This thesis focuses on temporal logic-based motion planning for autonomous ve-
hicles. Specically planning based on Linear Temporal Logic statements. This
type of motion planning allows for automatic generation of correct by construc-
tion controllers that implement missions dened in a language that is both quite
expressive and easy to understand.
The main contribution of this thesis is to provide a framework of reuseable
Python modules that implement algorithms for the production of plans based
on Linear Temporal Logic and ecient online revising of existing plans when the
The general case of oine planning is presented as well as several options for
online planning based on partially known and dynamic environments. The dif-
ferent online planning methods are simulated and their feasibility in dierent
scenarios is discussed. Finally, implementation concerns and future directions
2014. , 69 p.