Motion Planning with Complex Goals

This article describes approach for solving motion planning problems for mobile robots involving temporal goals. Traditional motion planning for mobile robotic systems involves the construction of a motion plan that takes the system from an initial state to a set of goal states while avoiding collisions with obstacles at all times. The motion plan is also required to respect the dynamics of the system that are typically described by a set of differential equations. A wide variety of techniques have been pro posed over the last two decades to solve such problems [1], [2].