Optimal Control with Weighted Average Costs and Temporal Logic Specifications
Optimal Control with Weighted Average Costs and Temporal Logic Specifications
复制标题
具有加权平均成本和时间逻辑规范的最优控制
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
R. Murray
中科院分区：
文献类型：
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作者：
Eric M. Wolff;U. Topcu;R. Murray
我们考虑具有时序逻辑约束的系统的最优控制问题。我们最小化一个加权平均代价函数，该加权平均代价函数推广了离散时间最优控制中常用的平均代价函数。动态规划算法被用于构造系统的最优轨迹，该轨迹在满足时态逻辑规范的同时最小化代价函数。构建最优轨迹只需要比构建可行轨迹多出多个多项式的时间。我们在自动驾驶和机器人监控任务的模拟上演示了我们的方法。
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.