Smart, 32, was named the NBA’s Defensive Player of the Year when he played under Udoka with the Boston Celtics in 2021-22.
The six-foot-three Smart spent last season with the Los Angeles Lakers before declining his player option for this season, making him a free agent.
Smart averaged 9.3 points, 3.0 assists and 2.8 rebounds with the Lakers.
In his 12-season career with the Lakers, Washington Wizards, Memphis Grizzlies and Celtics, Smart has averaged 10.5 points, 4.4 assists and 3.4 rebounds.