Finding Locally Optimal, Collision-Free Trajectories with Sequential Convex Optimization. - John Schulman; Jonathan Ho; Alex X. Lee; Ibrahim Awwal; Henry Bradlow; Pieter Abbeel (Robotics: Science and Systems, 2013)

Motion planning with sequential convex optimization and convex collision checking. - John Schulman; Yan Duan; Jonathan Ho; Alex X. Lee; Ibrahim Awwal; Henry Bradlow; Jia Pan 001; Sachin Patil; Ken Goldberg; Pieter Abbeel (Int. J. Robotics Res., 2014)