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: "x anytime multiagent planning with bounded search"
  Abstract: Multi-agent planning in dynamic domains is a challenging problem: the size of the configuration space increases exponentially in the number of agents, and plans need to be re-evaluated periodically to account for moving obstacles. However, we have two key insights that hold in several domains: 1) conflicts between multi-agent plans often have geometrically local resolutions within a small repair window, even if such local resolutions are not globally optimal; and 2) the partial search tree for such local resolutions can then be iteratively improved over successively larger windows to eventually compute the global optimal plan. Building upon these two insights, we introduce a sparse, anytime variant of the A* planner, which we call X* (Expanding A*). X* operates by planning for each agent individually and forming local repair windows around collisions, repairing agents within that window. If time allows, X* grows the window and repeats. X* implements two novel techniques to reduce the computational cost compared to joint A*: 1) it preserves the partial X* search trees and priority queues between iterations of window growth; and 2) it defers explicit joint state enumeration until necessary. By preserving the search tree, X* significantly out-performs joint A* and a naive window-growing A* algorithm. By deferring explicit joint state enumeration, X* reduces the number of priority queue operations by several orders of magnitude compared to a joint A* planner. We present empirical results from several domains, showing that X* outperforms existing state-of-the-art joint planners for sparse anytime multi-agent planning with optimality convergence.

Connected through hyperedge HE-1 (induced by source paper "ddm fast near optimal multi robot path planning using diversified path and optimal sub problem solution database heuristics"):
  with members:
    - "multi agent pathfinding definitions variants and benchmarks"
    - "priority inheritance with backtracking for iterative multi agent path finding"
    - "automatic algorithm selection in multi agent pathfinding"
    - "coordinating the motion of labeled discs with optimality guarantees under extreme density"
    - "constant factor time optimal multi robot routing on high dimensional grids in mostly sub quadratic time"
    - "lifelong multi agent path finding for online pickup and delivery tasks"
    - "learning the problem optimum map analysis and application to global optimization in robotics"
    - "motion planning for unlabeled discs with optimality guarantees"

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.MA(Multiagent Systems)