ZJU-FAST-Lab/ego-planner

Health v2 · maintenance only

Flags: no_releases

Adoption not part of the score

2683 stars · 412 forks observed · 2026-10-05

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

EGO-Planner is a lightweight, ESDF-free gradient-based local trajectory planner for quadrotors, implemented in C++ on ROS. It computes collision-free trajectories in roughly 1 ms without building a Euclidean Signed Distance Field.

Use cases

• plan collision-free trajectories for a quadrotor drone
• run fast local replanning on a UAV in cluttered environments
• avoid building ESDF maps for drone obstacle avoidance
• simulate quadrotor navigation in ROS with obstacle maps
• research benchmark for gradient-based drone planners

When to choose

• you need millisecond-scale local planning for a single quadrotor
• you want an ESDF-free planner that runs on resource-constrained onboard hardware
• you are doing academic research on aerial robotics and want a well-cited baseline

When to avoid

• you need multi-drone swarm planning - use EGO-Swarm instead
• you need global path planning rather than local replanning
• your project is not ROS-based or not on Linux

Facets

library · maturity stable

simulation robotics robotics autonomous-vehicles cpp quadrotor motion-planning trajectory-optimization esdf-free ros drones local-planner algorithms linux

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markdown · JSON · MCP: product_card(name="ZJU-FAST-Lab/ego-planner")