  Temporal logic task planning for robotic systems suffers from state explosion
when specifications involve large numbers of discrete locations. We provide a
novel approach, particularly suited for tasks specifications with universally
quantified locations, that has constant time with respect to the number of
locations, enabling synthesis of plans for an arbitrary number of them. We
propose a hybrid control framework that uses an iterator to manage the
discretised workspace hiding it from a plan enacted by a discrete event
controller. A downside of our approach is that it incurs in increased overhead
when executing a synthesised plan. We demonstrate that the overhead is
reasonable for missions of a fixed-wing Unmanned Aerial Vehicle in simulated
and real scenarios for up to 700000 locations.
