@article{zhou2020egoplan,
  title={{EGO-Planner}: An {ESDF}-Free Gradient-Based Local Planner for Quadrotors},
  author={Zhou, Xin and Wang, Zhepei and Ye, Hongkai and Xu, Chao and Gao, Fei},
  journal={IEEE Robotics and Automation Letters},
  volume={6},
  number={2},
  pages={478-485},
  year={2021},
  publisher={IEEE}
}