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 "simultaneous contact gait and motion planning for robust multi legged locomotion via mixed integer convex optimization"):
  Abstract: Traditional motion planning approaches for multilegged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning about contacts and motions simultaneously is crucial for the generation of complex whole-body behaviors. Currently, coupling theses problems has required either the assumption of a fixed gait sequence and flat terrain condition, or nonconvex optimization with intractable computation time. In this letter, we propose a mixed-integer convex formulation to plan simultaneously contact locations, gait transitions, and motion, in a computationally efficient fashion. In contrast to previous works, our approach is not limited to flat terrain nor to a prespecified gait sequence. Instead, we incorporate the friction cone stability margin, approximate the robot's torque limits, and plan the gait using mixed-integer convex constraints. We experimentally validated our approach on the HyQ robot by traversing different challenging terrains, where nonconvexity and flat terrain assumptions might lead to suboptimal or unstable plans. Our method increases the motion robustness while keeping a low computation time.

Includes members:
  Member "motion planning for quadrupedal locomotion coupled planning terrain mapping and whole body control":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "heuristic planning for rough terrain locomotion in presence of external disturbances and variable perception quality")
  Member "the actuation consistent wrench polytope awp and the feasible wrench polytope fwp":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "application of wrench based feasibility analysis to the online trajectory optimization of legged robots")
  Member "fast trajectory optimization for legged robots using vertex based zmp constraints":
    also connected through other hyperedges:
      - Hyperedge HE-3 (induced by source paper "learning agile and dynamic motor skills for legged robots")
  Member "trajectory optimization through contacts and automatic gait discovery for quadrupeds":
    also connected through other hyperedges:
      - Hyperedge HE-4 (induced by source paper "learning how to walk warm starting optimal control solver with memory of motion")
  Member "hierarchical planning of dynamic movements without scheduled contact sequences":
    also connected through other hyperedges:
      - Hyperedge HE-5 (induced by source paper "contact planning for the anymal quadruped robot using an acyclic reachability based planner")
  Member "planning and execution of dynamic whole body locomotion for a hydraulic quadruped on challenging terrain":
    also connected through other hyperedges:
      - Hyperedge HE-6 (induced by source paper "learning how to walk warm starting optimal control solver with memory of motion")

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)