diff --git a/nav2_smac_planner/test/test_smac_2d.cpp b/nav2_smac_planner/test/test_smac_2d.cpp
index e2dff5a56f4..89ad666b789 100644
--- a/nav2_smac_planner/test/test_smac_2d.cpp
+++ b/nav2_smac_planner/test/test_smac_2d.cpp
@@ -77,6 +77,13 @@ TEST(SmacTest, test_smac_2d) {
   } catch (...) {
   }
 
+  // corner case where the start and goal are on the same cell
+  goal.pose.position.x = 0.01;
+  goal.pose.position.y = 0.01;
+
+  nav_msgs::msg::Path plan = planner_2d->createPlan(start, goal, dummy_cancel_checker);
+  EXPECT_EQ(plan.poses.size(), 1);  // single point path
+
   planner_2d->deactivate();
   planner_2d->cleanup();
 
diff --git a/nav2_smac_planner/test/test_smac_hybrid.cpp b/nav2_smac_planner/test/test_smac_hybrid.cpp
index 9952912596b..a70ae86fc7d 100644
--- a/nav2_smac_planner/test/test_smac_hybrid.cpp
+++ b/nav2_smac_planner/test/test_smac_hybrid.cpp
@@ -76,6 +76,13 @@ TEST(SmacTest, test_smac_se2)
   } catch (...) {
   }
 
+  // corner case where the start and goal are on the same cell
+  goal.pose.position.x = 0.01;
+  goal.pose.position.y = 0.01;
+
+  nav_msgs::msg::Path plan = planner->createPlan(start, goal, dummy_cancel_checker);
+  EXPECT_EQ(plan.poses.size(), 1);  // single point path
+
   planner->deactivate();
   planner->cleanup();
 
diff --git a/nav2_smac_planner/test/test_smac_lattice.cpp b/nav2_smac_planner/test/test_smac_lattice.cpp
index dcc925e9e72..c187abd8591 100644
--- a/nav2_smac_planner/test/test_smac_lattice.cpp
+++ b/nav2_smac_planner/test/test_smac_lattice.cpp
@@ -84,6 +84,13 @@ TEST(SmacTest, test_smac_lattice)
   } catch (...) {
   }
 
+  // corner case where the start and goal are on the same cell
+  goal.pose.position.x = 0.01;
+  goal.pose.position.y = 0.01;
+
+  nav_msgs::msg::Path plan = planner->createPlan(start, goal, dummy_cancel_checker);
+  EXPECT_EQ(plan.poses.size(), 1);  // single point path
+
   planner->deactivate();
   planner->cleanup();