We introduce a flight-procedure generation framework that relies on the optimal version of the rapidly-exploring random tree (RRT*) algorithm, where nodes are connected using Dubins paths. This framework is employed for the generation of required navigation performance authorization required approach (RNP AR APCH) procedures, taking into consideration design constraints established by the international civil aviation organization (ICAO). To evaluate the framework’s viability, we examine a series of challenging scenarios, for which we swiftly generate a series of operationally-compliant flight procedures. Furthermore, we assess how several of the RRT* configuration parameters can affect the generated procedures. The automation capabilities provided by our framework will benefit flight-procedure designers, saving time in the design process and enabling them to propose flight procedures which will potentially lead to more efficient aircraft trajectories.