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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 discrete-time 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 wtm12-rss  +
Title Optimal Control with Weighted Average Costs and Temporal Logic Specifications +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:15:45  +
URL
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http://www.cds.caltech.edu/~murray/preprints/wtm12-rss.pdf  +
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