[philso]

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According to the research I have had to do when designing CAN interfaces into the circuit boards I am working on, I would have to say that there is no valid reason for you to try to implement a star CAN network. Go focus your energies on improving other areas of your robot instead.

If you have a node, say a motor controller, that is not "conveniently" located near the other nodes, a proper daisy-chain connection scheme would only require an extra pair thin wires. This extra pair of wires can be run next to the other pair of CAN signal wires. Since the two wire pairs carry the same signals, one would not have to be concerned about noise coupling between them.