@article{algamesafastsolverforconstraineddynamic,
  title = {ALGAMES: A Fast Solver for Constrained Dynamic Games},
  author = {Simon Le Cleac'h and Mac Schwager and Zachary Manchester},
  year = {2019},
  eprint = {1910.09713},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1910.09713v2},
}