# \[Nav2\] New Smac Planner Paper Released

**URL:** <https://discourse.openrobotics.org/t/nav2-new-smac-planner-paper-released/35806>\
**Category:** Navigation\
**Created:** [January 26, 2024, 8:59pm UTC](https://discourse.openrobotics.org/t/nav2-new-smac-planner-paper-released/35806 "2024-01-26T20:59:41Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![smac](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/smac/32/6763_2.png) [@smac](https://discourse.openrobotics.org/u/smac)\
**Post date:** [January 26, 2024, 8:59pm UTC](https://discourse.openrobotics.org/t/nav2-new-smac-planner-paper-released/35806/1 "2024-01-26T20:59:41Z")

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Hi all,

Your Friendly Neighborhood Navigator here with a quick announcement. The Smac Planner has its description paper now available on Arxiv for your perusal. It describes the different planning algorithms in the framework, the motivation for its development, descriptions of key components, and some metrics to round it off.

> **[Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and...](https://arxiv.org/abs/2401.13078)**
>
> 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...

Its also been summarized on the Open Navigation blog if you’re interested!

> **[Nav2 Smac Planner Paper Released! — Open Navigation LLC](https://www.opennav.org/news/smac-planner)**
>
> Now available on Arxiv , Nav2’s Feasible Planning Framework - the Smac Planner - finally has a robust description of the system and its implementation considerations for reference and citation. Authored by Steve Macenski, Matthew Booker, and Josh...

Happy planning,

Steve