# Collision-Free Encoding for Chance-Constrained Nonconvex Path Planning

> Research article (IEEE Transactions on Robotics, 2019) · cited 76× · AI/ML

**Wikidata**: [openalex:W2910239470](https://www.wikidata.org/wiki/openalex:W2910239470)  
**Source**: https://4ort.xyz/entity/collision-free-encoding-for-chance-constrained-nonconvex-path-planning