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Gradient-based planners are widely used for quadrotor local planning, in which a Euclidean Signed Distance Field (ESDF) is crucial for evaluating gradient magnitude and direction.
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F. Gao, L. Wang, B. Zhou, X. Zhou, J. Pan, and S. Shen, “Teach-repeat-replan: A complete and robust system for aggressive flight in complex environments,” IEEE Transactions on Robotics , 2020
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