@article{article046757ab,
title   = {Collision-free encoding for chance-constrained nonconvex path planning},
author = {Arantes, Márcio da Silva and Toledo, Claudio Fabiano Motta and Williams, Brian Charles and Ono, Masahiro},
year = {2019},
doi = {10.1109/TRO.2018.2878996},
journal   = {IEEE Transactions on Robotics}
}