Even then low ESR in practicality only comes into play at vhf frequencies. ESR does effect EMF of a capacitor some what in the sense of dissipation in a RC filter. Capacitors in parallel with the battery effectively have a even lower esr since the magnitude of the battery vastly out weighs the capacitor. However the high frequency that can ripple on the DC can dissipate in be battery or esc and this can be sent to a RC filter or a capacitor in general with a specific internal resistance to dissipate interference as heat. Attenuating Voltage drops and spikes with capacitance on a battery where it is mostly DC and the resistance of the capacitor is near infinite then in this case the ripple current of a capacitor is desired.

I would be more inclined to reduce VHF ripple or feedback, and the RC circuit can be very specific if one knows the frequency hence where a nice oscilloscope is handy.