Robotics: Science and Systems VIII

Optimal Control with Weighted Average Costs and Temporal Logic Specifications

Eric Wolff, Ufuk Topcu, Richard Murray


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.



    AUTHOR    = {Eric Wolff AND Ufuk Topcu AND Richard Murray}, 
    TITLE     = {Optimal Control with Weighted Average Costs and Temporal Logic Specifications}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2012}, 
    ADDRESS   = {Sydney, Australia}, 
    MONTH     = {July},
    DOI       = {10.15607/RSS.2012.VIII.057}