human: Given a node-centered hypergraph: <hypergraph>, where nodes represent papers and hyperedges represent sets of papers co-cited by a source paper.

Details of the hypergraph:
Center node: "safe trajectory generation for complex urban environments using spatio temporal semantic corridor"
  Abstract: Planning safe trajectories for autonomous vehicles in complex urban environments is challenging since there are numerous semantic elements (such as dynamic agents, traffic lights and speed limits) to consider. These semantic elements may have different mathematical descriptions such as obstacle, constraint and cost. It is non-trivial to tune the effects from different combinations of semantic elements for a stable and generalizable behavior. In this paper, we propose a novel unified spatio-temporal semantic corridor (SSC) structure, which provides a level of abstraction for different types of semantic elements. The SSC consists of a series of mutually connected collision-free cubes with dynamical constraints posed by the semantic elements in the spatio-temporal domain. The trajectory generation problem then boils down to a general quadratic programming (QP) formulation. Thanks to the unified SSC representation, our framework can generalize to any combination of semantic elements. Moreover, our formulation provides a theoretical guarantee that the entire trajectory is safe and constraint-satisfied, by using the convex hull and hodograph properties of piecewise Bezier curve parameterization. We also release the code of our method to accommodate benchmarking.

Connected through hyperedge HE-1 (induced by source paper "efficient uncertainty aware decision making for automated driving using guided branching"):
  with members:
    - "predicting vehicle behaviors over an extended horizon using behavior interaction network"
    - "hyp despot a hybrid parallel algorithm for online planning under uncertainty"
    - "on a formal model of safe and scalable self driving cars"
    - "despot online pomdp planning with regularization"
    - "online planning algorithms for pomdps"

Connected through hyperedge HE-2 (induced by source paper "an efficient b spline based kinodynamic replanning framework for quadrotors"):
  with members:
    - "trajectory replanning for quadrotors using kinodynamic search and elastic optimization"
    - "vins mono a robust and versatile monocular visual inertial state estimator"
    - "search based motion planning for aggressive flight in se 3"
    - "real time trajectory replanning for mavs using uniform b splines and a 3d circular buffer"
    - "search based motion planning for quadrotors using linear quadratic minimum time control"
    - "collision detection or nearest neighbor search on the computational bottleneck in sampling based motion planning"
    - "batch informed trees bit sampling based optimal planning via the heuristically guided search of implicit random geometric graphs"
    - "a convex optimization approach to smooth trajectories for motion planning with car like robots"

Question: Please tell me which class the center node 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)