@article{ye2020tgkplan, title={{TGK-Planner}: An Efficient Topology Guided Kinodynamic Planner for Autonomous Quadrotors}, author={Ye, Hongkai and Zhou, Xin and Wang, Zhepei and Xu, Chao and Chu, Jian and Gao, Fei}, journal={IEEE Robotics and Automation Letters}, volume={6}, number={2}, pages={494-501}, year={2021}, publisher={IEEE} }