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Motion planning is the core problem to solve for developing any applicationinvolving an autonomous mobile robot. The fundamental motion planning probleminvolves generating a trajectory for a robot for point-to-point navigationwhile avoiding obstacles. Heuristic-based search algorithms like A* have beenshown to be extremely efficient in solving such planning problems. Recently,there has been an increased interest in specifying complex motion plans usingtemporal logic. In the state-of-the-art algorithm, the temporal logic motionplanning problem is reduced to a graph search problem and Dijkstra's shortestpath algorithm is used to compute the optimal trajectory satisfying thespecification.  The A* algorithm when used with a proper heuristic for the distance from thedestination can generate an optimal path in a graph efficiently. The primarychallenge for using A* algorithm in temporal logic path planning is that thereis no notion of a single destination state for the robot. In this thesis, wepresent a novel motion planning algorithm T* that uses the A* search procedurein temporal logic path planning \emph{opportunistically} to generate an optimaltrajectory satisfying a temporal logic query. Our experimental resultsdemonstrate that T* achieves an order of magnitude improvement over thestate-of-the-art algorithm to solve many temporal logic motion planningproblems.

T* : A Heuristic Search Based Algorithm for Motion Planning with Temporal Goals