For the motion planning problem, a Pareto-optimal solution is also
optimal for a scalar cost functional that is constructed as a linear
combination of the individual costs. Let , ,
be positive real constants, and let
|
(7.29) |
It is easy to show that any plan that is optimal with respect to
(7.29) is also a Pareto-optimal solution
[606]. If a Pareto optimal solution is generated in this
way, however, there is no easy way to determine what alternatives
exist.
Steven M LaValle
2020-08-14