openscvx 0.5.3.dev55__tar.gz → 0.5.3.dev57__tar.gz

{openscvx-0.5.3.dev55/openscvx.egg-info → openscvx-0.5.3.dev57}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.5.3.dev55
+Version: 0.5.3.dev57
 Summary: A general Python-based successive convexification implementation which uses a JAX backend.
 Author-email: Chris Hayner and Griffin Norris <haynec@uw.edu>
 License: Apache Software License
@@ -275,27 +275,29 @@ This work was supported by a NASA Space Technology Graduate Research Opportunity
 Please cite the following works if you use the repository,
 
 ```tex
-@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}}
+@misc{hayner2026openscvxopensourcemodularextensible,
+      title={OpenSCvx: An Open-Source Modular and Extensible Nonlinear Trajectory Planning Package}, 
+      author={Christopher R. Hayner and Griffin J. Norris and Fabio Spada and Samet Uzun and Avi Mittal and Behcet Acıkmese and Karen Leung},
+      year={2026},
+      eprint={2608.21631},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO},
+      url={https://arxiv.org/abs/2608.21631}, 
+}
 ```
 
 ```tex
-@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}, 
+@article{elango2025ctcs,
+title = {Continuous-time successive convexification for constrained trajectory optimization},
+journal = {Automatica},
+volume = {180},
+pages = {112464},
+year = {2025},
+issn = {0005-1098},
+doi = {https://doi.org/10.1016/j.automatica.2025.112464},
+url = {https://www.sciencedirect.com/science/article/pii/S0005109825003589},
+author = {Purnanand Elango and Dayou Luo and Abhinav G. Kamath and Samet Uzun and Taewan Kim and Behçet Açıkmeşe},
+keywords = {Trajectory optimization, Optimal control, Continuous-time constraint satisfaction, Sequential convex programming},
 }
 ```
 
@@ -312,3 +314,5 @@ Please cite the following works if you use the repository,
   month = mar,
 }
 ```
+
+Additionally please run `problem.citation()` to generate the appropriate bibtex citations for the corresponding components used within your problem.

{openscvx-0.5.3.dev55 → openscvx-0.5.3.dev57}/README.md

@@ -228,27 +228,29 @@ This work was supported by a NASA Space Technology Graduate Research Opportunity
 Please cite the following works if you use the repository,
 
 ```tex
-@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}}
+@misc{hayner2026openscvxopensourcemodularextensible,
+      title={OpenSCvx: An Open-Source Modular and Extensible Nonlinear Trajectory Planning Package}, 
+      author={Christopher R. Hayner and Griffin J. Norris and Fabio Spada and Samet Uzun and Avi Mittal and Behcet Acıkmese and Karen Leung},
+      year={2026},
+      eprint={2608.21631},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO},
+      url={https://arxiv.org/abs/2608.21631}, 
+}
 ```
 
 ```tex
-@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}, 
+@article{elango2025ctcs,
+title = {Continuous-time successive convexification for constrained trajectory optimization},
+journal = {Automatica},
+volume = {180},
+pages = {112464},
+year = {2025},
+issn = {0005-1098},
+doi = {https://doi.org/10.1016/j.automatica.2025.112464},
+url = {https://www.sciencedirect.com/science/article/pii/S0005109825003589},
+author = {Purnanand Elango and Dayou Luo and Abhinav G. Kamath and Samet Uzun and Taewan Kim and Behçet Açıkmeşe},
+keywords = {Trajectory optimization, Optimal control, Continuous-time constraint satisfaction, Sequential convex programming},
 }
 ```
 
@@ -265,3 +267,5 @@ Please cite the following works if you use the repository,
   month = mar,
 }
 ```
+
+Additionally please run `problem.citation()` to generate the appropriate bibtex citations for the corresponding components used within your problem.

{openscvx-0.5.3.dev55 → openscvx-0.5.3.dev57}/docs/UnderTheHood/custom_algorithms_autotuners.md

@@ -120,6 +120,11 @@ To add columns to the iteration table, set the class attribute `COLUMNS` to a
 list of `openscvx.utils.printing.Column` specs; the algorithm concatenates
 them into its own table via `get_columns`.
 
+If the update rule comes from a published scheme, override `citation()` to
+return its BibTeX entries — `Problem.citation()` prints them in a dedicated
+autotuner section. The default is an empty list, right for unpublished
+heuristics.
+
 ## A custom algorithm
 
 An `Algorithm` owns the SCP iteration end to end: it *builds* the JAX-pure

{openscvx-0.5.3.dev55 → openscvx-0.5.3.dev57}/openscvx/_version.py

@@ -18,7 +18,7 @@ version_tuple: tuple[int | str, ...]
 commit_id: str | None
 __commit_id__: str | None
 
-__version__ = version = '0.5.3.dev55'
-__version_tuple__ = version_tuple = (0, 5, 3, 'dev55')
+__version__ = version = '0.5.3.dev57'
+__version_tuple__ = version_tuple = (0, 5, 3, 'dev57')
 
-__commit_id__ = commit_id = 'g17a1e9f4d'
+__commit_id__ = commit_id = 'g9f23a62a0'

{openscvx-0.5.3.dev55 → openscvx-0.5.3.dev57}/openscvx/algorithms/autotuner/acceptance_ratio.py

@@ -88,6 +88,29 @@ class AcceptanceRatioAutotuner(AutotuningBase):
         Column("adaptive_state", "Adaptive", 16, "{}", color_adaptive_state, Verbosity.FULL),
     ]
 
+    def citation(self) -> List[str]:
+        """Return BibTeX citations for the SCvx acceptance-ratio update rule."""
+        return [
+            r"""@inproceedings{mao2016scvx,
+  title={Successive convexification of non-convex optimal control problems and its
+    convergence properties},
+  author={Mao, Yuanqi and Szmuk, Michael and A{\c{c}}{\i}kme{\c{s}}e, Beh{\c{c}}et},
+  booktitle={2016 IEEE 55th Conference on Decision and Control (CDC)},
+  pages={3636--3641},
+  year={2016},
+  publisher={IEEE}
+}""",
+            r"""@misc{mao2019scvx,
+  title={Successive Convexification: A Superlinearly Convergent Algorithm for
+    Non-convex Optimal Control Problems},
+  author={Mao, Yuanqi and Szmuk, Michael and Xu, Xiangru and A{\c{c}}{\i}kme{\c{s}}e, Beh{\c{c}}et},
+  year={2019},
+  eprint={1804.06539},
+  archivePrefix={arXiv},
+  primaryClass={math.OC}
+}""",
+        ]
+
     def _update_multipliers(
         self,
         state: "AlgorithmState",

{openscvx-0.5.3.dev55 → openscvx-0.5.3.dev57}/openscvx/algorithms/autotuner/augmented_lagrangian.py

@@ -6,7 +6,7 @@ SCP loop records history outside this module.
 """
 
 import warnings
-from typing import TYPE_CHECKING, Literal
+from typing import TYPE_CHECKING, List, Literal
 
 import jax.numpy as jnp
 from pydantic import BaseModel, ConfigDict
@@ -256,6 +256,24 @@ class AugmentedLagrangian(AcceptanceRatioAutotuner):
         # :py:meth:`_update_virtual_buffer_nodal_weights`.
         return jnp.minimum(state.hyper.lam_vc_max, lam_vb_new)
 
+    def citation(self) -> List[str]:
+        """Return BibTeX citations for the augmented-Lagrangian multiplier updates.
+
+        Extends the inherited SCvx acceptance-ratio references with Luo's
+        dissertation, whose penalty-weight updates this autotuner implements.
+        """
+        return super().citation() + [
+            r"""@phdthesis{luo2025modeling,
+  title={Modeling and Algorithms for Nonconvex Trajectory Generation Problems:
+    From Constraint Reformulations and First-Order Proximal Methods to
+    Structure-Exploiting Convex Solvers},
+  author={Luo, Dayou},
+  school={University of Washington},
+  year={2025},
+  url={https://hdl.handle.net/1773/53364}
+}"""
+        ]
+
 
 # =============================================================================
 # Pydantic spec for dict / YAML validation

{openscvx-0.5.3.dev55 → openscvx-0.5.3.dev57}/openscvx/algorithms/autotuner/base.py

@@ -257,3 +257,16 @@ class AutotuningBase(ABC):
             the autotuner's decision; the SCP loop records that into history
             and maps it to a printable label.
         """
+
+    def citation(self) -> List[str]:
+        """Return BibTeX citations for the published update rule this autotuner implements.
+
+        Autotuners implementing a published scheme override this so that
+        :meth:`openscvx.Problem.citation` can credit it alongside the
+        algorithm, solver, and discretization references. Unpublished
+        heuristics keep the default.
+
+        Returns:
+            List of BibTeX citation strings. Empty for uncited autotuners.
+        """
+        return []

{openscvx-0.5.3.dev55 → openscvx-0.5.3.dev57}/openscvx/problem.py

@@ -2299,9 +2299,11 @@ class Problem:
     def citation(self) -> str:
         """Return BibTeX citations for all components used in this problem.
 
-        Aggregates citations from the algorithm and other components (discretization,
-        convex solver, etc.) Each section is prefixed with a comment indicating which component the
-        citation is for.
+        Aggregates citations from the algorithm, its autotuner, the convex
+        solver, the discretization, and every symbolic node in the problem's
+        expression graphs (e.g. GMSR STL operators, jaxlie-backed Lie-group
+        maps). Each section is prefixed with a comment indicating which
+        component the citation is for.
 
         Returns:
             Formatted string containing all BibTeX citations with comments.
@@ -2324,6 +2326,14 @@ class Problem:
             citations = "\n".join(algo_citations)
             sections.append(f"{header}\n\n{citations}")
 
+        # Autotuner citations
+        tuner_citations = self._algorithm.autotuner.citation()
+        if tuner_citations:
+            tuner_name = type(self._algorithm.autotuner).__name__
+            header = f"% Autotuner: {tuner_name}"
+            citations = "\n".join(tuner_citations)
+            sections.append(f"{header}\n\n{citations}")
+
         # Solver citations
         solver_citations = self._solver.citation()
         if solver_citations:
@@ -2340,6 +2350,21 @@ class Problem:
             citations = "\n".join(dis_citations)
             sections.append(f"{header}\n\n{citations}")
 
+        # Symbolic-node citations, gathered by walking the expression graphs.
+        # Distinct node classes can share a reference (every GMSR operator
+        # cites the same paper), so entries are deduplicated across classes.
+        node_citations = self.symbolic.citations()
+        if node_citations:
+            names = ", ".join(sorted(node_citations))
+            header = f"% Symbolic Operators: {names}"
+            entries: list[str] = []
+            for name in sorted(node_citations):
+                for entry in node_citations[name]:
+                    if entry not in entries:
+                        entries.append(entry)
+            citations = "\n".join(entries)
+            sections.append(f"{header}\n\n{citations}")
+
         sections.append(r"% --- END AUTO-GENERATED CITATIONS")
 
         return "\n\n".join(sections)

{openscvx-0.5.3.dev55 → openscvx-0.5.3.dev57}/openscvx/symbolic/expr/__init__.py

@@ -23,7 +23,7 @@ Module Organization:
 
     Core Expressions (expr.py):
         Base classes and utilities including `Expr`, `Leaf`, `Parameter`, `Constant`,
-        and helper functions `to_expr` and `traverse`.
+        and helper functions `to_expr`, `traverse`, and `walk`.
 
     Arithmetic Operations (arithmetic.py):
         Fundamental arithmetic operations including `Add`, `Sub`, `Mul`, `Div`,
@@ -110,6 +110,7 @@ from .expr import (
     NodeReference,
     to_expr,
     traverse,
+    walk,
 )
 
 # Lie algebra operations
@@ -182,6 +183,7 @@ __all__ = [
     "Parameter",
     "to_expr",
     "traverse",
+    "walk",
     "transitive_closure",
     "discrete_sparsity",
     "Add",

{openscvx-0.5.3.dev55 → openscvx-0.5.3.dev57}/openscvx/symbolic/expr/expr.py

@@ -67,7 +67,7 @@ import functools
 import hashlib
 import struct
 import threading
-from typing import TYPE_CHECKING, Callable, List, Tuple, Union
+from typing import TYPE_CHECKING, Callable, Iterator, List, Tuple, Union
 
 if TYPE_CHECKING:
     from .linalg import Transpose
@@ -357,6 +357,20 @@ class Expr:
         """
         return []
 
+    def citation(self) -> List[str]:
+        """Return BibTeX citations for the published method behind this node.
+
+        Most nodes are plain arithmetic and cite nothing. Nodes that implement
+        a published formulation or defer to an external library (e.g. the GMSR
+        STL operators, the jaxlie-backed Lie-group maps) override this so that
+        :meth:`openscvx.Problem.citation` can credit the methods a problem
+        actually uses by scanning its expression trees.
+
+        Returns:
+            List of BibTeX citation strings. Empty for uncited nodes.
+        """
+        return []
+
     def canonicalize(self) -> "Expr":
         """
         Return a canonical (simplified) form of this expression.
@@ -631,6 +645,32 @@ def traverse(expr: Expr, visit: Callable[[Expr], None]):
         traverse(child, visit)
 
 
+def walk(expr: Expr) -> Iterator[Expr]:
+    """Yield ``expr`` and every node reachable through ``children()``, each once.
+
+    The counterpart of :func:`ast.walk` for symbolic expressions: a pre-order
+    traversal of the expression graph. Unlike :func:`traverse`, each distinct
+    node is visited a single time — canonicalization preserves sharing, so an
+    expression is generally a DAG, and revisiting shared subexpressions can be
+    exponentially wasteful.
+
+    Args:
+        expr: Root expression to traverse.
+
+    Yields:
+        Each distinct node in the expression graph, parents before children.
+    """
+    seen = set()
+    stack = [expr]
+    while stack:
+        node = stack.pop()
+        if id(node) in seen:
+            continue
+        seen.add(id(node))
+        yield node
+        stack.extend(node.children())
+
+
 class Constant(Leaf):
     """Constant value expression.
 

openscvx-0.5.3.dev57/openscvx/symbolic/expr/lie/_citations.py

@@ -0,0 +1,14 @@
+"""Shared BibTeX entry for the jaxlie-backed Lie-group nodes.
+
+The SO(3)/SE(3) exponential and logarithm maps in this package lower through
+:mod:`jaxlie`; its authors ask users to cite the paper below. The entry lives
+here once so ``so3.py`` and ``se3.py`` can both return it from ``citation()``.
+"""
+
+JAXLIE_CITATION = r"""@inproceedings{yi2021iros,
+  title={Differentiable Factor Graph Optimization for Learning Smoothers},
+  author={Brent Yi and Michelle Lee and Alina Kloss and Roberto Mart\'in-Mart\'in and
+    Jeannette Bohg},
+  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
+  year={2021}
+}"""

{openscvx-0.5.3.dev55 → openscvx-0.5.3.dev57}/openscvx/symbolic/expr/lie/se3.py

@@ -12,11 +12,12 @@ Note:
     SE3 tangent parameterization, so no reordering is needed during lowering.
 """
 
-from typing import Tuple, Union
+from typing import List, Tuple, Union
 
 import numpy as np
 
 from ..expr import Expr, to_expr
+from ._citations import JAXLIE_CITATION
 
 
 class SE3Exp(Expr):
@@ -81,6 +82,10 @@ class SE3Exp(Expr):
     def children(self):
         return [self.twist]
 
+    def citation(self) -> List[str]:
+        """Return the BibTeX citation for jaxlie, which backs this map's lowering."""
+        return [JAXLIE_CITATION]
+
     def canonicalize(self) -> "Expr":
         twist = self.twist.canonicalize()
         return SE3Exp(twist)
@@ -150,6 +155,10 @@ class SE3Log(Expr):
     def children(self):
         return [self.transform]
 
+    def citation(self) -> List[str]:
+        """Return the BibTeX citation for jaxlie, which backs this map's lowering."""
+        return [JAXLIE_CITATION]
+
     def canonicalize(self) -> "Expr":
         transform = self.transform.canonicalize()
         return SE3Log(transform)

{openscvx-0.5.3.dev55 → openscvx-0.5.3.dev57}/openscvx/symbolic/expr/lie/so3.py

@@ -6,11 +6,12 @@ group, enabling axis-angle to rotation matrix conversions and vice versa.
 Requires jaxlie: pip install openscvx[lie]
 """
 
-from typing import Tuple, Union
+from typing import List, Tuple, Union
 
 import numpy as np
 
 from ..expr import Expr, to_expr
+from ._citations import JAXLIE_CITATION
 
 
 class SO3Exp(Expr):
@@ -58,6 +59,10 @@ class SO3Exp(Expr):
     def children(self):
         return [self.omega]
 
+    def citation(self) -> List[str]:
+        """Return the BibTeX citation for jaxlie, which backs this map's lowering."""
+        return [JAXLIE_CITATION]
+
     def canonicalize(self) -> "Expr":
         omega = self.omega.canonicalize()
         return SO3Exp(omega)
@@ -116,6 +121,10 @@ class SO3Log(Expr):
     def children(self):
         return [self.rotation]
 
+    def citation(self) -> List[str]:
+        """Return the BibTeX citation for jaxlie, which backs this map's lowering."""
+        return [JAXLIE_CITATION]
+
     def canonicalize(self) -> "Expr":
         rotation = self.rotation.canonicalize()
         return SO3Log(rotation)

{openscvx-0.5.3.dev55 → openscvx-0.5.3.dev57}/openscvx/symbolic/expr/stl.py

@@ -57,7 +57,7 @@ See also:
 """
 
 from dataclasses import dataclass
-from typing import TYPE_CHECKING, Callable, Optional, Tuple, Union
+from typing import TYPE_CHECKING, Callable, List, Optional, Tuple, Union
 
 import numpy as np
 
@@ -304,6 +304,21 @@ class STLExpr(Expr):
     #            explicit `time` state). Currently raises
     #            NotImplementedError at .over() time.
 
+    def citation(self) -> List[str]:
+        """Return the BibTeX citation for the GMSR robustness formulation."""
+        return [
+            r"""@misc{uzun2024gmsr,
+  title={Optimization with Temporal and Logical Specifications via Generalized
+    Mean-based Smooth Robustness Measures},
+  author={Uzun, Samet and Elango, Purnanand and Garoche, Pierre-Lo{\"i}c and
+    A{\c{c}}{\i}kme{\c{s}}e, Beh{\c{c}}et},
+  year={2024},
+  eprint={2405.10996},
+  archivePrefix={arXiv},
+  primaryClass={math.OC}
+}"""
+        ]
+
     def over(
         self,
         interval: "IntervalLike",

{openscvx-0.5.3.dev55 → openscvx-0.5.3.dev57}/openscvx/symbolic/expr/stljax.py

@@ -9,7 +9,7 @@ STL operators accept Constraint objects (predicates) and extract robustness
 expressions which are lowered to STLJax during compilation.
 """
 
-from typing import TYPE_CHECKING, Callable, Optional, Tuple, Union
+from typing import TYPE_CHECKING, Callable, List, Optional, Tuple, Union
 
 import numpy as np
 
@@ -53,6 +53,22 @@ class STLJaxExpr(Expr):
         Eventually, Always, or Until for actual STL specifications.
     """
 
+    def citation(self) -> List[str]:
+        """Return the BibTeX citation the stljax library asks its users to cite."""
+        return [
+            r"""@article{kapoor2025stlcg,
+  title={{STLCG++}: A Masking Approach for Differentiable Signal Temporal Logic
+    Specification},
+  author={Kapoor, Parv and Mizuta, Kazuki and Kang, Eunsuk and Leung, Karen},
+  journal={IEEE Robotics and Automation Letters},
+  volume={10},
+  number={9},
+  pages={9240--9247},
+  year={2025},
+  doi={10.1109/LRA.2025.3588389}
+}"""
+        ]
+
     def over(
         self,
         interval: tuple[int, int],

{openscvx-0.5.3.dev55 → openscvx-0.5.3.dev57}/openscvx/symbolic/problem.py

@@ -117,3 +117,42 @@ class SymbolicProblem:
         2. Propagation dynamics have been set up
         """
         return self.constraints.is_categorized and self.dynamics_prop is not None
+
+    def citations(self) -> Dict[str, List[str]]:
+        """Collect BibTeX citations from every expression node in the problem.
+
+        Walks the dynamics, constraint, and propagation expression graphs and
+        gathers :meth:`~openscvx.symbolic.expr.expr.Expr.citation` from each
+        node, so :meth:`openscvx.Problem.citation` can credit the published
+        methods a problem actually uses (e.g. GMSR STL operators, jaxlie-backed
+        Lie-group maps). Works at either lifecycle stage: unsorted constraints
+        are scanned before preprocessing, categorized ones after.
+
+        Returns:
+            Mapping from node class name to the deduplicated BibTeX entries
+            cited by nodes of that name, containing only names that cite
+            anything. Same-named classes (e.g. the GMSR and stljax ``Or``)
+            share a key; their entries are merged.
+        """
+        from openscvx.symbolic.expr import walk
+
+        roots: List["Expr"] = [self.dynamics]
+        for optional in (self.dynamics_discrete, self.dynamics_prop):
+            if optional is not None:
+                roots.append(optional)
+        if self.algebraic_prop:
+            roots.extend(self.algebraic_prop.values())
+        c = self.constraints
+        roots.extend(
+            [*c.unsorted, *c.ctcs, *c.nodal, *c.nodal_convex, *c.cross_node, *c.cross_node_convex]
+        )
+
+        cited: Dict[str, List[str]] = {}
+        for root in roots:
+            for node in walk(root):
+                entries = node.citation()
+                if not entries:
+                    continue
+                bucket = cited.setdefault(type(node).__name__, [])
+                bucket.extend(e for e in entries if e not in bucket)
+        return cited

{openscvx-0.5.3.dev55 → openscvx-0.5.3.dev57/openscvx.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: openscvx
-Version: 0.5.3.dev55
+Version: 0.5.3.dev57
 Summary: A general Python-based successive convexification implementation which uses a JAX backend.
 Author-email: Chris Hayner and Griffin Norris <haynec@uw.edu>
 License: Apache Software License
@@ -275,27 +275,29 @@ This work was supported by a NASA Space Technology Graduate Research Opportunity
 Please cite the following works if you use the repository,
 
 ```tex
-@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}}
+@misc{hayner2026openscvxopensourcemodularextensible,
+      title={OpenSCvx: An Open-Source Modular and Extensible Nonlinear Trajectory Planning Package}, 
+      author={Christopher R. Hayner and Griffin J. Norris and Fabio Spada and Samet Uzun and Avi Mittal and Behcet Acıkmese and Karen Leung},
+      year={2026},
+      eprint={2608.21631},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO},
+      url={https://arxiv.org/abs/2608.21631}, 
+}
 ```
 
 ```tex
-@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}, 
+@article{elango2025ctcs,
+title = {Continuous-time successive convexification for constrained trajectory optimization},
+journal = {Automatica},
+volume = {180},
+pages = {112464},
+year = {2025},
+issn = {0005-1098},
+doi = {https://doi.org/10.1016/j.automatica.2025.112464},
+url = {https://www.sciencedirect.com/science/article/pii/S0005109825003589},
+author = {Purnanand Elango and Dayou Luo and Abhinav G. Kamath and Samet Uzun and Taewan Kim and Behçet Açıkmeşe},
+keywords = {Trajectory optimization, Optimal control, Continuous-time constraint satisfaction, Sequential convex programming},
 }
 ```
 
@@ -312,3 +314,5 @@ Please cite the following works if you use the repository,
   month = mar,
 }
 ```
+
+Additionally please run `problem.citation()` to generate the appropriate bibtex citations for the corresponding components used within your problem.

{openscvx-0.5.3.dev55 → openscvx-0.5.3.dev57}/openscvx.egg-info/SOURCES.txt

@@ -353,6 +353,7 @@ openscvx/symbolic/expr/time.py
 openscvx/symbolic/expr/variable.py
 openscvx/symbolic/expr/vmap.py
 openscvx/symbolic/expr/lie/__init__.py
+openscvx/symbolic/expr/lie/_citations.py
 openscvx/symbolic/expr/lie/adjoint.py
 openscvx/symbolic/expr/lie/se3.py
 openscvx/symbolic/expr/lie/so3.py
@@ -434,6 +435,7 @@ tests/brachistochrone_analytical.py
 tests/conftest.py
 tests/hohmann_analytical.py
 tests/test_autotuning.py
+tests/test_citation.py
 tests/test_cvxpygen_optional.py
 tests/test_discretization.py
 tests/test_examples.py
@@ -455,6 +457,7 @@ tests/algorithms/test_iteration_fn_jit.py
 tests/algorithms/test_iteration_fn_parity.py
 tests/algorithms/test_make_solve_loop.py
 tests/algorithms/autotuner/__init__.py
+tests/algorithms/autotuner/test_citation.py
 tests/algorithms/autotuner/test_defaults_agreement.py
 tests/algorithms/autotuner/test_hyper_overrides.py
 tests/algorithms/autotuner/test_update_weights_jit.py
@@ -486,6 +489,7 @@ tests/solvers/test_qpax_ptr_solver.py
 tests/solvers/test_subproblem_pytree.py
 tests/symbolic/__init__.py
 tests/symbolic/test_augmentation.py
+tests/symbolic/test_citations.py
 tests/symbolic/test_gmsr.py
 tests/symbolic/test_hashing.py
 tests/symbolic/test_latex_formulation.py