The project is focused on integrating Artificial Intelligence and Machine Learning techniques with Motion Planning for robotic systems with one or multiple agents. Autonomous robotics provides a viable venue to increase productivity in many different areas, such as transportation in the form of self-driving cars and package-delivery drones, search-and-rescue missions, space exploration, surgical interventions, and animation in gaming. The objective is to make it possible to incorporate safety zones into path planning. Each safety zone consists of a centre location and a corresponding radius, representing the maximum permissible distance the robot can travel to reach the centre. A location is deemed safe if the robot can reach a safety centre while avoiding collisions and without travelling more than the radius associated with the safety centre. The objective is to compute a collision-free path that enables the robot to reach its goal while remaining within safe locations. In this way, the robot can always detour to a safety centre in response to emergency situations.