COPP: Convex-Objective Path Parameterization

Convex-Objective Path Parameterization (Matlab Mirror)

https://copp.pro/

Version 0.2.3 (170 KB)
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16 Sep 2026

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Cite As

Wang, Yunan, et al. “Online Time-Optimal Trajectory Planning along Parametric Toolpaths with Strict Constraint Satisfaction and Certifiable Feasibility Guarantee.” International Journal of Machine Tools and Manufacture, vol. 215, Feb. 2026, p. 104355, https://doi.org/10.1016/j.ijmachtools.2025.104355.

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Wang, Yunan, et al. "Reachability-Augmented Dual Dynamic Programming for Optimal Path Parameterization." arXiv preprint arXiv:2605.19089 (2026).

Wang, Yunan, et al. "COPP: An Open-Source Ultra-Fast Library for Convex-Objective Path Parameterization." 2026 American Control Conference (ACC). IEEE, 2026.

General Information

MATLAB Release Compatibility

  • Compatible with R2024b and later releases

Platform Compatibility

  • Windows
  • macOS
  • Linux
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Version Published Release Notes
0.2.3

An initial release.
0.0.0

To view or report issues in this GitHub add-on, visit the GitHub Repository.
To view or report issues in this GitHub add-on, visit the GitHub Repository.