fix license; update readme

Author: RussTedrake

LICENSE.TXT

@@ -1,31 +1,28 @@
-All components of Drake are licensed under the BSD 3-Clause License
-shown below. Where noted in the source code, some portions may 
-be subject to other permissive, non-viral licenses.
+BSD 3-Clause License
 
-Copyright 2012-2022 Robot Locomotion Group @ CSAIL
-All rights reserved.
+Copyright (c) 2023, MIT Robot Locomotion Group
 
 Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are
-met:
+modification, are permitted provided that the following conditions are met:
 
-Redistributions of source code must retain the above copyright notice,
-this list of conditions and the following disclaimer.  Redistributions
-in binary form must reproduce the above copyright notice, this list of
-conditions and the following disclaimer in the documentation and/or
-other materials provided with the distribution.  Neither the name of
-the Massachusetts Institute of Technology nor the names of its
-contributors may be used to endorse or promote products derived from
-this software without specific prior written permission.
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
 
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -1,4 +1,10 @@
-# GCS - Motion Planning around Obstacles with Convex Optimization
+# Motion Planning around Obstacles with Convex Optimization
+
+This repository contains the code to reproduce the examples in the paper [Motion Planning around Obstacles with Convex Optimization](https://arxiv.org/abs/2106.09610) by Tobia Marcucci, Mark Petersen, David von Wrangel, and Russ Tedrake.
+
+To use [Graphs of Convex Sets (GCS) Trajectory Optimization](https://drake.mit.edu/doxygen_cxx/classdrake_1_1planning_1_1trajectory__optimization_1_1_gcs_trajectory_optimization.html) in your own code, we recommend that you use the version in [Drake](http://drake.mit.edu), which is being actively developed and improved.
+
+## Versions
 
 This code has been updated since the Arxiv paper was published. The code used to run the examples in that paper can be found under the [`arxiv_paper_version`](https://github.com/mpetersen94/gcs/releases/tag/arxiv_paper_version) tag. That version was tested to work with Drake version 1.3 (although version up to 1.8 should work with some deprecation warnings).