# Robo-Centric ESDF: A Fast and Accurate Whole-Body Collision Evaluation Tool for Any-Shape Robotic Planning

> Research article (2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023) · cited 18× · AI/ML

**Wikidata**: [openalex:W4389665920](https://www.wikidata.org/wiki/openalex:W4389665920)  
**Source**: https://4ort.xyz/entity/robo-centric-esdf-a-fast-and-accurate-whole-body-collision-evaluation-tool-for-any-shape-robotic-planning