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This paper introduces the Smac Planner, an openly available search-basedplanning framework with multiple algorithm implementations including 2D-A*,Hybrid-A*, and State Lattice planners. This work is motivated by the lack ofperformant and available feasible planners for mobile and surface roboticsresearch.  This paper contains three main contributions. First, it briefly describes aminimal open-source software framework where search-based planners may beeasily added. Further, this paper characterizes new variations on the feasibleplanners - dubbed Cost-Aware - specific to mobile roboticist's needs. Thisfills the gap of missing kinematically feasible implementations suitable foracademic, extension, and deployed use. Finally, we provide baselinebenchmarking against other standard planning frameworks.  Smac Planner has further significance by becoming the standard open-sourceplanning system within ROS 2's Nav2 framework which powers thousands of robotsin research and industry.

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