Citation

If you use OpenSCvx in your research, please cite the following works:

Primary Citation

@ARTICLE{hayner2025los,
        author={Hayner, Christopher R. and Carson III, John M. and Açıkmeşe, Behçet and Leung, Karen},
        journal={IEEE Robotics and Automation Letters}, 
        title={Continuous-Time Line-of-Sight Constrained Trajectory Planning for 6-Degree of Freedom Systems}, 
        year={2025},
        volume={},
        number={},
        pages={1-8},
        keywords={Robot sensing systems;Vectors;Vehicle dynamics;Line-of-sight propagation;Trajectory planning;Trajectory optimization;Quadrotors;Nonlinear dynamical systems;Heuristic algorithms;Convergence;Constrained Motion Planning;Optimization and Optimal Control;Aerial Systems: Perception and Autonomy},
        doi={10.1109/LRA.2025.3545299}}

Methodological Foundation

@misc{elango2024ctscvx,
      title={Successive Convexification for Trajectory Optimization with Continuous-Time Constraint Satisfaction}, 
      author={Purnanand Elango and Dayou Luo and Abhinav G. Kamath and Samet Uzun and Taewan Kim and Behçet Açıkmeşe},
      year={2024},
      eprint={2404.16826},
      archivePrefix={arXiv},
      primaryClass={math.OC},
      url={https://arxiv.org/abs/2404.16826}, 
}

Solver Technology

@misc{chari2025qoco,
  title = {QOCO: A Quadratic Objective Conic Optimizer with Custom Solver Generation},
  author = {Chari, Govind M and A{\c{c}}{\i}kme{\c{s}}e, Beh{\c{c}}et},
  year = {2025},
  eprint = {2503.12658},
  archiveprefix = {arXiv},
  primaryclass = {math.OC},
}

Acknowledgments

This work was supported by a NASA Space Technology Graduate Research Opportunity and the Office of Naval Research under grant N00014-17-1-2433. The authors would like to acknowledge Natalia Pavlasek, Samuel Buckner, Abhi Kamath, Govind Chari, and Purnanand Elango as well as the other Autonomous Controls Laboratory members, for their many helpful discussions and support throughout this work.