Citing

@Article{Verschueren2019,
	Title                    = {acados: a modular open-source framework for fast embedded optimal control},
	Author                   = {Robin Verschueren and Gianluca Frison and Dimitris Kouzoupis and Niels van Duijkeren and Andrea Zanelli and Branimir Novoselnik and Jonathan Frey and Thivaharan Albin and Rien Quirynen and Moritz Diehl},
	Journal                  = {arXiv preprint},
	Year                     = {2019},
	Archiveprefix            = {arXiv},
	Eprint                   = {1910.13753},
	Primaryclass             = {math.OC},
	Url                      = {https://arxiv.org/abs/1910.13753}
}

@inproceedings{Verschueren2018,
	booktitle = {Proceedings of the IFAC Conference on Nonlinear Model Predictive Control (NMPC)},
	title = {Towards a modular software package for embedded optimization},
	year = {2018},
	author = {Robin Verschueren and Gianluca Frison and Dimitris Kouzoupis and Niels van Duijkeren and Andrea Zanelli and Rien Quirynen and Moritz Diehl},
}