SCPToolbox.jl
Sequential Convex Programming Toolbox for nonconvex trajectory optimization.
Software
Open-source solvers, interfaces, demos, and research code maintained by the lab.
Open-source code
The lab publishes software for sequential convex programming, conic optimization, trajectory planning, and temporal-logic specifications. This page links to the public repositories and the relevant project pages where available.
Solvers and toolboxes
Interfaces
qoco-python
Python interface for the QOCO solver.
QOCO.jl
Julia MathOptInterface wrapper for QOCO.
qoco-matlab
MATLAB interface for the QOCO solver.
Trajectory optimization projects
ct-scvx
Successive convexification with continuous-time constraint satisfaction.
nmpc-ctcs
Nonlinear model predictive control with continuous-time constraint satisfaction.
HALO
Hazard-aware landing optimization for perception-coupled landing guidance.
DT-LCvx-Pointing
Discrete-time lossless convexification for pointing constraints.
CT-cSTC
Sequential convex programming for powered descent guidance with compound state-triggered constraints.
Temporal logic and decision tools
D-GMSR
Optimization with temporal and logical specifications via generalized mean-based smooth robustness measures.
TrajOpt_CT-STL
Trajectory optimization with continuous-time satisfaction of signal temporal logic specifications.
Demos and legacy tools
pipg-demo
Demonstration of the PIPG algorithm for trajectory optimization.
NEWTON-PIPG
Code base for Newton-PIPG.
optimal-preconditioning
Optimal preconditioning for online quadratic cone programming.
prox-convex
A proximal method for composite optimization with smooth and convex components.
optgui
Graphical interface for trajectory generation with successive convexification.