Footstep planners generate a sequence of steps for repeating a predefined walking motion of robot, which is used for navigation of biped humanoids. These planners obviate the need of computationally expensive process of generating full body motions for navigation. Methods used for 2D path planning in wheeled robots does not provide optimal solutions for humanoids as these solutions do not consider stepping over or stepping upon small planar obstacles. Several variants of A*-based algorithms can be used for planning footsteps. This project focuses on implementation of A*, R*, and ARA* to compare the performance of each of these algorithms when applied for footstep planning on Atlas robot.