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: "an ekf slam algorithm with consistency properties"
  Abstract: In this paper we address the inconsistency of the EKF-based SLAM algorithm that stems from non-observability of the origin and orientation of the global reference frame. We prove on the non-linear two-dimensional problem with point landmarks observed that this type of inconsistency is remedied using the Invariant EKF, a recently introduced variant ot the EKF meant to account for the symmetries of the state space. Extensive Monte-Carlo runs illustrate the theoretical results.

Connected through hyperedge HE-1 (induced by source paper "a code for unscented kalman filtering on manifolds ukf m"):
  with members:
    - "exploiting symmetries to design ekfs with consistency properties for navigation and slam"
    - "contact aided invariant extended kalman filtering for legged robot state estimation"
    - "a micro lie theory for state estimation in robotics"
    - "quaternion kinematics for the error state kalman filter"
    - "the invariant extended kalman filter as a stable observer"
    - "intrinsic filtering on lie groups with applications to attitude estimation"
    - "integrating generic sensor fusion algorithms with sound state representations through encapsulation of manifolds"

Connected through hyperedge HE-2 (induced by source paper "exploiting symmetries to design ekfs with consistency properties for navigation and slam"):
  with members:
    - "robust stereo visual inertial odometry for fast autonomous flight"
    - "past present and future of simultaneous localization and mapping toward the robust perception age"
    - "the invariant extended kalman filter as a stable observer"

Connected through hyperedge HE-3 (induced by source paper "invariant cubature kalman filter for monocular visual inertial odometry with line features"):
  with members:
    - "vins mono a robust and versatile monocular visual inertial state estimator"
    - "on manifold preintegration for real time visual inertial odometry"
    - "integrating generic sensor fusion algorithms with sound state representations through encapsulation of manifolds"

Connected through hyperedge HE-4 (induced by source paper "an equivariant observer design for visual localisation and mapping"):
  with members:
    - "past present and future of simultaneous localization and mapping toward the robust perception age"

Connected through hyperedge HE-5 (induced by source paper "contact aided invariant extended kalman filtering for legged robot state estimation"):
  with members:
    - "rins w robust inertial navigation system on wheels"
    - "closed form preintegration methods for graph based visual inertial navigation"
    - "hybrid contact preintegration for visual inertial contact state estimation using factor graphs"
    - "robocentric visual inertial odometry"
    - "feedback control of a cassie bipedal robot walking standing and riding a segway"
    - "vins mono a robust and versatile monocular visual inertial state estimator"
    - "invariant smoothing on lie groups"
    - "on manifold preintegration for real time visual inertial odometry"

Connected through hyperedge HE-6 (induced by source paper "invariant smoothing on lie groups"):
  with members:
    - "on manifold preintegration for real time visual inertial odometry"
    - "an invariant linear quadratic gaussian controller for a simplified car"
    - "the invariant extended kalman filter as a stable observer"
    - "intrinsic filtering on lie groups with applications to attitude estimation"
    - "integrating generic sensor fusion algorithms with sound state representations through encapsulation of manifolds"

Connected through hyperedge HE-7 (induced by source paper "an invariant ekf vins algorithm for improving consistency"):
  with members:
    - "on manifold preintegration for real time visual inertial odometry"
    - "orb slam a versatile and accurate monocular slam system"

Connected through hyperedge HE-8 (induced by source paper "convergence and consistency analysis for a 3d invariant ekf slam"):
  with members:
    - "on manifold preintegration for real time visual inertial odometry"
    - "integrating generic sensor fusion algorithms with sound state representations through encapsulation of manifolds"

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)