Optimal strategies maximizing utilitarian social welfare in MDPs with heterogeneous discount factors are pure finite-memory counting strategies synthesizable in polynomial time, while threshold questions for positional strategies are NP-hard.
[Chatterjeeet al., 2013 ] Krishnendu Chatterjee, V ojt ˇech Forejt, and Dominik Wojtczak
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Social Welfare under Heterogeneous Time Preferences
Optimal strategies maximizing utilitarian social welfare in MDPs with heterogeneous discount factors are pure finite-memory counting strategies synthesizable in polynomial time, while threshold questions for positional strategies are NP-hard.