  Autonomous control systems use various sensors to decrease the amount of
uncertainty under which they operate. While providing partial observation of
the current state of the system, sensors require resources such as energy, time
and communication. We consider discrete systems with non-deterministic
transitions and multiple observation modes. The observation modes provide
different information about the states of the system and are associated with
non-negative costs. We consider two control problems. First, we aim to
construct a control and observation mode switching strategy that guarantees
satisfaction of a finite-time temporal property given as a formula of
syntactically co-safe fragment of LTL (scLTL) and at the same time, minimizes
the worst-case cost accumulated until the point of satisfaction. Second, the
bounded version of the problem is considered, where the temporal property must
be satisfied within given finite time bound. We present correct and optimal
solutions to both problems and demonstrate their usability on a case study
motivated by robotic applications.
