Final Fantasy Resonance has 9 Esper Locations. Finding all Espers unlocks The Sovereigns of the Planet trophy & achievement.
Espers are the summons of FF Resonance, able to be summoned in battle by Fina and Archwitch Fina throughout the game. Only the first Esper is story-related; the others require some form of exploration and/or a sub quest to obtain them. Aside from Carbuncle, you also have to defeat them in battle before they will join you. All are available during free roam after the story, but it is recommended to pick them up as you go as they are useful earlier in the story but limited in the endgame content.
Collectibles Overview:
Espers
1. Siren (Siren’s Tower – Kingdom of Grandshelt; Chapter 1)
Story-related towards the end of Chapter 1.
2. Ramuh (Mt. Thunderclap – Dirnado, the Continent of Wind; Chapter 2)
Take the upper path into Mt. Thunderclap which can be accessed once you emerge from the lower part of the dungeon. You’ll be back on the World Map; the upper entrance is around the path to the south past the Shrine of Zidane. Follow the path inside the dungeon to the gravestone and interact with it, then defeat Ramuh in battle to obtain him.
3. Carbuncle (Ruby Cave – Olderion Federation; Chapter 3)
Examine the gravestone inside the Ruby Cave and it will give you a riddle where you have to pick up three Ruby Fragments in order (just like the normal sparkling treasures you find on the World Map).
The first is just south-east of Rukh Cave in between two circular pools, one large and one small.
The second is on the straight part of the continent’s east coast, southwest of the Sanctum of Squall and almost due east of Cave of Waters. Look for two mountains with flat grassy indentations and it’s just east of those almost on the path.
The third is just to the west of the seven waterfalls, due west of Olderion, the Aquapolis. Cross the two wooden bridges and head up the small grassy cliff.
Once you have all three, return to the gravestone in Ruby Cave and Carbuncle will join you.
4. Titan (Sealing Stone – Kingdom of Grandshelt; Chapter 4)
Once the Colosseum opens, win Fledgling Battle 5 to obtain the Gaia Hammer.
Then head to the Sealing Stone west of the Village of Kol and choose to smash it with the hammer.
Defeat Titan in a battle to obtain him.
5. Ifrit (Volcano – Zoldaad Empire Territory; Chapter 5)
Once you get the airship, on the south of the Zoldaad Empire Territory continent you’ll see a volcano with smoke pouring out of it. Choose to fly into it and you’ll fight Ifrit in a battle. Win and you’ll obtain him as a summon.
6. Shiva (Mysidia, the Uncharted Land; Chapter 5)
Use your airship to land on the smaller island in the west of Mysidia, then enter the snowstorm and defeat her in battle.
7. Leviathan (Olderion Federation; Chapter 5) – Once you get the airship, visit Olderion, the Aquapolis and complete the ‘Nichol’s Duty’ Sub Quest.
8. Odin (Gronoa, the Shuttered Land; Chapter 6)
Once you learn Holy and clear the miasma in Chapter 6 (story-related), head to Bladerain Stele (marked by the blue icon) and complete the Iron Splitter Sub Quest.
9. Bahamut (Airship; Chapter 7)
Board the airship at any point in Chapter 7 (press 
whilst flying it) and a small cutscene will play. Speak to Evan (next to the steering wheel) and choose to visit the Esper. After a small scene, you’ll be in battle. Once he’s beaten, he’ll join you.
For all other collectible types refer to the Final Fantasy Resonance Collectible Guide.
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