Citing

@misc{Verschueren2019,
      title={acados: a modular open-source framework for fast embedded optimal control},
      author={Robin Verschueren and Gianluca Frison and Dimitris Kouzoupis and Jonathan Frey and Niels van Duijkeren and Andrea Zanelli and Branimir Novoselnik and Thivaharan Albin and Rien Quirynen and Moritz Diehl},
      year={2020},
      eprint={1910.13753},
      archivePrefix={arXiv},
      primaryClass={math.OC}
}

@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},
}