# EGO-Planner: An ESDF-Free Gradient-Based Local Planner for Quadrotors

> Research article (IEEE Robotics and Automation Letters, 2020) · cited 453× · AI/ML

**Wikidata**: [openalex:W3114626444](https://www.wikidata.org/wiki/openalex:W3114626444)  
**Source**: https://4ort.xyz/entity/ego-planner-an-esdf-free-gradient-based-local-planner-for-quadrotors