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Optimal Control with Weighted Average Costs and Temporal Logic Specifications 
Abstract 
We consider optimal control for a system s … We consider optimal control for a system subject to temporal logic constraints. We minimize a weighted average cost function that generalizes the commonly used average cost function from discretetime optimal control. Dynamic programming algorithms are used to construct an optimal trajectory for the system that minimizes the cost function while satisfying a temporal logic specification. Constructing an optimal trajectory takes only polynomially more time than constructing a feasible trajectory. We demonstrate our methods on simulations of autonomous driving and robotic surveillance tasks. us driving and robotic surveillance tasks. +


Authors  Eric M. Wolff, Ufuk Topcu and Richard M. Murray + 
ID  2012i + 
Source  2012 Robotics: Systems and Science (RSS) Conference + 
Tag  wtm12rss + 
Title  Optimal Control with Weighted Average Costs and Temporal Logic Specifications + 
Type  Conference Paper + 
Categories  Papers 
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15 May 2016 06:15:45 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/wtm12rss.pdf + 
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Optimal Control with Weighted Average Costs and Temporal Logic Specifications +  Title 
