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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. +
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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 This property is a special property in this wiki.
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15 May 2016 06:15:45 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/wtm12-rss.pdf + |
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Optimal Control with Weighted Average Costs and Temporal Logic Specifications + | Title |
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