diff --git a/README.md b/README.md
index f222946..3ebb6ab 100644
--- a/README.md
+++ b/README.md
@@ -5,7 +5,9 @@
 <h3 align="center">Tailored MPC</h3>
 </div>
 
-Here you can find the main Autonomous Systems controller for CAT15x, the [BCN eMotorsport](https://bcnemotorsport.upc.edu) 2022-23 car. Within this repo you will find 3 different MPC controllers: time-variant, spatial-variant and lateral (also time-variant). The one used for the 2022-2023 season is the lateral approach, leaving the others for a future implementation as they demand much more testing time.
+Here you can find the main Autonomous Systems controller for CAT15x, the [BCN eMotorsport](https://bcnemotorsport.upc.edu) 2022-23 car. Within this repo you will find 3 different MPC controllers: time-variant, spatial-variant and lateral (also time-variant). The one used for the 2022-2023 season is the lateral approach, leaving the others for a future implementation as they demand much more testing time, which we don't ever have :(
+
+If you want to see the performance of this controller watch [this trackdrive](https://youtu.be/mk9U0lRWr-0?si=S0-yVm7wfKk2jvPq).
 
 <details>
     <summary>Table of Contents</summary>
@@ -32,7 +34,7 @@ If you use this control algorithm in a Formula Student competition the **only**
 # Dependencies
 * [Ubuntu](https://ubuntu.com/) 20.04
 * [ROS](https://www.ros.org/) Noetic
-* [Embotech](https://www.embotech.com/products/forcespro/overview/) FORCESPRO solver. A Hardware or Software Embotech license is mandatory.
+* [Embotech](https://www.embotech.com/products/forcespro/overview/) FORCESPRO solver. A Hardware or Software Embotech's license is mandatory.
 * [Eigen3](https://eigen.tuxfamily.org)
 * ___as_msgs___: self-defined ROS msgs pkg. You may change it for yours, adapting the [necessary callbacks](include/mpc.hh).
 
diff --git a/docs/KIT_lateral_MPC.pdf b/docs/KIT_lateral_MPC.pdf
deleted file mode 100644
index 47f060c..0000000
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diff --git a/docs/TRO.pdf b/docs/TRO.pdf
deleted file mode 100644
index 3961b23..0000000
Binary files a/docs/TRO.pdf and /dev/null differ
diff --git a/docs/curvature_MPC.pdf b/docs/curvature_MPC.pdf
deleted file mode 100644
index 4f3ef94..0000000
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diff --git a/include/forces.hh b/include/forces.hh
index 81c54df..7a3120e 100644
--- a/include/forces.hh
+++ b/include/forces.hh
@@ -1,3 +1,20 @@
+/*
+ Copyright (c) 2023 Oriol Martínez @fetty31
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+ */
+
 #ifndef forcespro_MPC_HH
 #define forcespro_MPC_HH
 
diff --git a/include/mpc.hh b/include/mpc.hh
index 6104a35..f1def4f 100644
--- a/include/mpc.hh
+++ b/include/mpc.hh
@@ -1,3 +1,20 @@
+/*
+ Copyright (c) 2023 Oriol Martínez @fetty31
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+ */
+
 #ifndef MPC_HH
 #define MPC_HH
 
diff --git a/include/utils/params.hh b/include/utils/params.hh
index c4b0fd0..3c7abb7 100644
--- a/include/utils/params.hh
+++ b/include/utils/params.hh
@@ -1,3 +1,20 @@
+/*
+ Copyright (c) 2023 Oriol Martínez @fetty31
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+ */
+
 #ifndef PARAMS_MPC_HPP
 #define PARAMS_MPC_HPP
 
diff --git a/include/utils/vis_tools.hh b/include/utils/vis_tools.hh
index 234405e..98dd560 100644
--- a/include/utils/vis_tools.hh
+++ b/include/utils/vis_tools.hh
@@ -1,3 +1,20 @@
+/*
+ Copyright (c) 2023 Oriol Martínez @fetty31
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+ */
+
 #ifndef VIS_TOOLS_HH
 #define VIS_TOOLS_HH
 
diff --git a/src/main.cpp b/src/main.cpp
index 639f24e..0f718f8 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -99,7 +99,6 @@ int main(int argc, char **argv) {
     std_msgs::Int32 exitflag_msg;
 
     ros::Rate r(mpc.Hz);
-    // launch-prefix="gdb -ex run --args"
     while(ros::ok()){
 
         mpc.solve(); // Solve the NLOP
diff --git a/src/mpc.cpp b/src/mpc.cpp
index d7fbb0c..840fac3 100644
--- a/src/mpc.cpp
+++ b/src/mpc.cpp
@@ -1,3 +1,20 @@
+/*
+ Copyright (c) 2023 Oriol Martínez @fetty31
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+ */
+
 #include "mpc.hh"
 
 // Constructor
diff --git a/src/utils/params.cpp b/src/utils/params.cpp
index 2a09879..d653816 100644
--- a/src/utils/params.cpp
+++ b/src/utils/params.cpp
@@ -1,3 +1,20 @@
+/*
+ Copyright (c) 2023 Oriol Martínez @fetty31
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+ */
+
 #include "utils/params.hh"
 
 Params::Params(const ros::NodeHandle* nh) {
diff --git a/src/utils/vis_tools.cpp b/src/utils/vis_tools.cpp
index 048d997..54c0c40 100644
--- a/src/utils/vis_tools.cpp
+++ b/src/utils/vis_tools.cpp
@@ -1,3 +1,20 @@
+/*
+ Copyright (c) 2023 Oriol Martínez @fetty31
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+ */
+
 #include "utils/vis_tools.hh"
 
 VisualizationTools::VisualizationTools(MPC *mpc, const Params *params){