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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 , .