# From Obstacle-Based Space Partitioning to Corridors and Path Planning. A Convex Lifting Approach

> Research article (IEEE Control Systems Letters, 2019) · cited 20× · AI/ML

**Wikidata**: [openalex:W2951162637](https://www.wikidata.org/wiki/openalex:W2951162637)  
**Source**: https://4ort.xyz/entity/from-obstacle-based-space-partitioning-to-corridors-and-path-planning-a-convex-lifting-approach