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 "risk assessment and planning with bidirectional reachability for autonomous driving"):
  Abstract: Knowing and predicting dangerous factors within a scene are two key components during autonomous driving, especially in a crowded urban environment. To navigate safely in environments, risk assessment is needed to quantify and associate the risk of taking a certain action. Risk assessment and planning is usually done by first tracking and predicting trajectories of other agents, such as vehicles and pedestrians, and then choosing an action to avoid collision in the future. However, few existing risk assessment algorithms handle occlusion and other sensory limitations effectively. This paper explores the possibility of efficient risk assessment under occlusion via both forward and backward reachability. The proposed algorithm can not only identify where the risk-induced factors are, but also be used for motion planning by executing low-level commands, such as throttle. The proposed method is evaluated on various four-way highly occluded intersections with up to five other vehicles in the scene. Compared with other risk assessment algorithms, the proposed method shows better efficiency, meaning that the ego vehicle reaches the goal at a higher speed. In addition, it also lowers the median collision rate by 7.5x.

Includes members:
  Member "an efficient reachability based framework for provably safe autonomous navigation in unknown environments":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "safety considerations in deep control policies with safety barrier certificates under uncertainty")
  Member "towards provably not at fault control of autonomous robots in arbitrary dynamic environments":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "reachable sets for safe real time manipulator trajectory design")
  Member "guaranteed safe reachability based trajectory design for a high fidelity model of an autonomous passenger vehicle":
    also connected through other hyperedges:
      - Hyperedge HE-3 (induced by source paper "technical report safe aggressive quadrotor flight via reachability based trajectory design")
  Member "occlusion aware risk assessment for autonomous driving in urban environments":
    also connected through other hyperedges:
      - Hyperedge HE-4 (induced by source paper "tackling existence probabilities of objects with motion planning for automated urban driving")
  Member "tackling occlusions limited sensor range with set based safety verification":
    also connected through other hyperedges:
      - Hyperedge HE-5 (induced by source paper "tackling existence probabilities of objects with motion planning for automated urban driving")

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)