?url_ver=Z39.88-2004&rft_id=doi%3A10.1137%2F16M1081543&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aufirst=Robin&rft.aulast=Verschueren&rft.au=Verschueren%2C+Robin&rft.issn=1052-6234&rft.volume=27&rft.issue=3&rft.pages=2085-2109&rft.title=SIAM+Journal+on+Optimization&rft.atitle=A+Sparsity+Preserving+Convexification+Procedure+for+Indefinite+Quadratic+Programs+Arising+in+Direct+Optimal+Control&rft.date=2017&rft.genre=article