In this task, you are given a part of an article. Your task is to generate headline (title) for this text. Preferred headlines are under fifteen words.

Ex Input:
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous, non-anonymous, or organized in groups. Although powerful solvers for this abstract problem exist, they make simplifying assumptions by ignoring kinematic constraints, making it difficult to use the resulting plans on actual robots. In this paper, we present a solution which takes kinematic constraints, such as maximum velocities, into account, while guaranteeing a user-specified minimum safety distance between robots. We demonstrate our approach in simulation and on real robots in 2D and 3D environments.

Ex Output:
Path Planning With Kinematic Constraints For Robot Groups


Ex Input:
1 Ranks, processes and flat grammar ....................................................................................... 2 2 The Rank-Interpretation Architecture for Multilinear Grammars ......................................... 6 2.1 Outline of the Rank-Interpretation Architecture framework .............................................. 6 2.2 A preliminary note on linearity and hierarchy at the phrasal rank ..................................... 7 2.3 Characterisation of the Rank-Interpretation Architecture .................................................. 9 2.3.1 Background ..................................................................................................................... 9 2.3.2 Formal summary ........................................................................................................... 10 2.3.3 Contrast with traditional views of language architecture .............................................. 11 2.3.4 Search for sui generis properties of ranks ..................................................................... 11 2.4 Procedural perspectives on the rank hierarchy ................................................................. 12 3 The discourse rank .............................................................................................................. 15 3.1 The primacy of discourse patterning ................................................................................ 15 3.2 Intonation of an adjacency pair ........................................................................................ 16 3.3 Chanted ‘call’ intonation .................................................................................................. 18 4 The utterance or text rank ................................................................................................... 20 5 The phrase rank ................................................................................................................... 22 5.1 Characteristics of phrasal structure .................................................................................. 22 5.2 Linear sequences, iteration: regular and subregular grammars ........................................ 23 5.3 A note on long-distance and cross-serial dependencies ................................................... 26 5.4 Prosodic-phonetic interpretation at the phrasal rank ........................................................ 27 6 The word rank ..................................................................................................................... 30 6.1 Flat words ......................................................................................................................... 30 6.2 Flat derivations ................................................................................................................. 30 6.3 Flat compounds ................................................................................................................ 31 6.4 Prosodic-phonetic interpretation at the word rank ........................................................... 31 7 Summary and conclusion .................................................................................................... 33 7.1 From Duality to Multilinear Grammar and Rank Interpretation Architecture ................. 33 7.2 Generalisation to stochastic flat linear models ................................................................. 34 7.3 Future work ...................................................................................................................... 35 8 References ........................................................................................................................... 36

Ex Output:
Multilinear Grammar: Ranks and Interpretations


Ex Input:
Abstract: We often encounter situations in which an experimenter wants to find, by sequential experimentation, xmax = arg maxx f(x), where f(x) is a (possibly unknown) function of a well controllable variable x. Taking inspiration from physics and engineering, we have designed a new method to address this problem. In this paper, we first introduce the method in continuous time, and then present two algorithms for use in sequential experiments. Through a series of simulation studies, we show that the method is effective for finding maxima of unknown functions by experimentation, even when the maximum of the functions drifts or when the signal to noise ratio is low.

Ex Output:

Thompson sampling with the online bootstrap