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Motion planning of an autonomous system with high-level specifications has wide applications. However, research of formal languages involving timed temporal logic is still under investigation. Furthermore, many existing results rely on a key assumption that user-specified tasks are feasible in the given environment. Challenges arise when the operating environment is dynamic and unknown since the environment can be found prohibitive, leading to potentially conflicting tasks where pre-specifiedarXiv:2110.09007v3 fatcat:c7eihdiqfbffnjl5zllzzbh5x4