The agent programming language GOLOG and the underlying Situation
Calculus have become popular means for the modelling and control of
autonomous agents such as mobile robots. Although such agents' tasks
are typically open-ended, little attention has been paid so far to the
analysis of non-terminating GOLOG control programs. Recently we
therefore introduced a logic that allows to express properties of
Golog programs using operators from temporal logics while retaining
the full first-order expressiveness of the Situation
Calculus. Combining ideas from classical symbolic model checking with
first-order theorem proving we presented a verification method for a
restricted subclass of temporal properties. In this paper, we extend
this work by considering arbitrary temporal formulas. Our algorithm is
inspired by classical CTL* model checking, but introduces techniques
to cope with arbitrary first-order quantification.