A major goal in robot motion planning and control is to be able to specify a task in a high-level, expressive language and have the robot(s) to automatically convert the specification into a set of low-level primitives, such as feedback controllers and communication protocols, to accomplish the task. The robots can vary from manipulator arms used in manufacturing or surgery, to autonomous vehicles used in search and rescue or in planetary exploration, and to smart wheelchairs for disabled people. They are subject to mechanical constraints (e.g., a carlike robot cannot move sideways, an airplane cannot stop in place) and have limited computation, sensing, and communication capabilities.