diff --git a/configuration/packages/configuring-thetastar.rst b/configuration/packages/configuring-thetastar.rst
index 43aafcc10f..eb76219c9c 100644
--- a/configuration/packages/configuring-thetastar.rst
+++ b/configuration/packages/configuring-thetastar.rst
@@ -70,6 +70,17 @@ The parameters of the planner are:
   Description
     If true, the last pose of the path generated by the planner will have its orientation set to the approach orientation, i.e. the orientation of the vector connecting the last two points of the path
 
+:``<name>``.allow_unknown:
+
+  ==== =======
+  Type Default                                                   
+  ---- -------
+  bool True            
+  ==== =======
+
+  Description
+    Whether to allow planning in unknown space.
+
 .. Note::
   Do go through the README file available on this repo's link to develop a better understanding of how you could tune this planner.
   This planner requires you to tune the `cost_scaling_factor` parameter of your costmap too, to get good results.