{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/open-source-cost-aware-kinematically-feasible","title":"Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics","arxiv_id":"2401.13078","date":"2024-01-23","proceeding":null,"authors":["Steve Macenski","Matthew Booker","Joshua Wallace","Tobias Fischer"],"abstract":"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.","url_abs":"https://arxiv.org/abs/2401.13078v2","url_pdf":"https://arxiv.org/pdf/2401.13078v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"open-source-cost-aware-kinematically-feasible","repo_url":"https://github.com/ros-planning/navigation2","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"open-source-cost-aware-kinematically-feasible","repo_url":"https://github.com/ros-navigation/navigation2","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}