# Embodied Footprints: A Safety-Guaranteed Collision-Avoidance Model for Numerical Optimization-Based Trajectory Planning

> Research article (IEEE Transactions on Intelligent Transportation Systems, 2023) · cited 34× · AI/ML

**Wikidata**: [openalex:W4321174282](https://www.wikidata.org/wiki/openalex:W4321174282)  
**Source**: https://4ort.xyz/entity/embodied-footprints-a-safety-guaranteed-collision-avoidance-model-for-numerical-optimization-based-trajectory-planning