BibTeX
@ARTICLE{
         Andersson2018CAs,
       author = "Andersson, Joel A. E. and Gillis, Joris and Horn, Greg and Rawlings, James B. and
         Diehl, Moritz",
       title = "{CasADi} -- {A} software framework for nonlinear optimization and optimal control",
       journal = "Mathematical Programming Computation",
       doi = "10.1007/s12532-018-0139-4",
       year = "2018",
       ad_tools = "CasADi"
}