  The purpose of this note is to highlight and address inaccuracies in the
convergence guarantees of SCvx, a nonconvex trajectory optimization algorithm
proposed by Mao et al. (arXiv:1804.06539), and make connections to relevant
prior work. Specifically, we identify errors in the convergence proof within
Mao et al. (arXiv:1804.06539) and reestablish the proof of convergence by
employing a new method under stricter assumptions.
