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 "graph optimization approach to range based localization"):
  Abstract: In this article, we propose a general graph optimization-based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization. Range and trajectory smoothness constraints are constructed in a position graph, then the robot trajectory over a sliding window is estimated by a graph-based optimization algorithm. Moreover, convergence analysis of the algorithm is provided, and the effects of the number of iterations and window size in the optimization on the localization accuracy are analyzed. Extensive experiments on quadcopter under a variety of scenarios verify the effectiveness of the proposed algorithm and demonstrate a much higher localization accuracy than the existing range-based localization methods, especially in the altitude direction.

Includes members:
  Member "kervolutional neural networks":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "robust gabor networks")
  Member "kernel cross correlator":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "keyfilter aware real time uav object tracking")
  Member "ultra wideband aided fast localization and mapping system":
    also connected through other hyperedges:
      - Hyperedge HE-3 (induced by source paper "uwb based system for uav localization in gnss denied environments characterization and dataset")
  Member "non iterative slam":
    also connected through other hyperedges:
      - Hyperedge HE-4 (induced by source paper "intensity scan context coding intensity and geometry relations for loop closure detection")
  Member "machine learning in wireless sensor networks algorithms strategies and applications":
    also connected through other hyperedges:
      - Hyperedge HE-5 (induced by source paper "a survey on machine learning based performance improvement of wireless networks phy mac and network layer")

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)