# Robo-centric ESDF: A Fast and Accurate Whole-body Collision Evaluation Tool for Any-shape Robotic Planning

arXiv: https://arxiv.org/abs/2306.16046 · HTML: https://mlsanity.com/paper/2306.16046/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 Jun 2023.

## Built on by (most cited first, 3 of 3)

- [EUGens: Efficient, Unified, and General Dense Layers](https://mlsanity.com/paper/2601.22563/) (2026)
- [EUGens: Efficient, Unified, and General Dense Layers](https://mlsanity.com/paper/2410.09771/) (2024)
- [FlashNav: Training Deployable Robot Navigation Policies in Seconds](https://mlsanity.com/paper/2606.15846/) (2026)

## Abstract (arXiv)

For letting mobile robots travel flexibly through complicated environments, increasing attention has been paid to the whole-body collision evaluation. Most existing works either opt for the conservative corridor-based methods that impose strict requirements on the corridor generation, or ESDF-based methods that suffer from high computational overhead. It is still a great challenge to achieve fast and accurate whole-body collision evaluation. In this paper, we propose a Robo-centric ESDF (RC-ESDF) that is pre-built in the robot body frame and is capable of seamlessly applied to any-shape mobile robots, even for those with non-convex shapes. RC-ESDF enjoys lazy collision evaluation, which retains only the minimum information sufficient for whole-body safety constraint and significantly speeds up trajectory optimization. Based on the analytical gradients provided by RC-ESDF, we optimize the position and rotation of robot jointly, with whole-body safety, smoothness, and dynamical feasibility taken into account. Extensive simulation and real-world experiments verified the reliability and generalizability of our method.