Optimal Control with Weighted Average Costs and Temporal Logic Specifications
Eric M. Wolff, Ufuk Topcu, Richard M. Murray · 2012
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.