# Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics

arXiv: https://arxiv.org/abs/2401.13078 · HTML: https://mlsanity.com/paper/2401.13078/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 Jan 2024.

## Built on by (most cited first, 2 of 2)

- [Holistic Construction Automation with Modular Robots: From High-Level Task Specification to Execution](https://mlsanity.com/paper/2412.20867/) (2024)
- [RENEW: Risk- and Energy-Aware Navigation in Dynamic Waterways](https://mlsanity.com/paper/2601.16424/) (2026)

## Abstract (arXiv)

We present Smac Planner, an openly available, search-based planning framework that addresses the critical need for kinematically feasible path planning across diverse robot platforms. Smac Planner provides high-performance implementations of Cost-Aware A*, Hybrid-A*, and State Lattice planners that can be deployed for Ackermann, legged, and other large non-circular robots. Our framework introduces novel "Cost-Aware" variations that significantly improve performance in complex environments common to mobile robotics while maintaining kinematic feasibility constraints. Integrated as the standard planning system within the popular ROS 2 Navigation stack, Nav2, Smac Planner now powers thousands of robots worldwide across academic research, commercial applications, and field deployments.