A processor implemented method for free-space based real-time path planning, comprising: obtaining, via one or more hardware processors, an initial position of a robotic agent for path planning in an environment, the robotic agent associated with a field-of-view (FoV); enabling, via the one or more hardware processors, a guided expansion of a plurality of seeds sequentially in a plurality of sequences in the environment to obtain a contiguous navigable convex free space wherein in each sequence of the plurality of sequences, a seed corresponding to the sequence is expanded within the FoV of the robotic agent in the environment, and wherein an initial seed from amongst the plurality of seeds associated with an initial sequence of the plurality of sequences comprises the initial position of the robotic agent, wherein each sequence of the plurality of sequences comprises one or more seeds from the plurality of seeds and wherein enabling the guided expansion of a seed from amongst the plurality of seeds comprises applying an Iterative Regional Inflation by Semidefinite Programming (IRIS) to the seed, and wherein applying IRIS comprises: generating an ellipse with a set of hyperplanes, the hyperplanes mutually intersecting and forming a convex polytope with a set of vertices, wherein each of the set of vertices forms a seed in a subsequent sequence of the plurality of sequences; and expanding the seed in the subsequent sequence by applying IRIS to the set of vertices as seeds; creating, via the one or more hardware processors, an undirected graph associated with the contiguous navigable convex free space; and planning, via the one or more hardware processors, the path for the robotic agent locally within the contiguous navigable convex free space with respect to an end goal based on the undirected graph, wherein planning the path comprises generating a plurality of sub-goals sequentially with respect to the end goal by minimizing a Euclidean distance metric, wherein the Euclidean distance metric is a summation of: a distance between current position of the robotic agent and the end goal position; and the distance between sub-goal position of the robotic agent and the end goal position, wherein the plurality of sub-goals is generated sequentially until a sub-goal of the plurality of sub-goals is inscribed by a convex polytope generated by a seed of the plurality of seeds, wherein the seed is indicative of the end goal position. obtaining, via one or more hardware processors, an initial position of a robotic agent for path planning in an environment, the robotic agent associated with a field-of-view (FoV); enabling, via the one or more hardware processors, a guided expansion of a plurality of seeds sequentially in a plurality of sequences in the environment to obtain a contiguous navigable convex free space wherein in each sequence of the plurality of sequences, a seed corresponding to the sequence is expanded within the FoV of the robotic agent in the environment, and wherein an initial seed from amongst the plurality of seeds associated with an initial sequence of the plurality of sequences comprises the initial position of the robotic agent, wherein each sequence of the plurality of sequences comprises one or more seeds from the plurality of seeds and wherein enabling the guided expansion of a seed from amongst the plurality of seeds comprises applying an Iterative Regional Inflation by Semidefinite Programming (IRIS) to the seed, and wherein applying IRIS comprises: generating an ellipse with a set of hyperplanes, the hyperplanes mutually intersecting and forming a convex polytope with a set of vertices, wherein each of the set of vertices forms a seed in a subsequent sequence of the plurality of sequences; and expanding the seed in the subsequent sequence by applying IRIS to the set of vertices as seeds; generating an ellipse with a set of hyperplanes, the hyperplanes mutually intersecting and forming a convex polytope with a set of vertices, wherein each of the set of vertices forms a seed in a subsequent sequence of the plurality of sequences; and expanding the seed in the subsequent sequence by applying IRIS to the set of vertices as seeds; creating, via the one or more hardware processors, an undirected graph associated with the contiguous navigable convex free space; and planning, via the one or more hardware processors, the path for the robotic agent locally within the contiguous navigable convex free space with respect to an end goal based on the undirected graph, wherein planning the path comprises generating a plurality of sub-goals sequentially with respect to the end goal by minimizing a Euclidean distance metric, wherein the Euclidean distance metric is a summation of: a distance between current position of the robotic agent and the end goal position; and the distance between sub-goal position of the robotic agent and the end goal position, wherein the plurality of sub-goals is generated sequentially until a sub-goal of the plurality of sub-goals is inscribed by a convex polytope generated by a seed of the plurality of seeds, wherein the seed is indicative of the end goal position. a distance between current position of the robotic agent and the end goal position; and the distance between sub-goal position of the robotic agent and the end goal position, wherein the plurality of sub-goals is generated sequentially until a sub-goal of the plurality of sub-goals is inscribed by a convex polytope generated by a seed of the plurality of seeds, wherein the seed is indicative of the end goal position.