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: "grid based angle constrained path planning"
  Abstract: Square grids are commonly used in robotics and game development as spatial models and well known in AI community heuristic search algorithms (such as A*, JPS, Theta* etc.) are widely used for path planning on grids. A lot of research is concentrated on finding the shortest (in geometrical sense) paths while in many applications finding smooth paths (rather than the shortest ones but containing sharp turns) is preferable. In this paper we study the problem of generating smooth paths and concentrate on angle constrained path planning. We put angle-constrained path planning problem formally and present a new algorithm tailored to solve it - LIAN. We examine LIAN both theoretically and empirically. We show that it is sound and complete (under some restrictions). We also show that LIAN outperforms the analogues when solving numerous path planning tasks within urban outdoor navigation scenarios.

Connected through hyperedge HE-1 (induced by source paper "sparse 3d point cloud map upsampling and noise removal as a vslam post processing step experimental evaluation"):
  with members:
    - "orb slam2 an open source slam system for monocular stereo and rgb d cameras"
    - "cnn slam real time dense monocular slam with learned depth prediction"
    - "past present and future of simultaneous localization and mapping toward the robust perception age"

Connected through hyperedge HE-2 (induced by source paper "elian enhanced algorithm for angle constrained path finding"):
  with members:
    - "theta any angle path planning on grids"

Connected through hyperedge HE-3 (induced by source paper "behavior and path planning for the coalition of cognitive robots in smart relocation tasks"):
  with members:
    - "theta any angle path planning on grids"
    - "the lama planner guiding cost based anytime planning with landmarks"
    - "modelling mixed discrete continuous domains for planning"
    - "the fast downward planning system"
    - "pddl2 1 an extension to pddl for expressing temporal planning domains"
    - "the ff planning system fast plan generation through heuristic search"
    - "the symbol grounding problem"

Connected through hyperedge HE-4 (induced by source paper "an efficient approach to communication aware path planning for long range surveillance missions undertaken by uavs"):
  with members:
    - "theta any angle path planning on grids"

Connected through hyperedge HE-5 (induced by source paper "applying mapp algorithm for cooperative path finding in urban environments"):
  with members:
    - "mapp a scalable multi agent path planning algorithm with tractability and completeness guarantees"

Connected through hyperedge HE-6 (induced by source paper "resolving spatial time conflicts in a set of any angle or angle constrained grid paths"):
  with members:
    - "proximal operators for multi agent path planning"
    - "mapp a scalable multi agent path planning algorithm with tractability and completeness guarantees"
    - "theta any angle path planning on grids"

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.AI(Artificial Intelligence)