An alternative to discounted cost is to use the average
cost-per-stage model, which keeps the cumulative cost finite by
dividing out the total number of stages:
 |
(10.68) |
Using the maximum per-stage cost bound
, it is clear that
(10.69) grows no larger than
, even as
.
This model is sometimes preferable because the cost does not depend on
an arbitrary parameter,
.
Steven M LaValle
2020-08-14