diff --git a/crosbot_explore/src/nodes/astar_explorer_node.cpp b/crosbot_explore/src/nodes/astar_explorer_node.cpp
index 7fbf07e5d7ed4efea5c96d3bfc1b2ecbaac9abe2..85e1eee37cd6d885d54273ca2224f94fb15c60aa 100644
--- a/crosbot_explore/src/nodes/astar_explorer_node.cpp
+++ b/crosbot_explore/src/nodes/astar_explorer_node.cpp
@@ -223,7 +223,9 @@ void AStarExplorerROSNode::handleExploreMode(crosbot_explore::SetExplorerModeReq
 
             // Start planning thread
             planningOperating = true;
-            planningThread->start();
+            if( !planningThread->isAlive() ){
+                planningThread->start();
+            }
         } else {
             ROS_ERROR("%s No pose provided for A* goal", LOG_START);
             response.success = false;