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diff --git a/.gitignore b/.gitignore
@@ -1,7 +1,8 @@
 .juliahistory
 /.vscode/
 /media/*
+/media/tests/*
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-!/media/logo/
+!/media/logo/*
diff --git a/README.md b/README.md
@@ -4,78 +4,71 @@
 > algorithms.
 
 <p align="center">
+<a href="media/logo/about.md" title="About the logo">
 <img alt="SCP Toolbox"
     title="SCP Toolbox"
     src="media/logo/logo.png"
-    width="300px" />
+    width="400px" />
+</a>
 </p>
 
 <p align="center">
     <a href="http://www.gnu.org/licenses/gpl-3.0.txt"><img src="https://img.shields.io/badge/license-GPL_3-green.svg" alt="License GPL 3" /></a>
 </p>
 
-<p align="center">
-    <a href="media/logo/about.md">About the logo</a>
-</p>
-
-***
-
-<p align="justify">
-The <b>SCP Toolbox</b> provides a parser-solver framework for sequential convex
-programming (SCP) algorithms for real-time generation of dynamically feasible
-trajectories of aerospace, robotic, and other systems. Under the hood, the
-algorithms rely on optimal control and convex numerical optimization theory.
-</p>
-
-<p align="justify">
-  Clone this repository, <a href="https://github.com/dmalyuta/scp_new_problem">scp_new_problem</a>, and read the
-tutorial below to get started.
-</p>
-
-***
+The <b>SCP Toolbox</b> provides the tools necessary to define and solve
+nonconvex trajectory optimization problems. The user-facing part of the toolbox
+provides a trajectory problem parser that allows one to define the system
+dynamics, state and input constraints, and boundary conditions. Under the hood,
+the problem is solved using any one of several _Sequential Convex Programming_
+(SCP) algorithms. These algorithms have been successfully demonstrated on a
+number of difficult aerospace, autonomous driving, robotics, and other
+applications. A major goal of the SCP Toolbox is to provide working reference
+implementations of the SCP algorithms. By placing the algorithms behind a
+parser that transforms trajectory problems into their abstract mathematical
+definitions, the algorithms can be generically tested on a suite of examples
+without having to re-implement the underlying algorithms each time.
 
-<p align="center">
-  <a href="https://www.malyuta.name/optimization/tooling/2021/07/15/scp-tutorial.html"><b>Tutorial</b></a>
-</p>
+## Implemented SCP algorithms
 
-***
+The following algorithms are implemented, and can be found in the
+`src/solvers/` directory:
 
-## About
-
-Four algorithms are implemented, and can be found in the `solvers/` directory:
-- Lossless convexification ([LCvx](https://doi.org/10.2514/1.27553))
+- Penalized trust region ([PTR](https://arxiv.org/abs/1811.10803))
 - Successive convexification ([SCvx](https://arxiv.org/abs/1804.06539))
 - Guaranteed Sequential Trajectory Optimization ([GuSTO](http://asl.stanford.edu/wp-content/papercite-data/pdf/Bonalli.Cauligi.Bylard.Pavone.ICRA19.pdf))
-- Penalized trust region ([PTR](https://arxiv.org/abs/1811.10803))
+- Lossless convexification ([LCvx](https://doi.org/10.2514/1.27553))
+
+## Implemented examples
 
 Several example applications show how the algorithms can be used. These can all
-be found in the `examples/` director, and include:
+be found in the `test/examples/` directory, and include:
 
-1. [Double integrator with friction](examples/src/double_integrator)
-2. [Mars rocket landing](examples/src/rocket_landing)
-3. [SpaceX Starship landing "flip" maneuver](examples/src/starship_flip)
+1. [Double integrator with friction](test/examples/double_integrator)
+2. [Mars rocket landing](test/examples/rocket_landing)
+3. [SpaceX Starship landing "flip" maneuver](test/examples/starship_flip)
 4. [Mass-spring-damper with an actuator deadband or
-   "sticking"](examples/src/oscillator)
-5. [Quadrotor flight around obstacles](examples/src/quadrotor)
-6. [Space station freeflyer robot](examples/src/freeflyer)
+   "sticking"](test/examples/oscillator)
+5. [Quadrotor flight around obstacles](test/examples/quadrotor)
+6. [Space station freeflyer robot](test/examples/freeflyer)
 7. [Planar spacecraft rendezvous with discrete
-   logic](examples/src/rendezvous_planar)
+   logic](test/examples/rendezvous_planar)
 8. [Apollo transposition and docking maneuver with discrete
-   logic](examples/src/rendezvous_3d)
+   logic](test/examples/rendezvous_3d)
 
 ## Citing
 
-If you use this code, kindly cite the following associated publication.
+If you use the SCP Toolbox, kindly cite the following associated publication.
 
 ```
-@article{SCPTrajOptCSM2021,
+@article{SCPToolboxCSM2022,
   year	       = {2021},
   publisher    = {{IEEE}},
   author       = {Danylo Malyuta and Taylor P. Reynolds and Michael Szmuk
                   and Thomas Lew and Riccardo Bonalli and Marco Pavone
                   and Behcet Acikmese},
   title	       = {Convex Optimization for Trajectory Generation},
-  journal      = {{IEEE} Control Systems Magazine (in review)},
+  journal      = {{IEEE} Control Systems Magazine (accepted)},
   pages        = {arXiv:2106.09125}
 }
 ```
diff --git a/media/logo/about.md b/media/logo/about.md
@@ -2,7 +2,7 @@
 <img alt="SCP Toolbox"
     title="SCP Toolbox"
     src="./logo.png"
-    width="300px" />
+    width="400px" />
 </p>
 
 The SCP Toolbox logo is composed of the following elements: