If you use OSQP for published work, we encourage you to put a star on GitHub and cite the accompanying papers:

Main paper

Main algorithm description, derivation and benchmark available in this paper.

  author  = {Stellato, B. and Banjac, G. and Goulart, P. and Bemporad, A. and Boyd, S.},
  title   = {{OSQP}: an operator splitting solver for quadratic programs},
  journal = {Mathematical Programming Computation},
  volume  = {12},
  number  = {4},
  pages   = {637--672},
  year    = {2020},
  doi     = {10.1007/s12532-020-00179-2},
  url     = {},
Infeasibility detection

Infeasibility detection proofs using ADMM (also for general conic programs) in this paper.

  author  = {Banjac, G. and Goulart, P. and Stellato, B. and Boyd, S.},
  title   = {Infeasibility detection in the alternating direction method of multipliers for convex optimization},
  journal = {Journal of Optimization Theory and Applications},
  year    = {2019},
  volume  = {183},
  number  = {2},
  pages   = {490--519},
  doi     = {10.1007/s10957-019-01575-y},
  url     = {},
GPU implementation

GPU implementation and PCG method for solving linear systems in this paper.

  author  = {Schubiger, M. and Banjac, G. and Lygeros, J.},
  title   = {{GPU} acceleration of {ADMM} for large-scale quadratic programming},
  journal = {Journal of Parallel and Distributed Computing},
  year    = {2020},
  volume  = {144},
  pages   = {55--67},
  doi     = {10.1016/j.jpdc.2020.05.021},
  url     = {},
Code generation

Code generation functionality and example in this paper.

  author    = {Banjac, G. and Stellato, B. and Moehle, N. and Goulart, P. and Bemporad, A. and Boyd, S.},
  title     = {Embedded code generation using the {OSQP} solver},
  booktitle = {IEEE Conference on Decision and Control (CDC)},
  year      = {2017},
  doi       = {10.1109/CDC.2017.8263928},
  url       = {},
Mixed-integer optimization

A branch-and-bound solver for mixed-integer quadratic optimization in this paper.

  author    = {Stellato, B. and Naik, V. V. and Bemporad, A. and Goulart, P. and Boyd, S.},
  title     = {Embedded mixed-integer quadratic optimization using the {OSQP} solver},
  booktitle = {European Control Conference (ECC)},
  year      = {2018},
  doi       = {10.23919/ECC.2018.8550136},
  url       = {},