  We address the path planning problem for a team of robots satisfying a
complex high-level mission specification given in the form of an Linear
Temporal Logic (LTL) formula. The state-of-the-art approach to this problem
employs the automata-theoretic model checking technique to solve this problem.
This approach involves computation of a product graph of the Buchi automaton
generated from the LTL specification and a joint transition system which
captures the collective motion of the robots and then computation of the
shortest path using Dijkstra's shortest path algorithm. We propose MT*, an
algorithm that reduces the computation burden for generating such plans for
multi-robot systems significantly. Our approach generates a reduced version of
the product graph without computing the complete joint transition system, which
is computationally expensive. It then divides the complete mission
specification among the participating robots and generates the trajectories for
the individual robots independently. Our approach demonstrates substantial
speedup in terms of computation time over the state-of-the-art approach, and
unlike the state of the art approach, scales well with both the number of
robots and the size of the workspace
