OpenSCvx: An Open-Source Modular and Extensible Nonlinear Trajectory Planning Package

Abstract:Trajectory optimization computes dynamically feasible motions that enable autonomous systems to accomplish complex tasks while satisfying operational and environmental constraints. This tutorial presents OpenSCvx, an open-source Python framework that bridges the gap between high-level problem specification and efficient numerical optimization. Rather than requiring users to derive solver-specific mathematical formulations, OpenSCvx provides a symbolic modeling interface that automatically constructs and solves trajectory optimization problems from modular descriptions of objectives, dynamics, and constraints. Beyond simplifying problem formulation, OpenSCvx supports (i) continuous-time constraint modeling, (ii) temporal and logical specifications, (iii) automatic vectorization for scalable and batched optimization, and (iv) a modular architecture that enables new algorithms, models, and solver backends to be incorporated with minimal effort. These capabilities allow researchers and practitioners to rapidly prototype, solve, and extend state-of-the-art trajectory optimization methods.

Robotics (cs.RO); Optimization and Control (math.OC)

arXiv:2608.21631 [cs.RO]

(or arXiv:2608.21631v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2608.21631 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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