# Safe Motion Planning Based on a New Encoding Technique for Tree Expansion Using Particle Swarm Optimization

> Research article (Robotica, 2020) · cited 15× · AI/ML

**Wikidata**: [openalex:W3085594901](https://www.wikidata.org/wiki/openalex:W3085594901)  
**Source**: https://4ort.xyz/entity/safe-motion-planning-based-on-a-new-encoding-technique-for-tree-expansion-using-particle-swarm-optimization