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: "on line and on board planning and perception for quadrupedal locomotion"
  Abstract: We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body movement primitives for computing a body action plan. The lattice representation allows us to plan versatile movements that ensure feasibility for every possible plan. To this end, we propose a set of rules that define the footstep search regions and footstep sequence given a body action. We use Anytime Repairing A∗ (ARA∗) search that guarantees bounded suboptimal plans. Our main contribution is a planning approach that generates on-line versatile movements. Experimental trials demonstrate the performance of our planning approach in a set of challenging terrain conditions. The terrain information and plans are computed on-line and on-board.

Connected through hyperedge HE-1 (induced by source paper "heuristic planning for rough terrain locomotion in presence of external disturbances and variable perception quality"):
  with members:
    - "application of wrench based feasibility analysis to the online trajectory optimization of legged robots"
    - "simultaneous contact gait and motion planning for robust multi legged locomotion via mixed integer convex optimization"
    - "motion planning for quadrupedal locomotion coupled planning terrain mapping and whole body control"
    - "planning and execution of dynamic whole body locomotion for a hydraulic quadruped on challenging terrain"

Connected through hyperedge HE-2 (induced by source paper "fast and continuous foothold adaptation for dynamic locomotion through cnns"):
  with members:
    - "simultaneous contact gait and motion planning for robust multi legged locomotion via mixed integer convex optimization"

Connected through hyperedge HE-3 (induced by source paper "motion planning for quadrupedal locomotion coupled planning terrain mapping and whole body control"):
  with members:
    - "differential dynamic programming for multi phase rigid contact dynamics"
    - "simultaneous contact gait and motion planning for robust multi legged locomotion via mixed integer convex optimization"
    - "structured contact force optimization for kino dynamic motion generation"
    - "a convex model of momentum dynamics for multi contact motion generation"
    - "planning and execution of dynamic whole body locomotion for a hydraulic quadruped on challenging terrain"

Connected through hyperedge HE-4 (induced by source paper "hierarchical planning of dynamic movements without scheduled contact sequences"):
  with members:
    - "planning and execution of dynamic whole body locomotion for a hydraulic quadruped on challenging terrain"

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)