class the source paper belongs to. The 40 classes are: cs.NA(Numerical Analysis), cs.MM(Multimedia), cs.LO(Logic in Computer Science), cs.CY(Computers and Society), cs.CR(Cryptography and Security), cs.DC(Distributed, Parallel, and Cluster Computing), cs.HC(Human-Computer Interaction), cs.CE(Computational Engineering, Finance, and Science), cs.NI(Networking and Internet Architecture), cs.CC(Computational Complexity), cs.AI(Artificial Intelligence), cs.MA(Multiagent Systems), cs.GL(General Literature), cs.NE(Neural and Evolutionary Computing), cs.SC(Symbolic Computation), cs.AR(Hardware Architecture), cs.CV(Computer Vision and Pattern Recognition), cs.GR(Graphics), cs.ET(Emerging Technologies), cs.SY(Systems and Control), cs.CG(Computational Geometry), cs.OH(Other Computer Science), cs.PL(Programming Languages), cs.SE(Software Engineering), cs.LG(Machine Learning), cs.SD(Sound), cs.SI(Social and Information Networks), cs.RO(Robotics), cs.IT(Information Theory), cs.PF(Performance), cs.CL(Computation and Language), cs.IR(Information Retrieval), cs.MS(Mathematical Software), cs.FL(Formal Languages and Automata Theory), cs.DS(Data Structures and Algorithms), cs.OS(Operating Systems), cs.GT(Computer Science and Game Theory), cs.DB(Databases), cs.DL(Digital Libraries), cs.DM(Discrete Mathematics). Directly output the class name.

gpt: cs.RO(Robotics)