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In this paper, we consider a robot motion planning problem from a specification given as a syntactically co-safe linear temporal logic formula over a set of properties known to be satisfied at the regions of an unknown environment. The robot is assumed to be equipped with deterministic motion and accurate sensing capabilities. The environment is assumed to be partitioned into a finite number of identical square cells. By bringing together tools from formal verification, graph theory, anddoi:10.1109/iros.2013.6697120 dblp:conf/iros/AyalaAB13 fatcat:cdw56b2efvfulpccflnvr5t6xu