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 "invariant smoothing on lie groups"):
  Abstract: In this paper we propose a (non-linear) smoothing algorithm for group-affine observation systems, a recently introduced class of estimation problems on Lie groups that bear a particular structure. As most non-linear smoothing methods, the proposed algorithm is based on a maximum a posteriori estimator, determined by optimization. But owing to the specific properties of the considered class of problems, the involved linearizations are proved to have a form of independence with respect to the current estimates, leveraged to avoid (partially or sometimes totally) the need to relinearize. The method is validated on a robot localization example, both in simulations and on real experimental data.

Includes members:
  Member "on manifold preintegration for real time visual inertial odometry":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "perception and decision making of autonomous systems in the era of learning an overview")
  Member "an ekf slam algorithm with consistency properties":
    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 "a mathematical framework for imu error propagation with applications to preintegration")
  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)