What do you mean by "suitable optimal". There is either optimal or sub-optimal. If you have temporal logic, it sounds like your dealing with a stochastic system. The path you plan most likely is an approximation of the optimal solution at that time step. If you have a destination then some shortest path algorithms must apply, if not you're looking at a hard problem an approximation may be necessary, especially with on board computation. I suggest looking into a rolling horizon approach. Not knowing more about the problem, I can only point you to this work that might be a good start for reading on this subject.

Article Motion Planning under Uncertainty for Robotic Tasks with Lon...

logic temporal follow is i think some path control being done through their dynamics analysis and their DOF. is being first study and then go for controller design .