diff --git a/include/arbitration_graphs/arbitrator.hpp b/include/arbitration_graphs/arbitrator.hpp
index de6d80d6..125c5c6d 100644
--- a/include/arbitration_graphs/arbitrator.hpp
+++ b/include/arbitration_graphs/arbitrator.hpp
@@ -62,8 +62,16 @@ class Arbitrator : public Behavior<CommandT> {
 
         typename Behavior<SubCommandT>::Ptr behavior_;
         FlagsT flags_;
+        mutable util_caching::Cache<Time, SubCommandT> command_;
         mutable util_caching::Cache<Time, VerificationResultT> verificationResult_;
 
+        SubCommandT getCommand(const Time& time) const {
+            if (!command_.cached(time)) {
+                command_.cache(time, behavior_->getCommand(time));
+            }
+            return command_.cached(time).value();
+        }
+
         bool hasFlag(const FlagsT& flag_to_check) const {
             return flags_ & flag_to_check;
         }
@@ -250,4 +258,4 @@ class Arbitrator : public Behavior<CommandT> {
 } // namespace arbitration_graphs
 
 #include "internal/arbitrator_impl.hpp"
-#include "internal/arbitrator_io.hpp"
\ No newline at end of file
+#include "internal/arbitrator_io.hpp"
diff --git a/include/arbitration_graphs/cost_arbitrator.hpp b/include/arbitration_graphs/cost_arbitrator.hpp
index d5e2971a..add1a695 100644
--- a/include/arbitration_graphs/cost_arbitrator.hpp
+++ b/include/arbitration_graphs/cost_arbitrator.hpp
@@ -76,7 +76,7 @@ class CostArbitrator : public Arbitrator<CommandT, SubCommandT, VerifierT, Verif
 
 
     CostArbitrator(const std::string& name = "CostArbitrator", const VerifierT& verifier = VerifierT())
-            : ArbitratorBase(name, verifier){};
+            : ArbitratorBase(name, verifier) {};
 
 
     void addOption(const typename Behavior<SubCommandT>::Ptr& behavior,
@@ -118,10 +118,10 @@ class CostArbitrator : public Arbitrator<CommandT, SubCommandT, VerifierT, Verif
 
             double cost;
             if (isActive) {
-                cost = option->costEstimator_->estimateCost(option->behavior_->getCommand(time), isActive);
+                cost = option->costEstimator_->estimateCost(option->getCommand(time), isActive);
             } else {
                 option->behavior_->gainControl(time);
-                cost = option->costEstimator_->estimateCost(option->behavior_->getCommand(time), isActive);
+                cost = option->costEstimator_->estimateCost(option->getCommand(time), isActive);
                 option->behavior_->loseControl(time);
             }
             option->last_estimated_cost_ = cost;
@@ -139,4 +139,4 @@ class CostArbitrator : public Arbitrator<CommandT, SubCommandT, VerifierT, Verif
 };
 } // namespace arbitration_graphs
 
-#include "internal/cost_arbitrator_io.hpp"
\ No newline at end of file
+#include "internal/cost_arbitrator_io.hpp"
diff --git a/include/arbitration_graphs/internal/arbitrator_impl.hpp b/include/arbitration_graphs/internal/arbitrator_impl.hpp
index 8e7010ca..5ec6f5ac 100644
--- a/include/arbitration_graphs/internal/arbitrator_impl.hpp
+++ b/include/arbitration_graphs/internal/arbitrator_impl.hpp
@@ -51,7 +51,7 @@ template <typename CommandT, typename SubCommandT, typename VerifierT, typename
 std::optional<SubCommandT> Arbitrator<CommandT, SubCommandT, VerifierT, VerificationResultT>::getAndVerifyCommand(
     const typename Option::Ptr& option, const Time& time) const {
     try {
-        const SubCommandT command = option->behavior_->getCommand(time);
+        const SubCommandT command = option->getCommand(time);
 
         const VerificationResultT verificationResult = verifier_.analyze(time, command);
         option->verificationResult_.cache(time, verificationResult);
@@ -127,4 +127,4 @@ SubCommandT Arbitrator<CommandT, SubCommandT, VerifierT, VerificationResultT>::g
                                                     " applicable options passed the verification step!");
 }
 
-} // namespace arbitration_graphs
\ No newline at end of file
+} // namespace arbitration_graphs
diff --git a/test/cost_arbitrator.cpp b/test/cost_arbitrator.cpp
index 9ff5b034..8e8b301e 100644
--- a/test/cost_arbitrator.cpp
+++ b/test/cost_arbitrator.cpp
@@ -116,6 +116,36 @@ TEST_F(CostArbitratorTest, BasicFunctionality) {
     EXPECT_EQ("high_cost", testCostArbitrator.getCommand(time));
 }
 
+TEST_F(CostArbitratorTest, CommandCaching) {
+    testCostArbitrator.addOption(testBehaviorLowCost, OptionFlags::NO_FLAGS, cost_estimator);
+    testCostArbitrator.addOption(testBehaviorLowCost, OptionFlags::NO_FLAGS, cost_estimator);
+    testCostArbitrator.addOption(testBehaviorHighCost, OptionFlags::NO_FLAGS, cost_estimator);
+    testCostArbitrator.addOption(testBehaviorMidCost, OptionFlags::NO_FLAGS, cost_estimator);
+
+    EXPECT_TRUE(testCostArbitrator.checkInvocationCondition(time));
+    EXPECT_FALSE(testCostArbitrator.checkCommitmentCondition(time));
+    EXPECT_EQ(0, testBehaviorMidCost->getCommandCounter_);
+
+    testCostArbitrator.gainControl(time);
+
+    // Even though the cost arbitrator needs to compute the command to estimate the costs, the behaviors getCommand
+    // should only be called once since the result is cached
+    EXPECT_EQ("mid_cost", testCostArbitrator.getCommand(time));
+    EXPECT_EQ(1, testBehaviorMidCost->getCommandCounter_);
+    EXPECT_EQ("mid_cost", testCostArbitrator.getCommand(time));
+    // For a second call to getCommand, we can still use the cached command
+    EXPECT_EQ(1, testBehaviorMidCost->getCommandCounter_);
+
+    time = time + Duration(1);
+
+    // The cached command should be invalidated after the time has passed
+    // Therefore the behavior should be called again once for the new time
+    EXPECT_EQ("mid_cost", testCostArbitrator.getCommand(time));
+    EXPECT_EQ(2, testBehaviorMidCost->getCommandCounter_);
+    EXPECT_EQ("mid_cost", testCostArbitrator.getCommand(time));
+    EXPECT_EQ(2, testBehaviorMidCost->getCommandCounter_);
+}
+
 TEST_F(CostArbitratorTest, Printout) {
     testCostArbitrator.addOption(testBehaviorLowCost, OptionFlags::NO_FLAGS, cost_estimator);
     testCostArbitrator.addOption(testBehaviorLowCost, OptionFlags::NO_FLAGS, cost_estimator);
diff --git a/test/dummy_types.hpp b/test/dummy_types.hpp
index d0304d46..37126a5e 100644
--- a/test/dummy_types.hpp
+++ b/test/dummy_types.hpp
@@ -41,10 +41,10 @@ class DummyBehavior : public Behavior<DummyCommand> {
     using Ptr = std::shared_ptr<DummyBehavior>;
 
     DummyBehavior(const bool invocation, const bool commitment, const std::string& name = "DummyBehavior")
-            : Behavior(name), invocationCondition_{invocation}, commitmentCondition_{commitment}, loseControlCounter_{
-                                                                                                      0} {};
+            : Behavior(name), invocationCondition_{invocation}, commitmentCondition_{commitment} {};
 
     DummyCommand getCommand(const Time& time) override {
+        getCommandCounter_++;
         return name_;
     }
     bool checkInvocationCondition(const Time& time) const override {
@@ -59,7 +59,8 @@ class DummyBehavior : public Behavior<DummyCommand> {
 
     bool invocationCondition_;
     bool commitmentCondition_;
-    int loseControlCounter_;
+    int getCommandCounter_{0};
+    int loseControlCounter_{0};
 };
 
 struct DummyResult {
@@ -76,4 +77,4 @@ struct DummyResult {
 inline std::ostream& operator<<(std::ostream& out, const arbitration_graphs_tests::DummyResult& result) {
     out << (result.isOk() ? "is okay" : "is not okay");
     return out;
-}
\ No newline at end of file
+}