That circuit comes from circuitlab and its well broken! So much shoddy stuff like this online alas... Someone took a 12V circuit and thought they'd label it 24V for no reason and with no insight. Sigh.
Anyway yes, you use decoupling on switching circuits, that's a given, and a combination of ceramic fast decoupling and electrolytic bulk capacitance is usually normal for high current circuits like motor drivers. A few microfarads MLCC and as much electrolytic as you can reasonable fit on the PCB is wise to keep the noise and interference down (or rather reduce how much noise from the switching gets to radiate from and along the power supply wiring).
Normally for a brushed motor you'd use 1 to 10nF of ceramic directly across the terminals to reduce EMI from the brush arcing. This is perhaps what's meant by "radio cap" above? Not needed for brushless motors of course. This capacitor shouldn't be too large as that increases noise from current pulses (inrush) on the motor wiring.