# GuSTO: Guaranteed Sequential Trajectory Optimization via Sequential Convex Programming

arXiv: https://arxiv.org/abs/1903.00155 · HTML: https://mlsanity.com/paper/1903.00155/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Mar 2019.

## Built on by (most cited first, 9 of 9)

- [Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems](https://mlsanity.com/paper/2104.08695/) (2021)
- [Constrained Stein Variational Trajectory Optimization](https://mlsanity.com/paper/2308.12110/) (2023)
- [Advances in Trajectory Optimization for Space Vehicle Control](https://mlsanity.com/paper/2108.02335/) (2021)
- [Improving Computational Efficiency for Powered Descent Guidance via Transformer-based Tight Constraint Prediction](https://mlsanity.com/paper/2311.05135/) (2023)
- [Agile Tradespace Exploration for Space Rendezvous Mission Design via Transformers](https://mlsanity.com/paper/2510.03544/) (2025)
- [Language-Conditioned Safe Trajectory Generation for Spacecraft Rendezvous](https://mlsanity.com/paper/2512.09111/) (2025)
- [Differentiable Motion Manifold Primitives for Reactive Motion Generation under Kinodynamic Constraints](https://mlsanity.com/paper/2410.12193/) (2024)
- [Intent-aligned Autonomous Spacecraft Guidance via Reasoning Models](https://mlsanity.com/paper/2604.17176/) (2026)
- [Motion Planning with Model-Based Diffusion via Constraint Optimization and Adaptive Scheduling](https://mlsanity.com/paper/2607.14455/) (2026)

## Abstract (arXiv)

Sequential Convex Programming (SCP) has recently seen a surge of interest as a tool for trajectory optimization. However, most available methods lack rigorous performance guarantees and they are often tailored to specific optimal control setups. In this paper, we present GuSTO (Guaranteed Sequential Trajectory Optimization), an algorithmic framework to solve trajectory optimization problems for control-affine systems with drift. GuSTO generalizes earlier SCP-based methods for trajectory optimization (by addressing, for example, goal-set constraints and problems with either fixed or free final time) and enjoys theoretical convergence guarantees in terms of convergence to, at least, a stationary point. The theoretical analysis is further leveraged to devise an accelerated implementation of GuSTO, which originally infuses ideas from indirect optimal control into an SCP context. Numerical experiments on a variety of trajectory optimization setups show that GuSTO generally outperforms current state-of-the-art approaches in terms of success rates, solution quality, and computation times.