diff --git a/src/path-planner/states-path-finder.cc b/src/path-planner/states-path-finder.cc
index e2dd79fbd15f88531d66a9a3d626bf812e3dcf75..62819f7608f8f1a91025a55dab216ccdd2658571 100644
--- a/src/path-planner/states-path-finder.cc
+++ b/src/path-planner/states-path-finder.cc
@@ -237,6 +237,10 @@ namespace hpp {
         return false;
       }
 
+      static bool isLoopTransition (const graph::EdgePtr_t& transition) {
+        return transition->stateTo() == transition->stateFrom();
+      }
+
       void StatesPathFinder::gatherGraphConstraints ()
       {
         typedef graph::Edge Edge;
@@ -315,6 +319,9 @@ namespace hpp {
             // Avoid identical consecutive transition
             if (transition == parent.e) continue;
 
+            // Avoid loop transitions
+            if (isLoopTransition(transition)) continue;
+
             // Insert parent
             d.queue1.push (
               d.addParent (_state, transition)